Stacking gripper mechanism for a palletizer

Abstract

The utility model discloses a kind of stacking machine stacking gripper mechanisms, including gripper frame, the surface of gripper frame is provided with suction cup assembly, and the surface of gripper frame is symmetrically provided with two strip limit holes, the inner wall of strip limit hole is rotatably connected with two-way screw rod, the surface of two-way screw rod is threadedly connected with two movable seats, the bottom end of two movable seats is fixedly provided with extension plate, the end of two extension plates away from each other is fixedly provided with limit side plate, the surface of limit side plate is provided with reinforcing component, the suction cup assembly includes limit suction cup, the lower surface of gripper frame is provided with circular mounting hole. The utility model has flexible adjustment performance, by setting two-way screw rod and the movable seat threadedly connected with it, cooperate the transmission mechanism of driving motor, worm and worm gear, the accurate adjustment of the distance between two movable seats can be realized, to adapt to the stacking demand of different size of goods.

Description

Technical Field

[0001] This utility model relates to the field of palletizing machine technology, specifically a palletizing gripper mechanism for a palletizing machine. Background Technology

[0002] Palletizing is an indispensable part of modern logistics, warehousing, and manufacturing. Traditional manual palletizing methods are not only inefficient but also labor-intensive and prone to errors. With the development of automation technology, automated palletizers have gradually replaced manual palletizing, becoming key equipment for improving production efficiency and reducing labor intensity. In automated palletizers, the gripper mechanism is one of the core components, responsible for gripping, transporting, and stacking items.

[0003] Specifically, traditional palletizer gripper mechanisms often have limited adjustability, failing to flexibly adapt to the palletizing needs of items of different sizes. This leads to frequent gripper mechanism replacements or tedious adjustments in practical applications, reducing work efficiency. Furthermore, while some gripper mechanisms employ vacuum suction, the suction cups alone are insufficient for stability, and the lack of additional reinforcement at the bottom of the goods makes them susceptible to slippage or damage during palletizing, a problem particularly pronounced when handling fragile or valuable items.

[0004] Therefore, it is particularly important to develop a palletizing gripper mechanism for palletizing machines that has flexible adjustment performance, stable adsorption capacity, and enhanced support and reinforcement effect to address the above problems. Utility Model Content

[0005] The purpose of this utility model is to provide a palletizing gripper mechanism for a palletizing machine. Through innovative structural design, this mechanism achieves flexible gripping, stable adsorption, and support reinforcement of items, and is suitable for various automated palletizing operation scenarios.

[0006] A palletizing gripper mechanism for a palletizer includes a gripper frame. The surface of the gripper frame is provided with a suction cup assembly, and two strip-shaped limiting holes are symmetrically opened on the surface of the gripper frame. A bidirectional lead screw is rotatably connected to the inner wall of the strip-shaped limiting holes. Two movable seats are threadedly connected to the surface of the bidirectional lead screw. An extension plate is fixedly provided at the bottom end of each of the two movable seats. A limiting side plate is fixedly provided at the end of each of the two extension plates that is far apart from each other. A reinforcing assembly is provided on the surface of the limiting side plate.

[0007] The suction cup assembly includes a limiting suction cup. A circular mounting hole is provided on the lower surface of the gripper frame. The limiting suction cup is installed inside the circular mounting hole, and a pressure sensor is provided on the inner wall of the circular mounting hole. The sensing end of the pressure sensor overlaps with the surface of the limiting suction cup. An air extraction hose is fixedly embedded on the top of the limiting suction cup. A mounting frame is fixedly provided on the upper surface of the gripper frame, and an air extraction pump is fixedly provided on the upper surface of the mounting frame.

[0008] Preferably, the input end of the air pump extends to the bottom of the mounting bracket, and the input end of the air pump is fixedly connected to the top end of the air suction hose, and an electromagnetic pressure relief valve is fixedly provided on the surface of the air suction hose.

[0009] Preferably, the reinforcement component includes an electric telescopic rod fixedly connected to the surface of the extension plate, a movable pull rod fixedly connected to the telescopic end of the electric telescopic rod, a lifting plate slidably disposed on the surface of the limiting side plate, a driving block fixedly disposed on one side surface of the lifting plate, and the bottom end of the movable pull rod fixedly connected to the upper surface of the driving block.

[0010] Preferably, the surface of the limiting side plate is provided with a rectangular limiting hole, the size of which matches the size of the driving block, and the driving block is slidably connected to the inner wall of the rectangular limiting hole.

[0011] Preferably, a plurality of support plates are fixedly provided on the side surface of the lifting plate away from the drive block, and the plurality of support plates are evenly distributed on the bottom of the lifting plate.

[0012] Preferably, the surface of the gripper frame is provided with a motor mounting groove, the inner wall of the motor mounting groove is fixedly provided with a drive motor, the rotation shaft of the drive motor extends into the interior of the strip-shaped limiting hole and is fixedly provided with a worm, and the surface of the bidirectional lead screw is fixedly provided with a worm wheel, and the worm and the worm wheel mesh.

[0013] Preferably, two limiting baffles are symmetrically fixedly arranged on the upper surface of the gripper frame, and two guide slide rods are fixedly arranged between the two limiting baffles. The surface of the movable seat is provided with sliding through holes that match the guide slide rods, and the movable seat is slidably connected to the surface of the guide slide rods through the sliding through holes.

[0014] By adopting the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows:

[0015] 1. It has flexible adjustment performance. By setting a two-way lead screw and a movable seat connected to it by thread, and in conjunction with the transmission mechanism of drive motor, worm and worm wheel, the distance between the two movable seats can be precisely adjusted, so as to adapt to the palletizing needs of items of different sizes.

[0016] 2. It has stable adsorption capacity. By setting up a suction cup assembly, the limiting suction cup in the suction cup assembly achieves vacuum adsorption through an air pump. At the same time, the pressure sensor can monitor the pressure of the goods on the limiting suction cup in real time. When the limiting suction cup is under a certain pressure, it means that the goods are clamped in place, thereby activating the air pump to achieve the effect of automatically adsorbing the items, ensuring the stability of the items during the handling process. The electromagnetic pressure relief valve provides the function of quickly releasing the adsorption force when needed, increasing the safety of operation.

[0017] 3. It has an enhanced support and reinforcement effect. By setting up reinforcement components, the reinforcement components use electric telescopic rods to drive the lifting plate and the support plate on it to move up and down, providing additional support and fixation for the bottom of the adsorbed items, effectively preventing the items from slipping or being damaged during the stacking process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the bottom view structure of this utility model;

[0020] Figure 3 This is a partially enlarged structural schematic diagram of the present invention;

[0021] Figure 4 This is a schematic diagram of the orthographic section of the circular mounting hole of this utility model;

[0022] Figure 5 for Figure 1 Enlarged structural diagram at point A in the middle.

[0023] In the diagram: 1. Gripper frame; 2. Suction cup assembly; 3. Two-way lead screw; 4. Movable seat; 5. Extension plate; 6. Limiting side plate; 7. Reinforcing assembly; 8. Circular mounting hole; 9. Rectangular limiting hole; 10. Drive motor; 11. Worm gear; 12. Worm wheel; 13. Limiting baffle; 14. Guide slide rod; 15. Strip-shaped limiting hole;

[0024] 201. Limiting suction cup; 202. Suction hose; 203. Pressure sensor; 204. Mounting bracket; 205. Suction pump; 206. Electromagnetic pressure relief valve;

[0025] 701. Electric telescopic pole; 702. Movable tie rod; 703. Lifting plate; 704. Drive block; 705. Support plate. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figure 1-5 This utility model provides a technical solution: a palletizing gripper mechanism for a palletizing machine, mainly including a gripper frame 1, a suction cup assembly 2, a bidirectional lead screw 3, a movable seat 4, an extension plate 5, a limiting side plate 6, a reinforcing assembly 7, a drive motor 10, a worm gear 11, a worm wheel 12, a limiting baffle 13, a guide slide rod 14, and other components.

[0028] The gripper frame 1 is the main structure of the entire mechanism, used to support and fix other components. Its surface is provided with suction cup assemblies 2, and two symmetrically formed strip-shaped limiting holes 15 are provided for mounting and limiting the bidirectional lead screw 3. A mounting bracket 204 is also fixedly installed on the upper surface of the gripper frame 1 for mounting the air pump 205.

[0029] It is worth noting that the suction cup assembly 2 includes components such as a limiting suction cup 201, a vacuum hose 202, and a pressure sensor 203. The limiting suction cup 201 is installed in the circular mounting hole 8 on the lower surface of the gripper frame 1 for adsorbing items. The vacuum hose 202 is fixedly embedded in the top of the limiting suction cup 201 and connected to the input end of the vacuum pump 205 to achieve vacuum adsorption. The sensing end of the pressure sensor 203 overlaps with the surface of the limiting suction cup 201 for real-time monitoring of the adsorption force.

[0030] A bidirectional lead screw 3 is rotatably connected to the inner wall of the strip-shaped limiting hole 15. Two movable seats 4 are threadedly connected to the surface of the bidirectional lead screw 3. An extension plate 5 is fixedly installed at the bottom end of the movable seat 4, and a limiting side plate 6 is fixedly installed at the opposite end of the extension plate 5. By driving the bidirectional lead screw 3 to rotate, the two movable seats 4 can be moved towards or away from each other, thereby adjusting the distance between the limiting side plates 6 to accommodate items of different sizes.

[0031] It is worth noting that the reinforcement component 7 includes components such as an electric telescopic rod 701, a movable pull rod 702, a lifting plate 703, a drive block 704, and support plates 705. The electric telescopic rod 701 is fixedly connected to the surface of the extension plate 5, and its telescopic end is fixedly connected to the movable pull rod 702. The lifting plate 703 is slidably disposed on the surface of the limiting side plate 6, and a drive block 704 is fixedly disposed on one side surface of the lifting plate 703. The drive block 704 is fixedly connected to the bottom end of the movable pull rod 702. Several support plates 705 are evenly distributed on the bottom of the lifting plate 703 for supporting and reinforcing the adsorbed items.

[0032] It should be noted that a rectangular limiting hole 9 is provided on the surface of the limiting side plate 6. The size of the rectangular limiting hole 9 matches that of the driving block 704. The driving block 704 is slidably connected to the inner wall of the rectangular limiting hole 9. The rectangular limiting hole 9 can guide and limit the driving block 704, thereby improving the stability of the driving block 704 when it moves.

[0033] It should be noted that a motor mounting groove is provided on the surface of the gripper frame 1, and a drive motor 10 is fixedly installed on the inner wall of the motor mounting groove. The rotation shaft of the drive motor 10 extends into the interior of the strip-shaped limiting hole 15, and a worm gear 11 is fixedly installed thereon. A worm wheel 12 is fixedly installed on the surface of the bidirectional lead screw 3, and the worm gear 11 meshes with the worm wheel 12. The drive motor 10 drives the worm gear 11 to rotate, which in turn drives the worm wheel 12 and the bidirectional lead screw 3 to rotate, thereby realizing the movement of the movable seat 4.

[0034] It should be noted that two limiting baffles 13 are symmetrically fixedly installed on the upper surface of the gripper frame 1, and two guide slide rods 14 are fixedly installed between the two limiting baffles 13. The surface of the movable seat 4 has sliding through holes that match the guide slide rods 14, and the movable seat 4 is slidably connected to the surface of the guide slide rods 14 through these sliding through holes. This design ensures the stability and accuracy of the movable seat 4 during movement.

[0035] Working principle: In use, first adjust the distance between the limiting side plates 6 according to the size of the item. The drive motor 10 starts, driving the worm gear 11 to rotate, which in turn drives the worm wheel 12 and the double-acting lead screw 3 to rotate. Since the double-acting lead screw 3 is threadedly connected to the movable seat 4, the movable seat 4 will move along the guide slide 14 and stop after adjusting to the appropriate distance.

[0036] Then, the suction cup assembly 2 is aligned with the item, and the pressure sensor 203 can monitor the pressure of the goods on the limiting suction cup 201 in real time. When the limiting suction cup 201 is subjected to a certain pressure, it means that the goods have touched the top of the gripper frame 1 and are clamped in place. Then, the air pump 205 is started by the controller to achieve the effect of automatically adsorbing the item. The air is extracted from the limiting suction cup 201 through the air extraction hose 202 to form a vacuum environment, thereby adsorbing the item.

[0037] After the item is firmly attached, the reinforcement component 7 is activated as needed. The electric telescopic rod 701 extends, causing the movable pull rod 702 and the drive block 704 to move, which in turn drives the lifting plate 703 and the support plate 705 to descend, providing support and reinforcement to the bottom of the item.

[0038] After the palletizing operation is completed, the electric telescopic rod 701 retracts, and the lifting plate 703 and support plate 705 rise and reset. Simultaneously, the vacuum pump 205 stops working, and the electromagnetic pressure relief valve 206 opens, releasing the vacuum environment within the limiting suction cup 201, allowing the items to fall off. Then, the spacing of the limiting side plates 6 is adjusted to the next dimension, and the next round of palletizing operations begins.

[0039] In summary, the palletizing gripper mechanism of this utility model, through its innovative structural design, achieves flexible gripping, stable adsorption, and support reinforcement of items. This mechanism boasts advantages such as flexible adjustment, stable adsorption, reliable support, and easy operation, making it suitable for various automated palletizing operation scenarios and effectively improving the efficiency and quality of palletizing operations.

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

Claims

1. A palletizing gripper mechanism of a palletizer, comprising a gripper frame (1), characterized in that, The gripper frame (1) is provided with a suction cup assembly (2) on its surface, and two strip-shaped limiting holes (15) are symmetrically opened on the surface of the gripper frame (1). A two-way screw rod (3) is rotatably connected to the inner wall of the strip-shaped limiting hole (15). Two movable seats (4) are threadedly connected to the surface of the two-way screw rod (3). An extension plate (5) is fixedly provided at the bottom end of each of the two movable seats (4). A limiting side plate (6) is fixedly provided at the end of each of the two extension plates (5) that is far apart from each other. A reinforcing assembly (7) is provided on the surface of the limiting side plate (6). The suction cup assembly (2) includes a limiting suction cup (201). A circular mounting hole (8) is provided on the lower surface of the gripper frame (1). The limiting suction cup (201) is installed inside the circular mounting hole (8). A pressure sensor (203) is provided on the inner wall of the circular mounting hole (8). The sensing end of the pressure sensor (203) overlaps with the surface of the limiting suction cup (201). A suction hose (202) is fixedly embedded on the top of the limiting suction cup (201). A mounting bracket (204) is fixedly provided on the upper surface of the gripper frame (1). A suction pump (205) is fixedly provided on the upper surface of the mounting bracket (204).

2. The palletizing gripper of claim 1, wherein, The input end of the air pump (205) extends to the bottom of the mounting bracket (204), and the input end of the air pump (205) is fixedly connected to the top end of the air suction hose (202). An electromagnetic pressure relief valve (206) is fixedly provided on the surface of the air suction hose (202).

3. The palletizing robot gripper of claim 1, wherein, The reinforcement component (7) includes an electric telescopic rod (701) fixedly connected to the surface of the extension plate (5). The telescopic end of the electric telescopic rod (701) is fixedly connected to a movable pull rod (702). A lifting plate (703) is slidably arranged on the surface of the limiting side plate (6). A driving block (704) is fixedly arranged on one side surface of the lifting plate (703). The bottom end of the movable pull rod (702) is fixedly connected to the upper surface of the driving block (704).

4. The palletizing gripper mechanism for a palletizing machine according to claim 3, characterized in that, The surface of the limiting side plate (6) is provided with a rectangular limiting hole (9), the size of the rectangular limiting hole (9) is matched with the driving block (704), and the driving block (704) is slidably connected to the inner wall of the rectangular limiting hole (9).

5. A palletizing gripper according to claim 4, characterized in that, A number of support plates (705) are fixedly provided on the side surface of the lifting plate (703) away from the drive block (704), and the number of support plates (705) are evenly distributed on the bottom of the lifting plate (703).

6. The palletizing robot gripper of claim 1, wherein, The surface of the gripper frame (1) is provided with a motor mounting groove, and a drive motor (10) is fixedly installed on the inner wall of the motor mounting groove. The rotating shaft of the drive motor (10) extends into the interior of the strip-shaped limiting hole (15) and is fixedly installed with a worm (11). The surface of the bidirectional lead screw (3) is fixedly installed with a worm wheel (12), and the worm (11) meshes with the worm wheel (12).

7. The palletizing robot gripper of claim 1, wherein, Two limiting baffles (13) are symmetrically fixed on the upper surface of the gripper frame (1), and two guide slide rods (14) are fixed between the two limiting baffles (13). The surface of the movable seat (4) is provided with sliding through holes that match the guide slide rods (14), and the movable seat (4) is slidably connected to the surface of the guide slide rods (14) through the sliding through holes.

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