Stacker gripper structure

Abstract

This utility model discloses a palletizer gripper structure. It includes: a pneumatic lifting mechanism, comprising a lifting cylinder located at the center and a support guide column vertically surrounding the outside of the lifting cylinder; a piston rod extending vertically within the lifting cylinder, with a base connected below the piston rod, and a vacuum sponge suction cup for adsorbing cartons mounted on the lower end face of the base; symmetrical auxiliary gripping mechanisms on both sides of the base, each auxiliary gripping mechanism including an auxiliary gripping cylinder fixedly connected to the base, a telescopic rod located within the auxiliary gripping cylinder, and a gripping plate connected to the end of the telescopic rod, the middle of the gripping plate being connected to both sides of the base via a hinge. The advantages are: the composite gripping scheme utilizes vacuum adsorption to adapt to the irregular top surface of the packaging box, while providing reliable anti-fall protection through mechanical gripping, greatly improving the stability and reliability of the gripping and palletizing process.

Description

Technical Field

[0001] This utility model belongs to the field of packaging equipment technology, and in particular relates to a palletizer gripper structure. Background Technology

[0002] Palletizers are used to automatically stack finished products, such as boxed and bagged materials, from the production line according to a certain pattern for warehousing or transportation. Traditional palletizers often use purely mechanical gripping or purely vacuum suction structures. Mechanical gripping structures use cylinders to drive the clamping plates to grip the packaging boxes from both sides. Although the gripping force is large, for gable-top packages with uneven tops, uneven force can easily cause deformation or even damage to the box. Furthermore, it requires extremely high precision in the placement of the packaging boxes. Pure vacuum suction structures rely on suction cups to grip the top of the box. While they can adapt to certain shape changes, they are prone to problems such as weak adhesion and air leakage for gable-top packages with slight wrinkles or residual liquids. This can lead to boxes falling off during high-speed lifting or movement, resulting in insufficient reliability. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a palletizer gripper structure that can combine adsorption and clamping to improve gripping stability for packaging with uneven tops.

[0004] To solve the above-mentioned technical problems, the palletizer gripper structure of this utility model includes: a pneumatic lifting mechanism, which includes a lifting cylinder located at the center and a support guide column vertically surrounding the outside of the lifting cylinder; a piston rod that extends and retracts in the vertical direction is provided inside the lifting cylinder, and a base is connected below the piston rod. A vacuum sponge suction cup for adsorbing cartons is installed on the lower end face of the base; auxiliary clamping mechanisms are symmetrically provided on both sides of the base, and the auxiliary clamping mechanisms include an auxiliary clamping cylinder fixedly connected to the base, a telescopic rod located inside the auxiliary clamping cylinder, and a clamping plate connected to the end of the telescopic rod. The middle part of the clamping plate is connected to both sides of the base through a hinge.

[0005] The pneumatic lifting mechanism has a top plate, and the upper ends of the lifting cylinder and the support guide column are both fixed on the top plate.

[0006] The base has hanging mounting plates on both sides.

[0007] The auxiliary clamping cylinders on both sides are arranged opposite each other along the length of the base.

[0008] The clamping plate has an L-shaped structure. The upper end of the clamping plate is hinged to the telescopic rod via a connecting rod. The middle part of the clamping plate is hinged to the mounting plate of the base. The lower part of the clamping plate is a clamping part for clamping the carton.

[0009] The number of support guide columns is 4, and they are evenly distributed around the periphery of the lifting cylinder.

[0010] The support guide post has multiple mounting holes along its height for installing lateral reinforcements or fixing components.

[0011] Advantages of this utility model:

[0012] (1) A composite gripping scheme of “central adsorption + two-sided clamping” is adopted, which can adapt to the irregular top surface of the packaging box by vacuum adsorption and provide reliable anti-drop protection by mechanical clamping, which greatly improves the stability and reliability of the gripping and palletizing process.

[0013] (2) The vacuum sponge suction cup can fit well with the uneven top surface of the product and effectively compensate for positional errors. At the same time, in the auxiliary clamping mechanism, the hinged design in the middle of the clamping plate forms a force-saving lever structure. After the clamping part at the bottom of the clamping plate contacts the packaging box, it can adjust the angle slightly according to the size of the packaging box, avoiding rigid impact and excessive squeezing. It is suitable for packaging boxes that are easily deformed.

[0014] (3) All functional components are integrated on the base, with a compact and symmetrical layout. The auxiliary clamping cylinders on both sides are arranged opposite each other along the length of the base, so that the clamping force is balanced and the packaging box is tilted due to the force on one side. Multiple mounting holes are set on the support guide column, so that the height of the entire gripper structure can be flexibly adjusted according to the actual working conditions and the size of the packaging box, which enhances the overall versatility and adaptability of the equipment. Attached Figure Description

[0015] Figure 1 This is a front view of the palletizer gripper structure of this utility model;

[0016] Figure 2 This is a rear view of the palletizer gripper structure of this utility model;

[0017] Figure 3 This is a schematic diagram showing the bottom view of the palletizer gripper structure of this utility model;

[0018] Figure 4 This is a front view of the palletizer gripper structure of this utility model gripping a packaging box;

[0019] Figure 5 This is a schematic diagram of the top view of the palletizer gripper structure of this utility model gripping a packaging box. Detailed Implementation

[0020] The palletizer gripper structure of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Example:

[0022] The palletizer gripper structure includes a pneumatic lifting mechanism, which comprises a lifting cylinder 1 located at the center and four vertically surrounding the outside of the lifting cylinder 1. The lifting cylinder 1 contains a piston rod 3 that extends and retracts vertically. A base 4 is connected below the piston rod 3, and a vacuum sponge suction cup 5 for adsorbing packaging boxes is installed on the lower end face of the base 4. Hanging mounting plates 10 are provided on both sides of the base 4, and auxiliary clamping mechanisms are symmetrically arranged on both sides of the base 4. These auxiliary clamping mechanisms include components fixedly connected to the base 4. The auxiliary clamping cylinder 6, the telescopic rod 8 located inside the auxiliary clamping cylinder 6, and the clamping plate 7 connected to the end of the telescopic rod 8 are arranged opposite each other along the length of the base 4. The clamping plate 7 has an L-shaped structure. The upper end of the clamping plate 7 is hinged to the telescopic rod 8 through a connecting rod. The middle part of the clamping plate 7 is hinged to the mounting plate 10 of the base 4. The lower part of the clamping plate 7 is a clamping part for clamping the packaging box. The support guide column 2 has multiple mounting holes along the height direction, which can be flexibly adjusted according to the actual working conditions and the size of the packaging box.

[0023] Operation process:

[0024] Step 1: The pneumatic lifting mechanism moves the gripper above the target packaging box, the piston rod is in the upward position, and the clamping plate is in the open state.

[0025] Step 2: The piston rod of the lifting cylinder extends, pushing the base down so that the vacuum sponge suction cup contacts the upper surface of the packaging box.

[0026] Step 3: The vacuum sponge suction cup creates negative pressure, forming a sealed adsorption with the upper surface of the packaging box.

[0027] Step 4: The telescopic rod of the auxiliary clamping cylinder pushes the clamping plate to swing inward around the hinge point of the base mounting plate, so that the clamping part at the bottom of the clamping plate clamps the side wall of the packaging box.

[0028] Step 5: The piston rod of the lifting cylinder retracts, causing the base and the packaged box that has been attracted and clamped to move upward as a whole, thus achieving lifting and handling.

[0029] Step 6: After reaching the palletizing position, the piston rod of the lifting cylinder extends again, lowering the packaging box; the auxiliary clamping cylinder retracts, and the clamping plate opens; the vacuum suction cup releases its adsorption, and the packaging box falls to the target position.

Claims

1. A palletizer gripper structure, characterized in that, include: A pneumatic lifting mechanism is provided, comprising a lifting cylinder (1) located at the center and a support guide column (2) vertically surrounding the outside of the lifting cylinder (1); the lifting cylinder (1) is provided with a piston rod (3) that extends and retracts in the vertical direction, and a base (4) is connected below the piston rod (3); a vacuum sponge suction cup (5) for adsorbing cartons is installed on the lower end face of the base (4); auxiliary clamping mechanisms are symmetrically provided on both sides of the base (4), the auxiliary clamping mechanisms comprising an auxiliary clamping cylinder (6) fixedly connected to the base (4), a telescopic rod (8) located in the auxiliary clamping cylinder (6), and a clamping plate (7) connected to the end of the telescopic rod (8); the middle part of the clamping plate (7) is connected to both sides of the base (4) through a hinge.

2. The palletizer gripper structure according to claim 1, characterized in that: The pneumatic lifting mechanism is provided with a top plate (9), and the upper ends of the lifting cylinder (1) and the support guide column (2) are both fixed on the top plate (9).

3. The palletizer gripper structure according to claim 1, characterized in that: The base (4) has hanging mounting plates (10) on both sides.

4. The palletizer gripper structure according to claim 1, characterized in that: The auxiliary clamping cylinders (6) on both sides are arranged opposite each other along the length of the base (4).

5. The palletizer gripper structure according to claim 3, characterized in that: The clamping plate (7) has an L-shaped structure. The upper end of the clamping plate (7) is hinged to the telescopic rod (8) through a connecting rod. The middle part of the clamping plate (7) is hinged to the mounting plate (10) of the base (4). The lower part of the clamping plate (7) is a clamping part for clamping the carton.

6. The palletizer gripper structure according to claim 1, characterized in that: The number of the support guide columns (2) is 4 and they are evenly distributed around the lifting cylinder (1).

7. The palletizer gripper structure according to claim 1, characterized in that: The support guide post (2) has multiple mounting holes along the height direction for installing transverse reinforcements or fixing components.

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