CN112141689B - Dangerous waste ton bag grabbing method - Google Patents
Dangerous waste ton bag grabbing method Download PDFInfo
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- CN112141689B CN112141689B CN202010932830.3A CN202010932830A CN112141689B CN 112141689 B CN112141689 B CN 112141689B CN 202010932830 A CN202010932830 A CN 202010932830A CN 112141689 B CN112141689 B CN 112141689B
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- 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
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- 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
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- Load-Engaging Elements For Cranes (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention relates to a method for grabbing hazardous waste ton bags, wherein a ton bag grabbing mechanism comprises the following steps: 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, and relates to a method for grabbing a ton bag of hazardous waste.
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 the method.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method for grabbing a ton bag of hazardous waste, which is 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 is rotatably connected with the X-axis telescopic 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 3 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 X-axis telescopic mechanism 24;
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, an expansion 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 bolted to the upper end of the outer shell 31, a through round hole-shaped puncture hole 311 is formed in the outer frame 31, the expansion frame 32 is of 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 bolts, the hydraulic rod 342 is connected with the hydraulic cylinder 341, one end of the hydraulic rod 342 is fixedly connected with the expansion frame 32 through a bolt, the guiding mechanism 35 comprises a guide rod 351 and a sliding bearing 352, the sliding bearing 352 is bolted on the top plate 312, the guide rod 351 is bolted on the expansion frame 32, the puncture needle 33 is welded to the expansion frame 32.
When a ton bag needs to be grabbed, the clamping jaw tool 3 reaches 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 telescoping 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 inner part 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 motor reducer 222.
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 on the guide rod 223 along the Z-axis direction.
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 speed reducer three 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 three 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 three 242 is connected 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 speed reducer three 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 (6)
1. A method for grabbing a hazardous waste ton bag is characterized by comprising the following steps:
s1 ton bag grabbing
Through 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), a clamping jaw tool (3) reaches the specified position of a ton bag, 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
The puncture needle (33) punctures into the ton bag, so that the gripping device grips the ton bag to a discharge position, the clamping jaw tool (3) descends, the ton bag is pierced by a blade of the discharge device, after dangerous waste in the ton bag flows out, the ton bag moves to a packet loss position through the position adjusting device (2), 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;
ton bag is grabbed a packet mechanism includes:
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);
the clamping jaw tooling (3) is arranged at the lower end of the auxiliary rotating mechanism (25), the clamping jaw tooling (3) comprises an outer frame (31), a telescopic frame (32), a puncture needle (33), a driving mechanism (34) and a guiding mechanism (35), a puncture hole (311) is formed in the outer frame (31), the telescopic frame (32) is arranged on the side face of the outer frame (31), the puncture needle (33) is connected with the telescopic frame (32), the driving mechanism (34) is arranged at the upper end of the outer frame (31), the guiding mechanism (35) is arranged at the upper end of the outer frame (31), the driving mechanism (34) is used for driving the telescopic frame (32) to transversely slide on the guiding mechanism (35), and the puncture needle (33) transversely slides in the puncture hole (311);
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 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).
2. The hazardous waste ton bag grabbing method according to claim 1, wherein 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 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).
3. The hazardous waste ton bag grabbing method according to claim 1, wherein a weight block (225) is arranged on the Z-axis lifting mechanism (22).
4. The hazardous waste ton bag grabbing method according to claim 1, 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.
5. The hazardous waste ton bag grabbing method according to claim 1, wherein the puncture needle (33) is a cylinder, and the head of the puncture needle (33) is a conical head (331).
6. A method for grabbing a ton bag of hazardous waste according to claim 1, characterized in that said guide means (35) are symmetrically arranged on both sides of the driving means (34).
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| CN202010932830.3A CN112141689B (en) | 2020-09-08 | 2020-09-08 | Dangerous waste ton bag grabbing method |
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| CN202010932830.3A CN112141689B (en) | 2020-09-08 | 2020-09-08 | Dangerous waste ton bag grabbing method |
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| CN112141689A CN112141689A (en) | 2020-12-29 |
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| DE202010014192U1 (en) * | 2010-10-13 | 2011-03-17 | Lemo Maschinenbau Gmbh | Device for removing and transferring flat bag packages |
| CN106946035B (en) * | 2017-05-12 | 2019-02-15 | 福建兴旺建设发展有限公司 | 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 |
| CN110228706B (en) * | 2019-06-19 | 2020-12-18 | 建湖国创机械制造有限公司 | Automatic adjusting industrial robot gripper |
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2020
- 2020-09-08 CN CN202010932830.3A patent/CN112141689B/en active Active
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