Automatic packaging machine pneumatic gripper

Abstract

The utility model discloses a kind of pneumatic clamping jaw of automatic packaging machine, including clamping frame;The middle part of the lower surface of clamping frame is connected with the evenly distributed fixed clamping jaw by the bolt of symmetrical distribution, the inside sliding connection of clamping frame has sliding plate, the left and right ends of the lower surface of sliding plate are connected with movement clamping jaw by bolt two, the left and right ends of clamping frame bottom plate are evenly provided with recess, movement clamping jaw is located inside the recess of transverse adjacent, long strip shape product is set between the two movement clamping jaws of transverse adjacent and the fixed clamping jaw of longitudinal adjacent, the left and right ends of the upper surface of clamping frame bottom plate are fixedly connected with guide rail, the left and right ends of the lower surface of sliding plate are fixedly connected with two sliding seats.The utility model is adapted to different clamping product quantity by the mode of installation or disassembly movement clamping jaw and fixed clamping jaw component, can cooperate most existing transmission equipment use.

Description

Technical Field

[0001] This utility model relates to the field of automated packaging equipment technology, specifically to a pneumatic gripper for an automatic packaging machine. Background Technology

[0002] With the continuous increase in labor costs for manufacturing enterprises and the continuous development of intelligent manufacturing, intelligent automatic packaging equipment is increasingly being used in production, manufacturing and warehousing management. The pneumatic gripper of the automatic packaging machine is an actuator that uses compressed air to achieve gripping and releasing actions, playing a key role in material handling, assembly and packaging in automatic packaging machines.

[0003] Most existing grippers use a separate telescopic cylinder to drive the opening and closing of the gripper, thereby achieving the gripping and release of individual products. At the same time, the position of the gripped product is adjusted by the rotation of the robotic arm of the automatic packaging machine, and then the product is placed from the feeding area into the packaging carrier. When the number of grippers changes, the entire set of grippers needs to be replaced. Equipment maintenance personnel need to frequently adjust parameters, which wastes costs and manpower. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the existing defects and provide a pneumatic gripper for an automatic packaging machine. By installing or disassembling the moving gripper and the fixed gripper assembly, it can adapt to different quantities of products to be gripped. It can be used with most existing transmission equipment and can effectively solve the problems in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic packaging machine pneumatic gripper, including a gripping frame and a controller; The lower surface of the gripper is connected to a uniformly distributed fixed gripper by symmetrically distributed bolts. A sliding plate is slidably connected inside the gripper. The left and right ends of the lower surface of the sliding plate are connected to movable grippers by bolts. The left and right ends of the gripper base plate are provided with uniformly distributed notches. The movable grippers are located inside the horizontally adjacent notches. A long strip product is provided between two horizontally adjacent movable grippers and a vertically adjacent fixed gripper.

[0006] Furthermore, guide rails are fixedly connected to both the left and right ends of the upper surface of the gripper base plate, and two sliding seats are fixedly connected to both the left and right ends of the lower surface of the sliding plate. The lower ends of two longitudinally adjacent sliding seats are slidably connected to the upper end of the same guide rail, providing sliding support and guiding limit for the sliding plate, thereby providing guiding limit for the movement of the moving gripper.

[0007] Furthermore, a telescopic cylinder is provided in the middle of the rear inner wall of the gripper, a drive plate is fixedly connected to the rear end of the sliding plate, the front end of the piston rod of the telescopic cylinder is fixedly connected to the rear end of the drive plate, the air port of the telescopic cylinder is connected to the air outlet of an external air pump through an air pipe, and the input end of the external air pump is electrically connected to the output end of the controller to provide driving force for the movement of the sliding plate.

[0008] Furthermore, a laser rangefinder is provided in the middle of the rear inner wall of the gripper. The laser rangefinder is longitudinally aligned with the drive board and is bidirectionally electrically connected to the controller to monitor the moving distance of the gripper in real time.

[0009] Furthermore, the left and right ends of the gripping frame base plate are provided with symmetrically distributed sliding openings, and guide rods are slidably connected inside the sliding openings. The lower ends of two longitudinally adjacent guide rods are fixedly connected to the upper end of the same lower pressure plate. The left and right ends of the gripping frame are provided with telescopic cylinders II. The lower ends of the piston rods of telescopic cylinders II are fixedly connected to the upper ends of the vertically adjacent lower pressure plates. The air ports of telescopic cylinders II are connected to the air outlet of an external air pump through air pipes II, providing driving force for the discharge of long strip products.

[0010] Furthermore, a mounting frame is fixedly connected to the center of the upper surface of the gripper, and the upper end of the mounting frame is provided with evenly distributed mounting holes to realize the connection between the gripper and the moving end of the automatic packaging machine robotic arm.

[0011] Compared with the prior art, the beneficial effects of this utility model are: The longitudinal movement of the sliding plate is achieved by extending the piston rod of the telescopic cylinder, which in turn enables the longitudinal movement of the moving gripper. Finally, the opening and closing of the gripper assembly consisting of the moving gripper and the fixed gripper enables the clamping and release of long strip products. By installing or disassembling the moving gripper and the fixed gripper assembly, it can adapt to different numbers of products to be clamped. It can be used with most existing transmission equipment, avoiding the need for equipment maintenance personnel to frequently adjust parameters. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a cross-sectional view of the internal structure of this utility model; Figure 3 This is a schematic diagram of the left-side structure of the present invention, viewed in cross-section from the left side.

[0013] In the diagram: 1. Clamping frame, 2. Sliding plate, 3. Notch, 4. Moving gripper, 5. Fixed gripper, 6. Guide rail, 7. Sliding seat, 8. Drive plate, 9. Telescopic cylinder one, 10. Laser rangefinder sensor, 11. Guide rod, 12. Lower pressure plate, 13. Telescopic cylinder two, 14. Long strip product, 15. Mounting bracket, 16. Controller. Detailed Implementation

[0014] 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.

[0015] Please see Figure 1-3 This embodiment provides a technical solution: an automatic packaging machine pneumatic gripper, including a gripping frame 1 and a controller 16.

[0016] The gripper 1 has a centrally located lower surface with evenly distributed fixed grippers 5 connected by symmetrically distributed bolts. A sliding plate 2 is slidably connected inside the gripper 1. Moving grippers 4 are connected to the left and right ends of the lower surface of the sliding plate 2 by bolts. Evenly distributed recesses 3 are provided at both ends of the base plate of the gripper 1. The moving grippers 4 are located inside the laterally adjacent recesses 3. A long strip product 14 is provided between each of the two laterally adjacent moving grippers 4 and the longitudinally adjacent fixed grippers 5. The left and right ends of the upper surface of the base plate of the gripper 1... Each of the slide plates 2 is fixedly connected to a guide rail 6. Two sliding seats 7 are fixedly connected to the left and right ends of the lower surface of the slide plate 2. The lower ends of two longitudinally adjacent sliding seats 7 are slidably connected to the upper end of the same guide rail 6. A telescopic cylinder 9 is provided in the middle of the rear inner wall of the clamping frame 1. A drive plate 8 is fixedly connected to the rear end of the slide plate 2. The front end of the piston rod of the telescopic cylinder 9 is fixedly connected to the rear end of the drive plate 8. The air port of the telescopic cylinder 9 is connected to the air outlet of an external air pump through an air pipe. The input end of the external air pump is electrically connected to the output end of the controller 16.

[0017] Wherein: A laser rangefinder 10 is provided in the middle of the rear inner wall of the gripper 1. The laser rangefinder 10 is longitudinally aligned with the drive board 8 and is bidirectionally electrically connected to the controller 16.

[0018] The gripper 1 has symmetrically distributed sliding openings at both ends of its base plate. Guide rods 11 are slidably connected inside each sliding opening. The lower ends of two longitudinally adjacent guide rods 11 are fixedly connected to the upper end of the same lower pressure plate 12. Telescopic cylinders 13 are provided at both ends of the gripper 1. The lower ends of the piston rods of telescopic cylinders 13 are fixedly connected to the upper ends of the vertically adjacent lower pressure plates 12. The air ports of telescopic cylinders 13 are connected to the air outlet of an external air pump through air pipes 2.

[0019] The clamping frame 1 has a mounting frame 15 fixedly connected to the center of its upper surface, and the upper end of the mounting frame 15 has evenly distributed mounting holes.

[0020] The working principle of this utility model is as follows: During operation, the operator uses mounting bolts to stably connect the mounting holes of the mounting bracket 15 with the threaded holes of the moving end of the automatic packaging machine robotic arm, thereby achieving stable installation of the gripper 1, the sliding plate 2, and other mechanisms. After the installation is stable, the vertical and horizontal movement of the moving end of the automatic packaging machine robotic arm enables the position adjustment of the gripper 1. When the gripper 1 reaches the feeding area of ​​the automatic packaging machine, the controller 16 activates the external air pump. The external air pump pumps gas into the air port of the telescopic cylinder 9 through the air pipe. The piston rod of the telescopic cylinder 9 extends and pushes the drive plate 8 to move. The drive plate 8 moves forward and drives the sliding plate 2 to move forward. At the same time, the sliding seat 7 at the lower end of the sliding plate 2 slides forward on the upper end of the adjacent guide rail 6, providing sliding support and guiding limit for the sliding plate 2, and preventing the piston rod of the telescopic cylinder 9 from being deformed by radial force, thereby preventing the transmission performance of the telescopic cylinder 9 from being affected. The forward movement of the sliding plate 2 drives the evenly distributed moving grippers 4 to move. The moving grippers 4 all move forward inside the corresponding recess 3. The front surface of the moving gripper 4 and the rear surface of the corresponding fixed gripper 5 support each other to achieve clamping and limiting of the long strip product 14. Simultaneously, the controller 16 activates the laser rangefinder 10. The laser probe of the laser rangefinder 10 emits a laser beam towards the rear surface of the drive plate 8. After reaching the rear surface of the drive plate 8, the laser beam is reflected back to the laser probe of the laser rangefinder 10. Based on the speed of light and the time of laser reflection, the real-time distance between the laser probe of the laser rangefinder 10 and the rear surface of the drive plate 8 is calculated (the distance between the laser probe of the laser rangefinder 10 and the rear surface of the drive plate 8 is b). The front surface of the moving gripper 4 and the rear surface of the adjacent fixed gripper 5 are vertically aligned. The initial value of the projection spacing on the plane is a. Let the clamping distance between the moving gripper 4 and the corresponding fixed gripper 5 be c, c=ab. The real-time data of c is obtained by measuring b, so as to achieve stable clamping of the long strip product. The spacing information is sent to the signal receiving end of the controller 16 in real time. The controller 16 calculates the projection spacing of the front surface of the moving gripper 4 and the rear surface of the adjacent fixed gripper 5 on the vertical plane based on this, so as to achieve stable clamping of the long strip product 14 and prevent damage to the long strip product 14 due to excessive clamping. Once the clamping is stable, the external air pump stops pumping gas into the telescopic cylinder 9, and then the robotic arm of the automatic packaging machine moves to adjust the position of the gripper 1, thereby realizing the position adjustment of the long strip product 14 in the gripping. When the long strip product being clamped reaches the unloading area, the external air pump draws gas from the inside of the telescopic cylinder 9 through the air pipe, causing the piston rod of the telescopic cylinder 9 to retract, which in turn causes the sliding plate 2 to move backward. The backward movement of the sliding plate 2 drives the evenly distributed moving grippers 4 to move backward, ending the clamping of the long strip product 14. Simultaneously, controller 16 controls an external air pump, which pumps gas into the interior of telescopic cylinder 13 through the air pipe. The piston rod of telescopic cylinder 13 extends and pushes the lower pressure plate 12 downward. At the same time, the guide rods 11 slide downward inside the corresponding sliding ports, providing sliding support for the lower pressure plate 12. This prevents the piston rod of telescopic cylinder 13 from being deformed by radial force, thereby preventing the transmission performance of telescopic cylinder 13 from being affected. The lower pressure plate 12 moves downward and pushes the long strip product 14 downward, pressing the long strip product 14 into the packaging carrier.

[0021] It is worth noting that the laser rangefinder 10 disclosed in the above embodiments can be HLM10, the controller 16 can be DX8808M-2, and the controller 16 controls the operation of the external air pump and the laser rangefinder 10 using methods commonly used in the prior art.

[0022] 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 based on the content of this utility model specification and drawings, 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 pneumatic gripper for an automatic packaging machine, characterized in that: Includes a gripper (1) and a controller (16); The lower surface of the gripper (1) is connected to a uniformly distributed fixed gripper (5) by a symmetrically distributed bolt. The gripper (1) is slidably connected to a sliding plate (2). The left and right ends of the lower surface of the sliding plate (2) are connected to moving grippers (4) by bolts. The left and right ends of the bottom plate of the gripper (1) are provided with uniformly distributed recesses (3). The moving grippers (4) are located inside the horizontally adjacent recesses (3). A long strip product (14) is provided between the two horizontally adjacent moving grippers (4) and the vertically adjacent fixed grippers (5).

2. The pneumatic gripper of an automatic packaging machine according to claim 1, characterized in that: The left and right ends of the upper surface of the base plate of the clamping frame (1) are fixedly connected to guide rails (6), and the left and right ends of the lower surface of the sliding plate (2) are fixedly connected to two sliding seats (7). The lower ends of the two longitudinally adjacent sliding seats (7) are slidably connected to the upper end of the same guide rail (6).

3. The pneumatic gripper of an automatic packaging machine according to claim 1, characterized in that: A telescopic cylinder (9) is provided in the middle of the inner rear wall of the clamping frame (1). A drive plate (8) is fixedly connected to the rear end of the sliding plate (2). The front end of the piston rod of the telescopic cylinder (9) is fixedly connected to the rear end of the drive plate (8). The air port of the telescopic cylinder (9) is connected to the air outlet of an external air pump through an air pipe. The input end of the external air pump is electrically connected to the output end of the controller (16).

4. The pneumatic gripper of an automatic packaging machine according to claim 1, characterized in that: A laser rangefinder (10) is provided in the middle of the rear inner wall of the gripper (1). The laser rangefinder (10) is longitudinally aligned with the drive board (8), and the laser rangefinder (10) is bidirectionally electrically connected to the controller (16).

5. The pneumatic gripper of an automatic packaging machine according to claim 1, characterized in that: The left and right ends of the base plate of the clamping frame (1) are provided with symmetrically distributed sliding openings. The inside of each sliding opening is slidably connected with a guide rod (11). The lower ends of two longitudinally adjacent guide rods (11) are fixedly connected to the upper end of the same lower pressure plate (12). The left and right ends of the clamping frame (1) are provided with telescopic cylinders (13). The lower ends of the piston rods of the telescopic cylinders (13) are fixedly connected to the upper ends of the vertically adjacent lower pressure plates (12). The air ports of the telescopic cylinders (13) are connected to the air outlet of the external air pump through the air pipe.

6. The pneumatic gripper of an automatic packaging machine according to claim 1, characterized in that: A mounting bracket (15) is fixedly connected to the center of the upper surface of the clamping frame (1), and the upper end of the mounting bracket (15) is provided with evenly distributed mounting holes.

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