Carton lifting gripper device

Abstract

The utility model discloses a kind of carton lifting gripper devices, it is related to robot automatic gripper technical field.The utility model includes aluminium alloy fixed frame, and the movable side clamping plate of its lower side is set, and the top of aluminium alloy fixed frame is provided with displacement component in one end, and the inner wall of movable side clamping plate is all equipped with clamping cylinder through screw installation in front and back end, and the outer wall bottom of movable side clamping plate is all provided with lifting assembly in front and back end.The utility model can adjust the position of movable side clamping plate according to the size of carton by displacement component, increase the scope of application, simultaneously using clamping cylinder action drives movable side clamping plate movement and clamps carton, and it can prevent carton not easy to deform by exerting smaller clamping force, mainly play the role of anti-deviation, and using lifting assembly makes carton be gripped by gripper under the condition of not being subjected to very big clamping force, and stability is good.

Description

Technical Field

[0001] This utility model belongs to the field of robot automatic gripper technology, and in particular relates to a cardboard box lifting gripper device. Background Technology

[0002] Robotic grippers are fully automated devices used to grasp objects. They have significant applications in the daily chemical and oil processing industries. Currently, the gripper types used in similar products on the market are clamping, suction cup, and lifting. Clamping grippers use the pressure of two plates to clamp the object for transport. Because a strong clamping force is required to prevent the object from falling, this can lead to deformation of the object and increase the defect rate. Suction cup grippers use suction to firmly hold the object in place. The disadvantage is that they require the object surface to be smooth and cannot have dents or protrusions. The speed during operation cannot be too fast, otherwise there is a risk of the object falling.

[0003] However, it still has the following drawbacks in practical use:

[0004] 1. Existing clamping grippers require strong clamping force to prevent items from falling, which can lead to deformation of the items and increase the defect rate. Suction cup grippers require the surface of the object to be smooth and free of pits and protrusions. The speed during operation cannot be too fast, otherwise there is a risk of the object falling off.

[0005] 2. Existing cardboard box lifting grippers, when applying excessive clamping force, can easily damage the items, while applying insufficient clamping force can cause the items to fall, making them inconvenient to use. Therefore, we provide a cardboard box lifting gripper device to solve the aforementioned problems. Utility Model Content

[0006] The purpose of this utility model is to provide a carton lifting gripper device. By setting a displacement component, it can be adjusted according to the size of the carton, increasing its applicability. At the same time, the action of the clamping cylinder drives the movable side clamping plate to move and clamp the carton. During this process, in order to prevent the carton from easily deforming, the clamping force of the carton is very small, mainly to prevent deviation. In addition, by using the lifting component, the action of the lifting cylinder moves the support rod to the bottom of the carton, forming a hand supporting the bottom of the carton, so that the carton can be steadily wrapped by the gripper without a large clamping force, and the stability is good.

[0007] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0008] This utility model is a carton lifting gripper device, including an aluminum profile fixed frame and a movable side clamp plate disposed on one side below it. The fixed side clamp plate is installed on the other side of the bottom of the aluminum profile fixed frame by screws. A displacement component is provided at one end of the top of the aluminum profile fixed frame. Clamping cylinders are installed at the front and rear ends of the upper part of the inner wall of the movable side clamp plate by screws. Lifting components are provided at the front and rear ends of the bottom of the outer wall of the movable side clamp plate.

[0009] The displacement assembly includes a servo motor mounted on one end of the upper surface of the aluminum profile fixed frame, and a drive pulley mounted on the output shaft of the servo motor;

[0010] The lifting assembly includes a mounting plate installed on the outer wall of the movable side clamp, and a lifting cylinder installed on the outer wall of the mounting plate.

[0011] The present invention is further configured such that the outer wall of the driving pulley is connected to the outer wall of the driven pulley via a synchronous belt, and a ball screw is installed at the center of one side wall of the driven pulley.

[0012] The present invention is further configured such that one end of the ball screw passes through a bearing on the outer wall of the aluminum profile fixing frame and is rotatably connected to a bearing on the inner wall of the aluminum profile fixing frame, and a slider is threaded onto the outer wall of the ball screw.

[0013] The present invention is further configured such that a mounting base is installed on the top of the slider by screws, and the mounting base is slidably installed on the upper surface of the aluminum profile fixing frame.

[0014] The present invention is further configured such that movable adjustment plates are installed at the front and rear ends of the bottom of the mounting base by screws, and one side wall of the movable adjustment plate is connected to the telescopic end of the clamping cylinder.

[0015] The present invention is further configured such that a movable plate is installed at the telescopic end of the lifting cylinder, and support rods are arranged in an array from front to back on the outer wall of the movable plate.

[0016] This utility model has the following beneficial effects:

[0017] 1. This utility model, by setting a displacement component and a clamping cylinder, moves the movable side clamping plate to the position of a carton of corresponding size. The action of the clamping cylinder drives the movable side clamping plate to move and clamp the carton. During this process, in order to prevent the carton from easily deforming, the clamping force of the carton is very small, mainly to prevent deviation. At the same time, due to the combined action of the lead screw and the clamping cylinder, it can be adjusted according to the size of the carton, increasing the scope of application. It solves the problems of existing clamping grippers that require strong clamping force to prevent items from falling, which will lead to deformation of the items and increase the defect rate, and suction cup grippers that require the surface of the object to be smooth and not have pits or protrusions, and the speed during operation cannot be too fast, otherwise there is a risk of falling.

[0018] 2. This utility model, by setting up a lifting component, uses a lifting cylinder to move the support rod to the bottom of the carton, forming a hand supporting the bottom of the carton. This allows the carton to be stably wrapped by the gripper without much clamping force, resulting in good stability. It solves the problem that existing carton lifting gripper devices are prone to damaging items when applying too much clamping force, while items are prone to falling off when the clamping force is too little, making them inconvenient to use. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying 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.

[0020] Figure 1 A schematic diagram of the structure of a cardboard box lifting gripper device. Figure 1 .

[0021] Figure 2 A schematic diagram of the structure of a cardboard box lifting gripper device. Figure 2 .

[0022] Figure 3 This is a front view of a cardboard box lifting gripper device.

[0023] Figure 4 This is a top view of a cardboard box lifting gripper device.

[0024] The attached diagram lists the components represented by each number as follows:

[0025] 100-Aluminum profile fixed frame, 101-Fixed side clamping plate, 102-Modible side clamping plate, 200-Displacement component, 201-Servo motor, 202-Driven pulley, 203-Driven pulley, 204-Ball screw, 205-Slider, 206-Mounting base, 207-Modible adjustment plate, 300-Clamping cylinder, 400-Lifting component, 401-Lifting cylinder, 402-Moving plate, 403-Support rod, 404-Mounting 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1

[0028] Please see Figures 1 to 4 This utility model is a carton lifting gripper device, including an aluminum profile fixed frame 100 and a movable side clamp 102 disposed on one side below it. The other side of the bottom of the aluminum profile fixed frame 100 is fixed with screws to a fixed side clamp 101. A displacement component 200 is disposed at one end of the top of the aluminum profile fixed frame 100. The front and rear ends of the inner wall of the movable side clamp 102 are both fixed with screws to a clamping cylinder 300. The displacement component 200 includes a servo motor 201 mounted on one end of the upper surface of the aluminum profile fixed frame 100 and an active pulley 202 mounted on the output shaft of the servo motor 201.

[0029] Specifically, the outer wall of the driving pulley 202 is connected to the outer wall of the driven pulley 203 via a synchronous belt. A ball screw 204 is installed at the center of one side wall of the driven pulley 203. One end of the ball screw 204 passes through a bearing on the outer wall of the aluminum profile fixing frame 100 and is rotatably connected to a bearing on the inner wall of the aluminum profile fixing frame 100. A slider 205 is threaded onto the outer wall of the ball screw 204. A mounting seat 206 is installed on the top of the slider 205 by screws. The mounting seat 206 is slidably installed on the upper surface of the aluminum profile fixing frame 100. Movable adjustment plates 207 are installed at the front and rear ends of the bottom of the mounting seat 206 by screws. One side wall of the movable adjustment plate 207 is connected to the telescopic end of the clamping cylinder 300.

[0030] Furthermore, there is no contact connection between the movable side clamping plate 102 and the aluminum profile fixed frame 100. The servo motor 201 is fixed to the aluminum profile fixed frame 100 by sheet metal. The action of the clamping cylinder 300 can adjust the position of the movable side clamping plate 102 and cooperate with the fixed side clamping plate 101 to clamp the carton. The synchronous belt is sleeved on the outer wall of the driving pulley 202 and the driven pulley 203 to play a transmission role. The external thread on the outer wall of the ball screw 204 is threadedly connected to the threaded hole on the slider 205 to realize the transmission role. The mounting base 206 is slidably mounted on the aluminum profile fixed frame 100 and can play a role in limiting and guiding the slider 205.

[0031] The operation process of this embodiment is as follows: When multiple lines may need to use the gripper simultaneously, the system needs to correspond to the cardboard box size of each line. When the gripper grabs line A, the system controls the servo motor 201. The servo motor 201 drives the drive pulley 202 to rotate. The outer wall of the drive pulley 202 is connected to the outer wall of the driven pulley 203 via a synchronous belt. Therefore, when the drive pulley 202 rotates, it will drive the driven pulley 203 to rotate under the action of the synchronous belt. The rotation of the driven pulley 203 will drive the ball screw 204 to rotate synchronously. The external thread on the outer wall of the ball screw 204 is threadedly connected to the threaded hole on the slider 205. When the ball screw 204 rotates, it moves the slider 205 and the mounting base 206. Under the action of the movable adjusting plate 207 and the clamping cylinder 300, it drives the movable side clamping plate 102 to move synchronously, moving the movable side clamping plate 102 to the position of the corresponding size carton. When it reaches the carton gripping position, the clamping cylinder 300 is activated, driving the movable side clamping plate 102 to move and clamp the carton (this is to prevent the carton from easily deforming, so the clamping force of the carton is very small, mainly to prevent deviation). At the same time, due to the combined action of the screw and the clamping cylinder 300, it can be adjusted according to the size of the carton, increasing the applicability.

[0032] Example 2

[0033] Please see Figure 1 and Figure 3 Based on Embodiment 1, the difference from the first embodiment is that a lifting assembly 400 is provided. The lifting assembly 400 includes a mounting plate 404 installed on the outer wall of the movable side clamping plate 102, and a lifting cylinder 401 installed on the outer wall of the mounting plate 404. This solves the problem that existing carton lifting gripper devices are prone to damaging items when applying large clamping force, while items are prone to falling off when the clamping force is small, making them inconvenient to use.

[0034] Specifically, a movable plate 402 is installed at the telescopic end of the lifting cylinder 401, and support rods 403 are arranged in an array from front to back on the outer wall of the movable plate 402.

[0035] Furthermore, the position of the support rod 403 can be adjusted by extending and retracting the lifting cylinder 401 to lift the carton and improve stability.

[0036] The operation process of this embodiment is as follows: After the carton is clamped, the system controls the lifting cylinder 401. The lifting cylinder 401 pushes the moving plate 402 to move, so that the multiple support rods 403 on the moving plate 402 move and run to the bottom of the carton, forming a hand supporting the bottom of the carton. This allows the carton to be stably wrapped by the gripper without much clamping force. Finally, the carton is stably moved to the designated place, and then the carton is released (the release sequence is exactly the opposite of the clamping sequence). When it is time to grab another carton after the carton has been placed, the system will determine the size of the other carton and adaptively adjust to repeat the original carton clamping action.

[0037] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A carton lifting gripper device, comprising an aluminum profile fixed frame (100) and a movable side clamp (102) disposed on one side below it, wherein a fixed side clamp (101) is screwed onto the other side of the bottom of the aluminum profile fixed frame (100), characterized in that: The top end of the aluminum profile fixing frame (100) is provided with a displacement component (200), and the front and rear ends of the inner wall of the movable side clamp (102) are both equipped with clamping cylinders (300) by screws. The front and rear ends of the bottom of the outer wall of the movable side clamp (102) are both provided with lifting components (400). The displacement assembly (200) includes a servo motor (201) mounted on one end of the upper surface of the aluminum profile fixing frame (100), and a drive pulley (202) mounted on the output shaft of the servo motor (201). The lifting assembly (400) includes a mounting plate (404) mounted on the outer wall of the movable side clamp (102) and a lifting cylinder (401) mounted on the outer wall of the mounting plate (404).

2. The carton lifting gripper device according to claim 1, characterized in that, The outer wall of the driving pulley (202) is connected to the outer wall of the driven pulley (203) via a synchronous belt, and a ball screw (204) is installed at the center of one side wall of the driven pulley (203).

3. A carton lifting gripper device according to claim 2, characterized in that, One end of the ball screw (204) passes through the bearing on the outer wall of the aluminum profile fixing frame (100) and is rotatably connected to the bearing on the inner wall of the aluminum profile fixing frame (100). A slider (205) is threaded onto the outer wall of the ball screw (204).

4. A carton lifting gripper device according to claim 3, characterized in that, The top of the slider (205) is fitted with a mounting base (206) by screws, and the mounting base (206) is slidably mounted on the upper surface of the aluminum profile fixing frame (100).

5. A carton lifting gripper device according to claim 4, characterized in that, The bottom front and rear ends of the mounting base (206) are both fitted with movable adjustment plates (207) by screws, and one side wall of the movable adjustment plate (207) is connected to the telescopic end of the clamping cylinder (300).

6. A carton lifting gripper device according to claim 1, characterized in that, The telescopic end of the lifting cylinder (401) is equipped with a movable plate (402), and the outer wall of the movable plate (402) is equipped with support rods (403) arranged in an array from front to back.

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