CN111003412A - Brick unloading clamping hand device - Google Patents
Brick unloading clamping hand device Download PDFInfo
- Publication number
- CN111003412A CN111003412A CN201911344264.8A CN201911344264A CN111003412A CN 111003412 A CN111003412 A CN 111003412A CN 201911344264 A CN201911344264 A CN 201911344264A CN 111003412 A CN111003412 A CN 111003412A
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- CN
- China
- Prior art keywords
- clamping piece
- brick
- inner clamping
- independent
- linear motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011449 brick Substances 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 238000010009 beating Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B65G7/00—Devices for assisting manual moving or tilting heavy loads
- B65G7/12—Load carriers, e.g. hooks, slings, harness, gloves, modified for load carrying
Landscapes
- Furnace Housings, Linings, Walls, And Ceilings (AREA)
Abstract
The invention relates to a brick unloading clamping hand device which comprises a hanger assembly, a clamping piece group and a limiting device, wherein the clamping piece group is arranged below the hanger assembly, the clamping piece group comprises an outer clamping piece, an inner clamping piece, a driving device and a linear motion pair, and the outer clamping piece is used for clamping a lower layer of brick; interior clamping piece includes clamping piece in the combination and a plurality of independent clamping piece in, clamping piece is located in a plurality of independent the offside of clamping piece corresponds with the combination in the clamping piece and arranges, and the clamping piece opens or draws in along the vice third orbit of linear motion respectively in a plurality of independent clamping pieces under drive arrangement three's drive, and when brick group and brick group thickness error are big, independent clamping piece group end can arrange the brick group according to the difference of brick group thickness and the cooperation of clamping piece in the combination and carry out the centre gripping alone to the difference, has effectively avoided the brick group thickness uneven hourglass that causes to press from both sides, fall the brick phenomenon, has promoted the centre gripping success rate of unloading the brick tong.
Description
Technical Field
The invention relates to the field of sintered brick unloading devices, in particular to a brick unloading clamping hand device.
Background
A series of physical and chemical changes can be generated in the production process of brick products from green bricks to finished bricks, the length, the height and the thickness of the green bricks can be changed, and the thickness between the clamping surfaces can be changed when the clamping hands clamp a brick group in the mechanical brick unloading process. In the prior art, a group of clamping hands simultaneously clamps two rows, three rows, four rows or even more brick groups, elastic materials are arranged on clamping pieces, and the change of the brick size is compensated by using the elastic deformation of the elastic materials; in addition, the currently adopted elastic materials, namely sponge rubber and silica gel plates, are soft and rub against finished brick blanks, so that the damage rate is very high and the replacement is frequently needed, the number of clamping pieces is large, the replacement of the sponge rubber or the silica gel plates wastes manpower and material resources, and the brick unloading period is delayed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the brick unloading clamping hand device, which adopts the matching of the combined inner clamping piece and the plurality of independent inner clamping pieces, and carries out independent clamping according to the different thicknesses of the brick groups, thereby improving the clamping success rate of the brick unloading clamping hand.
In order to achieve the purpose, the invention adopts the technical scheme that: a brick unloading clamping hand device comprises a hanger assembly, a clamping piece group and a limiting device, wherein the hanger assembly is arranged on a brick unloading machine or a robot, the clamping piece group is arranged below the hanger assembly, and the limiting device is used for accurately positioning a brick pile; the clamping piece set comprises an outer clamping piece, an inner clamping piece, a driving device and a linear motion pair, wherein the outer clamping piece is connected with the linear motion pair I, and is unfolded or folded along the track of the linear motion pair I under the driving of the driving device I to clamp a lower layer of brick; the inner clamping piece is positioned on the inner side of the outer clamping piece and comprises a combined inner clamping piece and a plurality of independent inner clamping pieces, the plurality of independent inner clamping pieces are positioned on the opposite sides of the combined inner clamping pieces and are arranged corresponding to the combined inner clamping pieces, the combined inner clamping pieces are connected with the second linear motion pair, the second linear motion pair is driven to open or close along the track of the second linear motion pair, the plurality of independent inner clamping pieces are respectively connected with the third linear motion pair, the third linear motion pair is driven to open or close along the track of the third linear motion pair, and the plurality of independent inner clamping pieces are respectively matched with the combined inner clamping pieces to clamp the multi-row brick groups positioned on the upper layer.
Furthermore, a second driving device for driving the combined inner clamping piece and a third driving device for driving the independent inner clamping piece act simultaneously or independently respectively.
Furthermore, the driving device III comprises a plurality of independent drives, the independent drives correspond to the independent inner clamping pieces one by one, and the plurality of independent inner clamping pieces can run synchronously or asynchronously.
Furthermore, the third linear kinematic pair comprises a plurality of sets of kinematic pairs, the plurality of sets of independent inner clamping pieces correspond to the plurality of sets of kinematic pairs one by one, and the plurality of sets of independent inner clamping pieces are independently opened or closed along the plurality of sets of kinematic pairs.
Further, the clamping sheet groups installed below the hanger assembly are one group or multiple groups.
Has the advantages that: the brick unloading gripper in the prior art is improved, the inner clamping pieces adopt a plurality of independent inner clamping pieces, the combined inner clamping pieces and the plurality of groups of independent inner clamping pieces are matched in the brick unloading process of a finished brick, the independent inner clamping pieces can be independently opened and closed along the plurality of groups of kinematic pairs, and when the thickness error between the brick groups and the brick groups is large, the independent clamping piece group ends can independently clamp different brick-arranging groups according to the different thicknesses of the brick groups, so that the phenomena of missing clamping and falling of the bricks caused by uneven thicknesses of the brick groups are effectively avoided, the clamping success rate of the brick unloading gripper is improved, the mechanical stack unloading is realized, and the requirement of automatic production is met; the brick is unloaded from the kiln car without manual intervention, so that the production efficiency is improved, the clamping is firm, the elastic material is not required to be frequently replaced, the labor intensity of workers is greatly reduced, the labor condition of the workers is improved, and the production cost is reduced.
Drawings
FIG. 1 is a schematic front view of a brick unloading clamping device according to the present invention;
FIG. 2 is a schematic left view of the brick unloading clamping device of the present invention;
FIG. 3 is a schematic view of the internal clip of the present invention;
FIG. 4 is a schematic view of the inner clip of the present invention shown in a retracted position;
FIG. 5 is a schematic view of the lower layer brick being clasped by the upper layer brick to be clamped;
reference numerals: 1. a brick unloading clamping device; 2. a hanger assembly; 3. a clip set; 301. a first linear motion pair; 302. a second linear motion pair; 303. a third linear motion pair; 304. an outer clip; 305. a first driving device; 306. assembling the inner clamping piece; 307. a second driving device; 308. an independent inner clamping piece; 309. a third driving device; 4. A mechanical limiting device; 5. an upper layer brick; 6. and a lower layer brick.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1-2, a brick unloading clamping hand device 1 comprises a hanger component 2, a clamping piece group 3 and a mechanical limiting device 4; the hanger assembly 2 is mounted on a brick unloading machine or a robot, and the single group or the plurality of groups of clamping sheet groups 3 are mounted below the hanger assembly 2.
The clamping piece group 3 comprises an outer clamping piece, an inner clamping piece, a driving device and a linear motion pair, wherein the linear motion pair comprises a first linear motion pair 301, a second linear motion pair 302 and a third linear motion pair 303, and the driving device comprises a first driving device 305, a second driving device 307 and a third driving device 309; the outer clamping piece 304 is connected with the first linear motion pair 301, the outer clamping piece 304 is driven to expand and contract along the track of the first linear motion pair 301 by a first driving device 305 positioned below the hanger assembly 2, and the outer clamping piece 304 is mainly used for tightly holding the lower layer brick 6; the inner clamping piece is positioned on the inner side of the outer clamping piece 304 and comprises an assembled inner clamping piece 306 and a plurality of independent inner clamping pieces 308, the independent inner clamping pieces 308 are positioned on the opposite sides of the assembled inner clamping piece 306, the assembled inner clamping piece 306 is connected with the second linear motion pair 302, the independent inner clamping piece 308 is connected with the third linear motion pair 303, the second driving device 307 is positioned below the hanger component 2, the assembled inner clamping piece 306 is driven to open and close along the track of the second linear motion pair 302, the third driving device 309 is positioned opposite to the second driving device 307, and the independent inner clamping pieces 308 are driven to open and close along the track of the third linear motion pair 303.
As shown in fig. 3, the combined inner clamping piece 306 and the plurality of independent inner clamping pieces 308 are arranged correspondingly, when the brick is unloaded, the independent inner clamping pieces 308 and the combined inner clamping pieces 306 are matched to clamp the upper layer brick 5, the second driving device 307 for driving the combined inner clamping piece 306 and the third driving device 309 for driving the independent inner clamping pieces 308 can simultaneously act and can also act independently, and in the process of clamping the brick group by the brick unloading clamping hands, the combined inner clamping pieces 306 and the independent inner clamping pieces 308 act independently respectively to perform left and right brick beating actions to effectively break adhesion of green bricks.
The third driving device 309 comprises a plurality of independent drives, the independent drives correspond to the independent inner clamping pieces 308 one by one, and the plurality of groups of independent inner clamping pieces 308 can run synchronously or asynchronously.
The third linear kinematic pair 303 comprises a plurality of kinematic pairs, a plurality of independent inner clamping pieces 308 correspond to the plurality of kinematic pairs one by one, the plurality of independent inner clamping pieces 308 are independently opened and closed along the plurality of kinematic pairs, as shown in fig. 4, according to the difference of the thickness of each row of brick groups, the distance between different closed independent inner clamping pieces 308 and the distance between combined inner clamping pieces 306 are different, the brick thickness is compensated by the distance deviation between the independent inner clamping pieces 308 and the combined inner clamping pieces 306, and the brick groups are clamped by the clamping piece group 3 for transportation.
In operation, the brick unloading machine or the robot moves the brick unloading clamping hand device 1 above a brick pile, the first driving device 305, the second driving device 307 and the third driving device 309 all act to drive the outer clamping piece 304, the combined inner clamping piece 306 and the independent inner clamping piece 308 to open; the mechanical limiting device 4 acts to limit the brick pile to be positioned at an accurate position, and the mechanical limiting device 4 moves upwards; then, the first driving device 305 drives the outer clamping piece 304 to fold and clamp the lower layer brick 6, the second driving device 307 drives the combined inner clamping piece 306 to fold, the third driving device 309 drives the independent inner clamping piece 308 to fold, the second driving device 307 and the driving device 308 can act simultaneously or respectively, the folding action can be repeatedly executed according to the adhesion degree of green bricks to perform left and right brick beating, and the adhesion of the green bricks is effectively broken; then, the driving device 305 drives the outer clip 304 to open, the combined inner clip 306 and the independent inner clip 308 keep the clamping action to hold the upper layer of bricks 5 to ascend with the brick unloader or the robot, and the brick group is unloaded from the brick pile and conveyed to the brick placing position; when the brick unloading clamping hand device 1 is used for placing bricks, the combined inner clamping piece 306 and the independent inner clamping piece 308 are opened simultaneously, the brick unloading clamping hand device 1 returns to the initial position to enter the next working cycle, and the whole process realizes automatic operation.
Usually a set of independent interior clamping piece corresponds a row of brick, through the cooperation of each independent interior clamping piece and combination interior clamping piece, overcomes the clearance that the difference of different row brick thickness brought, can guarantee to the clamp tight of every row of brick.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A brick unloading clamping hand device comprises a hanger assembly, a clamping piece group and a limiting device, wherein the hanger assembly is arranged on a brick unloading machine or a robot, the clamping piece group is arranged below the hanger assembly, and the limiting device is used for accurately positioning a brick pile; the method is characterized in that: the clamping piece set comprises an outer clamping piece, an inner clamping piece, a driving device and a linear motion pair, wherein the outer clamping piece is connected with the linear motion pair I, and is unfolded or folded along the track of the linear motion pair I under the driving of the driving device I to clamp a lower layer of brick; the inner clamping piece is positioned on the inner side of the outer clamping piece and comprises a combined inner clamping piece and a plurality of independent inner clamping pieces, the plurality of independent inner clamping pieces are positioned on the opposite sides of the combined inner clamping pieces and are arranged corresponding to the combined inner clamping pieces, the combined inner clamping pieces are connected with the second linear motion pair, the second linear motion pair is driven to open or close along the track of the second linear motion pair, the plurality of independent inner clamping pieces are respectively connected with the third linear motion pair, the third linear motion pair is driven to open or close along the track of the third linear motion pair, and the plurality of independent inner clamping pieces are respectively matched with the combined inner clamping pieces to clamp the multi-row brick groups positioned on the upper layer.
2. The tile-unloading gripper device according to claim 1, characterized in that: the second driving device for driving the combined inner clamping piece and the third driving device for driving the independent inner clamping piece act simultaneously or independently respectively.
3. The tile-unloading gripper device according to claim 1, characterized in that: the driving device III comprises a plurality of independent drives, the independent drives correspond to the independent inner clamping pieces one by one, and the independent inner clamping pieces can run synchronously or asynchronously.
4. The brick-unloading clamping hand device as claimed in claim 1, wherein the three linear kinematic pairs comprise a plurality of sets of kinematic pairs, the plurality of sets of independent inner clamping pieces correspond to the plurality of sets of kinematic pairs one by one, and the plurality of sets of independent inner clamping pieces are independently opened or closed along the plurality of sets of kinematic pairs.
5. The tile-unloading gripper device according to claim 1, characterized in that: the clamping sheet groups arranged below the hanger component are one group or a plurality of groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911344264.8A CN111003412A (en) | 2019-12-23 | 2019-12-23 | Brick unloading clamping hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911344264.8A CN111003412A (en) | 2019-12-23 | 2019-12-23 | Brick unloading clamping hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111003412A true CN111003412A (en) | 2020-04-14 |
Family
ID=70117680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911344264.8A Pending CN111003412A (en) | 2019-12-23 | 2019-12-23 | Brick unloading clamping hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111003412A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978393A (en) * | 2021-04-13 | 2021-06-18 | 山东省科学院自动化研究所 | Auxiliary system and method for automatic unstacking of baked bricks |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3468998A (en) * | 1966-10-03 | 1969-09-23 | Johann Lingl | Method for producing bricks and thereafter hacking the same |
| KR20060093569A (en) * | 2005-02-22 | 2006-08-25 | 주식회사 로보스 | Gripper for brick holding |
| CN103434851A (en) * | 2013-08-22 | 2013-12-11 | 洛阳中冶重工机械有限公司 | Sintered brick layered composite brick unloading method and device thereof |
| CN105347052A (en) * | 2015-11-24 | 2016-02-24 | 洛阳中冶重工机械有限公司 | Missing clamping prevention stacking clamping gripper device |
| CN107187886A (en) * | 2017-07-11 | 2017-09-22 | 刘代勇 | A kind of chuck, clamp device and de-hackers |
| CN207390439U (en) * | 2017-10-16 | 2018-05-22 | 洛阳中冶建材设备有限公司 | A kind of palletizing mechanical arm that can reserve forklift hole |
| CN207417861U (en) * | 2017-10-30 | 2018-05-29 | 资阳市精工机械有限公司 | A kind of strength unloads brick clamp disk |
| CN109552896A (en) * | 2018-12-24 | 2019-04-02 | 中建材(洛阳)节能科技有限公司 | A kind of fired brick brick unloading clamp device |
| CN211944901U (en) * | 2019-12-23 | 2020-11-17 | 中建材(洛阳)节能科技有限公司 | Brick unloading clamping hand device |
-
2019
- 2019-12-23 CN CN201911344264.8A patent/CN111003412A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3468998A (en) * | 1966-10-03 | 1969-09-23 | Johann Lingl | Method for producing bricks and thereafter hacking the same |
| KR20060093569A (en) * | 2005-02-22 | 2006-08-25 | 주식회사 로보스 | Gripper for brick holding |
| CN103434851A (en) * | 2013-08-22 | 2013-12-11 | 洛阳中冶重工机械有限公司 | Sintered brick layered composite brick unloading method and device thereof |
| CN105347052A (en) * | 2015-11-24 | 2016-02-24 | 洛阳中冶重工机械有限公司 | Missing clamping prevention stacking clamping gripper device |
| CN107187886A (en) * | 2017-07-11 | 2017-09-22 | 刘代勇 | A kind of chuck, clamp device and de-hackers |
| CN207390439U (en) * | 2017-10-16 | 2018-05-22 | 洛阳中冶建材设备有限公司 | A kind of palletizing mechanical arm that can reserve forklift hole |
| CN207417861U (en) * | 2017-10-30 | 2018-05-29 | 资阳市精工机械有限公司 | A kind of strength unloads brick clamp disk |
| CN109552896A (en) * | 2018-12-24 | 2019-04-02 | 中建材(洛阳)节能科技有限公司 | A kind of fired brick brick unloading clamp device |
| CN211944901U (en) * | 2019-12-23 | 2020-11-17 | 中建材(洛阳)节能科技有限公司 | Brick unloading clamping hand device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978393A (en) * | 2021-04-13 | 2021-06-18 | 山东省科学院自动化研究所 | Auxiliary system and method for automatic unstacking of baked bricks |
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