CN109552871A - A kind of bagged grain conveyance - Google Patents
A kind of bagged grain conveyance Download PDFInfo
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- CN109552871A CN109552871A CN201811503452.6A CN201811503452A CN109552871A CN 109552871 A CN109552871 A CN 109552871A CN 201811503452 A CN201811503452 A CN 201811503452A CN 109552871 A CN109552871 A CN 109552871A
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- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000003028 elevating effect Effects 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims description 27
- 238000007906 compression Methods 0.000 claims description 27
- 230000000694 effects Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 description 39
- 235000013339 cereals Nutrition 0.000 description 24
- 238000000034 method Methods 0.000 description 7
- 230000032258 transport Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000008429 bread Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000000192 social effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of bagged grain conveyances, it includes pedestal, swing mechanism is provided with above the pedestal, control system is provided on the outside of the swing mechanism, elevating mechanism is provided with above the swing mechanism, horizontal transshipment acitivity is provided with above the elevating mechanism, the horizontal transshipment acitivity end is provided with grasping mechanism, position detecting device is provided on the grasping mechanism, the present invention realizes rotary motion by swing mechanism, elevating movement is realized by elevating mechanism, it is moved by horizontal transshipment acitivity realization level along X-axis and Y-axis, clamping and release movement are realized by grasping mechanism, the movement position of grasping mechanism is detected by position detecting device, conveyance is controlled by control system, multiple bagged grains can be transported simultaneously by realizing, high degree of automation, flexibility ratio is high, structure is simple, behaviour Facilitate.
Description
Technical field
The present invention relates to foodstuff transportation technical fields, and in particular to a kind of bagged grain conveyance.
Background technique
" bread is the staff of life ", a kind of daily necessities most basic as the mankind, grain has always since ancient times can not
The social effect of substitution.The rapid development of socialist market economy, so that the Market Orientation of grain operation is also more next therewith
It is higher, and in the business process of grain, the transport of grain is an essential key link.However, with China's grain
Disparities between supply and demand grow in intensity, and in the presence of foodstuff transportation the problem of also protrudes therewith: Grain Logistics level is low, transports grain
Infrastructure is poor and the degree of automation is low, and means of transportation modernizes and is connected mating deficiency, therefore seeks the side solved the problems, such as
Method is more more and more urgent.From the perspective of the whole nation, the dedicated transhipment of grain is mechanical still or very little.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of bagged grain conveyance, existing skill is solved
The low problem of the degree of automation in art cannot carry out in batches the problem of grain transhipment.
The technical scheme adopted by the invention is that: a kind of bagged grain conveyance comprising pedestal, the pedestal top are set
It is equipped with swing mechanism, control system is provided on the outside of the swing mechanism, is provided with elevating mechanism above the swing mechanism, institute
It states and is provided with horizontal transshipment acitivity above elevating mechanism, the horizontal transshipment acitivity end is provided with grasping mechanism, the crawl
Position detecting device is provided in mechanism, the swing mechanism includes the rectangle splined spindle being vertically arranged, the rectangle splined spindle
Outside is provided with the waist seat for sealed rectangular splined shaft, and the rectangle splined spindle even circumferential is arranged with rectangular spline, described
Rectangular spline periphery is provided with pitch wheel therewith, is provided on the outside of the gear for driving gear to be revolved
The rotating hydraulic cylinder turned, the rotating hydraulic cylinder include rotating hydraulic cylinder cylinder, rack piston bar and rotary piston, and the rack gear is living
Stopper rod is arranged in rotating hydraulic cylinder cylinder, and the end of the rack piston bar is provided with rotary piston, the rack piston bar with
The gear intermeshing realizes that conveyance is rotated.
Preferably, the rectangle splined spindle and waist seat top junction are provided with tapered roller bearing.
Preferably, the rotating hydraulic cylinder further includes oil inlet after turning round preceding oil inlet, revolution, revolution guide sleeve and revolution
V-shaped seal ring, the front end of the rotating hydraulic cylinder cylinder are provided with oil inlet before revolution, the rear end setting of the rotating hydraulic cylinder cylinder
There is oil inlet after turning round, the front end of the rotating hydraulic cylinder is provided with the revolution guide sleeve for being oriented to rack gear piston rod, described
Revolution V-shaped seal ring is arranged on rotary piston.
Preferably, the elevating mechanism includes raise-lower hydraulic cylinder body, is provided with piston sleeve in the lifting hydraulic cylinder body,
The rectangle splined spindle is extended upward through to piston sleeve, and the piston sleeve lower end is provided with lifting piston, the rectangular flower
Key axis and lifting piston joint are arranged with spline housing, are provided with lifting cylinder cap, the liter above the raise-lower hydraulic cylinder body
It is provided with lower lifting cylinder cap below drop hydraulic cylinder, is provided with oil inlet in lift cylinders, the lower liter on the upper lifting cylinder cap
Oil inlet under lift cylinders is provided on drop cylinder cap.
Preferably, the horizontal transshipment acitivity includes horizontally disposed X-axis hydraulic cylinder and along the y axis water along the x axis
The Y-axis hydraulic cylinder of flat setting, the X-axis hydraulic cylinder are arranged above Y-axis hydraulic cylinder, the Y-axis Hydraulic Cylinder X-axis hydraulic cylinder
It is moved along Y-axis, the Y-axis hydraulic cylinder includes Y-axis hydraulic cylinder, Y-axis piston rod and Y-axis piston, and the Y-axis piston rod setting exists
In Y-axis hydraulic cylinder, the end of the Y-axis piston rod is provided with Y-axis piston, and the Y-axis piston rod drives Y-axis piston in Y-axis
Movement in hydraulic cylinder, the Y-axis upper cover of piston rod are equipped with X-axis support base, and it is hydraulic to be provided with X-axis above the X-axis support base
Cylinder, the X-axis hydraulic cylinder include X-axis hydraulic cylinder, X-axis piston rod and X-axis piston, and the X-axis piston rod setting is hydraulic in X-axis
In cylinder barrel, the rear end of the X-axis piston rod is provided with X-axis piston, and the front end of the X-axis piston rod connects grasping mechanism, the X
The both ends of axis hydraulic cylinder are provided with X-axis attachment base, are provided with X-axis guide rod among the X-axis attachment base.
Preferably, the front end of the X-axis hydraulic cylinder is provided with oil inlet before X-axis, and the rear end of the X-axis hydraulic cylinder is set
It is equipped with oil inlet after X-axis, the front end of the Y-axis hydraulic cylinder is provided with oil inlet before Y-axis, the rear end of the Y-axis hydraulic cylinder
It is provided with oil inlet after Y-axis, X-axis piston rod front end is provided with the X-axis mounting base for connecting grasping mechanism, the X-axis
X-axis guide plate is provided in mounting base, the X-axis guide plate is set on X-axis guide rod.
Preferably, the grasping mechanism includes mounting base, compression hydraulic cylinder, crawl arm and at least two groups mechanical paw, institute
State the hanger that mounting base includes horizontally disposed mounting platform He is vertically arranged in below four corners of mounting platform, the clamping
Hydraulic cylinder be arranged on mounting platform, the compression hydraulic cylinder include the clamping piston being arranged in compression hydraulic cylinder and with folder
The clamping piston bar that tight piston is connected, the clamping piston bar run through mounting platform straight down, under the clamping piston bar
End is provided with attachment base, and position detecting device is provided with below the attachment base, and the crawl arm upper end connects compression hydraulic cylinder,
It is articulated among the crawl arm below hanger, being horizontally disposed on the crawl arm has crossbeam, is provided at least on the crossbeam
Two groups of mechanical paws are provided with the upper oil inlet of clamping, the preceding cylinder of the compression hydraulic cylinder on the back cylinder cover of the compression hydraulic cylinder
It covers and is provided with the lower oil inlet of clamping.
Preferably, buffer unit is provided on the compression hydraulic cylinder back cylinder cover, the buffer unit includes that setting is being pressed from both sides
Dashpot on tight hydraulic cylinder back cylinder cover and the cone tanks that the clamping piston rear end is set, the dashpot and folder
Tightly upper oil inlet connection, the buffer unit provide cushion effect when moving for clamping piston.
Preferably, the crawl arm is provided with two groups altogether, is separately positioned on the both ends of attachment base, and the crawl arm includes the
One crawl arm and the second crawl arm, first crawl arm and the second crawl arm upper end are hingedly connected to attachment base, the crawl
It is articulated among arm below hanger, the crawl arm lower end is provided with crossbeam, and first crawl arm and the second crawl arm are opposite
Setting, the first crawl arm and the second crawl arm realize clamping and release movement by the stretching motion of clamping piston bar.
Preferably, the mechanical paw is provided with 8 groups altogether, and the mechanical paw includes the first gripper and the second gripper, institute
It states on the crossbeam that the first gripper is arranged in below the first crawl arm, the crossbeam below the second crawl arm is arranged in second gripper
On, first gripper and the second gripper are correspondingly arranged, and the first gripper and the second gripper realize clamping and pine by crawl arm
Start work.
The beneficial effect that the present invention reaches is: the present invention provides a kind of bagged grain conveyances, pass through swing mechanism reality
Existing rotary motion is realized elevating movement by elevating mechanism, is moved by horizontal transshipment acitivity realization level along X-axis and Y-axis, led to
It crosses grasping mechanism and realizes clamping and release movement, the movement position of grasping mechanism is detected by position detecting device, passes through control
System controls conveyance, and the present invention realizes can transport multiple bagged grains, high degree of automation, flexibility ratio simultaneously
High, structure is simple and convenient to operate.
Detailed description of the invention
The following further describes the present invention with reference to the drawings,
Fig. 1 is main view of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is the top view of swing mechanism of the present invention；
Fig. 4 is the main view of grasping mechanism of the present invention；
Fig. 5 is the right view of grasping mechanism of the present invention；
Wherein, 1, pedestal, 11, foundation bolt, 2, swing mechanism, 21, rectangle splined spindle, 22, waist seat, 23, rectangular spline, 24,
Gear, 25, rotating hydraulic cylinder, 251, rotating hydraulic cylinder cylinder, 252, rack piston bar, 253, rotary piston, 254, revolution advance
Hydraulic fluid port, 255, revolution after oil inlet, 256, revolution guide sleeve, 257, revolution V-shaped seal ring, 26, tapered roller bearing, 3, control
System, 4, elevating mechanism, 41, raise-lower hydraulic cylinder body, 42, piston sleeve, 421, dustband, 422, y-type seal ring, 423, O-shaped
Sealing ring, 43, lifting piston, 44, spline housing, 45, upper lifting cylinder cap, 46, lower lifting cylinder cap, 47, oil inlet in lift cylinders,
48, oil inlet under lift cylinders, 5, horizontal transshipment acitivity, 51, X-axis hydraulic cylinder, 511, X-axis hydraulic cylinder, 512, X-axis piston rod,
513, X-axis piston, 514, oil inlet before X-axis, 515, oil inlet after X-axis, 52, Y-axis hydraulic cylinder, 521, Y-axis hydraulic cylinder, 522,
Y-axis piston rod, 523, Y-axis piston, 524, oil inlet before Y-axis, 525, oil inlet after Y-axis, 53, X-axis support base, 54, X-axis connection
Seat, 55, X-axis guide rod, 56, X-axis mounting base, 57, X-axis guide plate, 6, grasping mechanism, 61, mounting base, 611, mounting platform,
612, hanger, 62, compression hydraulic cylinder, 621, clamping piston, 622, clamping piston bar, 63, crawl arm, the 631, first crawl arm,
632, the second crawl arm, 64, mechanical paw, the 641, first gripper, the 642, second gripper, 65, attachment base, 66, crossbeam, 67, folder
Tightly upper oil inlet, 68, the lower oil inlet of clamping, 69, buffer unit, 691, dashpot, 692, cone tanks, 7, position detection dress
It sets.
Specific embodiment
The following further describes the specific embodiments of the present invention with reference to the drawings.
As shown in Figures 1 to 5, a kind of bagged grain conveyance comprising pedestal 1 is provided with revolution above the pedestal 1
Mechanism 2 is provided with control system 3 on the outside of the swing mechanism 2, elevating mechanism 4 is provided with above the swing mechanism 2, described
Horizontal transshipment acitivity 5 is provided with above elevating mechanism 4, horizontal 5 end of transshipment acitivity is provided with grasping mechanism 6, described to grab
It takes and is provided with position detecting device 7 in mechanism 6, the swing mechanism 2 includes the rectangle splined spindle 21 being vertically arranged, the rectangle
The waist seat 22 for sealed rectangular splined shaft 21 is provided on the outside of splined shaft 21,21 even circumferential of rectangle splined spindle is arranged with
Rectangular spline 23,23 periphery of rectangular spline are provided with pitch wheel 24 therewith, set on the outside of the gear 24
Be equipped with the rotating hydraulic cylinder 25 for driving gear 24 to be rotated, the rotating hydraulic cylinder 25 include rotating hydraulic cylinder cylinder 251,
Rack piston bar 252 and rotary piston 253, the rack piston bar 252 are arranged in rotating hydraulic cylinder cylinder 251, the rack gear
The end of piston rod 252 is provided with rotary piston 253, and the rack piston bar 252 is realized with the gear 24 intermeshing to be turned
Fortune machine is rotated, and the rectangle splined spindle 21 is provided with tapered roller bearing 26 with 22 top junction of waist seat.
Foundation bolt 11 is additionally provided on the pedestal 1, foundation bolt 11 is for fixing bagged grain conveyance.
Rotary motion is realized by swing mechanism 2, and elevating movement is realized by elevating mechanism 4, passes through horizontal transshipment acitivity 5
Realization level is moved along X-axis and Y-axis, is realized that clamping and release act by grasping mechanism 6, is detected by position detecting device 7
The movement position of grasping mechanism controls conveyance by control system 3, realizes bagged grain conveyance automation fortune
Row；Rack piston bar 252 moves in a straight line in rotating hydraulic cylinder cylinder 251, drives and the intermeshing tooth of rack piston bar 252
Wheel 24, which is done, to be rotated, and drives the rectangle splined spindle 21 for being engaged on 24 inside circumference of gear to carry out rotation fortune by the rotation of gear 24
Dynamic, the setting of tapered roller bearing 26 keeps rectangle splined spindle 21 more flexible when being rotated, and reduces rotating friction force.
The control system 3 is controlled using programmable controller or microcomputer, and the element of control includes work
Work sequence, operating position, actuation time, movement speed and acceleration-deceleration etc..
Preferable scheme is that the rotating hydraulic cylinder 25 further includes oil inlet 255 after turning round preceding oil inlet 254, revolution, returns
Turning guide sleeve 256 and revolution V-shaped seal ring 257, the front end of the rotating hydraulic cylinder cylinder 251 is provided with oil inlet 254 before revolution,
The rear end of the rotating hydraulic cylinder cylinder 251 is provided with oil inlet 255 after revolution, and the front end setting of the rotating hydraulic cylinder 25 is useful
V-shaped seal ring 257 is turned round in being arranged on the revolution guide sleeve 256 of guiding rack gear piston rod 252, the rotary piston 253.
When hydraulic oil from turn round before 254 oil inlet of oil inlet when, rack piston bar 252 from 251 front end of rotating hydraulic cylinder cylinder to
End motion afterwards, when hydraulic oil 255 oil inlet of oil inlet after revolution, rack piston bar 252 from 251 rear end of rotating hydraulic cylinder cylinder to
Nose motion；Revolution guide sleeve 256 plays guiding role in the linear motion of rack piston bar 252, and revolution V-type is close
Seal 257 ensure that rotary piston 253 has enough pressure during the motion.
Preferable scheme is that the elevating mechanism 4 includes raise-lower hydraulic cylinder body 41, setting in the raise-lower hydraulic cylinder body 41
There is piston sleeve 42, the rectangle splined spindle 21 is extended upward through to piston sleeve 42, and 42 lower end of piston sleeve is provided with
Lifting piston 43, the rectangle splined spindle 21 are arranged with spline housing 44, the raise-lower hydraulic cylinder body with 43 joint of lifting piston
41 tops are provided with lifting cylinder cap 45, are provided with lower lifting cylinder cap 46, the upper lifting below the raise-lower hydraulic cylinder body 41
It is provided with oil inlet 47 in lift cylinders on cylinder cap 45, is provided with oil inlet 48 under lift cylinders on the lower lifting cylinder cap 46.
Rectangle splined spindle 21 in swing mechanism 2 is extended upward through to the raise-lower hydraulic cylinder body 41 of elevating mechanism 4, turns round liquid
The circular motion of the rectangular splined shaft 21 of transform linear motion of 25 rack piston bar 252 of cylinder pressure, and then 21 band of rectangle splined spindle
Dynamic raise-lower hydraulic cylinder body 41 makes rotating motion, to realize that bagged grain conveyance is rotated；Pass through elevating mechanism 4
Piston sleeve 42 drives lifting piston 43 to realize elevating movement, to realize the horizontal conveyance that 4 top of elevating mechanism is arranged in
The grasping mechanism 6 of 5 end of structure 5 and horizontal transshipment acitivity carries out lifting action.
In elevating mechanism 4, piston sleeve 42 and upper 45 junction of lifting cylinder cap are disposed with dustband from outside to inside
421, y-type seal ring 422 and O-ring seal 423 collect the dust etc. generated in grain transport process by dustband 421
Impurity ensure that piston sleeve 42 in clean conditions, is guaranteed at work by y-type seal ring 422 and O-ring seal 423
There is between piston sleeve 42 and upper lifting cylinder cap 45 enough leakproofness.
Preferable scheme is that the horizontal transshipment acitivity 5 is including horizontally disposed X-axis hydraulic cylinder 51 along the x axis and along Y
The horizontally disposed Y-axis hydraulic cylinder 52 of axis direction, the X-axis hydraulic cylinder 51 are arranged above Y-axis hydraulic cylinder 52, and the Y-axis is hydraulic
Cylinder 52 pushes X-axis hydraulic cylinder 51 to move along Y-axis, and the Y-axis hydraulic cylinder 52 includes Y-axis hydraulic cylinder 521,522 and of Y-axis piston rod
Y-axis piston 523, the Y-axis piston rod 522 are arranged in Y-axis hydraulic cylinder 521, and the end of the Y-axis piston rod 522 is arranged
There is Y-axis piston 523, the Y-axis piston rod 522 drives Y-axis piston 523 to move in Y-axis hydraulic cylinder 521, the Y-axis piston
It is arranged with X-axis support base 53 on bar 522, X-axis hydraulic cylinder 51, the X-axis hydraulic cylinder 51 are provided with above the X-axis support base 53
Including X-axis hydraulic cylinder 511, X-axis piston rod 512 and X-axis piston 513, the X-axis piston rod 512 is arranged in X-axis hydraulic cylinder
In 511, the rear end of the X-axis piston rod 512 is provided with X-axis piston 513, and the front end of the X-axis piston rod 512 connects gripper
Structure 6, the both ends of the X-axis hydraulic cylinder 51 are provided with X-axis attachment base 54, are provided with X-axis guide rod among the X-axis attachment base 54
55。
Preferable scheme is that the front end of the X-axis hydraulic cylinder 511 is provided with oil inlet 514 before X-axis, the X-axis is hydraulic
The rear end of cylinder barrel 511 is provided with oil inlet 515 after X-axis, and the front end of the Y-axis hydraulic cylinder 521 is provided with oil inlet before Y-axis
524, the rear end of the Y-axis hydraulic cylinder 521 is provided with oil inlet 525 after Y-axis, and 522 front end of the X-axis piston rod setting is useful
X-axis guide plate 57, the X-axis guide plate are provided in the X-axis mounting base 56 of connection grasping mechanism 6, in the X-axis mounting base 56
57 are set on X-axis guide rod 55.
It realizes that grasping mechanism 6 moves in the X-axis direction by X-axis hydraulic cylinder 51, leads to and X-axis is realized by Y-axis hydraulic cylinder 52
Hydraulic cylinder 51 is moved along the y axis, is moved along the y axis to realize grasping mechanism 6, X-axis guide rod 55 is grabbing
Guiding role is played in 6 motion process of mechanism.
In horizontal transshipment acitivity 5, it is arranged with O-ring seal 423 on X-axis piston 523, ensure that X-axis piston 513 is being transported
There is enough pressure during dynamic；It is provided with dustband 421 in 51 drive end bearing bracket of X-axis hydraulic cylinder, is transported for collecting in grain
The impurity such as the dust generated in the process ensure that X-axis hydraulic cylinder 51 at work in clean conditions.
Preferable scheme is that the grasping mechanism 6 includes mounting base 61, compression hydraulic cylinder 62, crawl arm and 63 at least two
Group mechanical paw 64, the mounting base 61 include horizontally disposed mounting platform 611 and are vertically arranged in mounting platform 611 4
Hanger 612 below corner, the compression hydraulic cylinder 62 are arranged on mounting platform 611, and the compression hydraulic cylinder 62 includes setting
The clamping piston bar 622 setting the clamping piston 621 in compression hydraulic cylinder 62 and being connected with clamping piston 621, the folder
Tight piston rod 622 runs through mounting platform 611 straight down, and 622 lower end of clamping piston bar is provided with attachment base 65, the company
It is provided with position detecting device 7 below joint chair 65,63 upper end of crawl arm connects compression hydraulic cylinder 62, in the crawl arm 63
Between be articulated with the lower section of hanger 612, being horizontally disposed on the crawl arm 63 has crossbeam 67, is provided at least two on the crossbeam 67
Mechanical paw 64 is organized, the upper oil inlet 67 of clamping, the compression hydraulic cylinder 62 are provided on the back cylinder cover of the compression hydraulic cylinder 62
Front end housing on be provided with the lower oil inlet 68 of clamping.
Preferable scheme is that being provided with buffer unit 69, the buffer unit 69 on 62 back cylinder cover of compression hydraulic cylinder
Including the dashpot 691 being arranged on 62 back cylinder cover of compression hydraulic cylinder and the circle of 621 rear end of clamping piston is set
Tapered slot 692, the dashpot 691 are connected to upper oil inlet 67 is clamped, when the buffer unit 69 is that clamping piston 621 moves
Cushion effect is provided；When clamping piston 621 is close to 62 back cylinder cover of compression hydraulic cylinder, the cone tanks of 621 rear end of clamping piston
The resistance of 692 generations is increasing, reduces the movement velocity of clamping piston bar 622, avoids clamping piston 621 and rear end cap
Bumped against.
Position detecting device 7 uses camera, gives data feedback for the movement position of inspecting manipuator pawl 64, and at any time
Control system 3 is allowed to be compared with scheduled position, then is adjusted by control system 3, to keep mechanical paw 64 real
Existing high-precision grasping movement.
Preferable scheme is that the crawl arm 63 is provided with two groups altogether, the both ends of attachment base 65 are separately positioned on, it is described to grab
Taking arm 63 includes the first crawl arm 631 and the second crawl arm 632, and first crawl arm 631 and 632 upper end of the second crawl arm are divided
It is not articulated with attachment base 65,612 lower section of hanger is articulated among the crawl arm 63,63 lower end of crawl arm is provided with crossbeam
66, first crawl arm 631 and the second crawl arm 632 are oppositely arranged, and the first crawl arm 631 and the second crawl arm 632 pass through
The stretching motion of clamping piston bar 622 realizes clamping and release movement.
Preferable scheme is that the mechanical paw 64 is provided with 8 groups altogether, the mechanical paw 64 includes the first gripper 641
With the second gripper 642, first gripper 641 is arranged on the crossbeam 66 below the first crawl arm 631, second gripper
642 are arranged on the crossbeam 66 below the second crawl arm 632, and first gripper 641 and the second gripper 642 are correspondingly arranged, the
One gripper 641 and the second gripper 642 realize clamping and release movement by crawl arm 63.
Crawl arm 63 is driven to carry out open and close movement by compression hydraulic cylinder 62, mechanical paw 64 is fixed on crawl arm 63 and sets
On the crossbeam 66 set, and then mechanical paw 64 is driven to carry out open and close movement by crawl arm 63, to realize that grasping mechanism 6 carries out
Grasping movement；A crossbeam 66, the first crawl arm 631 and are fixed jointly by the first crawl arm 631 and the second crawl arm 632
The movement of two crawl arms 632 synchronizes, and 8 groups of mechanical paws 64 are uniformly arranged on crossbeam 66, once transports more bags of grains to realize
Purpose.
The working principle of the invention is that straight line fortune is done in rotating hydraulic cylinder cylinder by the rack piston bar of swing mechanism
Dynamic, drive is done with rack piston bar pitch wheel to rotate, and is engaged on the inside of circumference of gear by the rotation drive of gear
Rectangle splined spindle be rotated, thus realize swing mechanism carry out rotary motion；Pass through the lifting piston of elevating mechanism
Bar drives lifting piston to realize elevating movement, to realize the horizontal transshipment acitivity being arranged in above elevating mechanism and horizontal turn
The grasping mechanism for transporting mechanism end carries out lifting action；Realize grasping mechanism along X-axis by the X-axis hydraulic cylinder of horizontal transshipment acitivity
Direction movement leads to and realizes that X-axis hydraulic cylinder is moved along the y axis by Y-axis hydraulic cylinder, to realize grasping mechanism edge
Y direction movement；Seat is drivingly connected by the clamping piston bar of grasping mechanism and carries out stretching motion up and down, is articulated with to drive
The crawl arm of attachment base carries out open and close movement, and crawl arm drives mechanical paw to carry out open and close movement again, passes through position detecting device
The movement position for detecting grasping mechanism, controls conveyance by control system, it is automatic to realize bagged grain conveyance
Change operation, multiple bagged grains can be transported simultaneously, flexibility ratio is high, structure is simple and convenient to operate.
The above are preferred embodiments of the present invention, is not intended to limit the present invention in any form, all foundations
Technical spirit of the invention any simple modification, equivalent change and modification made to the above embodiment, belong to inventive technique
In the range of scheme.
Claims (10)
1. a kind of bagged grain conveyance, which is characterized in that it includes pedestal, is provided with swing mechanism above the pedestal, institute
It states and is provided with control system on the outside of swing mechanism, elevating mechanism, the elevating mechanism top are provided with above the swing mechanism
It is provided with horizontal transshipment acitivity, the horizontal transshipment acitivity end is provided with grasping mechanism, is provided with position on the grasping mechanism
Detection device is set, the swing mechanism includes the rectangle splined spindle being vertically arranged, and is provided with and is used on the outside of the rectangle splined spindle
The waist seat of sealed rectangular splined shaft, the rectangle splined spindle even circumferential are arranged with rectangular spline, outside the rectangular spline circumference
Side is provided with pitch wheel therewith, and the revolution being provided on the outside of the gear for driving gear to be rotated is hydraulic
Cylinder, the rotating hydraulic cylinder include rotating hydraulic cylinder cylinder, rack piston bar and rotary piston, and the rack piston bar setting is being returned
Turn in hydraulic cylinder, the end of the rack piston bar is provided with rotary piston, and the rack piston bar and the gear are mutual
Engagement realizes that conveyance is rotated.
2. a kind of bagged grain conveyance according to claim 1, which is characterized in that on the rectangle splined spindle and waist seat
Square junction is provided with tapered roller bearing.
3. a kind of bagged grain conveyance according to claim 1, which is characterized in that the rotating hydraulic cylinder further includes back
Oil inlet, revolution guide sleeve and revolution V-shaped seal ring, the front end setting of the rotating hydraulic cylinder cylinder after oil inlet, revolution before turning
There is the preceding oil inlet of revolution, the rear end of the rotating hydraulic cylinder cylinder is provided with oil inlet after revolution, the front end of the rotating hydraulic cylinder
It is provided with the revolution guide sleeve for being oriented to rack gear piston rod, is arranged with revolution V-shaped seal ring on the rotary piston.
4. a kind of bagged grain conveyance according to claim 1, which is characterized in that the elevating mechanism includes lifting liquid
Cylinder pressure body is provided with piston sleeve in the lifting hydraulic cylinder body, and the rectangle splined spindle is extended upward through to piston sleeve, institute
It states piston sleeve lower end and is provided with lifting piston, the rectangle splined spindle and lifting piston joint are arranged with spline housing, described
Be provided with lifting cylinder cap above raise-lower hydraulic cylinder body, be provided with lower lifting cylinder cap below the raise-lower hydraulic cylinder body, it is described on
Lift cylinders, which cover, is provided with oil inlet in lift cylinders, and the lower lift cylinders, which cover, is provided with oil inlet under lift cylinders.
5. a kind of bagged grain conveyance according to claim 1, which is characterized in that the horizontal transshipment acitivity includes edge
The horizontally disposed X-axis hydraulic cylinder of X-direction and along the y axis horizontally disposed Y-axis hydraulic cylinder, the X-axis hydraulic cylinder are arranged in Y
Above axis hydraulic cylinder, the Y-axis Hydraulic Cylinder X-axis hydraulic cylinder is moved along Y-axis, and the Y-axis hydraulic cylinder includes Y-axis hydraulic cylinder
Cylinder, Y-axis piston rod and Y-axis piston, the Y-axis piston rod are arranged in Y-axis hydraulic cylinder, and the end of the Y-axis piston rod is set
It is equipped with Y-axis piston, the Y-axis piston rod drives Y-axis piston to move in Y-axis hydraulic cylinder, and the Y-axis upper cover of piston rod is equipped with
X-axis support base, the X-axis support base top are provided with X-axis hydraulic cylinder, and the X-axis hydraulic cylinder includes X-axis hydraulic cylinder, X-axis work
Stopper rod and X-axis piston, the X-axis piston rod are arranged in X-axis hydraulic cylinder, and it is living that the rear end of the X-axis piston rod is provided with X-axis
The front end of plug, the X-axis piston rod connects grasping mechanism, and the both ends of the X-axis hydraulic cylinder are provided with X-axis attachment base, the X-axis
X-axis guide rod is provided among attachment base.
6. a kind of bagged grain conveyance according to claim 5, which is characterized in that the front end of the X-axis hydraulic cylinder
It is provided with oil inlet before X-axis, the rear end of the X-axis hydraulic cylinder is provided with oil inlet after X-axis, before the Y-axis hydraulic cylinder
End is provided with oil inlet before Y-axis, and the rear end of the Y-axis hydraulic cylinder is provided with oil inlet after Y-axis, X-axis piston rod front end
It is provided with the X-axis mounting base for connecting transportation manipulator, X-axis guide plate is provided in the X-axis mounting base, the X-axis is led
It is located on X-axis guide rod to sleeve-board.
7. a kind of bagged grain conveyance according to claim 6, which is characterized in that the grasping mechanism includes installation
Seat, compression hydraulic cylinder, crawl arm and at least two groups mechanical paw, the mounting base include horizontally disposed mounting platform and vertical
Hanger below four corners of mounting platform is set, and the compression hydraulic cylinder is arranged on mounting platform, the clamping hydraulic
Cylinder includes the clamping piston being arranged in compression hydraulic cylinder and the clamping piston bar being connected with clamping piston, and the clamping is lived
Stopper rod runs through mounting platform straight down, and clamping piston bar lower end is provided with attachment base, is provided with below the attachment base
Position detecting device, the crawl arm upper end connects compression hydraulic cylinder, is articulated with below hanger among the crawl arm, described to grab
It takes to be horizontally disposed on arm and has crossbeam, at least two groups mechanical paw, the back cylinder cover of the compression hydraulic cylinder are provided on the crossbeam
On be provided with the upper oil inlet of clamping, the lower oil inlet of clamping is provided on the front end housing of the compression hydraulic cylinder.
8. a kind of bagged grain conveyance according to claim 6, which is characterized in that on the compression hydraulic cylinder back cylinder cover
It is provided with buffer unit, the buffer unit includes the dashpot being arranged on compression hydraulic cylinder back cylinder cover and is arranged described
The cone tanks of clamping piston rear end, the dashpot are connected to upper oil inlet is clamped, and the buffer unit is clamping piston
Cushion effect is provided when movement.
9. a kind of bagged grain conveyance according to claim 7, which is characterized in that the crawl arm is provided with two altogether
Group, is separately positioned on the both ends of attachment base, and the crawl arm includes the first crawl arm and the second crawl arm, first crawl arm
It is hingedly connected to attachment base with the second crawl arm upper end, is articulated among the crawl arm below hanger, the crawl arm lower end
It is provided with crossbeam, first crawl arm and the second crawl arm are oppositely arranged, and the first crawl arm and the second crawl arm pass through clamping
The stretching motion of piston rod realizes clamping and release movement.
10. a kind of bagged grain conveyance according to claim 7, which is characterized in that the mechanical paw is provided with 8 altogether
Group, the mechanical paw include the first gripper and the second gripper, and the crossbeam below the first crawl arm is arranged in first gripper
On, second gripper is arranged on the crossbeam below the second crawl arm, and first gripper and the second gripper are correspondingly arranged, the
One gripper and the second gripper realize clamping and release movement by crawl arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811503452.6A CN109552871A (en) | 2018-12-10 | 2018-12-10 | A kind of bagged grain conveyance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811503452.6A CN109552871A (en) | 2018-12-10 | 2018-12-10 | A kind of bagged grain conveyance |
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| CN109552871A true CN109552871A (en) | 2019-04-02 |
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| CN201811503452.6A Pending CN109552871A (en) | 2018-12-10 | 2018-12-10 | A kind of bagged grain conveyance |
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