A grabbing type unloading device

Abstract

The utility model relates to the technical field of blanking equipment, concretely is a kind of grabbing type blanking device, including conveying part, grabbing mechanism, travelling mechanism, connecting part, limiting mechanism and support part, the limiting mechanism has two, both are located conveying part downside, one limiting mechanism is located in conveying part terminal, another limiting mechanism is located in conveying part middle part, when the limiting mechanism of terminal rises, intercepts the food packaging box of conveying part terminal, so that the packaging box stays below grabbing mechanism;The utility model is through setting middle part and terminal two limiting mechanisms in conveying part, and cooperate with the grabbing mechanism that can move horizontally, constructs the double-station mode of " prestore and wait to grab " and " execute to grab ". After grabbing mechanism returns, the next one can be immediately grabbed from the packaging box released by middle part limiter, effectively eliminates the empty waiting cycle caused by manipulator moving time, significantly improves the coherence and overall efficiency of blanking operation.

Description

Technical Field

[0001] This utility model relates to the field of material feeding equipment technology, and in particular to a gripping material feeding device. Background Technology

[0002] In modern packaging production lines in industries such as food and pharmaceuticals, automated unloading devices are widely used to transfer packaged finished boxes from the conveyor line to the palletizing area or the next process stage. Common unloading devices typically include a conveyor mechanism and a gripping robot that can move above it.

[0003] In actual operation, to ensure accurate gripping, packaging boxes on the conveyor line need to stop precisely at the gripping station. Existing technologies often use a single stop at the gripping station. When the gripping robot performs the gripping and transferring action, subsequent packaging boxes must wait on the conveyor line until the robot returns and is ready for the next gripping. This "single-point gripping - full-line waiting" mode makes the robot's movement and return time a key factor limiting the overall feeding cycle time, resulting in the conveyor line's conveying efficiency not being fully utilized and hindering further improvements in overall production efficiency.

[0004] Therefore, the present invention aims to solve the above-mentioned technical problems and provide a gripping feeding device that can achieve more efficient connection between conveying and gripping actions, reduce waiting time, and thus effectively improve the production cycle and equipment utilization rate of the feeding process. Utility Model Content

[0005] The main objective of this invention is to provide a gripping feeding device to solve the problems raised in related technologies.

[0006] To achieve the above objectives, according to one aspect of the present invention, a gripping feeding device is provided, comprising: The conveying section is used to hold food packaging boxes and transport them forward. A gripping mechanism, comprising several gripping mechanisms, is used to grip food packaging boxes on the conveyor section; The walking mechanism can move left and right above the conveying section to drive the gripping mechanism to move left and right. After the gripping mechanism grips the food packaging box on the conveying section, it moves to the next process. A connecting part is used to install the gripping mechanism and to mount the gripping mechanism onto the walking mechanism; There are two limiting mechanisms, both located on the lower side of the conveying section. One limiting mechanism is located at the end of the conveying section, and the other limiting mechanism is located in the middle of the conveying section. When the limiting mechanism at the end of the conveying section is raised, it intercepts the food packaging box at the end of the conveying section, causing the packaging box to stop below the gripping mechanism. When the limiting mechanism in the middle of the conveying section is raised, it intercepts the food packaging box at the front of the conveying section, causing the packaging box to move away from the gripping mechanism.

[0007] A support section is located above the periphery of the conveying section and is used to install a traveling mechanism; the traveling mechanism can move left and right along the support section.

[0008] Furthermore, the conveying unit includes a rectangular secondary support frame, inside which a plurality of rollers are rotatably mounted. Both ends of each roller are fixedly provided with an inner sprocket and an outer sprocket, with the inner sprocket located inside the outer sprocket.

[0009] Furthermore, the limiting mechanism includes a horizontal plate and a first cylinder fixedly disposed on the lower surface of the horizontal plate. A connecting plate is fixedly disposed at the end of the piston rod of the first cylinder. A plurality of limiting rods are fixedly disposed on the upper surface of the connecting plate. The limiting rods pass through the horizontal plate and are slidably connected to the horizontal plate.

[0010] Furthermore, the support portion includes a rectangular main support frame, on which toothed plates and guide rails are fixedly provided on opposite sides.

[0011] Furthermore, the walking mechanism includes a walking frame and a first motor fixedly mounted on the walking frame. A drive sprocket is fixedly mounted on the output shaft of the first motor. A connecting shaft is rotatably mounted below the walking frame. A driven sprocket is fixedly mounted on the connecting shaft. The driven sprocket is located directly below the drive sprocket, and a second chain is mounted on the outer ring of both. Gears are fixedly mounted on both ends of the connecting shaft, and slots are provided at the bottom of both ends of the walking frame.

[0012] Furthermore, the connecting part includes a connecting frame and several connecting blocks, all of which are fixedly mounted on the top of the connecting frame.

[0013] Furthermore, the gripping mechanism includes a driving component and several clamping components. The driving component is used to drive the clamping components to open and close synchronously, for gripping or releasing food packaging boxes.

[0014] Furthermore, the drive assembly includes a second cylinder, the piston rod end of the second cylinder is fixedly provided with a linker, a plurality of columns are fixedly provided on the linker, and through slots are provided on the columns.

[0015] Furthermore, the clamping assembly includes a support column and a clamping rod rotatably connected to the support column, with a crossbar fixedly connected to the upper end of the clamping rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention establishes a dual-station mode of "pre-storage for grabbing" and "execution for grabbing" by setting two limiting mechanisms at the middle and end of the conveying section, which cooperate with a laterally movable gripping mechanism. When the end limiting mechanism rises to intercept packaging boxes for the gripping mechanism to grab, the middle limiting mechanism can rise simultaneously, intercepting subsequent packaging boxes at a position away from the gripping point. This allows the rear conveyor line to continue to be transported to the middle limiting mechanism to queue up while the gripping mechanism is performing the current gripping and transfer task, without having to stop the entire line. After the gripping mechanism returns, the next packaging box can be grabbed immediately from the packaging box released by the middle limiting mechanism, effectively eliminating the waiting period caused by the robot's movement time and significantly improving the continuity and overall efficiency of the unloading operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall design of this utility model; Figure 2 This is a partially enlarged schematic diagram of the present invention; Figure 3 This is a schematic diagram of the walking mechanism structure of this utility model; Figure 4 This is a schematic diagram of the connecting part structure of this utility model; Figure 5 This is a schematic diagram of the gripping mechanism of this utility model; Figure 6 This is a schematic diagram of the limiting mechanism of this utility model.

[0018] Figure label: 1. Support section; 11. Main support frame; 12. Gear plate; 13. Guide rail; 2. Conveying section; 21. Secondary support frame; 22. Middle roller shaft; 23. Front roller shaft; 24. Rear roller shaft; 25. Inner sprocket; 26. Outer sprocket; 27. First chain; 3. Limiting mechanism; 31. Horizontal plate; 32. First cylinder; 33. Connecting plate; 34. Limiting rod; 4. Traveling mechanism; 41. Traveling frame; 42. First motor; 43. Drive sprocket; 44. Driven sprocket; 45. Second chain; 46. Slot; 47. Coupling; 48. Gear; 49. Mounting plate; 5. Connecting part; 51. Connecting frame; 52. Connecting block; 6. Gripping mechanism; 61. Second cylinder; 62. Handle; 63. Column; 64. Horizontal shaft; 65. Support column; 66. Clamping rod; 67. Crossbar; 68. Through slot. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0020] This embodiment provides a gripping feeding device, such as... Figure 1 As shown, it mainly includes a support part 1, a conveying part 2, a limiting mechanism 3, a traveling mechanism 4, a connecting part 5, and a gripping mechanism 6.

[0021] The support section 1 forms the top frame of the entire device. The support section 1 includes a rectangular main support frame 11, which is fixedly installed above the working area. On the two opposite long sides of the main support frame 11, toothed plates 12 and guide rails 13 are fixedly installed respectively.

[0022] Conveying section 2 is used to hold and transport food packaging boxes. For example... Figure 2 As shown, the conveying unit 2 includes a rectangular secondary support frame 21 located below the main support frame 11. Inside the secondary support frame 21, multiple rollers (e.g., a middle roller 22, a front roller 23, a rear roller 24, etc.) are rotatably mounted via bearing seats and other structures. Each roller has an inner sprocket 25 and an outer sprocket 26 fixedly mounted at both ends, with the inner sprocket 25 located inside the outer sprocket 26. To drive all rollers to rotate synchronously, they are interconnected via a first chain 27. Specifically, the connection method is as follows: for example, the inner sprocket 25 of the middle roller 22 is engaged with the inner sprocket 25 of the rear roller 24 via a first chain 27; simultaneously, the outer sprocket 26 of the middle roller 22 is engaged with the outer sprocket 26 of the front roller 23 via another first chain 27. All rollers are connected in series according to this pattern, and one of the rollers is driven to rotate by a second motor (not shown in the figure) mounted on the secondary support frame 21. This drives all the rollers to rotate together through the chain drive system, thus realizing the forward transport of the food packaging box.

[0023] There are two limiting mechanisms 3, both located on the lower side of the conveying section 2. One limiting mechanism 3 is located at the end of the conveying section 2, and the other is located in the middle of the conveying section 2. The conveying section 2 between the two limiting mechanisms 3 is the gripping station. Figure 6As shown, each limiting mechanism 3 includes a horizontal plate 31 fixedly installed below the secondary support frame 21. A first cylinder 32 is fixedly installed on the lower surface of the horizontal plate 31, with the piston rod end of the first cylinder 32 facing downwards and fixedly connected to a connecting plate 33. Two limiting rods 34 are fixedly connected to the upper surface of the connecting plate 33. These limiting rods 34 pass upwards through the horizontal plate 31 and slide in cooperation with the horizontal plate 31, with the top of the limiting rods 34 positioned exactly in the gap between two adjacent rollers on the conveying section 2. When the piston rod of the first cylinder 32 extends, it pushes the connecting plate 33 downwards, thereby causing the limiting rods 34 to descend, so that their tops are below the top surface of the rollers, no longer obstructing the passage of the packaging box. When the piston rod of the first cylinder 32 retracts, it causes the connecting plate 33 and the limiting rods 34 to move upwards, so that the tops of the limiting rods 34 extend out of the roller gaps, above the top surface of the rollers, thereby intercepting and blocking the packaging box from continuing to move forward.

[0024] The traveling mechanism 4 is used to drive the gripping mechanism 6 to move left and right above the conveyor section 2. For example... Figure 3 As shown, the traveling mechanism 4 includes a traveling frame 41. A first motor 42 is fixedly mounted on the traveling frame 41, and a drive sprocket 43 is fixedly mounted on the output shaft of the first motor 42. Below the traveling frame 41, a connecting shaft 47 is rotatably mounted via a bearing housing, and a driven sprocket 44 is fixedly mounted on the connecting shaft 47, located directly below the drive sprocket 43. The drive sprocket 43 and the driven sprocket 44 are driven by a second chain 45. Gears 48 are fixedly mounted at both ends of the connecting shaft 47. At the bottom of both ends of the traveling frame 41, there are also slots 46 that mate with guide rails 13. During installation, the slots 46 at both ends of the traveling frame 41 are respectively engaged with the guide rails 13 on both sides of the support part 1 and can slide along the guide rails 13; at the same time, the gears 48 at both ends of the connecting shaft 47 mesh with the toothed plates 12 on both sides. When the first motor 42 starts, it drives the connecting shaft 47 to rotate via the driving sprocket 43, the second chain 45, and the driven sprocket 44. The gears 48 at both ends of the connecting shaft 47 then roll on the fixed toothed plate 12, thereby driving the entire walking mechanism 4 to move stably left and right along the guide rail 13. At the bottom end of the walking frame 41, a mounting plate 49 for mounting the connecting part 5 is fixedly provided.

[0025] The connecting part 5 is used to install the gripping mechanism 6 and connect it to the traveling mechanism 4. For example... Figure 4 As shown, the connecting part 5 includes a connecting frame 51 and four connecting blocks 52 fixedly mounted on the top of the connecting frame 51. These connecting blocks 52 are fixedly connected to the mounting plate 49 of the traveling mechanism 4 by bolts, so that the connecting frame 51 and the gripping mechanism 6 on it can move together with the traveling mechanism 4.

[0026] The gripping mechanism 6 is used to grip and release food packaging boxes on the conveyor unit 2. For example... Figure 5As shown, the gripping mechanism 6 includes a drive assembly and four clamping assemblies. The drive assembly includes a second cylinder 61 fixedly mounted on the lower surface of the connecting frame 51, and a connecting rod 62 is fixedly connected to the piston rod end of the second cylinder 61. Four columns 63 are fixedly mounted on the connecting rod 62, and each column 63 has a through slot 68, and a horizontal shaft 64 is fixedly inserted into the through slot 68.

[0027] Each clamping assembly includes a support column 65 fixedly mounted on the lower surface of the connecting frame 51 and a clamping rod 66 rotatably connected to the support column 65. A crossbar 67 is fixedly connected to the upper end of the clamping rod 66, and the crossbar 67 and the clamping rod 66 are arranged at approximately a right angle, both of which can rotate around the support column 65. The free end of the crossbar 67 extends into the through groove 68 of the corresponding column 63, and the portion of the crossbar 67 located in the through groove 68 has an elongated hole through which the aforementioned horizontal shaft 64 passes. When the piston rod of the second cylinder 61 extends or retracts, it drives the armature 62 and all columns 63 to move up and down. The column 63, through the engagement of the horizontal shaft 64 and the elongated hole on the crossbar 67, converts the vertical linear motion into the swinging motion of the crossbar 67 around its connection point with the clamping rod 66, thereby driving the lower ends of all clamping rods 66 to synchronously perform clamping or opening actions to achieve the gripping and release of the food packaging box.

[0028] The working process of the device is as follows: Conveying unit 2 continuously conveys packaging boxes. When unloading is required, the first cylinder 32 of the end limiting mechanism 3 activates, causing the limiting rod 34 to rise and intercept the packaging box, stopping it precisely at the gripping station. When four packaging boxes are stopped at this position, the middle limiting mechanism 3 activates, intercepting subsequent packaging boxes and making them wait behind. The traveling mechanism 4 drives the gripping mechanism 6 to move above the gripping station, and the second cylinder 61 drives the clamping assembly to clamp the corresponding packaging box. Then, the traveling mechanism 4 moves the gripped packaging box to the next process for release. After release, the traveling mechanism 4 returns, at which point the middle limiting mechanism 3 can release the waiting packaging box, allowing it to enter the gripping station and be intercepted by the end limiting mechanism 3. The gripping mechanism 6 can then perform the next gripping, and so on, forming an efficient and continuous unloading operation.

[0029] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A gripping feeding device, characterized in that, include: Conveying section (2), the conveying section (2) is used to hold food packaging boxes and convey them forward; A gripping mechanism (6), of which there are several gripping mechanisms (6), is used to grip food packaging boxes on the conveying section (2); The walking mechanism (4) can move left and right above the conveying section (2) to drive the gripping mechanism (6) to move left and right. The gripping mechanism (6) grips the food packaging box on the conveying section (2) and moves to the next process. The connecting part (5) is used to install the gripping mechanism (6) and to install the gripping mechanism (6) on the walking mechanism (4); There are two limiting mechanisms (3), both located on the lower side of the conveying section (2). One limiting mechanism (3) is located at the end of the conveying section (2), and the other limiting mechanism (3) is located in the middle of the conveying section (2). When the limiting mechanism (3) at the end is raised, it intercepts the food packaging box at the end of the conveying section (2) and makes the packaging box stay below the gripping mechanism (6). When the limiting mechanism (3) in the middle is raised, it intercepts the food packaging box at the front end of the conveying section (2) and makes the packaging box move away from the gripping mechanism (6). Support part (1), the support part (1) is located above the periphery of the conveying part (2) and is used to install the walking mechanism (4); the walking mechanism (4) can move left and right along the support part (1).

2. The gripping feeding device according to claim 1, characterized in that, The conveying unit (2) includes a rectangular secondary support frame (21). Several rollers (22, 23, 24) are rotatably arranged inside the secondary support frame (21). Both ends of the rollers (22, 23, 24) are fixedly provided with an inner sprocket (25) and an outer sprocket (26). The inner sprocket (25) is located inside the outer sprocket (26).

3. The gripping feeding device according to claim 1, characterized in that, The limiting mechanism (3) includes a horizontal plate (31) and a first cylinder (32) fixedly disposed on the lower surface of the horizontal plate (31). A connecting plate (33) is fixedly disposed at the piston rod end of the first cylinder (32). A plurality of limiting rods (34) are fixedly disposed on the upper surface of the connecting plate (33). The limiting rods (34) pass through the horizontal plate (31) and are slidably connected to the horizontal plate (31).

4. The gripping feeding device according to claim 1, characterized in that, The support part (1) includes a rectangular main support frame (11), and toothed plates (12) and guide rails (13) are fixed on both sides of the main support frame (11).

5. The gripping feeding device according to claim 1, characterized in that, The walking mechanism (4) includes a walking frame (41) and a first motor (42) fixed on the walking frame (41). A drive sprocket (43) is fixed on the output shaft of the first motor (42). A connecting shaft (47) is rotatably provided below the walking frame (41). A driven sprocket (44) is fixedly sleeved on the connecting shaft (47). The driven sprocket (44) is located directly below the drive sprocket (43), and a second chain (45) is sleeved on the outer ring of both. Gears (48) are fixedly sleeved at both ends of the connecting shaft (47), and slots (46) are provided at the bottom of both ends of the walking frame (41).

6. The gripping feeding device according to claim 1, characterized in that, The connecting part (5) includes a connecting frame (51) and several connecting blocks (52), and the connecting blocks (52) are all fixedly installed on the top of the connecting frame (51).

7. The gripping feeding device according to claim 1, characterized in that, The gripping mechanism (6) includes a drive component and several clamping components. The drive component is used to drive the clamping components to open and close synchronously, for gripping or releasing food packaging boxes.

8. The gripping feeding device according to claim 7, characterized in that, The drive assembly includes a second cylinder (61), and a linker (62) is fixedly provided at the piston rod end of the second cylinder (61). Several columns (63) are fixedly provided on the linker (62), and through slots (68) are provided on the columns (63).

9. The gripping feeding device according to claim 7, characterized in that, The clamping assembly includes a support column (65) and a clamping rod (66) rotatably connected to the support column (65), with a crossbar (67) fixedly connected to the upper end of the clamping rod (66).

Images