A product packaging reel grabbing transfer claw hand and transfer station

Abstract

The utility model discloses a product package reel snatchs transfer claw hand and transfer station, and transfer claw hand includes electric clamp jaw and two fixture plates, and one side of electric clamp jaw is equipped with support, is equipped with slide rail on support. Two fixture plates are connected on two electric clamp jaw fingers respectively, and the bottom of two fixture plates is equipped with sliding block, and sliding block and slide rail slidingly connect, and every fixture plate top is equipped with two optical axes along its length direction, and the utility model discloses utilize electric clamp jaw control two fixture plates and realize the clamping of work piece, and through the cooperation of slide rail and sliding block, provide the guidance and support for fixture plate, effectively avoid the possible lateral swing in clamping process, ensure the stability of the support of fixture plate to work piece, simultaneously, utilize four optical axes of fixture plate front end, and product package reel of disc body structure is firmly clamped and fastened between four optical axes, further realized the quick positioning and clamping of product package reel, not only simple structure, and run more stable.

Description

Technical Field

[0001] This utility model relates to the technical field of supporting equipment for automatic reel changing machines, specifically a product packaging reel gripper and transfer station. Background Technology

[0002] Automatic Reel Changer (ARC) is a crucial piece of equipment in industrial automation, particularly in continuous production lines for electronics, semiconductors, medical devices, and food packaging. After years of technological development and market application, ARC technology has reached a relatively mature stage. Its core function lies in the efficient and precise winding of product strips: the system automatically and neatly winds strip products from upstream processes onto dedicated product packaging reels. Throughout the winding process, the equipment monitors the strip tension, speed, and winding diameter in real time to ensure the finished reel is tight inside and loose outside, preventing quality problems such as collapse and scratches. When the winding length or diameter reaches a preset value, the ARC activates a precision cutting mechanism to automatically cut the strip, finally outputting the fully loaded finished reel to a designated location. This series of actions is completed fully automatically, greatly ensuring product consistency and significantly improving the continuity of the production process.

[0003] Although ARC has achieved a high degree of automation in core processes such as winding, cutting, and output, most existing equipment still heavily relies on manual operation in the unloading of finished reels. After the equipment completes the winding and output of a reel, the operator needs to manually unload the heavy finished reel from the equipment, move it to the transfer area, and then accurately install a new empty reel onto the main shaft of the equipment, completing the initial threading and fixing of the tape. However, manual unloading is limited by the operator's physical strength and skill, which easily leads to installation errors, reel slippage, and other situations, resulting in frequent production interruptions and seriously reducing the overall equipment efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a product packaging reel gripper and transfer station to solve the above-mentioned problems.

[0005] The technical solution of this utility model is: A product packaging reel gripper includes: an electric gripper with two electric gripper fingers for clamping and a force sensor for monitoring clamping force. One side of the electric gripper has a support extending to its bottom, and a slide rail is mounted on the support. The direction of the slide rail is consistent with the clamping direction of the two electric gripper fingers. The electric gripper is an industrial parallel electric gripper, capable of electrically controlling the clamping and releasing of the electric gripper fingers. The electric gripper is equipped with a force sensor; when the clamping force reaches a certain value, clamping stops and the current clamping force is maintained. Two clamping plates are respectively connected to the two electric gripper fingers. A slider is fixedly connected to one bottom end of each clamping plate, and the slider and the slide rail are slidably connected. Each clamping plate has two optical axes along its length on its top.

[0006] For product packaging reels, four optical shafts are used to position and clamp the reels, while a fixture plate is used to support and lift them. For cylindrical workpieces, the curved clamping grooves on the fixture plate are used for positioning and clamping.

[0007] Furthermore, the distance between the two optical axes is less than the diameter of the product packaging reel.

[0008] Furthermore, both of the clamping plates have arc-shaped clamping grooves on their inner sides for clamping cylindrical workpieces.

[0009] A product packaging reel gripping transfer station includes the aforementioned transfer claw, and further includes: an AGV mobile platform with a fixed base on top for carrying workpieces; and a six-axis robot, one end of which is connected to the top of the AGV, and the other end of which is fixedly connected to an electric gripper.

[0010] Furthermore, the fixing base includes: a first fixing base and a second fixing base, wherein the first fixing base is used to fix and support the product packaging reel, and the second fixing base is used to fix and support the cylindrical workpiece.

[0011] Furthermore, the first fixed base includes: a fixed plate, a fixed column, and a guide rod. The fixed plate is fixedly connected to the top of the AGV mobile platform. The fixed column is vertically fixed to the top of the fixed plate. The diameter of the fixed column is smaller than the diameter of the product packaging reel. The guide rod is vertically connected to the top of the fixed column. The diameter of the guide rod is smaller than the diameter of the central hole of the product packaging reel. The central axis of the fixed column, the central axis of the fixed plate, and the central axis of the guide rod are located on the same axis.

[0012] Furthermore, the second fixing seat is a cylindrical fixing frame with an opening at the top and a fixed connection at the bottom to the top of the AGV mobile platform. The diameter of the opening at the top of the second fixing seat is larger than the diameter of the cylindrical workpiece.

[0013] Compared with the prior art, the beneficial effects of this utility model are: This invention utilizes an electric gripper to control two clamping plates to hold the workpiece. The cooperation of a slide rail and a slider provides guidance and support to the clamping plates, effectively preventing lateral swaying during clamping and ensuring the stability of the clamping plates supporting the workpiece. Simultaneously, four optical shafts at the front end of the clamping plates firmly clamp the product packaging reel with a disc-like structure between the four optical shafts, further achieving rapid positioning and clamping fixation of the product packaging reel. This design is not only simple in structure but also more stable in operation. Furthermore, the force sensor equipped on the electric gripper of this invention can monitor the clamping force in real time. When the clamping force reaches a certain value, clamping stops and maintains the current clamping force to prevent excessive clamping force from damaging the workpiece.

[0014] The clamping plate of this utility model is also equipped with an arc-shaped clamping groove, which can clamp workpieces with cylindrical structures and expand the application range of the transfer gripper.

[0015] This utility model's product packaging reel gripping and transfer station integrates a transfer gripper, a six-axis robot, and an AGV mobile platform to construct a mobile work unit, achieving full-process automation of automatic material gripping and precise handling. Furthermore, the AGV mobile platform is equipped with dedicated mounting bases for the product packaging reel and cylindrical workpieces, ensuring stable bearing and precise positioning of the product packaging reel and cylindrical workpiece during AGV movement. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the transfer claw structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the structure of the transfer claw of this utility model when holding the product packaging reel.

[0018] Figure 3 This is a schematic diagram of the structure of the transfer gripper of this utility model when holding a cylindrical workpiece.

[0019] Figure 4 This is a schematic diagram of the transfer station structure of this utility model.

[0020] Figure 5 This is a schematic diagram of the first fixed base structure of this utility model.

[0021] Figure 6 This is a schematic diagram of the second fixed base structure of this utility model.

[0022] Among them, 1. electric gripper, 2. electric gripper finger, 3. support, 31. slide rail, 4. clamping plate, 41. slider, 42. optical axis, 43. clamping groove, 5. product packaging reel, 6. workpiece with cylindrical structure, 7. six-axis robot, 8. AGV, 81. first fixed seat, 82. second fixed seat. Detailed Implementation

[0023] The following is combined Figures 1 to 6 The specific embodiments of this utility model will be described in detail below. In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0025] Example like Figure 1 As shown, a product packaging reel gripper includes: an electric gripper 1 and two clamping plates 4. The electric gripper 1 has two electric gripper fingers 2 for performing clamping and a force sensor for monitoring the clamping force. A support 3 extending to the bottom of the electric gripper 1 is provided on one side, and a slide rail 31 is provided on the support 3. The direction of the slide rail 31 is consistent with the clamping direction of the two electric gripper fingers 2. The electric gripper 1 is an industrial parallel electric gripper that can electrically control the clamping and releasing of the electric gripper fingers 2. The electric gripper 1 is equipped with a force sensor. When the clamping force reaches a certain data, the clamping stops and the current clamping force is maintained.

[0026] Two clamping plates 4 are respectively connected to two electric gripper fingers 2. A slider 41 is fixedly connected to one bottom end of each clamping plate 4. The slider 41 and the slide rail 31 are slidably connected. Two optical axes 42 are provided on the top of each clamping plate 4 along its length.

[0027] Both clamping plates 4 have arc-shaped clamping grooves 43 on their inner sides for clamping cylindrical workpieces 6.

[0028] like Figure 2As shown, for the product packaging reel 5, four optical shafts 42 are used to position and clamp the product packaging reel 5, and a clamping plate 4 is used to support and lift the product packaging reel 5. Figure 3 As shown, for the cylindrical workpiece 6, the arc-shaped clamping groove 43 on the fixture plate 4 is used for positioning and clamping.

[0029] like Figure 2 As shown, the distance between the two optical axes 42 is less than the diameter of the product packaging reel 5. Since the distance between the two optical axes 42 is less than the diameter of the product packaging reel 5, when the two clamping plates 4 approach each other, the optical axes 42 will naturally guide the product packaging reel 5 to move towards the center, ensuring that the product packaging reel 5 is positioned in the center of the claw, which can effectively prevent the product packaging reel 5 from tilting or even slipping due to inertia during the movement.

[0030] like Figure 4 As shown, a product packaging reel gripping and transfer station includes the aforementioned transfer gripper, as well as an AGV mobile platform 8 and a six-axis robot 7. The AGV mobile platform 8 has a fixed base on its top for carrying workpieces; one end of the six-axis robot 7 is connected to the top of the AGV 8, and the other end is fixedly connected to the electric gripper 1. It is worth noting that both the AGV mobile platform 8 and the six-axis robot 7 can be existing products.

[0031] like Figure 4 As shown, the fixing base includes: a first fixing base 81 and a second fixing base 82. The first fixing base 81 is used to fix and support the product packaging reel 5, and the second fixing base 82 is used to fix and support the cylindrical workpiece 6.

[0032] The product packaging reel gripping and transfer station integrates a transfer gripper, a six-axis robot 7, and an AGV mobile platform 8 to construct a mobile work unit, achieving full-process automation of automatic material gripping and precise handling. Furthermore, the AGV mobile platform 8 is equipped with dedicated mounting bases for the product packaging reel 5 and the cylindrical workpiece 6, ensuring stable load-bearing and precise positioning of the product packaging reel 5 and the cylindrical workpiece 6 during the movement of the AGV mobile platform 8.

[0033] like Figure 5 As shown, the first fixed base 81 includes: a fixed plate, a fixed column, and a guide rod. The fixed plate is fixedly connected to the top of the AGV mobile platform 8. The fixed column is vertically fixed to the top of the fixed plate. The diameter of the fixed column is smaller than the diameter of the product packaging reel 5. The guide rod is vertically connected to the top of the fixed column. The diameter of the guide rod is smaller than the diameter of the center hole of the product packaging reel 5. The central axis of the fixed column, the central axis of the fixed plate, and the central axis of the guide rod are located on the same axis.

[0034] When the six-axis robot 7 lowers the product packaging reel 5, the guide rod can be easily inserted into the center hole of the product packaging reel 5, guiding the product packaging reel 5 to fall quickly and accurately onto the fixed post, achieving automatic centering. The diameter of the fixed post is smaller than the diameter of the product packaging reel 5, which can support the product packaging reel 5 while providing the space required for the clamping plate 4 to be inserted under the product packaging reel 5.

[0035] like Figure 6 As shown, the second fixed seat 82 is a cylindrical fixed frame with an opening at the top and a fixed connection at the bottom to the top of the AGV mobile platform 8. The diameter of the opening at the top of the second fixed seat 82 is larger than the diameter of the cylindrical workpiece 6, which facilitates the specialized gripper of the six-axis robot 7 to place the cylindrical workpiece 6 into the second fixed seat 82 during operation. The cylindrical workpiece 6 inserted into the second fixed seat 82 is fixed and supported by the frame of the second fixed seat 82, ensuring the stability of the cylindrical workpiece 6 when the AGV mobile platform 8 moves.

[0036] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A product packaging reel gripper for transfer, characterized in that, include: An electric gripper (1) has two electric gripper fingers (2) for performing clamping and a force sensor for monitoring the clamping force. A support (3) extending to the bottom of the electric gripper (1) is provided on one side. A slide rail (31) is provided on the support (3). The direction of the slide rail (31) is consistent with the clamping direction of the two electric gripper fingers (2). Two clamping plates (4) are respectively connected to two electric gripper fingers (2). A slider (41) is fixedly connected to one bottom end of each clamping plate (4). The slider (41) and the slide rail (31) are slidably connected. Two optical axes (42) are provided on the top of each clamping plate (4) along its length direction.

2. The product packaging reel gripper according to claim 1, characterized in that, The distance between the two optical axes (42) is less than the diameter of the product packaging reel (5).

3. The product packaging reel gripper according to claim 1, characterized in that, Both of the clamping plates (4) have arc-shaped clamping grooves (43) on their inner sides for clamping cylindrical workpieces (6).

4. A product packaging reel gripping and transfer station, characterized in that, Including the transfer gripper as described in any one of claims 1-3, it further includes: The AGV mobile platform (8) has a fixed seat on top for carrying the workpiece; A six-axis robot (7) is connected at one end to the top of the AGV (8) and at the other end to an electric gripper (1).

5. A product packaging reel gripping and transfer station according to claim 4, characterized in that, The fixing base includes: a first fixing base (81) and a second fixing base (82), the first fixing base (81) is used to fix the product packaging reel (5), and the second fixing base (82) is used to fix the cylindrical workpiece (6).

6. A product packaging reel gripping and transfer station according to claim 5, characterized in that, The first fixed seat (81) includes: a fixed plate, a fixed column and a guide rod. The fixed plate is fixedly connected to the top of the AGV mobile platform (8). The fixed column is vertically fixed to the top of the fixed plate. The diameter of the fixed column is smaller than the diameter of the product packaging reel (5). The guide rod is vertically connected to the top of the fixed column. The diameter of the guide rod is smaller than the diameter of the central hole of the product packaging reel (5). The central axis of the fixed column, the central axis of the fixed plate and the central axis of the guide rod are located on the same axis.

7. A product packaging reel gripping and transfer station according to claim 5, characterized in that, The second fixed seat (82) is a fixed frame with a cylindrical structure, with an opening at the top and a fixed connection at the bottom to the top of the AGV mobile platform (8). The diameter of the opening at the top of the second fixed seat (82) is larger than the diameter of the cylindrical workpiece (6).

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