Clamping mechanism and automatic packing apparatus

Abstract

This invention discloses a clamping mechanism and an automatic packing device for clamping a product and a cushioning material. The clamping mechanism includes a main clamp, an auxiliary clamp, a cushioning material clamping module, a force detection module, and at least one height sensor. The main clamp and auxiliary clamp are configured to open and close along a clamping direction to clamp the product. The cushioning material clamping module is configured to clamp the cushioning material. The force detection module is disposed at the upper end of the clamping mechanism to detect the contact reaction force acting on the clamping mechanism and the clamped product and / or the cushioning material. At least one height sensor is disposed in the clamping mechanism and configured to detect the height of the clamping mechanism and / or the clamped product and / or the cushioning material.

Claims

1. A clamping mechanism for clamping a product and a cushioning material, comprising: A main clamp and an auxiliary clamp, configured to open and close along a clamping direction to clamp the product; a cushioning material clamping module, configured to clamp the cushioning material; a force detection module disposed at the upper end of the clamping mechanism to detect the contact reaction force between the clamping mechanism and the product and / or the cushioning material; at least one height sensor disposed in the clamping mechanism and configured to detect the height of the clamping mechanism and / or the clamped product and / or the cushioning material to determine the horizontal and tilted state of the clamping mechanism and / or the product and / or the cushioning material.

2. The clamping mechanism as described in claim 1, wherein, The main clamp is an electrically driven clamp, and the auxiliary clamp is a cylinder-driven clamp. The main clamp and the auxiliary clamp respectively clamp different parts on the same side of the product.

3. The clamping mechanism as described in claim 1, wherein, Both the main clamp and the auxiliary clamp include buffers disposed on their clamping surfaces, which are configured to buffer and isolate direct contact between the main clamp and the auxiliary clamp and the product when the product is clamped by the main clamp and the auxiliary clamp.

4. The clamping mechanism as described in claim 1, wherein, Both the main clamp and the auxiliary clamp are equipped with clamping sensors. The clamping sensors are configured to detect the clamping force applied by the main clamp and the auxiliary clamp, and are configured to determine whether the main clamp and / or the auxiliary clamp is in a clamping state based on the detected clamping force.

5. The clamping mechanism as described in claim 1, wherein, The cushioning material clamping module includes a plurality of suction cup modules, each of which includes a lifting mechanism and a suction cup component. The lifting mechanism is interconnected with the suction cup component and is configured to move the suction cup component vertically.

6. The clamping mechanism as described in claim 1, wherein, The cushioning material clamping module includes at least one clamping module, and the at least one clamping module includes a pair of cushioning material clamps and a corresponding cushioning material clamping moving module. The cushioning material clamping moving module is configured so that the pair of cushioning material clamps move closer to or further away from each other to clamp the cushioning material.

7. An automated packing device comprising a robotic arm module and a gripping mechanism as described in any one of claims 1 to 6, the gripping mechanism being connected to the robotic arm module via the force detection module; wherein, The main clamp and the auxiliary clamp are configured to hold the product, and the robotic arm module is configured to move the clamping mechanism and the clamped product, and to load the product into the cushioning material; wherein, after the product is loaded into the cushioning material, the cushioning material clamping module is driven to clamp the cushioning material, so that the product and the cushioning material move with the clamping mechanism; and wherein, the robotic arm module is configured to move the clamping mechanism, the cushioning material held by the cushioning material clamping module, and the product held by the main clamp and the auxiliary clamp, and to load the cushioning material and the product into a box.

8. The automatic packing apparatus as described in claim 7, wherein, At least one of the height sensors is configured to determine whether the current height position of the product is correct and the horizontal state of the product when the clamping mechanism clamps the product.

9. The automatic packing apparatus as described in claim 7, wherein, When the product is inserted into the cushioning material, at least one of the height sensors is configured to determine whether the product is inserted into a preset cushioning material depth, and the force detection module is configured to detect the reaction force of the product from the force of placing the product in the cushioning material.

10. The automatic packing apparatus as described in claim 7, wherein, When the product and the cushioning material are installed in the housing, at least one of the height sensors is configured to determine whether the product and the cushioning material are installed at a preset housing depth and whether the product is in a horizontal state, and the force detection module is configured to detect the reaction force of the product from the force of placing the product and the cushioning material.

11. The automatic packing apparatus as claimed in claim 10, wherein, After the product and the cushioning material are installed in the housing and reach the preset housing depth, the cushioning material clamping module is driven to release the cushioning material; the main clamp and the auxiliary clamp are adjusted to the open position to release the product.

Images