CN218433626U

CN218433626U - Holding-clamping type bag-breaking material shaking robot hand

Info

Publication number: CN218433626U
Application number: CN202222279476.6U
Authority: CN
Inventors: 白国超; 孙楠
Original assignee: Zhixing Robot Technology Suzhou Co ltd
Current assignee: Zhixing Robot Technology Suzhou Co ltd
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2023-02-03
Anticipated expiration: 2032-08-29

Abstract

The utility model discloses a holding-clamping type bag-breaking and material-shaking robot hand, which relates to the technical field of mechanical arms and comprises a beam component, wherein the beam component is provided with a first side and a second side which are oppositely arranged; the material shaking component is movably connected to the first side of the cross beam component; the bearing seat is arranged on the second side of the beam assembly; the grabbing hook is driven by the grabbing hook opening and closing cylinder to hook and take the material bag in a rotating mode; and the pressing plate is connected to the air rod of the bag pressing air cylinder and moves linearly along with the air rod. This scheme prevents that the material bag from breaking away from the grapple.

Description

Holding-clamping type bag-breaking material shaking robot hand

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to embrace formula of clamp broken bag and shake material robot hand.

Background

The manipulator of the robot is a device which can imitate certain action functions of the human hand and the arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and the manipulator is used for feeding granular materials loaded in woven bags or nylon bags, so that the labor amount can be saved, and the working efficiency is improved.

At present, the mechanical arm for breaking and feeding is required to be installed on the six-axis mechanical arm, the mechanical arm is provided with a grapple or a contact pin with a fixed opening distance, the woven bag or the nylon bag is grabbed by the grapple or the contact pin, and the joint of the six-axis mechanical arm shakes back and forth to shake out residual materials after the bag is scratched by the blade. Wherein, the bag breaks away from easily and drops behind grapple or the contact pin snatchs the bag, especially at the in-process that rocks, and the risk that drops is higher, and the six arms of assembly are with high costs, and the high frequency is rocked and is damaged easily.

SUMMERY OF THE UTILITY MODEL

The utility model provides a embrace formula of clamp broken bag and shake material robot hand for solve the present problem that takes off the material risk height.

In order to solve the technical problem, the technical scheme of the utility model is that: a clamping type bag breaking and shaking robot hand comprises a beam assembly, wherein the beam assembly is provided with a first side and a second side which are oppositely arranged;

the material shaking component is movably connected to the first side of the cross beam component;

the bearing seat is arranged on the second side of the beam assembly;

the grabbing hook is driven by the grabbing hook opening and closing air cylinder to hook and take the material bag in a rotating manner;

and the pressing plate is connected to the air rod of the bag pressing air cylinder and moves linearly along with the air rod.

Specifically, two ends of the beam assembly are respectively provided with a bearing seat, and each bearing seat is correspondingly and rotatably connected with a plurality of linearly arranged grapples.

Specifically, a conical counter sink hole for correspondingly connecting the tips of the plurality of grapples is formed in the pressing plate.

Specifically, a cushion block is detachably fixed on the bearing seat.

Specifically, the bearing seat is connected with a bolt of a nut through a locking connection to be connected with a beam assembly, and a track for sliding of the bolt is formed in the beam assembly.

Specifically, the material shaking assembly comprises a bottom plate arranged on a first side of the cross beam assembly;

the support plate is connected to the mechanical arm;

the material shaking cylinder is arranged on the support plate;

the rocker is connected with the gas rod of the material shaking cylinder and rotates along with the lifting of the gas rod;

and the rocker and the directional swing rod are fixed on the bottom plate through a supporting seat.

the support plate is connected to the mechanical arm;

the pneumatic vibrator is arranged on the bottom plate, and the ball bearing is movably connected between the bottom plate and the carrier plate and is limited in position.

Specifically, the material shaking assembly further comprises a tension spring arranged between the bottom plate and the carrier plate.

Specifically, be provided with the mounting panel between support plate and the arm, be provided with a plurality of springs that can orientate deformation between mounting panel and the support plate.

The technical scheme provided by the utility model compare with prior art and have following advantage:

1. add and press bag cylinder and clamp plate, the clamp plate is driven and is removed to its butt material bag by pressing the bag cylinder after the grapple grabs the thing material bag to at the broken bag of material bag, the material lasts the loss in-process and passes the material bag and contact the grapple point end, prevents that the material bag from breaking away from the grapple.

2. The pressing plate is provided with the conical counter sink, the tip end of the grapple is inserted into the conical counter sink after the material bag is grabbed, the tip end of the grapple is not easy to separate and shift after contacting with the pressing plate, the material bag is further prevented from separating from the grapple, and the material bag is ensured not to separate from the grapple when the material is shaken.

3. The material shaking component is additionally arranged on the manipulator, so that high-frequency material shaking is realized, the configuration requirement on the manipulator is reduced, and the equipment cost is reduced.

Drawings

Fig. 1 is an overall structure diagram of a clasping type bag-breaking material shaking robot hand according to an embodiment of the present invention;

fig. 2 is a front view of a clamping type bag breaking and shaking robot hand according to an embodiment of the present invention;

fig. 3 is a structural diagram of a material shaking component in the first embodiment of the present invention;

FIG. 4 is a block diagram of a grapple assembly according to one embodiment of the present invention;

fig. 5 is a bottom view of the grapple assembly according to an embodiment of the present invention.

Shown in the figure:

1. a beam assembly; 2. a housing; 3. a material shaking component; 31. a base plate; 32. a carrier plate; 33. a material shaking cylinder; 34. a rocker; 35. orienting a swing rod; 36. a supporting seat; 4. a buffer assembly; 41. mounting a plate; 42. a spring; 5. a grapple assembly; 51. a joining block; 52. a bearing seat; 521. a bearing plate; 522. a side wing panel; 53. A drive shaft; 54. a grapple; 55. cushion blocks; 6. a bag pressing assembly; 61. a bag pressing cylinder; 62. pressing a plate; 63. A conical counter bore; 7. a drive assembly; 71. a connecting rod; 72. a grapple opening and closing cylinder; 73. a base.

Detailed Description

For the convenience of understanding, the clasping type bag breaking and shaking robot hand is described in the following with reference to the embodiments, which should be understood to be merely illustrative and not limiting.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations and positional relationships based on the orientation and positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 3, a clamp-type bag-breaking material-shaking robot hand comprises a beam assembly 1, wherein the beam is a frame body formed by connecting four aluminum profiles with strip-shaped rails end to end, two ends of the beam are respectively provided with a shell 2, and the shells 2 prevent dust from overflowing towards a mechanical arm in the bag-breaking and bag-shaking processes; the beam assembly 1 is provided with a first side and a second side which are oppositely arranged, and the side of the beam assembly 1 provided with the shell 2 is the first side; install on the first side of crossbeam subassembly 1 and shake material subassembly 3, shake material subassembly 3 and include bottom plate 31, support plate 32, shake material cylinder 33, rocker 34, directional pendulum rod 35 and supporting seat 36, bottom plate 31 passes through bolt fixed connection on the crossbeam, there are three supporting seats 36 that are the triangle and arrange through screw fixed connection on the bottom plate 31, wherein two supporting seats 36 have two directional pendulum rods 35 through round pin axle swivelling joint, directional pendulum rod 35's upper end fixed connection support plate 32, remaining one supporting seat 36 has rocker 34 through round pin axle swivelling joint, the upper end of rocker 34 shakes the gas pole of material cylinder 33 through round pin axle swivelling joint, shake material cylinder 33 and install on support plate 32 and shake the gas pole of material cylinder 33 and pass support plate 32 and connect rocker 34, the gas pole of shaking material cylinder 33 is flexible can drive rocker 34 and directional pendulum rod 35 rotates, the realization is shaken the material.

Be provided with between support plate 32 and the arm and cushion assembly 4, cushion assembly 4 includes mounting panel 41 and spring 42, and support plate 32 is the rectangular plate body, and the top of support plate 32 is provided with the mounting panel 41 of mountable on the arm, and mounting panel 41 is the rectangular plate body equally, and the four corners department between support plate 32 and the mounting panel 41 all is connected with spring 42 for buffering and helping hand when trembling the material, and the middle part of spring 42 is provided with the telescopic guide bar, and the directional elastic deformation of spring 42 is injectd to the guide bar.

As shown in fig. 4 to 5, a grapple assembly 5 and a bag pressing assembly 6 are installed at both ends of the second side of the beam assembly 1, the grapple assembly 5 includes a joining block 51, a bearing seat 52, a transmission shaft 53, grapples 54 and a cushion block 55, the upper end of the joining block 51 is connected to the beam assembly 1 through a bolt, a nut is connected to the bolt through a screw thread lock, the opening distance between the two grapple assemblies 5 can be freely adjusted through a sliding bolt and the nut to be suitable for bags of different sizes, the total four joining blocks 51 are distributed at four corners of the beam assembly 1, the lower end of the joining block 51 is connected to the bearing seat 52 through a bolt, the bearing seat 52 includes a bearing plate 521 and side wing plates 522, both ends of the bearing plate 521 are connected to the side wing plates 522 through bolts, the side wing plates 522 are fixedly connected to both ends of the lower side of the bearing plate 521, bearings are installed on both side wing plates 522, the transmission shaft 53 is located between the two side wing plates 522, both ends of the side wing plates 521 are rotatably connected to the side wing plates 522 through bearings, the detachable cushion block 55 can be installed according to the height of the bags of different materials, the bags, the tips of the bags are connected to the tips of the grapples 54, and the bags are arranged at equal intervals.

Grapple subassembly 5 is connected with drive assembly 7 and drives grapple 54 through drive assembly 7 and rotates, and drive assembly 7 includes connecting rod 71, grapple cylinder 72 and base 73 that opens and shuts, fixedly connected with connecting rod 71 on the transmission shaft 53, and the one end that connecting rod 71 deviates from transmission shaft 53 has the air lever of grapple cylinder 72 that opens and shuts through round pin axle swivelling joint, installs base 73 on the bearing plate 521, and the cylinder body fixed mounting of grapple cylinder 72 that opens and shuts is on base 73.

Bag pressing assembly 6 is including pressing bag cylinder 61 and clamp plate 62, press bag cylinder 61's cylinder body fixed connection in bearing plate 521, press bag cylinder 61's the body of rod fixedly connected with clamp plate 62, grapple 54 hook gets behind the thing pocket, clamp plate 62 moves towards the thing pocket and extrudes the thing pocket, and clamp plate 62 deviates from and sets up five equidistant conical countersunk holes 63 that arrange the distribution on pressing bag cylinder 61's the face, five conical countersunk holes 63 are connected to five grapple 54's most advanced one-to-one, a use for better pressing grapple 54 most advanced.

The grapple opening and closing air cylinder 72, the bag pressing air cylinder 61 and the material shaking air cylinder 33 are all connected with an air control system through air pipes, and each air pipe is provided with at least one valve.

The working principle is as follows: the air rod of the grab opening and closing air cylinder 72 extends out, the push connecting rod 71 together with the transmission shaft 53 and the grab hook 54 all rotate by taking the transmission shaft 53 as a rotating shaft, the grab hooks 54 at two ends of the beam assembly 1 grab the material bag and break the bag, the air rod of the bag pressing air cylinder 61 extends out, the pressing plate 62 moves downwards to press the material bag, the tip end of the grab hook 54 is inserted into the conical countersunk hole 63, the air rod of the material shaking air cylinder 33 stretches and retracts in a reciprocating mode to drive the connecting rod 71 and the directional swing rod 35 to rotate, and the material is shaken off from the material bag after the bag breaking.

Example two

The difference between the first embodiment and the second embodiment is only that the structure of the material shaking assembly 3 in the first embodiment is inconsistent, the material shaking assembly 3 in the first embodiment includes a bottom plate 31, a support plate 32, a pneumatic vibrator, a ball bearing and a tension spring, the ball bearing and the tension spring are connected between the bottom plate 31 and the support plate 32, the pneumatic vibrator is installed in the middle of the bottom plate 31 and is connected with a pneumatic control system through an air pipe, at least one valve is installed on the air pipe, the pneumatic vibrator drives the beam assembly 1 and the grapple assembly 5 and the bag pressing assembly 6 installed on the beam assembly 1 to shake after vibrating, and compared with the shaking driven by the material shaking cylinder 33 in the first embodiment, the shaking amplitude in the first embodiment is small, but the frequency is high.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some or all of the technical features thereof, without departing from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The clamping type bag-breaking and material-shaking robot hand is characterized by comprising a beam assembly, wherein the beam assembly is provided with a first side and a second side which are oppositely arranged;

the bearing seat is arranged on the second side of the beam assembly;

the grabbing hook is driven by the grabbing hook opening and closing cylinder to hook and take the material bag in a rotating mode;

2. The clamp-type bag-breaking and material-shaking robot hand according to claim 1, wherein a bearing seat is provided at each end of the beam assembly, and a plurality of linearly arranged grapples are rotatably connected to each bearing seat.

3. The holding-clamping type bag-breaking and material-shaking robot hand according to claim 1, wherein the pressure plate is provided with conical counter bores for corresponding connection of the tips of the plurality of grapples.

4. The band-clamp type bag-breaking and material-shaking robot hand according to claim 2, wherein a cushion block is detachably fixed on the bearing seat.

5. The clamp-type bag-breaking and material-shaking robot hand according to claim 2, wherein the bearing seat is connected with a beam assembly through a bolt with a nut locked and connected, and a track for sliding the bolt is formed on the beam assembly.

6. The band clamp type bag breaking and shaking robot hand according to claim 1, wherein the shaking assembly comprises a base plate mounted on a first side of the beam assembly;

the support plate is connected to the mechanical arm;

the material shaking cylinder is arranged on the support plate;

the rocker is connected with the air rod of the material shaking cylinder and rotates along with the lifting of the air rod;

7. The band clamp type bag breaking and shaking robot hand according to claim 1, wherein the shaking assembly comprises a base plate mounted on a first side of the beam assembly;

the support plate is connected to the mechanical arm;

8. The band clamp type bag breaking and shaking robot hand of claim 7, wherein the shaking assembly further comprises a tension spring disposed between the base plate and the carrier plate.

9. A clamp-type bag-breaking and material-shaking robot hand according to any one of claims 6 to 8, wherein a mounting plate is arranged between the support plate and the mechanical arm, and a plurality of springs capable of being deformed in an oriented manner are arranged between the mounting plate and the support plate.