CN112873253B - Bulk cargo grabbing device, working mode and application - Google Patents
Bulk cargo grabbing device, working mode and application Download PDFInfo
- Publication number
- CN112873253B CN112873253B CN202110051900.9A CN202110051900A CN112873253B CN 112873253 B CN112873253 B CN 112873253B CN 202110051900 A CN202110051900 A CN 202110051900A CN 112873253 B CN112873253 B CN 112873253B
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- 239000000463 material Substances 0.000 claims abstract description 34
- 239000013590 bulk material Substances 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000003780 insertion Methods 0.000 claims abstract description 10
- 230000037431 insertion Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000011514 vinification Methods 0.000 abstract 1
- 238000001125 extrusion Methods 0.000 description 7
- 238000007599 discharging Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a bulk cargo grabbing device, a working mode and application, wherein the device comprises a component moving platform, a rotary grabbing component and an insertion grabbing component, and the rotary grabbing component and the insertion grabbing component are both arranged on the component moving platform; the rotary grabbing assembly comprises a driving arc surface finger, a driven arc surface finger, a supporting frame, a supporting rod, a driving gear, a driven gear installation shaft, a finger driving motor, a finger connecting shaft and a driving rod. When the bulk material is distributed flatly and the looseness is small in the initial stage of the grabbing work, the rotary grabbing component works independently; when the resistance is small and high-efficiency grabbing is needed in the grabbing process, the plug-in grabbing component works independently; if the resistance encountered in the grabbing process is large and quick grabbing is needed, the rotary grabbing component can be used for digging out pits from bulk materials, and then the plug-in grabbing component is used for grabbing bulk materials in a large volume; the device is used for grabbing wine blanks in the wine making industry.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a bulk cargo grabbing device, a working mode and application.
Background
The current research on the gripping ends is mainly focused on morphologically fixed objects, with less research on bulk gripping ends. A large amount of bulk material grabbing work exists in brewing industry production represented by the brewing industry, for example, wine blanks need to be taken out of a ground cylinder after being grabbed in scattered forms, at present, the step of taking out the wine blanks from the ground cylinder by a wine factory is still realized manually, so that not only is manpower resources wasted, but also the current automatic industry trend cannot be adapted, no clearance fit with an automatic workshop cannot be realized, and the production efficiency is low.
The document with the application number 201621058124.6 discloses a multi-functional pit unstrained spirits discharging device, the device carries out plug-in type to bulk cargo through the prong and snatchs, utilizes the prong to snatch the bulk cargo and easily causes dropping of bulk cargo, snatchs the form singleness and inefficiency.
Therefore, the application provides the grabbing device combining rotary grabbing and inserting grabbing, and the grabbing of bulk materials is realized with high efficiency and low damage.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a bulk cargo grabbing device, a working mode and application.
The technical scheme adopted for solving the technical problems is as follows:
The bulk cargo grabbing device is characterized by comprising an assembly moving platform, a rotary grabbing assembly and an insertion grabbing assembly, wherein the rotary grabbing assembly and the insertion grabbing assembly are both arranged on the assembly moving platform;
the rotary grabbing component comprises an active arc surface finger, a passive arc surface finger, a supporting frame, a supporting rod, a finger driving motor, a transmission mechanism, a finger connecting shaft and a driving rod;
The upper end of the supporting rod is fixedly connected with the lower end of a corresponding component lifting piece of the component moving platform, and the lower end of the supporting rod is fixedly provided with a supporting frame; finger connecting shafts are respectively fixed on two sides of the bottom of the support frame, and a transmission mechanism is fixed in the middle of the bottom of the support frame to realize torque transmission from a power source to a driving rod; the two ends of the active arc-surface finger and the passive arc-surface finger are respectively connected with the respective finger connecting shafts in a rotating way, the active arc-surface finger is positioned at the inner side of the passive arc-surface finger, and the two arc-surface fingers can rotate relatively; one end of the driving rod is connected with the transmission mechanism, and the other end of the driving rod is fixedly connected with one side of the finger with the active arc surface;
the plug-in grabbing component comprises a charging barrel, grabbing fingers and a driving mechanism; the top of the charging barrel is closed, the bottom is provided with an opening, the middle of the bottom is provided with a cross bar; one side of each of the two grabbing fingers is respectively and rotatably connected with a cross rod of the charging barrel; when the two grabbing fingers are in the horizontal position, the opening at the bottom of the charging barrel can be completely closed.
Flanges are respectively arranged on two sides of the outer surface of the finger with the active arc surface, a flange is arranged on one side of the inner surface of the finger with the passive arc surface, and the flange on one side of the finger with the active arc surface, which is not connected with the driving rod, is matched with the flange of the finger with the passive arc surface, so that the downward rotation of the finger with the passive arc surface is realized, and further, the grabbing of bulk materials is realized; the flange on one side of the driving arc surface finger connected with the driving rod is matched with the flange of the passive arc surface finger, so that the upward rotation of the passive arc surface is realized, the bulk cargo is poured out, and the central angle of the whole area of the driving arc surface finger and the passive arc surface is 80-90 degrees.
Two lifting lugs are arranged in the middle of the bottom of the support frame, and end lugs and support blocks are arranged at two ends of the bottom; two ends of the finger connecting shaft are respectively fixedly connected with the end lugs and the supporting blocks; two ends of the driven gear installation shaft are respectively connected with two lifting lugs of the support frame in a rotating way.
The supporting rod is an eccentric rod; when the support rod is installed, the support rod is biased to one side opposite to the initial position of the two arc-surface fingers.
The transmission mechanism comprises a driving gear, a driving gear installation shaft, a driven gear and a driven gear installation shaft; one end of a driving gear installation shaft is connected with a finger driving motor, one end of the driving gear installation shaft is rotationally fixed with the supporting piece, the driving gear is fixed on the driving gear installation shaft and meshed with the driven gear, the driven gear installation shaft is rotationally connected to two lifting lugs in the middle of the bottom of the supporting frame, and the driven gear is fixed on the driven gear installation shaft.
The other end of the driving rod is fixedly connected with the driving arc surface finger through a support, and the surface, connected with the driving arc surface finger, of the support is an arc surface.
The driving mechanism comprises a grabbing finger driving motor and a driving rope; two grab material finger driving motors and all install the top at the feed cylinder, all cover on the output shaft of every grab material finger driving motor and be equipped with the drive rope, every drive rope links firmly with respective grab material finger.
The assembly moving platform comprises a longitudinal guide rail, a transverse guide rail, a guide rail driving motor, a guide rail driving gear, an assembly mounting frame driving motor, an assembly mounting frame driving gear, an assembly mounting frame and an assembly lifting piece;
the two longitudinal guide rails are arranged on the external bulk material grabbing platform and are provided with racks; the two transverse guide rails are slidably arranged on the two longitudinal guide rails; the transverse guide rail is provided with a rack; two ends of the transverse guide rail are respectively provided with a guide rail driving motor, and the output shaft of the guide rail driving motor is fixedly provided with a guide rail driving gear meshed with the rack of the longitudinal guide rail;
Each transverse guide rail is provided with an assembly mounting rack in a sliding manner; the assembly installation frame driving motor is fixed on the assembly installation frame, and an assembly installation frame driving gear meshed with the rack of the transverse guide rail is fixed on an output shaft of the assembly installation frame driving motor; the upper end of the component lifting piece is connected with the component mounting frame, and the lower end of the component lifting piece is connected with the corresponding grabbing component.
In the working mode of the bulk material grabbing device, bulk materials are distributed smoothly and have large insertion resistance in the initial stage of grabbing work, and the resistance received by the grabbing component in the inserting process is large, so that the rotary grabbing component works independently; when the resistance is small and high-efficiency grabbing is needed in the grabbing process, the plug-in grabbing component works independently; if the resistance encountered in the grabbing process is large and the situation of quick grabbing is needed, the rotary grabbing component can be used for digging out the bulk material from the pit, and then the plug-in grabbing component is used for grabbing the bulk material in a large volume.
The application of the bulk cargo grabbing device is characterized in that the device is used for grabbing wine blanks in the wine brewing industry.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention adopts the mode that two grabbing components with different performances are mutually matched to realize grabbing actions, and compared with a single grabbing tail end, the invention has higher efficiency and less damage to bulk materials.
2. The method comprises the steps that an active arc-surface finger and a passive arc-surface finger of a rotary grabbing component finish grabbing bulk materials through rotary motion, the two arc-surface fingers of the rotary grabbing component adopt enveloping grabbing in the grabbing process, the arc-surface fingers finish grabbing the bulk materials through rotary motion, when an initial state, namely a rotation angle is zero, only one downward extrusion force exists between the arc-surface fingers and the bulk materials, the downward extrusion force of the arc-surface fingers on the bulk materials is gradually reduced along with the increase of the rotation angle and is converted into an upward extrusion force after the rotation angle is 90 degrees, namely, the extrusion force of the arc-surface fingers on the bulk materials is transited from the largest downward extrusion force to the largest upward extrusion force along with the increase of the rotation angle, and the resistance caused by the upward extrusion force is small because the top of the arc-surface fingers is in an open state, so that the integrity and the porosity of the bulk materials are ensured, the method is mainly used for the initial stage of viscous bulk material grabbing work, the bulk materials are distributed smoothly, the looseness is small, and the resistance born in the grabbing process is larger; but the effective grabbing volume of the rotary grabbing component is hemispherical, and the amount of grabbing at one time is small. The active arc surface finger and the passive arc surface finger can form a hemispherical structure with a closed bottom, so that the bulk material is prevented from falling off.
3. The inserted grabbing component has the advantages that the effective grabbing volume of the inserted grabbing component is the whole charging barrel, the grabbing quantity is large, but in the grabbing process, along with the fact that bulk materials enter the charging barrel, the squeezing action of the barrel wall on the bulk materials is increased, so that the grabbing resistance is large, for bulk materials with smaller loose degrees, the grabbing resistance of the grabbing fingers in the upward packing process is large, and the inserted grabbing component is mainly applied to situations that the grabbing resistance is small and efficient grabbing is needed in the grabbing process, for example, the loose bulk materials are directly and quickly grabbed. If the resistance encountered in the grabbing process is large and the situation of quick grabbing needs to be carried out, the rotary grabbing component can be used for digging out pits from bulk materials, and then the plug-in grabbing component is used for grabbing bulk materials in a large volume.
4. When the two fingers of the plug-in grabbing component are in the horizontal position, the two fingers completely cover the bottom opening of the charging barrel, so that the lower closed grabbing of bulk materials can be realized, and the dropping of the bulk materials in the transportation process after the grabbing is completed is reduced. The material grabbing finger of the plug-in grabbing assembly rotates through the driving rope, one end of the driving rope provides an upward pulling force for the material grabbing finger, and the other end provides a supporting force for the material grabbing finger, so that grabbing is more effective, and bulk cargo is further prevented from falling.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a mobile platform of the assembly of the present invention;
FIG. 3 is a schematic view of the installation of the longitudinal rail and the transverse rail of the present invention;
FIG. 4 is a schematic view of the assembly mount and cross rail assembly of the present invention;
FIG. 5 is a schematic view of a rotary gripper assembly according to the present invention;
FIG. 6 is a schematic view of an insert gripping assembly of the present invention;
in the figure, a 1-component mobile platform; 2-a rotary grasping assembly; 3-an insertion gripping assembly;
101-a longitudinal guide rail; 102-a transverse guide rail; 103-a guide rail driving motor; 104-a guide rail driving gear; 105-gear shaft number one; 106-a component mounting rack driving motor; 107—assembly mount drive gear; 108-a second gear shaft; 109-assembly mount; 110-assembly lifter;
201-active arc surface finger; 202-a passive arc surface finger; 203-supporting frame; 204-supporting rods; 205-support; 206-a drive gear; 207-driven gear; 208-a drive gear mounting shaft; 209-a passive gear mounting shaft; 210-a finger driving motor with an arc surface; 211-finger connection shaft; 212-a drive rod; 203-1, lifting lugs; 203-2, end lugs; 203-3, supporting blocks;
301-charging barrel; 302, a material grabbing finger; 303-hinges; 304-a grabbing finger driving motor.
Detailed Description
In order to make the present application more popular and easy to understand, the following description and the accompanying drawings further illustrate the technical solution of the present application, but are not intended to limit the scope of the present application.
The invention relates to a bulk material grabbing device (a device for short, see fig. 1-6), which comprises a component moving platform 1, a rotary grabbing component 2 and an inserting grabbing component 3, wherein the rotary grabbing component 2 and the inserting grabbing component 3 are both arranged on the component moving platform 1; when the bulk material is distributed flatly and the looseness is small in the initial stage of the grabbing work, the rotary grabbing component 2 works independently; when the resistance is small and high-efficiency grabbing is needed in the grabbing process, the plug-in grabbing component 3 works independently; if the resistance encountered in the grabbing process is large and quick grabbing is needed, the rotary grabbing component 2 can be used for digging out pits from the bulk material, and then the insert grabbing component 3 is used for grabbing the bulk material in a large volume;
The assembly moving platform 1 comprises a longitudinal guide rail 101, a transverse guide rail 102, a guide rail driving motor 103, a guide rail driving gear 104, a first gear shaft 105, an assembly mounting frame driving motor 106, an assembly mounting frame driving gear 107, a second gear shaft 108, an assembly mounting frame 109 and an assembly lifting member 110;
The two longitudinal guide rails 101 are arranged on the external bulk material grabbing platform at intervals, and racks are arranged on the longitudinal guide rails 101; the two transverse guide rails 102 are slidably arranged on the two longitudinal guide rails 101, the two ends of the transverse guide rails 102 are respectively provided with a first clamping hook, and the first clamping hooks are clamped with racks on the longitudinal guide rails 101 to realize limit between the longitudinal guide rails 101 and the transverse guide rails 102; the transverse guide rail 102 is provided with a rack; the two ends of the transverse guide rail 102 are respectively provided with a guide rail driving motor 103, an output shaft of the guide rail driving motor 103 is fixedly connected with a first gear shaft 105 through a coupler, and a guide rail driving gear 104 meshed with a rack of the longitudinal guide rail 101 is fixed on the first gear shaft 105; the guide rail driving motor 103 drives the guide rail driving gear 104 to rotate, so that the guide rail driving gear 104 moves along the rack of the longitudinal guide rail 101, and the transverse guide rail 102 slides back and forth on the longitudinal guide rail 101;
Each transverse guide rail 102 is provided with a component mounting frame 109 in a sliding manner, the bottom of the component mounting frame 109 is provided with a second clamping hook, and the second clamping hook is clamped with a rack of the transverse guide rail 102 to realize limiting between the component mounting frame 109 and the transverse guide rail 102; the assembly mounting frame driving motor 106 is fixed on the assembly mounting frame 109, an output shaft of the assembly mounting frame driving motor 106 is fixedly connected with a second gear shaft 108 through a coupler, and an assembly mounting frame driving gear 107 meshed with the rack of the transverse guide rail 102 is fixed on the second gear shaft 108; the component mounting frame driving motor 106 drives the component mounting frame driving gear 107 to rotate, so that the component mounting frame driving gear 107 moves along the rack of the transverse guide rail 102, and the component mounting frame 109 can slide back and forth on the transverse guide rail 102; each component mounting frame 109 is connected with the upper end of a respective component lifting member 110, and the lower end of the component lifting member 110 is connected with a respective grabbing component;
The rotary grabbing assembly 2 comprises an active arc surface finger 201, a passive arc surface finger 202, a supporting frame 203, a supporting rod 204, a driving gear 206, a passive gear 207, a driving gear mounting shaft 208, a passive gear mounting shaft 209, a finger driving motor 210, a finger connecting shaft 211 and a driving rod 212;
The upper end of the supporting rod 204 is fixedly connected with the lower end of the corresponding component lifting piece 110, and the lower end of the supporting rod 204 is fixedly provided with a supporting frame 203; the middle of the bottom of the supporting frame 203 is provided with two lifting lugs 203-1, and both ends of the bottom are provided with end lugs 203-2 and supporting blocks 203-3; the two finger connecting shafts 211 are positioned on two sides of the supporting frame 203, and two ends of the finger connecting shafts 211 are respectively fixedly connected with the end lugs 203-2 and the supporting blocks 203-3; the two ends of the active arc surface finger 201 and the passive arc surface finger 202 are respectively in rotary connection with the respective finger connecting shafts 211 through bearings, the active arc surface finger 201 is positioned on the inner side of the passive arc surface finger 202, and the two arc surface fingers can relatively rotate; the arc finger driving motor 210 is arranged on the supporting frame 203, an output shaft of the arc finger driving motor 210 is connected with a driving gear mounting shaft 208 through a coupler, and a driving gear 206 is fixed on the driving gear mounting shaft 208; two ends of a driven gear mounting shaft 209 are respectively connected with two lifting lugs 203-1 of a supporting frame 203 in a rotating way through bearings, a driven gear 207 is fixed on the driven gear mounting shaft 209, and the driven gear 207 is meshed with a driving gear 206; one end of the driving rod 212 is fixed on the driven gear mounting shaft 209, and the other end is fixedly connected with one side of the driving arc surface finger 201;
The arc surface finger driving motor 210 drives the driving gear 206 to rotate, the driving gear 206 drives the driven gear 207 to rotate, the driven gear mounting shaft 209 rotates, the driving rod 212 rotates, and the driving arc surface finger 201 realizes reciprocating rotation;
Flanges are respectively arranged on two sides of the outer surface of the active arc surface finger 201, and a flange is arranged on one side of the inner surface of the passive arc surface finger 202; when the device is used, after the active arc-surface finger 201 rotates for a certain angle towards the direction away from the passive arc-surface finger 202, the flange of one side, which is not connected with the driving rod 212, of the active arc-surface finger 201 is matched with the flange of the passive arc-surface finger 202 (the two flanges are in contact and are not connected), and at the moment, the active arc-surface finger 201 continuously rotates to drive the passive arc-surface finger 202 to rotate together, so that bulk material grabbing is realized; after the bulk material is grabbed, the active arc-surface finger 201 reversely rotates, the flange on one side of the active arc-surface finger 201, which is not connected with the driving rod 212, is separated from the flange of the passive arc-surface finger 202, after a certain angle of rotation, the flange on one side of the active arc-surface finger 201, which is connected with the driving rod 212, is matched with the flange of the passive arc-surface finger 202, at the moment, the active arc-surface finger 201 continuously reversely rotates to drive the passive arc-surface finger 202 to reversely rotate together, the bulk material is poured out, and the two arc-surface fingers are reset, so that the next grabbing action can be performed;
The plug-in grabbing assembly 3 comprises a charging barrel 301, a grabbing finger 302, a hinge 303, a grabbing finger driving motor 304 and a driving rope (not shown in the figure);
The top of the charging barrel 301 is closed, the bottom is provided with an opening, and the middle of the bottom is provided with a cross rod; one side of each of the two grabbing fingers 302 is rotatably connected with a cross rod of the charging barrel 301 through a hinge 303, and when the two grabbing fingers 302 are in a horizontal position, an opening at the bottom of the charging barrel 301 can be completely closed; two grabbing finger driving motors 304 are all arranged at the top of the charging barrel 301, driving ropes are wound on the output shafts of each grabbing finger driving motor 304, the middle parts of the driving ropes are wound on the output shafts of the grabbing finger driving motors 304, and two ends of each driving rope are fixedly connected with the upper surface and the lower surface of each grabbing finger 302; when the output shaft of the grabbing finger driving motor 304 rotates, one end of the driving rope is lengthened, the other end of the driving rope is shortened, and then the grabbing finger 302 is opened or retracted.
The supporting rod 204 is an eccentric rod, and the supporting rod 204 is biased to one side opposite to the initial positions of the two arc-shaped fingers during installation, so that the interference between the supporting rod 204 and the two arc-shaped fingers is avoided when the two arc-shaped fingers are in the vertical positions.
The central angles of the active arc surface finger 201 and the passive arc surface finger 202 are between 80 degrees and 90 degrees.
The other end of the driving rod 212 is fixedly connected with the active arc-surface finger 201 through the support 205, one surface of the support 205 connected with the active arc-surface finger 201 is an arc surface, the contact area is increased, the service lives of the driving rod 212 and the active arc-surface finger 201 are prolonged, and deformation is reduced.
The component lifting member 110 is an electric push rod, a hydraulic cylinder, or the like.
The working principle and the working flow of the invention are as follows:
The guide rail driving motor 103 drives the guide rail driving gear 104 to rotate through a first gear shaft 105, so that the guide rail driving gear 104 moves along the rack of the longitudinal guide rail 101, and the transverse guide rail 102 slides back and forth on the longitudinal guide rail 101; the component mounting frame driving motor 106 drives the component mounting frame driving gear 107 to rotate through the second gear shaft 108, so that the component mounting frame driving gear 107 moves along the rack of the transverse guide rail 102, and the component mounting frame 109 slides back and forth on the transverse guide rail 102; the positions of the transverse guide 102 and the component mounting frame 109 are adjusted, the rotary grabbing component 2 or the plug-in grabbing component 3 is adjusted to a proper position, and then the component lifting piece 110 starts to lift, so that the rotary grabbing component 2 or the plug-in grabbing component 3 is adjusted to a specified position.
The arc surface finger driving motor 210 drives the driving gear 206 to rotate, the driving gear 206 drives the driven gear 207 to rotate, the driven gear mounting shaft 209 rotates, the driving rod 212 rotates, and the driving arc surface finger 201 realizes reciprocating rotation;
When the device is used, after the active arc-surface finger 201 rotates for a certain angle towards the direction away from the passive arc-surface finger 202, the flange on one side, which is not connected with the driving rod 212, of the active arc-surface finger 201 is matched with the flange of the passive arc-surface finger 202, and at the moment, the active arc-surface finger 201 continuously rotates to drive the passive arc-surface finger 202 to rotate together, so that bulk material grabbing is realized; after the bulk material is grabbed, the active arc-surface finger 201 reversely rotates, the flange on one side of the active arc-surface finger 201, which is not connected with the driving rod 212, is separated from the flange of the passive arc-surface finger 202, after a certain angle is rotated, the flange on one side of the active arc-surface finger 201, which is connected with the driving rod 212, is matched with the flange of the passive arc-surface finger 202, at the moment, the active arc-surface finger 201 continuously rotates to drive the passive arc-surface finger 202 to reversely rotate together, the bulk material is poured out, and meanwhile, the two arc-surface fingers are reset, so that the next grabbing action can be performed.
The output shaft of the grabbing finger driving motor 304 rotates, lifting of the driving rope is achieved through friction force between the driving rope and the output shaft of the grabbing finger driving motor 304, and rotation of the grabbing finger 302 is achieved; when the device is used, firstly, the grabbing finger 302 moves to a vertical position, then the component lifting piece 110 connected with the plug-in grabbing component 3 moves downwards, and meanwhile, the output shaft of the grabbing finger driving motor 304 rotates positively, so that one end of the driving rope connected with the lower surface of the grabbing finger 302 is shortened, one end connected with the upper surface of the grabbing finger 302 is lengthened, and the grabbing finger 302 is kept vertical and is vertically inserted into a material pile; then the output shaft of the grabbing finger driving motor 304 is reversed, so that one end of the driving rope connected with the lower surface of the grabbing finger 302 is extended, one end connected with the upper surface of the grabbing finger 302 is shortened, the grabbing finger 302 is rotated to a horizontal position until the grabbing finger moves to the horizontal position, and bulk materials are collected in the charging barrel 301, so that the grabbing action is completed; to-be-inserted grabbing component 3 moves to a discharging position, and component lifting piece 110 connected with the inserted grabbing component 3 moves downwards, so that grabbing finger 302 rotates towards a vertical position, and discharging work is completed.
The invention is applicable to the prior art where it is not described.
Claims (7)
1. The bulk cargo grabbing device is characterized by comprising an assembly moving platform, a rotary grabbing assembly and an insertion grabbing assembly, wherein the rotary grabbing assembly and the insertion grabbing assembly are both arranged on the assembly moving platform;
the rotary grabbing component comprises an active arc surface finger, a passive arc surface finger, a supporting frame, a supporting rod, a finger driving motor, a transmission mechanism, a finger connecting shaft and a driving rod;
The upper end of the supporting rod is fixedly connected with the lower end of a corresponding component lifting piece of the component moving platform, and the lower end of the supporting rod is fixedly provided with a supporting frame; finger connecting shafts are respectively fixed on two sides of the bottom of the support frame, and a transmission mechanism is fixed in the middle of the bottom of the support frame to realize torque transmission from a power source to a driving rod; the two ends of the active arc-surface finger and the passive arc-surface finger are respectively connected with the respective finger connecting shafts in a rotating way, the active arc-surface finger is positioned at the inner side of the passive arc-surface finger, and the two arc-surface fingers can rotate relatively; one end of the driving rod is connected with the transmission mechanism, and the other end of the driving rod is fixedly connected with one side of the finger with the active arc surface;
The plug-in grabbing component comprises a charging barrel, grabbing fingers and a driving mechanism; the top of the charging barrel is closed, the bottom is provided with an opening, the middle of the bottom is provided with a cross bar; one side of each of the two grabbing fingers is respectively and rotatably connected with a cross rod of the charging barrel; when the two grabbing fingers are in the horizontal position, the opening at the bottom of the charging barrel can be completely closed;
Flanges are respectively arranged on two sides of the outer surface of the finger with the active arc surface, a flange is arranged on one side of the inner surface of the finger with the passive arc surface, and the flange on one side of the finger with the active arc surface, which is not connected with the driving rod, is matched with the flange of the finger with the passive arc surface, so that the downward rotation of the finger with the passive arc surface is realized, and further, the grabbing of bulk materials is realized; the flange of one side of the driving arc surface finger connected with the driving rod is matched with the flange of the passive arc surface finger, so that the upward rotation of the passive arc surface is realized, and the bulk cargo is poured out, and the central angle of the whole area of the driving arc surface finger and the passive arc surface is 80-90 degrees;
Two lifting lugs are arranged in the middle of the bottom of the support frame, and end lugs and support blocks are arranged at two ends of the bottom; two ends of the finger connecting shaft are respectively fixedly connected with the end lugs and the supporting blocks; two ends of the driven gear installation shaft are respectively and rotatably connected with two lifting lugs of the support frame;
The assembly moving platform comprises a longitudinal guide rail, a transverse guide rail, a guide rail driving motor, a guide rail driving gear, an assembly mounting frame driving motor, an assembly mounting frame driving gear, an assembly mounting frame and an assembly lifting piece;
the two longitudinal guide rails are arranged on the external bulk material grabbing platform and are provided with racks; the two transverse guide rails are slidably arranged on the two longitudinal guide rails; the transverse guide rail is provided with a rack; two ends of the transverse guide rail are respectively provided with a guide rail driving motor, and the output shaft of the guide rail driving motor is fixedly provided with a guide rail driving gear meshed with the rack of the longitudinal guide rail;
Each transverse guide rail is provided with an assembly mounting rack in a sliding manner; the assembly installation frame driving motor is fixed on the assembly installation frame, and an assembly installation frame driving gear meshed with the rack of the transverse guide rail is fixed on an output shaft of the assembly installation frame driving motor; the upper end of the component lifting piece is connected with the component mounting frame, and the lower end of the component lifting piece is connected with the corresponding grabbing component.
2. The bulk material gripping device of claim 1, wherein the support bar is an eccentric bar; when the support rod is installed, the support rod is biased to one side opposite to the initial position of the two arc-surface fingers.
3. The bulk material gripping device of claim 2, wherein the drive mechanism includes a drive gear, a drive gear mounting shaft, a driven gear, and a driven gear mounting shaft; one end of a driving gear installation shaft is connected with a finger driving motor, one end of the driving gear installation shaft is rotationally fixed with the supporting piece, the driving gear is fixed on the driving gear installation shaft and meshed with the driven gear, the driven gear installation shaft is rotationally connected to two lifting lugs in the middle of the bottom of the supporting frame, and the driven gear is fixed on the driven gear installation shaft.
4. A bulk material grabbing device according to claim 3, wherein the other end of the driving rod is fixedly connected with the active arc surface finger through a support, and the surface of the support connected with the active arc surface finger is an arc surface.
5. Bulk material gripping device according to claim 1, characterized in that the drive mechanism comprises a gripping finger drive motor and a drive rope; two grab material finger driving motors and all install the top at the feed cylinder, all cover on the output shaft of every grab material finger driving motor and be equipped with the drive rope, every drive rope links firmly with respective grab material finger.
6. A method of operating a bulk material handling apparatus as claimed in claim 1, wherein, in an initial stage of handling operation, bulk material is distributed smoothly with a high insertion resistance, and the handling assembly is operated independently with a high resistance during insertion; when the resistance is small and high-efficiency grabbing is needed in the grabbing process, the plug-in grabbing component works independently; if the resistance encountered in the grabbing process is large and the situation of quick grabbing is needed, the rotary grabbing component is used for digging out the pits from the bulk material, and then the plug-in grabbing component is used for grabbing the bulk material in a large volume.
7. Use of a bulk material gripping device according to claim 1, for gripping wine blanks in the wine industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110051900.9A CN112873253B (en) | 2021-01-15 | 2021-01-15 | Bulk cargo grabbing device, working mode and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| GB1080361A (en) * | 1962-12-12 | 1967-08-23 | Fairey Eng | Improvements relating to grabs |
| RU2255034C2 (en) * | 2003-01-04 | 2005-06-27 | ООО "ПО Южуралмаш" | Loose materials stower-gripper |
| CN109368491B (en) * | 2018-10-22 | 2019-12-13 | 南京万和消防科技有限公司 | Grab bucket for bridge type ship unloading device |
| CN211945281U (en) * | 2019-12-31 | 2020-11-17 | 宁波开浦智能科技有限公司 | Rotary grabbing device and processing equipment |
| CN112027653B (en) * | 2020-10-10 | 2024-09-20 | 江苏科慧半导体研究院有限公司 | Wine service device |
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