CN112141689A - Dangerous waste ton bag grabbing method and ton bag grabbing mechanism - Google Patents
Dangerous waste ton bag grabbing method and ton bag grabbing mechanism Download PDFInfo
- Publication number
- CN112141689A CN112141689A CN202010932830.3A CN202010932830A CN112141689A CN 112141689 A CN112141689 A CN 112141689A CN 202010932830 A CN202010932830 A CN 202010932830A CN 112141689 A CN112141689 A CN 112141689A
- Authority
- CN
- China
- Prior art keywords
- ton bag
- axis
- frame
- puncture
- rotating mechanism
- 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.)
- Granted
Links
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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
- B65B69/0041—Unpacking of articles or materials, not otherwise provided for by cutting by puncturing
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention relates to a method for grabbing a hazardous waste ton bag and a ton bag grabbing mechanism, wherein the ton bag grabbing mechanism comprises the following components: the base is fixed on the ground; the position adjusting device is connected with the base, and a main rotating mechanism, a Z-axis lifting mechanism, a swing arm, an X-axis telescopic mechanism and an auxiliary rotating mechanism are sequentially connected in the position adjusting device from bottom to top; the clamp comprises a clamp jaw tool, a clamp jaw lifting mechanism, a Z-axis lifting mechanism, a swing arm, an X-axis telescoping mechanism and an auxiliary rotating mechanism, wherein the clamp jaw tool is arranged at the lower end of the auxiliary rotating mechanism, a puncture needle is arranged in the clamp and used for lifting ton bags, and the position adjusting device is arranged on the clamp; the ton bag is punctured through the puncture needle, manual operation is avoided, and the automation degree and the working efficiency are greatly improved.
Description
Technical Field
The invention relates to the field of material transfer devices, in particular to a method for grabbing a ton bag of hazardous waste and a ton bag grabbing mechanism.
Background
With the continuous development of the robot technology, more and more machine gripping devices are used in industrial automatic production, and are mostly used in the industries of food, packaging, communication and the like at present. The mechanical gripping device is an automatic operating device for gripping, carrying objects or operating tools according to a fixed program. Can replace the heavy labor of people to realize the mechanization and automation of production, and can operate under harmful environment to protect the manual safety.
Because the hazardous waste is filled into the ton bag, the hazardous waste contains a large amount of moisture due to the characteristics of the hazardous waste, is mud-shaped, is easy to incline and topple in the ton bag and difficult to shape, and the grabbing effect of the common automatic grabbing device is poor; the existing ton bag is taken, moved and needs manual bag hanging, and then is moved by a forklift or a crane, so that a large amount of labor is consumed, and the working efficiency and the safety coefficient are low.
To sum up, for solving the not enough of the useless ton bag of current danger and snatching the mechanism, need design a reasonable in design, snatch effectual, the high-efficient dangerous waste ton bag of transporting and snatch a packet mechanism.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method and a mechanism for grabbing a ton bag of hazardous waste, which are reasonable in design and good in grabbing effect.
The purpose of the invention can be realized by the following technical scheme:
a dangerous waste ton bag grabbing method comprises the following steps:
s1 ton bag grabbing
The clamping jaw tool reaches the specified position of a ton bag by the linkage of a main rotating mechanism, a Z-axis lifting mechanism, a swinging arm, an X-axis telescopic mechanism and an auxiliary rotating mechanism in an adjusting position adjusting device, the ton bag is placed in the outer frame, and a hydraulic rod in a hydraulic cylinder moves inwards to drive a puncture needle of a telescopic frame on a guide mechanism to move towards the inner part of the outer frame;
s2 ton bag puncture and drop-out
Inside the ton bag was punctured to the pjncture needle, made grabbing device snatch the ton bag to the position of unloading, the clamping jaw frock descends, punctures the ton bag by discharge apparatus's blade, treats that dangerous refuse flows out the back in the ton bag, moves to losing the packet position through position control device, and the pjncture needle in the clamping jaw frock outwards removes, and the ton bag falls out, and position control device removes to next ton bag position.
A bale plucker for a ton of bags containing hazardous waste comprising:
the base is fixed on the ground;
the device comprises a position adjusting device, a base and a base, wherein the position adjusting device is connected with the base and comprises a main rotating mechanism, a Z-axis lifting mechanism, a swinging arm, an X-axis telescopic mechanism and an auxiliary rotating mechanism, the main rotating mechanism is arranged at the upper end of the base, the Z-axis lifting mechanism is arranged at the upper end of the main rotating mechanism, the Z-axis lifting mechanism is rotatably connected with the main rotating mechanism, the swinging arm is arranged on the Z-axis lifting mechanism, the swinging arm is slidably connected with the Z-axis lifting mechanism, the X-axis telescopic mechanism is arranged at the front end of the swinging arm, the auxiliary rotating mechanism is arranged at the lower end of the X-axis telescopic mechanism, and the auxiliary rotating mechanism;
clamping jaw frock, vice rotary mechanism lower extreme is located to the clamping jaw frock, the clamping jaw frock includes frame, flexible frame, pjncture needle, actuating mechanism and guiding mechanism, be equipped with the puncture hole on the frame, the frame side is located to flexible frame, the pjncture needle links to each other with flexible frame, actuating mechanism locates the frame upper end, guiding mechanism locates the frame upper end, actuating mechanism is used for driving flexible frame and transversely slides on guiding mechanism, the pjncture needle transversely slides in the puncture hole.
The main rotating mechanism comprises a first supporting gear set and a first motor reducer, the first supporting gear set and the first motor reducer are arranged on the base, and the first motor reducer is in gear engagement connection with the first supporting gear set; the Z-axis lifting mechanism comprises a Z-axis support, a second motor reducer, a guide rod and a lead screw, the Z-axis support is arranged at the upper end of the first supporting gear set, the second motor reducer is arranged at the lower end of the Z-axis support, the guide rod is arranged in the Z-axis support, the guide rod is composed of four groups of vertically arranged rod bodies, the lead screw is vertically arranged among the four groups of guide rods, one end of the swing arm is movably sleeved on the guide rod, one end of the lead screw is in threaded connection with one end of the swing arm, provided with the guide rod, and the other end of the lead screw is connected with the second motor reducer.
The X-axis telescopic mechanism comprises a guide rail, a motor speed reducer III and a chain, wherein the guide rail and the chain are fixed at the front end of the swing arm; the auxiliary rotating mechanism comprises a second supporting gear set and a fourth motor speed reducer, the second supporting gear set and the fourth motor speed reducer are arranged on the guide rail, and the fourth motor speed reducer is in gear engagement connection with the second supporting gear set.
In a further improvement, a balancing weight is arranged on the Z-axis lifting mechanism.
In a further improvement, the puncture holes are arranged on the side face of the outer frame in a plurality, the puncture needles are arranged on the telescopic frame in a plurality, and the puncture needles are connected with the puncture holes in a one-to-one correspondence manner.
In a further improvement, the puncture needle is a cylinder, and the head of the puncture needle is a conical head.
In a further improvement, the guide mechanisms are symmetrically arranged on two sides of the driving mechanism.
Compared with the prior art, the ton bag grabbing mechanism is provided with the position adjusting device, and the clamping jaw tool can accurately grab the ton bag filled with hazardous wastes at different positions through linkage of the main rotating mechanism, the Z-axis lifting mechanism, the swing arm, the X-axis telescopic mechanism and the auxiliary rotating mechanism, so that the working efficiency is improved; different balancing weights are arranged on the Z-axis lifting mechanism, so that the grabbing stability of the bag grabbing machine filled with the ton bags of hazardous wastes is improved; the puncture needle in the clamping jaw tool is used for puncturing the interior of the ton bag, the ton bag is lifted, compared with the original manual bag hanging, the ton bag is lifted by the forklift, manual operation is avoided, the automation degree and the working efficiency are greatly improved, and the safety coefficient is also improved; the ton bag grabbing device can grab the ton bag more stably through the four clamping jaw tools symmetrically distributed on the outer side of the outer frame; due to the design of the puncture needle with the conical head, the puncture needle can puncture the interior of the ton bag more easily, so that the grabbing effect of the grabbing device is better. Compared with the operation method in the prior art, the dangerous waste ton bag grabbing method effectively improves the working efficiency and the safety coefficient, and is suitable for popularization and application.
Drawings
FIG. 1 is a schematic structural view of a ton bag gripping mechanism of the present invention
FIG. 2 is a schematic structural diagram of an explosion diagram of the ton bag gripping mechanism of the invention
FIG. 3 is a schematic structural view of a Z-axis lifting mechanism of the ton bag gripping mechanism of the invention
FIG. 4 is a schematic structural view of a swing arm of the ton bag gripping mechanism of the invention
FIG. 5 is a schematic structural diagram of an explosion diagram of a clamping jaw tool of the ton bag gripping mechanism
FIG. 6 is a schematic structural view of a part of a clamping jaw tool of the ton bag gripping mechanism
In the figure, 1-base, 2-position adjusting device, 21-main rotating mechanism, 211-supporting gear group I, 212-motor reducer I, 22-Z-axis lifting mechanism, 221-Z-axis support, 2211-support chassis, 2212-vertical rod I, 222-motor reducer II, 223-guide rod, 224-lead screw, 225-balancing weight, 23-swing arm, 231-guide groove, 24-X-axis telescoping mechanism, 241-guide rail, 242-motor reducer III, 243-chain, 25-auxiliary rotating mechanism, 251-supporting gear group II, 252-motor reducer IV, 253-sliding block, 3-clamping jaw tool, 31-outer frame, 311-puncture hole, 312-top plate, 32-telescoping frame and 321-vertical rod II, 322-crossbar, 33-puncture needle, 331-conical head, 34-drive mechanism, 341-hydraulic cylinder, 342-hydraulic rod, 35-guide mechanism, 351-guide rod, 352-slide bearing.
Detailed Description
The technical solution of the present invention is further described below with reference to the following embodiments and accompanying drawings 1 to 6.
Example 1
A dangerous waste ton bag grabbing method comprises the following steps:
s1 ton bag grabbing
The clamping jaw tool 2 reaches the specified position of the ton bag by the linkage of the main rotating mechanism 21, the Z-axis lifting mechanism 22, the swing arm 23, the X-axis telescopic mechanism 24 and the auxiliary rotating mechanism 25 in the adjusting position adjusting device 2, the ton bag is placed in the outer frame 31, the hydraulic rod 342 in the hydraulic cylinder 341 moves inwards to drive the telescopic frame 32 to move on the guide mechanism 35, and the puncture needle 33 on the telescopic frame 32 moves towards the inner part of the outer frame 31;
s2 ton bag puncture and drop-out
Ton bag is grabbed a packet mechanism includes:
the base 1, the said base 1 is fixed to the ground;
the device comprises a position adjusting device 2, the position adjusting device 2 is connected with a base 1, the position adjusting device 2 comprises a main rotating mechanism 21, a Z-axis lifting mechanism 22, a swing arm 23, an X-axis telescopic mechanism 24 and an auxiliary rotating mechanism 25, the main rotating mechanism 21 is arranged at the upper end of the base 1, the Z-axis lifting mechanism 22 is arranged at the upper end of the main rotating mechanism 21, the Z-axis lifting mechanism 22 is rotatably connected with the main rotating mechanism 21, the swing arm 23 is arranged on the Z-axis lifting mechanism 22, the swing arm 23 is slidably connected with the Z-axis lifting mechanism 22, the X-axis telescopic mechanism 24 is arranged at the front end of the swing arm 23, the auxiliary rotating mechanism 25 is arranged at the lower end of the X-axis telescopic mechanism 24, and the auxiliary rotating mechanism 25 is rotatably connected with the;
Because the hazardous waste is filled into the ton bag, the hazardous waste contains a large amount of moisture due to the characteristics of the hazardous waste, is mud-shaped, is easy to incline and topple in the ton bag and difficult to shape, and the grabbing effect of the common automatic grabbing device is poor; the existing ton bag is taken, moved and needs manual bag hanging, and then is moved by a forklift or a crane, so that a large amount of labor is consumed, and the working efficiency and the safety coefficient are low.
To sum up, for solving the not enough of the useless ton bag of current danger and snatching the mechanism, need design a reasonable in design, snatch effectual, the high-efficient bale plucker who is used for being equipped with dangerous waste ton bag of transporting.
The base 1 is fixed on the ground through bolts;
the position adjusting device 2 is connected with the base 1, the position adjusting device 2 comprises a main rotating mechanism 21, a Z-axis lifting mechanism 22, a swing arm 23, an X-axis telescopic mechanism 24 and an auxiliary rotating mechanism 25, and the position adjusting device 2 is used for controlling a bale plucker filled with dangerous waste ton bags to accurately grab the ton bags at different positions;
the main rotating mechanism 21 comprises a first supporting gear set 211 and a first motor speed reducer 212, the first supporting gear set 211 and the first motor speed reducer 212 are fixed on the base 1 through bolts, and the first motor speed reducer 212 is in gear meshing connection with the first supporting gear set 211;
the Z-axis lifting mechanism 22 comprises a Z-axis support 221, a second motor reducer 222, a guide rod 223 and a lead screw 224, the Z-axis support 221 is fixed to the first support gear set 211 through a bolt, the second motor reducer 222 is fixed to the lower end of the Z-axis support 221 through a bolt, the guide rod 223 is arranged inside the Z-axis support 221, the guide rod 223 consists of four groups of vertically arranged rod bodies, the lead screw 224 is vertically arranged between the four groups of guide rods 223, one end of the swing arm 23 is movably sleeved on the guide rod 223, one end of the lead screw 224 is in threaded connection with one end of the swing arm 23 provided with the guide rod 223, and the other end of the lead screw 224 is connected with the second motor reducer 222;
the X-axis telescopic mechanism 24 comprises a guide rail 241, a motor speed reducer III 242 and a chain 243, the guide rail 241 and the chain 243 are fixed at the front end of the swing arm 23 through bolts, a sliding block 253 is sleeved on the guide rail 241, the motor speed reducer III 242 is fixed on the sliding block 253 through bolts, the auxiliary rotating mechanism 25 is fixed on the sliding block 253 through bolts, an output shaft of the motor speed reducer III 242 is linked with a chain wheel, and the chain wheel is in chain transmission connection with the chain 243;
the secondary rotating mechanism 25 comprises a second supporting gear set 251 and a fourth motor reducer 252, the second supporting gear set 251 and the fourth motor reducer 252 are fixed on a sliding block 253 through bolts, and the fourth motor reducer 252 is in gear meshing connection with the second supporting gear set 251;
the clamping jaw tool 3 is used for clamping a ton bag filled with hazardous waste, the clamping jaw tool 3 comprises an outer frame 31, a telescopic frame 32, a puncture needle 33, a driving mechanism 34 and a guiding mechanism 35, the outer frame 31 is of a rectangular frame structure formed by welding four side plates, a top plate 312 is connected to the upper end of the outer frame 31 through a bolt, a through round hole-shaped puncture hole 311 is formed in the outer frame 31, the telescopic frame 32 is a frame formed by welding a plurality of two vertical rods 321 and a plurality of cross rods 322, the driving mechanism 34 comprises a hydraulic cylinder 341 and a hydraulic rod 342, the hydraulic cylinder 341 is fixed on the top plate 312 through a bolt, the hydraulic rod 342 is connected with the hydraulic cylinder 341, one end of the hydraulic rod 342 is fixedly connected with the telescopic frame 32 through a bolt, the guiding mechanism 35 comprises a guide rod 351 and a sliding bearing 352, the sliding bearing 352 is fixed on the top plate 312 through a bolt, the guide, the puncture needle 33 is welded to the expansion frame 32.
When a ton bag needs to be grabbed, the clamping jaw tool 2 is enabled to reach the designated position of the ton bag through the linkage of the main rotating mechanism 21, the Z-axis lifting mechanism 22, the swing arm 23, the X-axis telescopic mechanism 24 and the auxiliary rotating mechanism 25 in the adjusting position adjusting device 2, the ton bag is placed in the outer frame 31, the hydraulic rod 342 in the hydraulic cylinder 341 moves inwards to drive the telescopic frame 32 to move on the guide mechanism 35, the puncture needle 33 on the telescopic frame 32 moves towards the inner part of the outer frame 31, the puncture needle 33 punctures into the interior of the ton bag, so that the grabbing device grabs the ton bag to the unloading position, the clamping jaw tool 3 descends, the ton bag is punctured by the blade of the unloading device, and after dangerous waste in the ton bag flows out, when the position adjusting device 2 moves to the packet loss position, the puncture needle 33 in the clamping jaw tool 3 moves outwards, the ton bag falls out, and the position adjusting device 2 moves to the next ton bag position to complete circulation.
Puncture through pjncture needle 33 in the clamping jaw frock 3 inside to ton bag, mention the ton bag, compare original manual work and hang rethread fork truck behind the bag and mention, avoid manual operation, improve degree of automation and work efficiency by a wide margin, also improve factor of safety.
Example 2
The main rotating mechanism 21 comprises a first supporting gear set 211 and a first motor speed reducer 212, the first supporting gear set 211 and the first motor speed reducer 212 are arranged on the base 1, and the first motor speed reducer 212 is in gear meshing connection with the first supporting gear set 211; the Z-axis lifting mechanism 22 comprises a Z-axis support 221, a second motor reducer 222, a guide rod 223 and a lead screw 224, wherein the Z-axis support 221 is arranged at the upper end of the first support gear set 211, the second motor reducer 222 is arranged at the lower end of the Z-axis support 221, the guide rod 223 is arranged inside the Z-axis support 221, the guide rod 223 is composed of four groups of vertically arranged rod bodies, the lead screw 224 is vertically arranged between the four groups of guide rods 223, one end of the swing arm 23 is movably sleeved on the guide rod 223, one end of the lead screw 224 is in threaded connection with one end of the swing arm 23, which is provided with the guide rod 223, and the other end of the lead screw 224 is connected with the second.
The main rotating mechanism 21 comprises a first supporting gear set 211 and a first motor speed reducer 212, the first supporting gear set 211 and the first motor speed reducer 212 are fixed on the base 1 through bolts, and the first motor speed reducer 212 is in gear meshing connection with the first supporting gear set 211; the first supporting gear set 211 can rotate at 270 degrees through a first motor speed reducer 212, and the rotation of the Z-axis lifting mechanism 22 is controlled through the main rotating mechanism 21;
the Z-axis lifting mechanism 22 comprises a Z-axis support 221, a second motor reducer 222, a guide rod 223 and a lead screw 224, the Z-axis support 221 is fixed to the first support gear set 211 through a bolt, the second motor reducer 222 is fixed to the lower end of the Z-axis support 221 through a bolt, the guide rod 223 is arranged inside the Z-axis support 221, the guide rod 223 is composed of four groups of vertically arranged rod bodies, the lead screw 224 is vertically arranged between the four groups of guide rods 223, one end of the swing arm 23 is movably sleeved on the guide rod 223, one end of the lead screw 224 is in threaded connection with one end of the swing arm 23, which is provided with the guide rod 223, the other end of the lead screw 224 is connected with the second motor reducer 222, and the second motor reducer 222 in the Z-axis lifting mechanism 22 drives the lead screw 224 to enable the swing arm 23 to move up and down.
Example 3
The X-axis telescopic mechanism 24 comprises a guide rail 241, a motor reducer III 242 and a chain 243, the guide rail 241 and the chain 243 are fixed at the front end of the swing arm 23, the motor reducer III 242 is arranged on the guide rail 241, and the motor reducer III 242 is connected with the chain 243; the secondary rotating mechanism 25 comprises a second supporting gear set 251 and a fourth motor reducer 252, the second supporting gear set 251 and the fourth motor reducer 252 are arranged on the guide rail 241, and the fourth motor reducer 252 is in gear meshing connection with the second supporting gear set 251.
The X-axis telescopic mechanism 24 comprises a guide rail 241, a motor reducer III 242 and a chain 243, the guide rail 241 and the chain 243 are fixed at the front end of the swing arm 23 through bolts, a sliding block 253 is sleeved on the guide rail 241, the motor reducer III 242 is fixed on the sliding block 253 through bolts, the auxiliary rotating mechanism 25 is fixed on the sliding block 253 through bolts, an output shaft of the motor reducer III 242 is linked with a chain wheel, the chain wheel is in chain transmission connection with the chain 243, and the auxiliary rotating mechanism 25 moves along the guide rail 241 on the sliding block 253 through the motor reducer III 242;
the auxiliary rotating mechanism 25 comprises a second supporting gear set 251 and a fourth motor speed reducer 252, the second supporting gear set 251 and the fourth motor speed reducer 252 are fixed on a sliding block 253 through bolts, the fourth motor speed reducer 252 is in gear meshing connection with the second supporting gear set 251, the second supporting gear set 251 can rotate within 270 degrees through the fourth motor speed reducer 252, the rotation of the clamping jaw tool 3 is controlled through the auxiliary rotating mechanism 25, and accurate grabbing of a ton bag is achieved.
Example 4
And a balancing weight 225 is arranged on the Z-axis lifting mechanism 22.
On the guide bar 223 is located to balancing weight 225, balancing weight 225 can slide on guide bar 223, balancing weight 225 can be the iron plate, has increased the whole weight that is used for being equipped with dangerous waste ton bag's bale plucker through balancing weight 225, and it is more stable to use for being equipped with dangerous waste ton bag's bale plucker snatchs, and is difficult for inclining.
Example 5
The puncture holes 311 are provided in plurality on the side surface of the outer frame 31, the puncture needles 33 are provided in plurality on the telescopic frame 32, and the puncture needles 33 are connected with the puncture holes 311 in a one-to-one correspondence manner.
Example 6
The puncture needle 33 is a cylinder, and the head of the puncture needle 33 is a conical head 331.
The conical head 331 of the puncture needle 33 enables the puncture needle 33 to be inserted into the ton bag more easily, and the puncture needle 33 of the conical head 331 is inserted into the ton bag, so that hazardous waste in the ton bag is not easy to flow out from a hole formed by inserting the puncture needle 33 into the ton bag, and the grabbing effect of the grabbing device is better.
Example 7
The guide mechanisms 35 are symmetrically arranged on two sides of the driving mechanism 34.
The guide mechanism 35 is fixedly connected to the top plate 312 through bolts; because the dangerous waste in the ton bag contains moisture and sludge, the dangerous waste in the ton bag is placed in a skew mode, the puncture needle 33 is inserted into the ton bag and stressed unevenly, the telescopic frame 32 is easy to incline, the driving mechanism 34 pushes the telescopic frame 32 outwards through the guide mechanisms 35 symmetrically arranged on two sides of the driving mechanism 34, the guide mechanisms 35 on the two sides of the telescopic frame 32 are stressed simultaneously, the telescopic frame 32 slides transversely on the guide mechanisms 35 more stably, and the telescopic frame 32 is not inclined.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A method for grabbing a hazardous waste ton bag is characterized by comprising the following steps:
s1 ton bag grabbing
The clamp jaw tool (2) reaches the specified position of a ton bag by the linkage of a main rotating mechanism (21), a Z-axis lifting mechanism (22), a swing arm (23), an X-axis telescopic mechanism (24) and an auxiliary rotating mechanism (25) in an adjusting position adjusting device (2), the ton bag is placed in an outer frame (31), a hydraulic rod (342) in a hydraulic cylinder (341) moves inwards to drive a telescopic frame (32) to move on a guide mechanism (35), and a puncture needle (33) on the telescopic frame (32) moves towards the inside of the outer frame (31);
s2 ton bag puncture and drop-out
Puncture needle (33) puncture into ton bag inside, make grabbing device snatch ton bag to unloading material level, clamping jaw frock (3) descend, puncture the ton bag by discharge apparatus's blade, treat that dangerous waste flows out in the ton bag after, remove to losing the packet position through position control device (2), puncture needle (33) in clamping jaw frock (3) outwards remove, and the ton bag falls out, and position control device (2) remove to next ton bag position.
2. A ton bag gripping mechanism based on the hazardous waste ton bag gripping method of claim 1, characterized by comprising:
the base (1), the said base (1) is fixed to the ground;
a position adjusting device (2), the position adjusting device (2) is connected with the base (1), the position adjusting device (2) comprises a main rotating mechanism (21), a Z-axis lifting mechanism (22), a swing arm (23), an X-axis telescopic mechanism (24) and an auxiliary rotating mechanism (25), the main rotating mechanism (21) is arranged at the upper end of the base (1), the Z-axis lifting mechanism (22) is arranged at the upper end of the main rotating mechanism (21), the Z-axis lifting mechanism (22) is rotationally connected with the main rotating mechanism (21), the swing arm (23) is arranged on the Z-axis lifting mechanism (22), the swing arm (23) is connected with the Z-axis lifting mechanism (22) in a sliding way, the X-axis telescopic mechanism (24) is arranged at the front end of the swing arm (23), the auxiliary rotating mechanism (25) is arranged at the lower end of the X-axis telescopic mechanism (24), the auxiliary rotating mechanism (25) is rotationally connected with the X-axis telescopic mechanism (24);
clamping jaw frock (3), vice rotary mechanism (25) lower extreme is located in clamping jaw frock (3), clamping jaw frock (3) are including frame (31), flexible frame (32), pjncture needle (33), actuating mechanism (34) and guiding mechanism (35), be equipped with puncture hole (311) on frame (31), frame (31) side is located in flexible frame (32), pjncture needle (33) link to each other with flexible frame (32), frame (31) upper end is located in actuating mechanism (34), frame (31) upper end is located in guiding mechanism (35), actuating mechanism (34) are used for driving flexible frame (32) and transversely slide on guiding mechanism (35), pjncture needle (33) transversely slide in puncture hole (311).
3. The ton bag grabbing mechanism according to claim 2, wherein the main rotating mechanism (21) comprises a first supporting gear set (211) and a first motor reducer (212), the first supporting gear set (211) and the first motor reducer (212) are arranged on the base (1), and the first motor reducer (212) and the first supporting gear set (211) are in gear engagement connection; the Z-axis lifting mechanism (22) comprises a Z-axis support (221), a second motor speed reducer (222), a guide rod (223) and a lead screw (224), the Z-axis support (221) is arranged at the upper end of a first supporting gear set (211), the second motor speed reducer (222) is arranged at the lower end of the Z-axis support (221), the guide rod (223) is arranged inside the Z-axis support (221), the guide rod (223) consists of four groups of vertically arranged rod bodies, the lead screw (224) is vertically arranged among the four groups of guide rods (223), one end of the swing arm (23) is movably sleeved on the guide rod (223), one end of the lead screw (224) is in threaded connection with one end of the swing arm (23) provided with the guide rod (223), and the other end of the lead screw (224) is connected with the second motor speed reducer (222).
4. The ton bag grabbing mechanism according to claim 2, wherein the X-axis telescoping mechanism (24) comprises a guide rail (241), a motor reducer III (242) and a chain (243), the guide rail (241) and the chain (243) are fixed at the front end of the swing arm (23), the motor reducer III (242) is arranged on the guide rail (241), and the motor reducer III (242) is connected with the chain (243); the auxiliary rotating mechanism (25) comprises a second supporting gear set (251) and a fourth motor speed reducer (252), the second supporting gear set (251) and the fourth motor speed reducer (252) are arranged on the guide rail (241), and the fourth motor speed reducer (252) is in gear meshing connection with the second supporting gear set (251).
5. A ton bag grabbing mechanism according to claim 2, characterized in that a weight block (225) is arranged on the Z-axis lifting mechanism (22).
6. The ton bag grabbing mechanism according to claim 2, wherein a plurality of puncture holes (311) are arranged on the side surface of the outer frame (31), a plurality of puncture needles (33) are arranged on the telescopic frame (32), and the puncture needles (33) are connected with the puncture holes (311) in a one-to-one correspondence manner.
7. A ton bag grabbing mechanism according to claim 6, characterized in that said puncture needle (33) is a cylinder, and the head of said puncture needle (33) is a conical head (331).
8. A ton bag gripping mechanism according to claim 2, characterized in that said guiding means (35) are symmetrically arranged on both sides of the driving means (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010932830.3A CN112141689B (en) | 2020-09-08 | 2020-09-08 | Dangerous waste ton bag grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010932830.3A CN112141689B (en) | 2020-09-08 | 2020-09-08 | Dangerous waste ton bag grabbing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112141689A true CN112141689A (en) | 2020-12-29 |
| CN112141689B CN112141689B (en) | 2022-05-10 |
Family
ID=73889443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010932830.3A Active CN112141689B (en) | 2020-09-08 | 2020-09-08 | Dangerous waste ton bag grabbing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112141689B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117102934A (en) * | 2023-07-12 | 2023-11-24 | 江门市台森精智造科技有限公司 | Gantry movable beam type numerical control machining center convenient for feeding |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012048838A1 (en) * | 2010-10-13 | 2012-04-19 | Lemo Maschinenbau Gmbh | Device and method for removing and transferring flat bag packs |
| CN106946035A (en) * | 2017-05-12 | 2017-07-14 | 陈汉元 | It is a kind of can grasp handling different size bagged cement architectural engineering grab bucket |
| CN207524101U (en) * | 2017-11-28 | 2018-06-22 | 汕头经济特区雄伟塑料包装材料有限公司 | A kind of cigarette online charging device of BOPP shrink films |
| CN110228706A (en) * | 2019-06-19 | 2019-09-13 | 孔潇箫 | A kind of adjust automatically gripper of industrial robot |
| CN209427986U (en) * | 2018-12-30 | 2019-09-24 | 上海昂丰矿机科技有限公司 | A kind of hydraulic grab with crushing function |
| CN209455648U (en) * | 2019-01-17 | 2019-10-01 | 山东森烨生态工程有限公司 | A kind of ton of packet bag taking device |
-
2020
- 2020-09-08 CN CN202010932830.3A patent/CN112141689B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012048838A1 (en) * | 2010-10-13 | 2012-04-19 | Lemo Maschinenbau Gmbh | Device and method for removing and transferring flat bag packs |
| CN106946035A (en) * | 2017-05-12 | 2017-07-14 | 陈汉元 | It is a kind of can grasp handling different size bagged cement architectural engineering grab bucket |
| CN207524101U (en) * | 2017-11-28 | 2018-06-22 | 汕头经济特区雄伟塑料包装材料有限公司 | A kind of cigarette online charging device of BOPP shrink films |
| CN209427986U (en) * | 2018-12-30 | 2019-09-24 | 上海昂丰矿机科技有限公司 | A kind of hydraulic grab with crushing function |
| CN209455648U (en) * | 2019-01-17 | 2019-10-01 | 山东森烨生态工程有限公司 | A kind of ton of packet bag taking device |
| CN110228706A (en) * | 2019-06-19 | 2019-09-13 | 孔潇箫 | A kind of adjust automatically gripper of industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117102934A (en) * | 2023-07-12 | 2023-11-24 | 江门市台森精智造科技有限公司 | Gantry movable beam type numerical control machining center convenient for feeding |
| CN117102934B (en) * | 2023-07-12 | 2024-06-07 | 江门市台森精智造科技有限公司 | Gantry movable beam type numerical control machining center convenient for feeding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112141689B (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106553912B (en) | Workpiece assembly production chain | |
| CN112141689B (en) | Dangerous waste ton bag grabbing method | |
| CN111410056A (en) | Dangerous waste material dumping system | |
| CN213737475U (en) | Be used for being equipped with dangerous waste material ton bag bale plucker | |
| CN106938829A (en) | The convertible barreled elevator of low-angle | |
| CN207142746U (en) | The secondary upkeep operation hoistable platform of power transformation | |
| CN106670646B (en) | Two-way laser welds system | |
| CN109366047A (en) | A kind of assembled architecture quadrate steel pipe column robot welding product line | |
| CN210649225U (en) | Door leaf built-in fitting automatic welder | |
| CN204747818U (en) | Passenger car axle housing welds with reinforcing ring automatic feeding device with reinforcing ring | |
| CN216403124U (en) | Stacking machine | |
| CN215402920U (en) | Transport vehicle and hydraulic control system | |
| CN214087406U (en) | Fine quality rod hoisting equipment | |
| CN104889625A (en) | Reinforcing ring automatic feeding device used for welding passenger vehicle axle housing and reinforcing ring | |
| CN213738212U (en) | A grabbing device for being equipped with hazardous waste ton package | |
| CN206901668U (en) | The convertible barreled elevator of low-angle | |
| CN113428808A (en) | Transport vehicle and hydraulic control system | |
| CN219135701U (en) | Automatic pneumatic tongs of loading | |
| CN212474245U (en) | Automatic bagging and feeding device for bagged granular materials | |
| CN114102549B (en) | Intelligent climbing, carrying and sorting device for steel structure construction | |
| CN218926901U (en) | Automatic production line of automobile cam ring part machining robot | |
| CN210546012U (en) | Automatic change immersion oil machine | |
| CN109761039A (en) | A kind of Intelligent logistics automatic transporting machine people | |
| CN220181304U (en) | Ton package automatic grabbing device | |
| CN218620151U (en) | Basket lifting device and feeding device applying same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |