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CN-118145313-B - Packing box grabbing device

CN118145313BCN 118145313 BCN118145313 BCN 118145313BCN-118145313-B

Abstract

The invention discloses a packing box grabbing device, which is characterized in that the self-balancing units of packing box grippers on two sides are used for keeping the level of a packing box in the grabbing process of the packing box, so that the situation that the packing box is damaged and falls due to overlarge single-side handle load when the packing box is deviated during grabbing is avoided, meanwhile, the self-adaptive detection of a packing box detection unit is used for accurately positioning the position when the packing box is grabbed, the situation that the packing box is damaged due to transitional extrusion under the unexpected condition is avoided, the safety of the grabbing and transferring process of the packing box is improved, and the automatic and continuous safe production of the grabbing and transferring of the packing box is realized. The automatic packaging box grabbing and stacking machine can be compatible with the position error of the packaging box handle, so that the packaging box can be kept horizontal in the grabbing and transporting process, the packaging box is automatically grabbed to transport and stack, and the automatic and unmanned safe production of the packaging box transporting and stacking is realized.

Inventors

  • LI YAOYAO
  • FANG QIAN
  • MA TAO
  • ZHU QIANG
  • JI DANDAN
  • WANG YANG
  • PENG YUHAO

Assignees

  • 中国兵器装备集团自动化研究所有限公司

Dates

Publication Date
20260512
Application Date
20240411

Claims (8)

  1. 1. A package gripping apparatus, comprising: the mounting seat unit comprises a grip bottom plate, wherein two groups of grip guide mechanisms extending along the length direction of the grip bottom plate are arranged on the grip bottom plate; The clamping jaw unit comprises a first clamping jaw mounting plate, a second clamping jaw mounting plate, a first clamping jaw and a second clamping jaw, wherein the first clamping jaw mounting plate and the second clamping jaw mounting plate are respectively connected with the two groups of gripper guide mechanisms in a matched mode, the first clamping jaw is connected with the first clamping jaw mounting plate through a pair of first guide assemblies, and the second clamping jaw is connected with the second clamping jaw mounting plate through a pair of second guide assemblies; The driving unit comprises a pair of driving execution assemblies, the driving execution assemblies are connected with the gripper base plate, the output ends of the driving execution assemblies are respectively connected with the first clamping jaw mounting plate and the second clamping jaw mounting plate in one-to-one correspondence, and the driving execution assemblies are used for driving the first clamping jaw mounting plate and the second clamping jaw mounting plate to be close to or separated from each other; The self-balancing unit comprises a pair of self-balancing steel wires symmetrically arranged along the width direction of the gripper bottom plate, one end of each self-balancing steel wire is connected with the first clamping jaw, and the other end of each self-balancing steel wire sequentially penetrates through a first balancing pulley on the first clamping jaw mounting plate and a second balancing pulley on the second clamping jaw mounting plate to be connected with the second clamping jaw; The length of the first guide component is different from that of the second guide component, and the length of the first guide component and the length of the second guide component are variable in the lifting process of the mounting seat unit; After the driving clamping jaw is preferentially contacted with the corresponding handle, the corresponding guide component of the driving clamping jaw is lengthened, and meanwhile the driving clamping jaw drives the self-balancing steel wire rope to pull the corresponding guide component of the driven clamping jaw to be compressed upwards until the driven clamping jaw is contacted with the other handle, wherein the driving clamping jaw is the first clamping jaw or the second clamping jaw, and the driven clamping jaw is the other clamping jaw except the driving clamping jaw.
  2. 2. The packaging box grabbing device according to claim 1, wherein the first guide assembly comprises a first guide shaft and a first clamping jaw tensioning telescopic piece, two ends of the first guide shaft are respectively connected with one end of the first clamping jaw mounting plate and one end of the first clamping jaw tensioning telescopic piece in one-to-one correspondence, the other end of the first clamping jaw tensioning telescopic piece is connected with the first clamping jaw, the second guide assembly comprises a second guide shaft and a second clamping jaw tensioning telescopic piece, two ends of the second guide shaft are respectively connected with one end of the second clamping jaw mounting plate and one end of the second clamping jaw tensioning telescopic piece in one-to-one correspondence, the other end of the second clamping jaw tensioning telescopic piece is connected with the second clamping jaw, the lengths of the first clamping jaw tensioning telescopic piece are identical, and the lengths of the first guide shaft and the second guide shaft are different.
  3. 3. The package gripping apparatus of claim 2, wherein the first jaw tensioning bellows and the second jaw bellows each include a spring.
  4. 4. The package gripping apparatus of claim 1 wherein the drive actuation assembly includes a cylinder connected to the gripper base plate by a cylinder mount.
  5. 5. The package gripping apparatus of claim 1, wherein the mounting base unit further comprises a gripper connecting plate, two gripper supporting risers and two riser connecting plates, the gripper connecting plate, two riser connecting plates and the gripper bottom plate connecting the two gripper supporting risers to form an integral structure, the gripper connecting plate being adapted to be connected to a lifting drive device.
  6. 6. The package gripping apparatus of claim 1 wherein the gripper guide mechanism includes a guide rail and a slider, the guide rail being connected to the gripper base plate, the slider being connected to the guide rail and the corresponding gripper mounting plate, respectively.
  7. 7. The package gripping apparatus according to claim 1, further comprising a package detection unit connected to the gripper base plate, the package detection unit being configured to detect a relative position between the gripper base plate and a top of a package to be gripped.
  8. 8. The package gripping apparatus of claim 7, wherein the package inspection unit includes an inspection bracket, an upper slide sleeve, a lower slide sleeve, an inspection bar, a tension spring, a cylindrical pin, and an inspection sensor; The upper sliding sleeve and the lower sliding sleeve are arranged on a detection support, the detection rod is arranged in a free state in the through holes of the upper sliding sleeve and the lower sliding sleeve, the cylindrical pin is inserted into the pin hole of the detection rod, the tensioning spring is sleeved on the detection rod and is positioned between the cylindrical pin and the upper sliding sleeve, the detection sensor is laterally arranged on the detection support, and the detection sensor is used for detecting in-place signals of the detection rod.

Description

Packing box grabbing device Technical Field The invention relates to the technical field of automatic packaging of energetic materials, in particular to a packaging box grabbing device which is applicable to grabbing packaging boxes with inconsistent heights of handles on two sides and certain errors. Background At present, the domestic energetic materials are packed and transported by adopting wooden boxes, the wooden boxes are provided with handles at the front and the back, the left and the right handles are staggered up and down, so that the space is saved when the materials are stacked in a concentrated way, and the packaging boxes are manufactured by hand, so that the position error of the handles is larger (+ -25 mm), and in the packaging production of the propellant powder, the transportation and stacking are carried out by adopting a mode of assisting the manual operation by using a booster boom, so that the labor intensity of personnel is high and the working efficiency is low. The conventional fixed grabbing mode of the packing box cannot be compatible with inconsistent heights and errors of the handles of the packing box, so that partial packing boxes can incline when being grabbed in the conventional fixed grabbing mode in the process of transferring and stacking the packing boxes, and further the handles are stressed unevenly to be broken, so that certain safety risks exist. Therefore, how to provide an automatic, flexible self-balancing packing box grabbing device, which can be compatible with the position error of a packing box handle, so that the packing box can be kept horizontal in the grabbing and transferring process is a technical problem which needs to be solved by the skilled person. Disclosure of Invention In view of the above, the present invention provides a package gripping apparatus for overcoming or at least partially solving the above problems. Solves the problem that the traditional grabbing and transferring technology is unstable and unreliable due to the position error of the handle of the packaging box, and improves the grabbing stability and safety of the packaging box made of the energetic material. The invention provides the following scheme: a package gripping apparatus comprising: the mounting seat unit comprises a grip bottom plate, wherein two groups of grip guide mechanisms extending along the length direction of the grip bottom plate are arranged on the grip bottom plate; The clamping jaw unit comprises a first clamping jaw mounting plate, a second clamping jaw mounting plate, a first clamping jaw and a second clamping jaw, wherein the first clamping jaw mounting plate and the second clamping jaw mounting plate are respectively connected with the two groups of gripper guide mechanisms in a matched mode, the first clamping jaw is connected with the first clamping jaw mounting plate through a pair of first guide assemblies, and the second clamping jaw is connected with the second clamping jaw mounting plate through a pair of second guide assemblies; The driving unit comprises a pair of driving execution assemblies, the driving execution assemblies are connected with the gripper base plate, the output ends of the driving execution assemblies are respectively connected with the first clamping jaw mounting plate and the second clamping jaw mounting plate in one-to-one correspondence, and the driving execution assemblies are used for driving the first clamping jaw mounting plate and the second clamping jaw mounting plate to be close to or separated from each other; The self-balancing unit comprises a pair of self-balancing steel wires symmetrically arranged along the width direction of the gripper bottom plate, one end of each self-balancing steel wire is connected with the first clamping jaw, and the other end of each self-balancing steel wire sequentially penetrates through a first balancing pulley on the first clamping jaw mounting plate and a second balancing pulley on the second clamping jaw mounting plate to be connected with the second clamping jaw; The length of the first guide component is different from that of the second guide component, and the length of the first guide component and the length of the second guide component are variable in the lifting process of the mounting seat unit; After the driving clamping jaw is preferentially contacted with the corresponding handle, the corresponding guide component of the driving clamping jaw is lengthened, and meanwhile the driving clamping jaw drives the self-balancing steel wire rope to pull the corresponding guide component of the driven clamping jaw to be compressed upwards until the driven clamping jaw is contacted with the other handle, wherein the driving clamping jaw is the first clamping jaw or the second clamping jaw, and the driven clamping jaw is the other clamping jaw except the driving clamping jaw. The first guide assembly comprises a first guide shaft and a first clamping jaw tensioning telescopic p