Clamping mechanism, clamping device and method for packing a cushion

Abstract

This invention discloses a clamping mechanism, a clamping device, and a method for loading cushioning material into a box. The clamping device includes a robotic arm module and a clamping mechanism. The clamping mechanism is mounted on the robotic arm module and includes a first clamp, a second clamp, at least one lower lifting module, a force detection module, and multiple height sensors. The first clamp and the second clamp are configured to open and close along a first direction and a second direction, respectively. Each of the first clamp and the second clamp includes a claw portion configured to hook the cushioning material. The lower lifting module includes a lower lifting drive source and a corresponding lower lifting head, the lower lifting drive source being configured to move the corresponding lower lifting head up and down. The force detection module is disposed at the upper end of the clamping mechanism and connected to the robotic arm module, and the height sensors are disposed on the same plane in the clamping mechanism.

Claims

1. A clamping mechanism for clamping a cushioning material, comprising: A first clamp and a second clamp, the first clamp being configured to open and close along a first direction, and the second clamp being configured to open and close along a second direction different from the first direction, for clamping the cushioning material; each of the first clamp and the second clamp includes a claw portion; at least one lower push module being configured to push the cushioning material into the claw portions; a force detection module being disposed at the upper end of the clamping mechanism for detecting contact reaction forces acting on the clamping mechanism and / or the cushioning material; and a plurality of height sensors being disposed on the same plane in the clamping mechanism and configured to detect the height of the clamping mechanism and / or the clamped cushioning material to determine the horizontal and tilted states of the clamping mechanism and the clamped cushioning material.

2. The clamping mechanism as described in claim 1, wherein, Each of the claw portions of the first clamp and the second clamp includes a guide member disposed below the claw portions and inclined outward relative to the claw portions.

3. The clamping mechanism as described in claim 1, wherein, The first direction and the second direction are perpendicular to each other.

4. The clamping mechanism as described in claim 1, wherein, The minimum number of top modules is two.

5. The clamping mechanism as described in claim 1 or 4, wherein, Each of the at least one lower top module includes a lower top drive source and a corresponding lower top head, and each lower top drive source is configured to drive the upper and lower movement of the corresponding lower top head.

6. The clamping mechanism as described in claim 1, wherein, The number of such height sensors is at least three.

7. The clamping mechanism as described in claim 1 or 3, wherein, The clamping mechanism includes a first moving module and a second moving module. The first moving module is connected to the first clamp and configured to control the opening and closing movement of the first clamp along the first direction. The second moving module is connected to the second clamp and configured to control the opening and closing movement of the second clamp along the second direction.

8. A clamping device comprising a robotic arm module and a clamping mechanism as described in any one of claims 2 to 7, wherein, The gripping mechanism is connected to the robotic arm module via the force detection module.

9. A method for loading cushioning material into a box, using a clamping device as described in claim 8, the method comprising the following operations: a material removal operation, wherein, The robotic arm module is configured to move the gripping mechanism to a picking position where the cushioning material is placed; a push-down operation, wherein at least one of the push-down modules of the gripping mechanism is driven to push the cushioning material into the claw portions of the first clamp and the second clamp; a loading alignment operation, wherein the robotic arm module is configured to move the gripping mechanism and the cushioning material to a loading position where an open box and a product contained in the box are placed, and the robotic arm module is configured to align the gripping mechanism and the cushioning material with the product; a set-on operation, wherein the robotic arm module is configured to move the gripping mechanism to set the cushioning material onto the product; and a release operation, wherein the robotic arm module is configured to move the gripping mechanism to release the claw portions of the gripping mechanism from the cushioning material, and further open the first clamp and the second clamp to completely separate the gripping mechanism from the cushioning material.

10. The method for placing the cushioning material into the box as described in claim 9, wherein, In the downward lifting operation, at least one of the downward lifting modules is driven to move the corresponding downward lifting head, so that the downward lifting head contacts the buffer material and pushes the buffer material into the claw portion of the first clamp and the second clamp.

11. The method for placing the cushioning material into the box as described in claim 9, wherein, The force detection module is configured to detect the reaction force from contact with the product experienced by the clamping mechanism and / or the cushioning material during the application operation, in order to determine whether the clamping mechanism and the cushioning material are applying excessive force to the product.

12. The method for placing the cushioning material into the box as described in claim 11, wherein, During the material handling operation, the height sensors cooperate to determine whether the clamping mechanism and / or the cushioning material are tilted relative to the horizontal plane.

13. The method for placing the cushioning material into the box as described in claim 9, wherein, During the application process, the height sensors work together to determine whether the cushioning material is applied to a preset position relative to the product.

14. The method for placing the cushioning material into the box as described in claim 9, wherein, During the fitting operation, the guides contact the edge of the product and guide the clamping mechanism and the cushioning material through this contact, so that the cushioning material is aligned with the edge of the product.

15. The method for placing the cushioning material into the box as described in claim 9, wherein, Between the downward lifting operation and the loading operation, there is a further spreading operation in which at least one of the first clamp and the second clamp is configured to move open, so that the cushioning material hooked by the claws is spread outward.

Images