Multifunctional stacking gripper

Abstract

The utility model discloses a multifunctional stacking gripper which comprises an installation base plate, linear sliding rails, a middle rotating shaft, a swing rod, a clamping plate cross beam, a connecting rod, a left clamping plate, a right clamping plate and a clamping air cylinder, the two pairs of linear sliding rails which are arranged in parallel in a staggered mode are arranged below the installation base plate, and the middle rotating shaft which is arranged in the middle of the linear sliding rails is arranged in the center of the installation base plate. A swing rod is horizontally connected to the middle rotating shaft in an equal-ratio mode, clamping plate cross beams are arranged on the linear sliding rails in parallel, the swing rod is movably connected with the clamping plate cross beams on the adjacent linear sliding rails through connecting rods, and the clamping plate cross beams on each pair of linear sliding rails are connected with a left clamping plate and a right clamping plate in a bridging mode on the end sides. By means of the mode, according to the multifunctional stacking gripper, the left clamping plate and the right clamping plate achieve left-right synchronous movement with the middle as the reference through the connecting rod synchronizing mechanism, pallets can be accurately placed at the stacking position after being grabbed, and when cartons are stacked on the pallets, the relative positions of the cartons and the pallets are stable; and the cartons can be stacked on the pallets normatively and flatly.

Description

Technical Field

[0001] This utility model relates to the field of packaging equipment, and in particular to a multifunctional palletizing gripper. Background Technology

[0002] In packaging production lines, pallet supply and carton stacking are typically handled by two independent sets of equipment, requiring coordination and synchronization between them based on actual production capacity. One set primarily handles pallet supply, while the other focuses on carton stacking. Current technology often employs manual coordination to manage the collaboration between the pallet and carton production lines. However, this process is prone to errors in actual production, leading to mismatches between pallets and cartons. Utility Model Content

[0003] The main technical problem solved by this utility model is to provide a multifunctional palletizing gripper. The left and right clamps achieve synchronous left and right movement with the middle as the reference through a "linkage synchronization mechanism". It can accurately place the pallet after gripping it into the pallet position, so that the relative position of the carton to the pallet is stable when the carton is stacked on the pallet, ensuring that the carton is stacked in a standardized and flat manner.

[0004] To solve the above-mentioned technical problems, the present invention provides a multi-functional palletizing gripper, including a mounting base plate, linear slide rails, a central rotating shaft, a swing rod, a clamping beam, a connecting rod, left and right clamping plates, and a clamping cylinder. The mounting base plate has two pairs of staggered parallel linear slide rails. A central rotating shaft, positioned between the linear slide rails, is located in the center of the mounting base plate. A swing rod is connected to the central rotating shaft. Clamping beams are arranged parallel to each linear slide rail. The swing rod is movably connected to the clamping beams on adjacent linear slide rails via connecting rods. Left and right clamping plates are connected across the end of each pair of clamping beams on the linear slide rails. One of the left and right clamping plates is connected to a clamping cylinder parallel to the linear slide rail.

[0005] In a preferred embodiment of the present invention, a transition flange is provided at the center of the mounting base plate opposite the back of the intermediate rotating shaft.

[0006] In a preferred embodiment of this utility model, a pair of lifting cylinders are symmetrically arranged on the mounting base plate. The lifting cylinders are equipped with two sets of cardboard suction cups, which are located between the left and right clamping plates. The stroke range of the lifting cylinders is greater than the height of the left and right clamping plates.

[0007] In a preferred embodiment of this utility model, hook plates are provided at the lower edges of the left and right clamping plates.

[0008] The beneficial effects of this utility model are: The multifunctional palletizing gripper provided by this utility model has left and right clamps that move synchronously with the middle as the reference through a "linkage synchronization mechanism". It can accurately place the pallet after gripping it into the pallet position, so that the relative position of the carton to the pallet is stable when the carton is stacked on the pallet, ensuring that the carton is stacked in a standardized and flat manner on the pallet. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0010] Figure 1 This is an overall structural diagram of a preferred embodiment of the multifunctional palletizing gripper of this utility model;

[0011] Figure 2 This is a top view of a multifunctional palletizing gripper according to this utility model;

[0012] Figure 3 This is a top view of a preferred embodiment of a multifunctional palletizing gripper of the present invention;

[0013] Figure 4 This is a schematic diagram of a production line linkage of a preferred embodiment of a multifunctional palletizing gripper of this utility model. Detailed Implementation

[0014] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0015] like Figure 1-4 As shown, the embodiments of this utility model include:

[0016] A multifunctional palletizing gripper includes a mounting base plate 1, linear slide rails 2, a central rotating shaft 3, a swing rod 4, a clamping beam 5, a connecting rod 6, left and right clamping plates 7, and a clamping cylinder 8. The mounting base plate 1 has two pairs of staggered parallel linear slide rails 2. The mounting base plate 1 has a central rotating shaft 3 located in the center of the linear slide rails 2. A swing rod 4 is connected to the central rotating shaft 3. Each linear slide rail 2 has a clamping beam 5 arranged in parallel. The swing rod 4 is movably connected to the clamping beam 5 on the adjacent linear slide rail 2 through the connecting rod 6. Each pair of clamping beams 5 on the linear slide rail 2 has a left and right clamping plate 7 spanning across its end. One of the left and right clamping plates 7 is connected to the clamping cylinder 8 parallel to the linear slide rail 2.

[0017] The mounting base plate 1 has a connecting flange 9 located on the opposite side of the central rotating shaft 3.

[0018] Furthermore, a pair of lifting cylinders 10 are centrally symmetrically arranged on the mounting base plate 1. The lifting cylinders 10 are equipped with two sets of carton suction cups 11. The carton suction cups 11 are located between the left and right clamping plates 7. The stroke range of the lifting cylinders 10 is greater than the height of the left and right clamping plates 7.

[0019] Furthermore, hook plates 12 are provided on the lower edge of the left and right clamping plates 7.

[0020] Organizational Description:

[0021] The adapter flange 9 connects to the robot wrist at the top and to the mounting base plate 1 at the bottom. The left and right clamping plates 7 are mounted on the mounting base plate 1 via linear slide rails 2. The left and right clamping plates 7 are connected by a "linkage 6 synchronization mechanism", which allows the left and right clamping plates 7 to open and clamp synchronously with the middle as the reference. The lifting cylinder 10 is mounted on the mounting base plate 1, and its lower end is connected to the suction cup base plate, which indirectly drives the carton suction cup 11 to move up and down. The clamping cylinder 8 is mounted on the mounting base plate 1. The extension rod of the clamping cylinder 8 is connected to one of the clamping plates via a floating joint. The extension and retraction of the cylinder drives the clamping plate to open and clamp. The middle rotating shaft 3 is fixed on the mounting base plate 1. The swing rod 4 is mounted on the middle rotating shaft 3 via a bearing. The swing rod 4 can swing left and right. One end of the two linkages 6 is hinged to the swing rod 4, and the other end is hinged to the clamping plate crossbeam 5, forming a "linkage 6 synchronization mechanism". The clamping cylinder 8 drives one clamping plate to open and clamp, and the other clamping plate simultaneously achieves the opening and clamping action.

[0022] Pallet gripping: The lifting cylinder 10 retracts, causing the carton suction cup 11 to rise to its highest point, leaving space at the top of the pallet. The clamping cylinder 8 extends, and the left and right clamps 7 open to their maximum extent. The robot drives the gripper to descend to a suitable distance (as set in the robot program), i.e., the hook plate 12 at the lower end of the clamp is 10-20mm lower than the lower end of the upper panel at the pallet insertion hole. The robot stops descending, the clamping cylinder 8 retracts, and the left and right clamps 7 retract towards the middle until the left and right clamps 7 clamp the pallet (at this point, the clamping cylinder 8 has not completed its stroke). Then, the robot drives the gripper to rise and move horizontally, moving the pallet above the palletizing position and descending onto the palletizing conveyor line. The clamping cylinder 8 extends, and the left and right clamps 7 open to their maximum position, allowing the pallet to detach from the clamp control. The robot then rises back to its original position, the clamping cylinder 8 fully retracts to its initial state, the lifting cylinder 10 extends, and the carton suction cup 11 descends until the suction cup surface is lower than the lowest end of the left and right clamps 7. At this point, the gripper switches to the function of gripping the carton.

[0023] Cardboard box gripping: The gripper switches to the cardboard box gripping function. The robot lowers the entire device above the gripping line and descends. When the cardboard suction cup 11 contacts the cardboard box and is compressed and deformed by 5-10mm, the robot stops descending, the vacuum is turned on, the cardboard suction cup 11 adsorbs the cardboard box, and the vacuum level reaches the set range (equipped with a negative pressure detection element). The robot rises, lifting the cardboard box and moving it to the corresponding stacking position before descending the required distance (programmed). At this point, the bottom of the cardboard box is approximately 10-20mm away from the lower pallet or the top of the already stacked cardboard box. The robot stops descending, the vacuum is turned off, and positive pressure gas is injected into the vacuum line to break the vacuum by backflushing, causing the cardboard box to quickly detach from the cardboard suction cup 11 and fall. The stacking of a single cardboard box is completed. The robot continues to grip the next cardboard box, and so on, continuing the cardboard box stacking process.

[0024] like Figure 4 As shown, the palletizing gripper of this application has the functions of gripping pallets and palletizing cartons. It is suitable for situations where there is no palletizing machine auxiliary equipment and only a robot can separate a single pallet and carton for palletizing. It is also suitable for situations where one robot corresponds to 3 to 6 palletizing positions.

[0025] Process description:

[0026] The stacker 100 separates empty pallets 104 from a stack (usually 8-12 pallets stacked together) and transports them via a conveyor line to the pallet gripping position, where they await pickup by the robot 102. When an empty pallet 104 is needed at one of the six palletizing positions 103, the robot 102 drives the gripper to pick up an empty pallet 104 and place it on the corresponding palletizing position 103, ready for stacking cartons.

[0027] The packaged cartons 200 are conveyed onto the gripping conveyor line 202. When they reach the lifting stop 201, they are blocked from moving forward (at this time, the cylinder of the lifting stop 201 extends, and the baffle is higher than the roller surface, blocking the cartons 200). After reaching the correct position, the photoelectric sensor is triggered, and the barcode scanner 203 starts to scan the barcode on the cartons 200 and uploads the scanned information to the system for analysis and judgment to identify the type of product cartons 200. The system then feeds back the information to the palletizing control system PLC, which in turn transmits the relevant information to the robot 102. After the identification is completed, the cylinder of the lifting stop 201 retracts, the baffle descends, and the conveying channel is opened. The cartons 200 are then conveyed to the end of the gripping line, waiting to be gripped. After receiving the corresponding information, the robot 102 grips the cartons 200 and moves them to the corresponding palletizing position 103 for palletizing, and this process is repeated.

[0028] When the barcode scanner 203 fails to scan or the scanned information does not match the information of the six products, the lifting barrier 201 remains in the blocking state, the rejection mechanism 204 retracts its cylinder (in the initial state, the cylinder is extended and the push plate is inside the conveyor line, away from the rejection line position), the push plate pushes the carton 200 out of the gripping line range and into the rejection line 205, and then the rejection mechanism 204 returns to the initial state and continues to scan the next carton 200.

[0029] Once each palletizing position 103 has 200 cartons stacked, the full pallet line 300 starts, transporting the full pallet to the end of the conveyor line. The control system then issues an audible and visual alarm to indicate that the pallet is full, and waits for a forklift (either manually operated or AGV) to remove it and deliver it to the warehouse.

[0030] This system makes full use of the trajectory range of robot 102, maximizing the use of robot 102's functions. At the same time, it realizes the palletizing function of one robot for six different products and different pallet types. It makes full use of the robot's flexibility and maximizes the effect of replacing human labor with machines, greatly improving work efficiency, reducing the space occupied by equipment and workers, and also greatly eliminating errors caused by human factors.

[0031] In summary, this utility model provides a multifunctional palletizing gripper. The left and right clamps achieve synchronous left and right movement with the center as the reference through a "linkage synchronization mechanism". This enables the gripper to accurately place the pallet into the pallet position, ensuring that the relative position of the cartons to the pallet is stable when the cartons are stacked on the pallet, thus ensuring that the cartons are stacked in a standardized and flat manner.

[0032] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A multi-functional palletizing gripper, characterized by, The utility model relates to a kind of paper box conveying device, including installation base plate, linear slide, intermediate pivot, swing rod, clamping plate crossbeam, connecting rod, left and right clamping plate, clamping cylinder, the installation base plate is equipped with two pairs of linear slide of staggered parallel arrangement, the installation base plate central setting has intermediate pivot in linear slide, a swing rod is connected on the intermediate pivot, parallelly arranged with clamping plate crossbeam on each linear slide, the swing rod is respectively movably connected with the clamping plate crossbeam on adjacent linear slide by connecting rod, the clamping plate crossbeam on each pair of linear slide is bridged with left and right clamping plate in end side, one of the left and right clamping plate is connected to clamping cylinder parallel to linear slide.

2. The multi-functional palletizing gripper according to claim 1, characterized in that, The installation base plate is provided with a transfer flange on the back of the central intermediate pivot.

3. The multi-functional palletizing gripper according to claim 1, characterized in that, A pair of lifting cylinders are symmetrically arranged on the installation base plate, two groups of carton suction cups are hung on the lifting cylinders, the carton suction cups are located between the left and right clamping plates, and the stroke range of the lifting cylinders is greater than the height of the left and right clamping plates.

4. The multi-functional palletizing gripper according to claim 1, characterized in that, The lower edge of the left and right clamping plates is provided with a hook plate.

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