Bagged box gripping apparatus

Abstract

The utility model discloses a bagged box gripping apparatus which comprises a machine frame, the machine frame is installed on a mechanical arm in a rotating mode, two fixing frames are connected to the machine frame in a sliding and clamping mode, a first linear actuator is installed on one fixing frame, the output end of the first linear actuator is connected with the other fixing frame, and a plurality of clamping mechanisms are installed on the fixing frames. A linear actuator used for driving the clamping mechanism to clamp is installed on the fixing frame. Through the arrangement of the two fixing frames, the clamping mechanisms on the fixing frames can be arranged in a matched mode, the effects of single-row grabbing, double-row placing and 180-degree turning-around placing are achieved, and therefore the soft bags are grabbed from the two sides together, and the grabbing effect is good; during grabbing, the second linear actuator drives the first clamping block and the second clamping block to move oppositely for clamping, the linkage frame drives the first clamping block to move upwards, and therefore the clamped soft bag is subjected to opposite extrusion force of the first clamping block and the second clamping block and inclined upward extrusion force of the first clamping block, the clamping effect is better, and the bag losing phenomenon is not prone to occurring.

Description

Technical Field

[0001] This utility model relates to the field of bag and box gripper technology, and in particular to a bag and box gripper. Background Technology

[0002] Flexible bag packaging is widely used in food, chemical, condiment, feed additive, and pharmaceutical industries. For everyday items like bagged milk and bagged food, the bagging process can largely be automated. However, while some manufacturers use mechanical packing mechanisms for the final packaging of the flexible bagged products, this is prone to bag loss, so most still rely on manual packing.

[0003] Therefore, how to improve the existing mechanical packing tools to make them have better clamping effect, more secure clamping, and less prone to package loss is an urgent problem to be solved. Utility Model Content

[0004] Therefore, it is necessary to provide a bag and box gripper to address the aforementioned technical problems.

[0005] To achieve the above objectives, this utility model provides a bag-and-box gripper, including a frame rotatably mounted on a robotic arm. A movable frame is slidably engaged with the frame, and a linear actuator is mounted on a fixed frame. The fixed frame with the linear actuator is fixedly connected to the frame, and the output end of the linear actuator is connected to the movable frame. Several clamping mechanisms are mounted on both the movable frame and the fixed frame, and two linear actuators for driving the clamping mechanisms are mounted on both the movable frame and the fixed frame. The clamping mechanism includes several movable plates slidably engaged with the movable frame or the fixed frame. The movable plates are connected to each other via a linkage frame. A lifting frame is slidably engaged with the movable plates. The movable plates have slots, and a locking block is slidably engaged with the slots. The lifting frame is slidably engaged with the locking block. Locking blocks are mounted on adjacent movable plates, and locking blocks cooperate with each other. The top of the linkage frame abuts against the lifting frame.

[0006] Preferably, the outermost movable plate is fixedly connected to the movable frame or fixed frame, the second linear actuator is mounted on the movable frame or fixed frame, and the output end of the second linear actuator is connected to the other outermost movable plate on the same movable frame or fixed frame.

[0007] Preferably, a fixed rod is installed on the movable plate connected to the output end of the linear actuator on the fixed frame, and the corresponding movable plate on the movable frame is slidably engaged with the fixed rod.

[0008] Preferably, the first card block is provided with an arc-shaped block, and the second card block is provided with an arc-shaped groove corresponding to the arc-shaped block.

[0009] Preferably, the first locking block is provided with an L-shaped groove, and the bottom end of the lifting frame is slidably locked into the L-shaped groove.

[0010] Preferably, both the movable frame and the fixed frame are equipped with fixed square rods, and the movable plates are slidably engaged with the fixed square rods.

[0011] Compared with existing technologies, this technical solution has at least one of the following beneficial effects:

[0012] By setting up the mobile frame and the fixed frame, the clamping mechanism on them can be set up in a coordinated manner to achieve single-row gripping, double-row placement, and 180° turning placement, so as to grip the soft bag from both sides and make the gripping effect good.

[0013] During the gripping process, the second linear actuator drives the first and second clamping blocks to move in opposite directions to clamp the bag, while the linkage frame drives the first clamping block to move upward. As a result, the clamped soft bag is subjected to the opposing squeezing force of the first and second clamping blocks and the upward squeezing force of the first clamping block, thus improving the gripping effect and reducing the likelihood of bag loss. Attached Figure Description

[0014] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0015] Figure 2 This is a partial exploded view of an embodiment of the present invention;

[0016] Figure 3 This is an internal perspective view of an embodiment of the present utility model;

[0017] In the diagram, 1. Frame; 2. Moving frame; 4. Linear actuator one; 5. Linear actuator two; 6. Lifting frame; 7. Slot; 8. Block one; 9. Block two; 10. Moving plate; 11. Linkage frame; 12. Fixed rod; 13. Arc block; 14. Arc groove; 15. L-shaped groove; 16. Fixed square rod; 17. Fixed frame. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0019] Please see Figures 1 to 3This application provides a bag-and-box gripper, including a frame 1, which is rotatably mounted on a robotic arm and can be controlled by the robotic arm to move and rotate. A movable frame 2 is slidably engaged on the frame 1, and a linear actuator 4, which can be an electric cylinder, is mounted on a fixed frame 17. The fixed frame 17, on which the linear actuator 4 is mounted, is fixedly connected to the frame 1. The output end of the linear actuator 4 is connected to the movable frame 2. Both the movable frame 2 and the fixed frame 17 are equipped with several clamping mechanisms, and both the movable frame 2 and the fixed frame 17 are equipped with mechanisms for driving the clamping action. The clamping mechanism includes a second linear actuator 5, which can be an electric cylinder; the clamping mechanism includes several movable plates 10, which are slidably engaged with the movable frame 2 or the fixed frame 17. The several movable plates 10 are connected by a linkage frame 11. The lifting frame 6 is slidably engaged with the movable plates 10. The movable plates 10 are provided with slots 7, and a first locking block 8 is slidably engaged in the slots 7. The lifting frame 6 is slidably engaged with the first locking block 8. A second locking block 9 is installed on an adjacent movable plate 10. The first locking block 8 and the second locking block 9 are configured to cooperate with each other. The top of the linkage frame 11 abuts against the lifting frame 6.

[0020] In this embodiment, the linear actuator 4 pulls the movable frame 2 to move, reducing the distance between the movable frame 2, which is fixedly mounted on the frame 1, and the fixed frame 17. This allows the corresponding clamping mechanisms on the movable frame 2 and the fixed frame 17 to clamp both sides of the soft bag. During clamping, the linear actuator 5 pulls the movable plate 10 to move. Through the linkage frame 11, when one movable plate 10 is pulled, all movable plates 10 can slide to the same side, reducing the distance between adjacent movable plates 10. This, in turn, reduces the distance between the first clamping block 8 and the second clamping block 9. It can clamp soft bags, and when clamping, while the linkage frame 11 drives the moving plate 10 to move together, the top of the linkage frame 11 will move upward. At this time, through the abutment of the lifting frame 6 and the top extension rod of the linkage frame 11, the linkage frame 11 can drive the lifting frame 6 to slide upward, so that the lifting frame 6 can slide and engage with the first locking block 9, thus driving the first locking block 8 to slide upward. Through the setting of the locking groove 7, the first locking block 8 can slide obliquely upward, so the clamping force of the first locking block 8 and the second locking block 9 on the soft bag can be generated by the horizontal, vertical and top views of the two, thus the clamping effect on the soft bag is better.

[0021] In some embodiments, to facilitate the installation of the linear actuator 5 and the movement of the movable plate 10, the outermost movable plate 10 is fixedly connected to the movable frame 2 or the fixed frame 17. The second linear actuator 5 is mounted on the movable frame 2 or the fixed frame 17, and the output end of the second linear actuator 5 is connected to another outermost movable plate 10 on the same movable frame 2 or the fixed frame 17. Thus, the mounting end of the second linear actuator 5 is in a close position to the movable plate 10 fixed on the movable frame 2 or the fixed frame 17, and the output end of the second linear actuator 5 can pull the other outermost movable plate 10 to move.

[0022] In some embodiments, to save resources, a fixed rod 12 is installed on the movable plate 10 connected to the output end of the linear actuator 2 5 on the fixed frame 17. The corresponding movable plate 10 on the movable frame 2 is slidably engaged with the fixed rod 12. Thus, through the connecting and limiting effect of the fixed rod 12, both the movable frame 2 and the movable plate 10 on the fixed frame 17 can be driven to slide by this linear actuator 2 5, thereby saving resources.

[0023] In some embodiments, to further improve the clamping effect on the soft bag, a first clamping block 8 is provided with an arc-shaped block 13, and a second clamping block 9 is provided with an arc-shaped groove 14 corresponding to the arc-shaped block 13. The arc-shaped block 13 and the arc-shaped groove 14 are used to achieve the longitudinal clamping force in the top view direction as described in Embodiment 1, resulting in a better clamping effect. Compared with two clamping blocks set at the same level applying longitudinal force, the soft bag is more likely to be torn open and damaged.

[0024] In some embodiments, to facilitate the sliding engagement of the lifting frame 6 and the locking block 8, the locking block 8 is provided with an L-shaped groove 15, and the bottom end of the lifting frame 6 is slidably engaged in the L-shaped groove 15.

[0025] In some embodiments, to achieve sliding engagement between the movable plate 10 and the movable frame 2 and the fixed frame 17, fixed square rods 16 are installed on both the movable frame 2 and the fixed frame 17, and the movable plate 10 is slidably engaged with the fixed square rods 16. The top of the lifting frame 6 is H-shaped to avoid collision with the linear actuator 5 and the fixed square rods 16 during the lifting process.

[0026] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0027] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

[0028] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A bag-and-box gripper, comprising a frame (1) rotatably mounted on a robotic arm, characterized in that, A movable frame (2) is slidably attached to the frame (1), and a linear actuator (4) is mounted on the fixed frame (17). The fixed frame (17) on which the linear actuator (4) is mounted is fixedly connected to the frame (1). The output end of the linear actuator (4) is connected to the movable frame (2). Several clamping mechanisms are mounted on both the movable frame (2) and the fixed frame (17). Linear actuators (5) for driving the clamping mechanisms are mounted on both the movable frame (2) and the fixed frame (17). The clamping mechanism includes several movable plates (10). Plate (10) is slidably engaged on the movable frame (2) or the fixed frame (17). Several movable plates (10) are connected by a linkage frame (11). The lifting frame (6) is slidably engaged on the movable plate (10). The movable plate (10) is provided with a slot (7). A first locking block (8) is slidably engaged in the slot (7). The lifting frame (6) is slidably engaged with the first locking block (8). A second locking block (9) is installed on the adjacent movable plate (10). The first locking block (8) and the second locking block (9) are set together. The top of the linkage frame (11) abuts against the lifting frame (6).

2. The bag-and-box gripper according to claim 1, characterized in that, The outermost movable plate (10) is fixedly connected to the movable frame (2) or the fixed frame (17). The second linear actuator (5) is installed on the movable frame (2) or the fixed frame (17). The output end of the second linear actuator (5) is connected to the other outermost movable plate (10) on the same movable frame (2) or the fixed frame (17).

3. The bag-and-box gripper according to claim 2, characterized in that, A fixed rod (12) is installed on the movable plate (10) connected to the output end of the linear actuator 2 (5) on the fixed frame (17). The corresponding movable plate (10) on the movable frame (2) is slidably engaged with the fixed rod (12).

4. The bag-and-box gripper according to claim 1, characterized in that, The first card block (8) is provided with an arc-shaped block (13), and the second card block (9) is provided with an arc-shaped groove (14) corresponding to the arc-shaped block (13).

5. The bag-and-box gripper according to claim 1, characterized in that, The first card block (8) is provided with an L-shaped groove (15), and the bottom end of the lifting frame (6) is slidably engaged in the L-shaped groove (15).

6. The bag-and-box gripper according to claim 2, characterized in that, Both the movable frame (2) and the fixed frame (17) are equipped with fixed square rods (16), and the movable plate (10) is slidably engaged with the fixed square rods (16).

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