CN117383246A - Bagged material carrying manipulator - Google Patents

Abstract

The application discloses a bagged material carrying manipulator, which belongs to the technical field of logistics carrying machinery and comprises a jaw mounting plate, a clamping cylinder, a push rod connecting rod, a jaw push shaft, a jaw rotating shaft push rod, a jaw rotating shaft I, a jaw rotating shaft II, a material carrying gas jaw I and a material carrying gas jaw II; one end of the clamping cylinder is hinged to the jaw mounting plate, a piston rod of the clamping cylinder is connected with the jaw pushing shaft through a push rod connecting rod, the jaw pushing shaft is connected with the push rod connecting rod through a hinge, and the upper end of the jaw rotating shaft push rod is connected with the jaw pushing shaft through a hinge; the lower end of the claw rotating shaft push rod is connected with the same group of claw rotating shaft I and claw rotating shaft II, the material carrying gas claw I is arranged at two ends of the claw rotating shaft I and the claw rotating shaft II, and the material carrying gas claw II is arranged at two ends of the other group of claw rotating shaft I and the claw rotating shaft II. This application has the effect that reduces whole manipulator occupation space.

Description

A bagged material handling robot

Technical field

The present application relates to the technical field of logistics handling machinery, and in particular to a bagged material handling manipulator.

Background technique

At present, when loading and transporting bagged materials such as bagged cement, bagged flour, and bagged rice at the factory, most manufacturers use semi-automatic loading machines. The bagged materials are transported directly to the top of the truck compartment by a conveyor belt. Fall into the truck compartment, and then manually place the bagged materials into the compartment. This loading method not only has low loading efficiency and high labor intensity, but is also often accompanied by dust problems, seriously affecting the health of workers.

In material handling systems, it is an inevitable trend to use automated manipulators to replace manual labor in completing repetitive, single, and simple handling actions. Most of the existing manipulators are pneumatic claws, which use a single cylinder to directly drive a pair of manipulators. Most of the manipulators and cylinders are arranged in a straight line, and the cylinder installed at the rear drives the transmission mechanism (usually a lever, rack and pinion structure). The manipulator at the front end of the drive is closed or opened, thereby realizing the grabbing or placing of materials.

This linear mechanism arrangement will result in a larger size of the robot hand in the height direction. Therefore, while the size of the load-bearing mechanism remains unchanged, a larger cylinder will be required to transport heavier objects, which will result in a significant increase in the size of the entire manipulator in the height direction, making it unsuitable for installation in large-scale bagged material palletizers. on the machine.

Contents of the invention

The purpose of the present invention is to provide an automatic grabbing and placing device for bagged materials that is efficient, reliable and stable in operation, and has a small size in the height direction and is suitable for installation on a large bagged material palletizing machine.

The technical solutions of this application to solve the above technical problems are as follows:

A bagged material handling manipulator includes a claw head mechanism and a rotary drive mechanism. The claw head mechanism is located at the bottom of the rotary drive mechanism. The rotary drive mechanism is used to drive the claw head mechanism to rotate as a whole;

The claw head mechanism includes a claw head mounting plate, a clamping cylinder, a push rod connecting rod, a claw head push shaft, a claw head rotating shaft push rod, a claw head rotating shaft I, a claw head rotating shaft II, a material handling air claw I and a material handling Air Claw II;

One end of the clamping cylinder is hinged to the claw head mounting plate. The piston rod of the clamping cylinder is connected to the claw head push shaft through a push rod connecting rod. The claw head push shaft is connected to the push rod connecting rod through a hinge. The claw head The upper end of the rotating shaft push rod is connected to the claw head push shaft through a hinge;

There are two claw head rotating shafts I and claw head rotating shafts II. The two claw head rotating shafts I are respectively located at both ends below the claw head mounting plate. The claw head rotating shaft II is located below the claw head rotating shaft I. One claw head rotating shaft Ⅰ and a claw head rotating shaft Ⅱ form a group. The lower end of the claw head rotating shaft push rod is connected to the same set of claw head rotating shafts I and claw head rotating shafts Ⅱ. The material handling air claw Ⅰ is installed on a set of claw head rotating shafts Ⅰ and claw head rotating shafts Ⅱ. At both ends, the material handling air claw II is installed at both ends of the other set of claw head rotating shafts I and claw head rotating shafts II.

Further, the claw head mechanism also includes a claw head connecting rod I, a claw head transition link I, a claw head rocker, a claw head transition link II, and a claw head connecting rod II. The outer side of the material handling air claw I is connected to the claw head. The upper end of the claw head connecting rod I is connected to one end of the claw head transition link I through a hinge, and the other end of the claw head transition link I is connected to one end of the claw head rocker. The middle part is installed on the claw head mounting plate in the form of a hinge. The other end of the claw head rocker is connected to one end of the claw head transition link II. The other end of the claw head transition link II is connected to the material handling air through the claw head connecting rod II. Claw II is connected.

Further, the claw head push shaft is connected to a plurality of clamping cylinders, and the plurality of clamping cylinders are arranged symmetrically with the claw head rotating shaft push rod as an axis.

Further, the rotation drive mechanism includes a claw head support, a support plate on the chuck, a rotating motor mounting plate, a rotating motor support, a claw head rotating motor, a claw head support rolling bearing, a claw head thrust bearing, and a claw head rotation adjustment sleeve. and claw head rotation axis;

The claw head support is connected to the claw head mounting plate and the chuck support plate through bolts. The rotating motor support is fixed to the rotating motor mounting plate through bolts. The claw head rotating motor is fixed to the rotating motor mounting plate. The rotating motor mounting plate is fixed to the rotating motor mounting plate. On the frame, one end of the claw head rotating shaft is connected to the output shaft of the claw head rotating motor through a key and an outer nut, and the other end of the claw head rotating shaft is fixed on the chuck support plate through a nut;

The inner ring of the claw head supporting rolling bearing is connected to the claw head rotating shaft. The outer ring of the claw head supporting rolling bearing adopts an interference fit with the claw head rotating adjustment sleeve. The claw head rotating adjusting sleeve is fixed on the rotating motor mounting plate through bolts. The claw head thrust bearing is installed between the inner platform of the claw head rotation adjustment sleeve and the claw head support rolling bearing, and is used to bear the axial load of the claw head mechanism.

Furthermore, the number of air claws of the material handling air claws I and material handling air claws II corresponds to the size of the actual packaging bag, and the air claws of the material handling air claws I and material handling air claws II are equally spaced.

To sum up, compared with the existing technology, the beneficial effects of the above technical solution are:

The bagged material handling manipulator described in this application uses a spatially arranged dual-cylinder transmission mechanism to drive the movement of the material handling air claw, and uses a direct rotation drive mechanism to drive the overall rotation of the claw head mechanism, which can realize the material handling air claw I and material handling. The air claw II opens and closes simultaneously and the packaging bag can be placed at any angle. Moreover, the present invention can greatly reduce the length of the manipulator in the height direction and reduce the space occupied by the entire manipulator.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of an embodiment of the present application;

Figure 2 is a schematic structural diagram of the shaft side of the claw head of the present invention;

Figure 3 is a front view of the claw head linkage mechanism of the present invention;

Figure 4 is a front view of the overall structure of the present invention;

Figure 5 is a cross-sectional view along the A-A direction in Figure 4;

Figure 6 is a partial enlarged view of position B in Figure 5.

Explanation of reference signs: 1. Claw head mounting plate; 2. Clamping cylinder swivel seat; 3. Clamping cylinder; 4. Push rod connecting rod; 5. Claw head push shaft; 6. Claw head rotating shaft push rod; 7. Claw head rotating shaft I; 8. Claw head rotating shaft II; 9. Claw head rotating shaft I support seat; 10. Material handling air claw I; 11. Claw head connecting rod I; 12. Claw head transition link I; 13. Claw head Rocker; 14. Claw head transition link II; 15. Claw head connecting rod II; 16. Material handling air claw II; 17. Claw head support; 18. Support plate on chuck; 19. Rotating motor mounting plate; 20 , Rotating motor support; 21. Claw head rotating motor; 22. Claw head supporting rolling bearing; 23. Claw head thrust bearing; 24. Claw head rotation adjustment sleeve; 25. Claw head rotating shaft.

Detailed ways

The principles and features of the present application are described below with reference to the accompanying drawings. The examples cited are only used to explain the present application, but are not used to limit the scope of the present application.

The embodiment of the present application discloses a bagged material handling robot.

Referring to Figures 1 to 6, a bagged material handling manipulator includes a claw head mechanism and a rotary drive mechanism. The claw head mechanism is located at the bottom of the rotary drive mechanism. The rotary drive mechanism is used to drive the claw head mechanism to rotate as a whole. The claw head mechanism The head mechanism is used to grab and carry bagged materials.

The claw head mechanism includes claw head mounting plate 1, clamping cylinder swivel seat 2, clamping cylinder 3, push rod connecting rod 4, claw head push shaft 5, claw head rotating shaft push rod 6, claw head rotating shaft I7, claw head rotating shaft II8 , claw head rotating shaft I support seat 9, material handling air claw I10 and material handling air claw II16.

One end of the clamping cylinder 3 is connected to the clamping cylinder swivel base 2 through a hinge. The clamping cylinder swivel base 2 is fixed on the claw head mounting plate 1 through ordinary bolts. The piston rod of the clamping cylinder 3 is connected through a push rod. The rod 4 is connected to the claw head push shaft 5, the push rod connecting rod 4 is connected to the clamping cylinder 3 through internal and external threads, the claw head push shaft 5 is connected to the push rod connecting rod 4 through a hinge, and the upper end of the claw head rotating shaft push rod 6 is connected through a hinge. Connected to the claw head push shaft 5, the claw head mounting plate 1 is provided with a through hole for matching the claw head rotating shaft push rod 6, and the width of the through hole matches the width of the claw head rotating shaft push rod 6.

The claw head rotating shaft I7 is rotationally connected to the claw head rotating shaft I support seat 9. The claw head rotating shaft I support seat 9 is fastened to the bottom of the claw head mounting plate 1 through bolts. The claw head rotating shaft I7 and the claw head rotating shaft II8 are both provided with two Two claw head rotating shafts I7 are respectively located at both ends below the claw head mounting plate 1. The claw head rotating shaft II8 is located below the claw head rotating shaft I7. One claw head rotating shaft I7 and one claw head rotating shaft II8 are a group. The claw head rotating shafts The lower end of the push rod 6 is connected to the same set of claw head rotating shafts I7 and claw head rotating shafts II8. The material handling air claw I10 is installed at both ends of one set of claw head rotating shafts I7 and claw head rotating shafts II8. The material handling air claw II16 is installed on the other set of claw head rotating shafts I7 and claw head rotating shafts II8. Assemble the two ends of the claw head rotating shaft I7 and the claw head rotating shaft II8.

When carrying bagged materials, the piston rod of the clamping cylinder 3 expands and contracts, driving the claw head rotating shaft push rod 6 to swing. At this time, the claw head rotating shaft I7 and the claw head rotating shaft II8 follow the lower end of the claw head rotating shaft push rod 6, and then Drive the material handling pneumatic claw I10 and material handling pneumatic claw II16 to retract to facilitate the grabbing and handling of bagged materials.

The number of air grippers of the material handling air gripper I10 and material handling air gripper II16 corresponds to the actual size of the packaging bag, that is, the number of air grippers of the material handling air gripper I10 and material handling air gripper II16 are set according to the actual size of the packaging bag. The air grippers of the handling air gripper I10 and the material handling air gripper II16 are equally spaced. The operator reasonably selects the corresponding material handling air claw I10 and material handling air claw II16 models based on the size of the bagged materials, so that the robot can meet the handling needs of bagged materials of different sizes.

The claw head mechanism also includes a claw head connecting rod I11, a claw head transition link I12, a claw head rocker 13, a claw head transition link II14 and a claw head connecting rod II15. The outside of the material handling air claw I10 is connected to the claw head connecting rod I11 connected, the upper end of the claw head connecting rod I11 is connected to one end of the claw head transition link I12 through a hinge, the other end of the claw head transition link I12 is connected to one end of the claw head rocker 13, the middle part of the claw head rocker 13 is The hinge is installed on the claw head mounting plate 1. The other end of the claw head rocker 13 is connected to one end of the claw head transition link II 14. The other end of the claw head transition link II 14 is connected to the material handling air through the claw head connecting rod II 15. Claw Ⅱ16 are connected.

When carrying bagged materials, the piston rod of the clamping cylinder 3 expands and contracts, causing the claw head connecting rod I11 to rotate under the drive of the claw head rotating shaft II8. During the rotation process, the claw head connecting rod I11 passes through the claw head transition connecting rod I12. The claw head rocker 13 is rotated, and then the claw head rocker 13 drives the claw head connecting rod II 15 to rotate through the claw head transition link II 14. The claw head connecting rod II 15 can drive the material handling air claw II 16 to rotate together. The above structure realizes the material handling The synchronous operation process of the handling air claw I10 and the material handling air claw II16 facilitates the cooperation of the material handling air claw I110 and the material handling air claw II16 to grab bagged materials.

The claw head push shaft 5 is connected to a plurality of clamping cylinders 3, and the plurality of clamping cylinders 3 are arranged symmetrically with the claw head rotating shaft push rod 6 as an axis. When carrying bagged materials, multiple clamping cylinders 3 operate at the same time to jointly provide power for the grabbing action of the material handling air claw I10 and the material handling air claw II16, thereby making the material handling air claw I110 and the material handling air claw II16 The grabbing force is stronger.

The rotating drive mechanism includes the claw head support 17, the chuck support plate 18, the rotating motor mounting plate 19, the rotating motor support 20, the claw head rotating motor 21, the claw head support rolling bearing 22, the claw head thrust bearing 23, and the claw head rotation adjustment. Bushing 24 and claw head rotating shaft 25.

The claw head support 17 is connected to the claw head mounting plate 1 and the chuck support plate 18 through bolts. The rotating motor support 20 is fixed on the rotating motor mounting plate 19 through bolts. The claw head rotating motor 21 is fixed on the rotating motor mounting plate 19 On the top, the rotating motor mounting plate 19 is fixed on the frame. One end of the claw head rotating shaft 25 is connected to the output shaft of the claw head rotating motor 21 through a key and an external nut. The other end of the claw head rotating shaft 25 is fixed on the chuck through a nut. on the upper support plate 18.

The inner ring of the claw head supporting rolling bearing 22 is connected to the claw head rotating shaft 25. The outer ring of the claw head supporting rolling bearing 22 adopts an interference fit with the claw head rotating adjustment sleeve 24. The claw head rotating adjusting sleeve 24 is fixed to the rotating shaft by bolts. On the motor mounting plate 19, the claw head thrust bearing 23 is installed between the inner platform of the claw head rotation adjustment sleeve 24 and the claw head support rolling bearing 22 to bear the axial load of the claw head mechanism.

The implementation principle of a bagged material handling manipulator in the embodiment of the present application is as follows: the tail of the clamping cylinder 3 is installed on the clamping cylinder swivel 2 fixed on the claw head mounting plate 1 through a hinge structure. When the clamping cylinder 3 is working, it can With the movement of the piston rod of the clamping cylinder 3, it rotates around the rotating seat 2 of the clamping cylinder as a whole. The piston rod of the clamping cylinder 3 drives the claw head push shaft 5 to move forward and backward through the push rod connecting rod 4. The claw head push shaft 5 passes through the hinge. Connect with the claw head rotating shaft push rod 6. Through the connection structure of the clamping cylinder 3, the telescopic motion of the piston rod of the clamping cylinder 3 can be converted into the back and forth swing of the claw head rotating shaft push rod 6. When the claw head rotating shaft push rod 6 swings around the claw head rotating axis I7, the claw head The rotating shaft II8 will drive the movement of the material handling air claw I10. Since the claw head connecting rod I11 is installed at the end of the claw head rotating shaft I7 and the claw head rotating shaft II8, the claw head connecting rod I11 transfers the swing of the claw head rotating shaft push rod 6 through the claw head. The connecting rod I12, the claw head rocker 13, and the claw head transition link II14 are converted into the swing of the claw head connecting rod II15, thereby driving the movement of the material handling air claw II16, thereby realizing the opening of the material handling air claw I10 and the material handling air claw II16. Consistent action with closing. At the same time, under the rotation of the claw head rotating motor 21, the claw head rotating shaft 25 drives the rotation of the support plate 18 and the claw head mounting plate 1 on the chuck, thereby realizing the rotation of the entire claw head mechanism.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims (5)

1. A bagged material handling manipulator comprising: jaw mechanism and rotation driving mechanism, its characterized in that: the claw head mechanism is arranged at the bottom of the rotary driving mechanism, and the rotary driving mechanism is used for driving the claw head mechanism to integrally rotate;

the jaw mechanism comprises a jaw mounting plate (1), a clamping cylinder (3), a push rod connecting rod (4), a jaw push shaft (5), a jaw rotating shaft push rod (6), a jaw rotating shaft I (7), a jaw rotating shaft II (8), a material conveying gas jaw I (10) and a material conveying gas jaw II (16);

one end of the clamping cylinder (3) is hinged to the jaw mounting plate (1), a piston rod of the clamping cylinder (3) is connected with the jaw pushing shaft (5) through a push rod connecting rod (4), the jaw pushing shaft (5) is connected with the push rod connecting rod (4) through a hinge, and the upper end of the jaw rotating shaft push rod (6) is connected with the jaw pushing shaft (5) through a hinge;

the utility model discloses a claw, including claw, claw mounting board, claw pivot I (7) and claw pivot II (8) all are provided with two, two claw pivot I (7) are located the both ends of claw mounting board (1) below respectively, claw pivot II (8) are located the below of claw pivot I (7), a claw pivot I (7) is a set of with a claw pivot II (8), the lower extreme of claw pivot push rod (6) is connected with same group of claw pivot I (7) and claw pivot II (8), material transport gas claw I (10) are installed at the both ends of a set of claw pivot I (7) and claw pivot II (8), material transport gas claw II (16) are installed at the both ends of another group of claw pivot I (7) and claw pivot II (8).

2. The bagged material handling manipulator of claim 1, wherein: the claw head mechanism further comprises a claw head connecting rod I (11), a claw head transition connecting rod I (12), a claw head rocker (13), a claw head transition connecting rod II (14) and a claw head connecting rod II (15), the outer side of the material conveying gas claw I (10) is connected with the claw head connecting rod I (11), the upper end of the claw head connecting rod I (11) is connected with one end of the claw head transition connecting rod I (12) through a hinge, the other end of the claw head transition connecting rod I (12) is connected with one end of the claw head rocker (13), the middle part of the claw head rocker (13) is mounted on the claw head mounting plate (1) in a hinge mode, the other end of the claw head rocker (13) is connected with one end of the claw head transition connecting rod II (14), and the other end of the claw head transition connecting rod II (14) is connected with the material conveying gas claw II (16) through the claw head connecting rod II (15).

3. The bagged material handling manipulator of claim 2, wherein: the claw head pushing shaft (5) is connected with a plurality of clamping cylinders (3), and the clamping cylinders (3) are symmetrically arranged by taking the claw head rotating shaft push rod (6) as an axis.

4. The bagged material handling manipulator of claim 1, wherein: the rotary driving mechanism comprises a jaw support post (17), a chuck upper support plate (18), a rotary motor mounting plate (19), a rotary motor support (20), a jaw rotary motor (21), a jaw support rolling bearing (22), a jaw thrust bearing (23), a jaw rotary adjusting shaft sleeve (24) and a jaw rotary shaft (25);

the claw head support (17) is connected with the claw head mounting plate (1) and the chuck upper supporting plate (18) through bolts, the rotating motor support (20) is fixed on the rotating motor mounting plate (19) through bolts, the claw head rotating motor (21) is fixed on the rotating motor mounting plate (19), the rotating motor mounting plate (19) is fixed on the frame, one end of the claw head rotating shaft (25) is connected with an output shaft of the claw head rotating motor (21) through a key and an external nut, and the other end of the claw head rotating shaft (25) is fixed on the chuck upper supporting plate (18) through a nut;

the inner ring of the jaw supporting rolling bearing (22) is connected with the jaw rotating shaft (25), the outer ring of the jaw supporting rolling bearing (22) is in interference fit with the jaw rotating adjusting shaft sleeve (24), the jaw rotating adjusting shaft sleeve (24) is fixed on the rotating motor mounting plate (19) through bolts, and the jaw thrust bearing (23) is arranged between the inner table of the jaw rotating adjusting shaft sleeve (24) and the jaw supporting rolling bearing (22) and is used for bearing the axial load of the jaw mechanism.

5. The bagged material handling manipulator of claim 1, wherein: the quantity of the material conveying gas claws I (10) and the material conveying gas claws II (16) corresponds to the size of an actual packaging bag, and the material conveying gas claws I (10) and the material conveying gas claws II (16) are distributed at equal intervals.