Palletizing robot gripper, also called end-effector, fixture and mechanical gripper, is an important part of palletizing robot. The design of intelligent robot gripper fixture generally uses image system to identify the size of the workpiece, and uses servo motor to adjust the distance between the splints. The whole consists of a main frame, a cylinder, two splints and a servo motor. The splint is used to clamp the workpiece. Its characteristics lie in the image control system and the mechanism that adjusts the distance of the fixture. The mechanism for adjusting the splint distance is composed of a cylinder, two toothed transmission rods, two movable plates and gears. The gears are meshed with two toothed transmission rods, and the cylinders are connected with one movable plate. One end of the toothed drive rod is connected with a movable plate through a linear bearing, and the other end is fixed on another movable plate, which is respectively connected with two splints.

Current manual pallet form and transportation is not only labor density, production rhythm slow, high cost, and single function is only a single or multiple stacking materials, packaging materials for material such as shelves, roof or buttress plate, etc., need to set another fixture to transport or by manual handling, has greatly increased the cost and operation cost, so more and more widely used machine palletizing gripper.

According to the shape, size, weight, material and operation requirements of the object being grasped, there are a variety of structural forms, such as clamp type grab, sucker type grab, simulation multi-finger grab, splint type holding grab and so on. According to the packaging of the product is a carton class, woven bag class, barreled class, bulk class, weight, single area size and so on, which is divided into bottled claw, clamp claw, shutter shutter claw, sucker claw, bottled and palletized claw, clamped place clapboard claw, grab claw and barreled claw. The following is a brief introduction to the design elements of the palletizing robot gripper:

1. The gripper design of the palletizing robot needs to be considered from many aspects, such as: the weight, size and material of the gripper work target choose different hands for different objects of the workpiece, such as plate workpiece can use vacuum adsorption type; Magnetic chuck can be used for magnetic conductive media; Clamp type is used for PVC material bags.

2. The structure of the conveyor belt at the front end of the palletizing machine hand claw feeding generally has national standards for the roller conveyor belt captured by the material bag, which needs to use a standard interface. For the belt conveyor belt, we should consider how to achieve it.

3. The economic working mode of the robot gripper adopts electric, pneumatic, hydraulic and other power sources, which involve different structures and their manufacturing, use and maintenance costs. The power provided by the field environment can reduce production and manufacturing costs.

4. The choice of palletizing robot model, the maximum load capacity and working radius of the robot, the moment of inertia of the robot, the price of the robot, to consider the design of the grip.

5. Palletizing machine hand grasp the weight, size and material of the target for different objects of the workpiece to choose different claws, such as sheet material.

6. The spatial layout of the moving end workpiece of the palletizing robot, and whether the gripper is suitable for the production environment.

7. Grab material determines the type of grip, such as bag material usually grab type, box material with oh splint or vacuum sucker type grip, plate usually with sucker type grip, etc..

The choice of palletizing robot gripper is generally decided according to the production site environment, different work needs, different design requirements for gripper. The popularization of palletizing robot not only reduces labor intensity, but also reduces the cost of artificial production, which brings many advantages for the development of enterprises.