CN117326353A - Three-jaw independent release cement bagged vehicle structure and loading method - Google Patents
Three-jaw independent release cement bagged vehicle structure and loading method Download PDFInfo
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- CN117326353A CN117326353A CN202311320114.XA CN202311320114A CN117326353A CN 117326353 A CN117326353 A CN 117326353A CN 202311320114 A CN202311320114 A CN 202311320114A CN 117326353 A CN117326353 A CN 117326353A
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- gripper
- rod
- driving unit
- loading
- driving
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- 239000004568 cement Substances 0.000 title claims abstract description 87
- 238000011068 loading method Methods 0.000 title claims abstract description 64
- 210000000481 breast Anatomy 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 description 10
- 238000007599 discharging Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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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
- B65G47/905—Control arrangements
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The three-jaw independent release cement bagged vehicle structure comprises a support, a gripper unit, a gripper driving unit, a rotary driving unit and a control unit, wherein the gripper unit is movably arranged on the support and comprises a first gripper, a second gripper and a third gripper, the gripper driving unit comprises a first driving unit connected with the first gripper, a second driving unit connected with the second gripper and a third driving unit connected with the third gripper, and the rotary driving unit is arranged on the support. The invention also provides a loading method, which comprises the following steps: step S1, judging the type, the width and the height of a railing panel of a loading vehicle; s2, determining a loading stacking mode according to the loading truck type and the truck width, and determining the loading layer number of the cement bags according to the height of the breast board; and S3, the control unit controls the gripper driving unit to achieve gripping or releasing of the cement bags by the gripper unit, and controls the rotary driving unit to achieve adjustment of the loading position.
Description
Technical Field
The invention belongs to the field of material loading, and particularly relates to a three-jaw independent release cement bagged vehicle structure and a loading method.
Background
Cement bagging vehicles are very common in the field of daily cement bag transportation and loading, in the prior art, a mode of manually loading is available, cement bags are conveyed through conveying bags, stacking and loading are manually carried out, but the mode is time-consuming and labor-consuming, and cement dust is greatly harmful to human bodies.
In the prior art, the stacking mode is carried out through the mechanical grippers, but the mechanical gripper structure in the prior art is too simple, single material grabbing and discharging are realized through the single grippers, or a plurality of mechanical grippers are synchronously released, the time and the labor can be saved through the single grippers and the synchronous release of the plurality of mechanical grippers, but the stability of the stacking of the cement bags is not guaranteed, the position deviation is large, the number of layers of the stacking can be low, the whole tonnage after loading is not as low as that of manual stacking, and the mechanical grippers and the cement bags are easily caused to collide due to poor stacking controllability, so that the safety risk is increased, and the production cost is increased.
Disclosure of Invention
The invention is carried out to solve the problems, and aims to provide a three-jaw independent release cement bag truck loading structure and a truck loading method, which have high controllability of a stacking mode, heavy loading tonnage, labor and cost saving and high safety, and the technical scheme adopted by the invention is as follows:
the invention provides a three-jaw independent release cement bagging vehicle structure, which has the characteristics that: a bracket; the gripper unit is movably arranged on the bracket and comprises a first gripper, a second gripper and a third gripper; the gripper driving unit comprises a first driving unit connected with the first gripper, a second driving unit connected with the second gripper and a third driving unit connected with the third gripper; a rotation driving unit disposed on the bracket; and the control unit is connected with the gripper driving unit and the rotary driving unit.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the support comprises a cross beam, a vertical beam and a support plate, wherein the end part of the cross beam is connected with the end part of the vertical beam, and the two sides of the support plate are connected with the cross beam.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the beam is provided with a first connecting bulge, and the first handle is movably connected with the first connecting bulge; the cross beam is also provided with a second connecting bulge, and the second handle is movably connected with the second connecting bulge; the cross beam is also provided with a third connecting bulge, and the third handle is movably connected with the third connecting bulge.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the first handle is provided with a first connecting rod, the second handle is provided with a second connecting rod, and the third handle is provided with a third connecting rod.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the first driving unit comprises a first electric push rod and a first driving rod, the first electric push rod comprises a first cylinder body and a first piston rod, the first cylinder body is arranged on the vertical beam, one end of the first piston rod is arranged in the first cylinder body, the other end of the first piston rod is connected with the first driving rod, and the end part of the first driving rod is movably connected with the first connecting rod.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the second driving unit comprises a second electric push rod and a second driving rod, the second electric push rod comprises a second cylinder body and a second piston rod, the second cylinder body is arranged on the supporting plate, one end of the second piston rod is arranged in the second cylinder body, the other end of the second piston rod is connected with the second driving rod, and the end part of the second driving rod is movably connected with the second connecting rod.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the third driving unit comprises a third electric push rod and a third driving rod, the third electric push rod comprises a third cylinder body and a third piston rod, the third cylinder body is arranged on the vertical beam, one end of the third piston rod is arranged in the third cylinder body, the other end of the third piston rod is connected with the third driving rod, and the end part of the third driving rod is movably connected with the third connecting rod.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the rotary driving unit comprises a driving motor and a chuck, a shell of the driving motor is arranged on the chuck, and a motor shaft of the driving motor is connected with the supporting plate.
In the three-jaw independent release cement bagging vehicle structure provided by the invention, the three-jaw independent release cement bagging vehicle structure can also have the following characteristics: the first gripper comprises a first cross rod, a first gripper rod and a first rotary protrusion, one end of the first gripper rod is connected with the first cross rod, and the first rotary protrusion is movably connected with the first connecting protrusion; the second gripper comprises a second cross rod, a second gripper rod and a second rotary protrusion, the end part of the second gripper rod is connected with the second cross rod, and the second rotary protrusion is movably connected with the second connecting protrusion; the third grab hand comprises a third cross rod, a third grab rod and a third rotary protrusion, the end part of the third grab rod is connected with the third cross rod, and the third rotary protrusion is movably connected with the third connecting protrusion.
The invention also provides a loading method, which is realized by the three-jaw independent release cement bagged vehicle structure, and has the characteristics that the method comprises the following steps: step S1, judging the type, the width and the height of a railing panel of a loading vehicle; s2, determining a loading stacking mode according to the loading truck type and the truck width, and determining the loading layer number of the cement bags according to the height of the breast board; and S3, the control unit controls the gripper driving unit to achieve gripping or releasing of the cement bags by the gripper unit, and controls the rotary driving unit to achieve adjustment of the loading position.
The invention has the technical effects that: the three-jaw independent release cement bagged vehicle structure comprises a support, a gripper unit, a gripper driving unit, a rotary driving unit and a control unit, wherein the gripper unit is movably arranged on the support and comprises a first gripper, a second gripper and a third gripper, the gripper driving unit comprises a first driving unit connected with the first gripper, a second driving unit connected with the second gripper and a third driving unit connected with the third gripper, the rotary driving unit is arranged on the support, and the control unit is connected with the gripper driving unit and the rotary driving unit. The control unit can control the work of the gripper unit through controlling the gripper driving unit, can independently control the first gripper, the second gripper or the third gripper, and is high in controllability, and the control unit can control the rotation driving unit to rotate so as to drive the gripper unit on the support to rotate, and therefore the gesture of the gripper unit during material taking and discharging is adjusted. The invention also provides a loading method, which comprises the following steps: step S1, judging the type, the width and the height of a railing panel of a loading vehicle; s2, determining a loading stacking mode according to the loading truck type and the truck width, and determining the loading layer number of the cement bags according to the height of the breast board; and S3, the control unit controls the gripper driving unit to achieve gripping or releasing of the cement bags by the gripper unit, and controls the rotary driving unit to achieve adjustment of the loading position.
Therefore, the three-jaw independent release cement bag truck loading structure and the truck loading method provided by the invention have the characteristics of high controllability of a stacking mode, heavy loading and stacking tonnage, capability of saving manpower and cost and high safety, can improve the loading capacity, are suitable for multiple truck types, and have wide application range.
Drawings
The present specification includes the following drawings, the contents of which are respectively:
FIG. 1 is a schematic illustration of a three-jaw independent release cement bagging vehicle construction in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of the three-jaw self-releasing cement bagging vehicle in elevation view in accordance with an embodiment of the present invention;
FIG. 3 is a schematic top view of a three-jaw self-releasing cement bagging vehicle in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart of a loading method according to an embodiment of the present invention.
Marked in the figure as: 10-rack, 11-cross beam, 111-connection lobe, 112-second connection lobe, 113-third connection lobe, 12-vertical beam, 13-support plate, 20-gripper unit, 21-first gripper, 211-first cross beam, 212-first gripper bar, 213-first rotation lobe, 214-first connection bar, 22-second gripper, 221-second cross beam, 222-second gripper bar, 223-second rotation lobe, 224-second connection bar, 23-third gripper, 231-third cross beam, 232-third gripper bar, 233-third rotation lobe, 234-third connection bar, 30-gripper drive unit, 31-first drive unit, 311-first electric push rod, 3111-first cylinder, 3112-first piston rod, 32-second drive unit, 321-second electric push rod, 3211-second cylinder, 3212-second piston rod, 33-second drive rod, 33-third drive unit, 331-third electric push rod, 3111-second cylinder, 3212-second piston rod, 33-second drive rod, 33-third drive unit, 331-first push rod, 3311-third drive unit, 3312-third drive unit, 33140-drive unit, and 50-drive unit
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid those skilled in the art in a more complete, accurate and thorough understanding of the inventive concepts and aspects of the invention, and to facilitate their practice.
< example >
FIG. 1 is a schematic illustration of a three-jaw independent release cement bagging vehicle construction in accordance with an embodiment of the present invention; FIG. 2 is a schematic illustration of the three-jaw self-releasing cement bagging vehicle in elevation view in accordance with an embodiment of the present invention; fig. 3 is a schematic diagram of a three-jaw independent release cement bagging vehicle in a top view in accordance with an embodiment of the invention.
As shown in fig. 1, 2 and 3, the three-grip independent release cement bagging vehicle structure provided by the present invention includes a bracket 10, a grip unit 20, a grip driving unit 30, a rotation driving unit 40 and a control unit 50.
The bracket 10 comprises a cross beam 11, a vertical beam 12 and a supporting plate 13, wherein the end part of the cross beam 11 is connected with the end part of the vertical beam 12, and two sides of the supporting plate 13 are connected with the cross beam 11. Two ends of the two cross beams 11 are respectively connected with two ends of the two vertical beams 12 to form a rectangular frame.
The gripper unit 20 is movably provided on the stand 10, and includes a first gripper 21, a second gripper 22, and a third gripper 23.
The first gripper 21 includes a first cross bar 211, a first gripper bar 212, and a first rotation protrusion 213, one end of the first gripper bar 212 is connected to the first cross bar 211, and the first rotation protrusion 213 can be movably connected to the cross beam 11. The length of the first transverse rod 211 is matched with the length of the cement bag, and a plurality of first grabbing rods 212 are arranged on the first transverse rod 211, so that stability in grabbing and clamping the cement bag can be guaranteed.
The second gripper 22 includes a second cross bar 221, a second gripper bar 222, and a second rotation protrusion 223, and an end of the second gripper bar 222 is connected to the second cross bar 221, and the second rotation protrusion 223 can be movably connected to the cross beam 11. The length of the second cross rod 221 is matched with the length of the cement bag, and a plurality of second grabbing rods 222 are arranged on the second cross rod 221, so that stability in grabbing and clamping the cement bag can be guaranteed.
The third grip 23 includes a third cross bar 231, a third grip lever 232, and a third rotation protrusion 233, and an end of the third grip lever 232 is connected to the third cross bar 231, and the third rotation protrusion 233 can be movably connected to the cross beam 11. The length of the third cross bar 231 is matched with the length of the cement bag, and a plurality of third grabbing rods 232 are arranged on the third cross bar 231, so that stability in grabbing and clamping the cement bag can be guaranteed.
The cross member 11 is provided with a first connection protrusion 111, a second connection protrusion 112, and a third connection protrusion 113. The first rotating protrusion 213 of the first grip 21 is connected with the first connecting protrusion 111 in a hinged manner, so that the first grip 21 is rotatably provided on the cross beam 11, thereby gripping or releasing the cement bag. The second rotating protrusion 223 of the second grip 22 is connected with the second connecting protrusion 112 in a hinged manner, so that the second grip 22 is rotatably provided on the cross beam 11, thereby gripping or releasing the cement bag. The second rotating protrusion 233 of the third grip 23 is connected with the third connecting protrusion 113 in a hinged manner, so that the third grip 23 is rotatably provided on the cross beam 11, thereby gripping or releasing the cement bag.
The first gripper 21 is further provided with a first connecting rod 214, the second gripper 22 is further provided with a second connecting rod 224, and the third gripper 23 is further provided with a third connecting rod 234.
The gripper driving unit 30 includes a first driving unit 31, a second driving unit 32, and a third driving unit 33, the first driving unit 31 is connected to the first gripper 21, the second driving unit 32 is connected to the second gripper 22, and the third driving unit 33 is connected to the third gripper 23.
The first driving unit 31 includes a first electric push rod 311 and a first driving rod 312, the first electric push rod 311 includes a first cylinder 3111 and a first piston rod 3112, the first cylinder 3111 is disposed on the vertical beam 12, one end of the first piston rod 3112 is disposed in the first cylinder 3111, the other end is connected to the first driving rod 312, and an end of the first driving rod 312 is rotatably connected to the first connecting rod 214 in a hinged manner. So that when the first electric push rod 311 stretches out and draws back, the first driving rod 312 can drive the first gripper 21 to rotate, so as to open or close the first gripper 21, thereby discharging or taking materials.
The second driving unit 32 includes a second electric push rod 321 and a second driving rod 322, the second electric push rod 321 includes a second cylinder 3211 and a second piston rod 3212, the second cylinder 3211 is disposed on the support plate 13, one end of the second piston rod 3212 is disposed in the second cylinder 3211, the other end is connected with the second driving rod 322, and an end of the second driving rod 322 is rotatably connected with the second connecting rod 224 by means of a hinge. So that when the second electric push rod 321 stretches out and draws back, the second driving rod 322 can drive the second handle 22 to rotate, so as to open or close the second handle 22, thereby discharging or taking materials.
The third driving unit 33 includes a third electric push rod 331 and a third driving rod 332, the third electric push rod 331 includes a third cylinder 3311 and a third piston rod 3312, the third cylinder 3311 is disposed on the vertical beam 12, one end of the third piston rod 3312 is disposed in the third cylinder 3311, the other end is connected with the third driving rod 332, and an end of the third driving rod 332 is movably connected with the third connecting rod 234 by means of a hinge. So that when the third electric push rod 331 stretches out and draws back, the third driving rod 332 can drive the third handle 23 to rotate, so as to open or close the third handle 23, thereby discharging or taking materials.
The rotation driving unit 40 is provided on the bracket 10, the rotation driving unit 40 includes a driving motor 41 and a chuck 42, a housing of the driving motor 41 is provided on the chuck 42, and a motor shaft of the driving motor 41 is connected with the support plate 13. One side of the chuck 42 is connected with the driving motor 41, the other side is connected with the travelling crane, the three-jaw independent release cement bagged car structure is integrally hoisted on the travelling crane, and the travelling crane can enable the three-jaw independent release cement bagged car structure to integrally translate or lift, so that the loading and stacking are facilitated. The rotation driving unit 40 can enable the support 10 to rotate, so that the gripper unit 20 rotates, and the material gripping or discharging posture of the gripper unit 20 is adjusted, so that the stacking quality and accuracy are improved.
The control unit 50 is a singlechip, the control unit 50 is connected with the gripper driving unit 30 and the rotation driving unit 40, the control unit 50 can control the work of the gripper unit 20 by controlling the gripper driving unit 30, the first gripper 21, the second gripper 22 or the third gripper 23 can be independently controlled, the controllability is high, the control unit 50 can control the rotation driving unit 40 to rotate, and the gripper unit 20 on the support 10 is driven to rotate, so that the gesture of the gripper unit 20 during material taking and discharging is adjusted.
FIG. 4 is a flow chart of a loading method according to an embodiment of the present invention.
As shown in fig. 4, the invention further provides a loading method, which is realized by the three-jaw independent release cement bagged vehicle structure, and has the characteristics that the method comprises the following steps:
step S1, judging the type, the width and the height of a railing panel of a loading vehicle;
s2, determining a loading stacking mode according to the loading truck type and the truck width, and determining the loading layer number of the cement bags according to the height of the breast board;
and S3, the control unit controls the gripper driving unit to achieve gripping or releasing of the cement bags by the gripper unit, and controls the rotary driving unit to achieve adjustment of the loading position.
In step S1, the vehicle width is mainly used to determine the number of cement bags that can be loaded in each floor of the vehicle model, and the height of the fence is mainly used to determine the number of floors that can be loaded in the highest cement bag of the vehicle model.
In the step S2, carrying out cement bag loading and stacking by adopting 4+1 stacks aiming at the vehicle type with the vehicle width larger than 2000 mm; aiming at the vehicle type with the vehicle width smaller than 2000mm, the independent release mode of the gripper unit 20 is adopted, and the independent release of a single bag is adopted for stacking. Aiming at the condition of not overloading the stack, the loading and stacking mode of the cement bags above the car body baffle adopts an original stacking mode; aiming at overload stacking, the loading and stacking mode of cement bags above the car body breast board adopts a robot gripper to release independently, so that single-bag, two-bag or three-bag release is realized.
When the three-jaw independent release cement bag truck structure provided by the invention is used for stacking 4+1 stack types, the stacking mode of the bottom cement bags is that the first gripper 21 releases the first cement bags at the first row and the first column, the second gripper 22 releases the second cement bags at the second row and the second column, and the third gripper 23 releases the third cement bags at the third row and the third column, so that the cement bags in the direction above the diagonal of a carriage are released first, then the gripper unit 20 is controlled to fill the bottom empty positions, each layer is stacked in the mode, the stacking is still carried out in the mode for the non-overload stack type after reaching the height above the breast board, and the stacking of the last two layers of cement bags adopts a centered bag pressing mode for the overload stack type, so that the tonnage of truck type loading can be effectively improved through the three-jaw independent release cement bag truck structure and the truck loading method provided by the invention, and the cost is saved.
Effects and effects of the examples
The three-jaw independent release cement bagging truck structure provided by the invention comprises a support 10, a gripper unit 20, a gripper driving unit 30, a rotary driving unit 40 and a control unit 50, wherein the gripper unit 20 is movably arranged on the support 10, the gripper unit 20 comprises a first gripper 21, a second gripper 22 and a third gripper 23, the gripper driving unit 30 comprises a first driving unit 31 connected with the first gripper 21, a second driving unit 32 connected with the second gripper 22 and a third driving unit 33 connected with the third gripper 23, the rotary driving unit 40 is arranged on the support 10, and the control unit 50 is connected with the gripper driving unit 30 and the rotary driving unit 40. The control unit 50 can control the operation of the gripper unit 20 by controlling the gripper driving unit 30, and can independently control the first gripper 21, the second gripper 22 or the third gripper 23, so that the controllability is high, and the control unit 50 can control the rotation driving unit 40 to rotate, so that the gripper unit 20 on the support 10 is driven to rotate, and the posture of the gripper unit 20 during material taking and material discharging is adjusted. The invention also provides a loading method, which comprises the following steps: step S1, judging the type, the width and the height of a railing panel of a loading vehicle; s2, determining a loading stacking mode according to the loading truck type and the truck width, and determining the loading layer number of the cement bags according to the height of the breast board; in step S3, the control unit 50 controls the gripper driving unit 30 to grasp or release the cement bag by the gripper unit 20, and controls the rotation driving unit 40 to adjust the loading position. The three-jaw independent release cement bag truck loading structure and the truck loading method provided by the invention have the characteristics of high controllability of a stacking mode, heavy loading and stacking tonnage, capability of saving manpower and cost and high safety, can improve the loading capacity, are suitable for multiple truck types, and have wide application range.
The invention is described above by way of example with reference to the accompanying drawings. It will be clear that the invention is not limited to the embodiments described above. As long as various insubstantial improvements are made using the method concepts and technical solutions of the present invention; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (10)
1. The utility model provides a three-jaw independent release cement bag loading structure which characterized in that includes:
a bracket (10);
a gripper unit (20) movably arranged on the bracket (10) and comprising a first gripper (21), a second gripper (22) and a third gripper (23);
a gripper driving unit (30) comprising a first driving unit (31) connected to the first gripper (21), a second driving unit (32) connected to the second gripper (22), and a third driving unit (33) connected to the third gripper (23);
a rotation driving unit (40) provided on the bracket (10);
and a control unit (50) connected to the gripper driving unit (30) and the rotation driving unit (40).
2. The three-jaw independent release cement bagging vehicle structure according to claim 1, wherein:
the support (10) comprises a cross beam (11), a vertical beam (12) and a support plate (13), wherein the end part of the cross beam (11) is connected with the end part of the vertical beam (12), and two sides of the support plate (13) are connected with the cross beam (11).
3. The three-jaw independent release cement bagging vehicle structure according to claim 2, wherein:
the cross beam (11) is provided with a first connecting protrusion (111), and the first handle (21) is movably connected with the first connecting protrusion (111); the cross beam (11) is also provided with a second connecting protrusion (112), and the second gripper (22) is movably connected with the second connecting protrusion (112); the cross beam (11) is also provided with a third connecting protrusion (113), and the third handle (23) is movably connected with the third connecting protrusion (113).
4. The three-jaw independent release cement bagging vehicle structure according to claim 3, wherein:
the first gripper (21) is provided with a first connecting rod (214), the second gripper (22) is provided with a second connecting rod (224), and the third gripper (23) is provided with a third connecting rod (234).
5. The three-jaw independent release cement bagging vehicle structure according to claim 4, wherein:
the first driving unit (31) comprises a first electric push rod (311) and a first driving rod (312), the first electric push rod (311) comprises a first cylinder body (3111) and a first piston rod (3112), the first cylinder body (3111) is arranged on the vertical beam (12), one end of the first piston rod (3112) is arranged in the first cylinder body (3111), the other end of the first piston rod is connected with the first driving rod (312), and the end portion of the first driving rod (312) is movably connected with the first connecting rod (214).
6. The three-jaw independent release cement bagging vehicle structure according to claim 4, wherein:
the second driving unit (32) comprises a second electric push rod (321) and a second driving rod (322), the second electric push rod (321) comprises a second cylinder body (3211) and a second piston rod (3212), the second cylinder body (3211) is arranged on the supporting plate (13), one end of the second piston rod (3212) is arranged in the second cylinder body (3211), the other end of the second piston rod is connected with the second driving rod (322), and the end part of the second driving rod (322) is movably connected with the second connecting rod (224).
7. The three-jaw independent release cement bagging vehicle structure according to claim 4, wherein:
the third driving unit (33) comprises a third electric push rod (331) and a third driving rod (332), the third electric push rod (331) comprises a third cylinder body (3311) and a third piston rod (3312), the third cylinder body (3311) is arranged on the vertical beam (12), one end of the third piston rod (3312) is arranged in the third cylinder body (3311), the other end of the third piston rod is connected with the third driving rod (332), and the end part of the third driving rod (332) is movably connected with the third connecting rod (234).
8. The three-jaw independent release cement bagging vehicle structure according to claim 7, wherein:
the rotary driving unit (40) comprises a driving motor (41) and a chuck (42), wherein a shell of the driving motor (41) is arranged on the chuck (42), and a motor shaft of the driving motor (41) is connected with the supporting plate (13).
9. The three-jaw independent release cement bagging vehicle structure according to claim 8, wherein:
the first gripper (21) comprises a first cross bar (211), a first gripper bar (212) and a first rotary protrusion (213), one end of the first gripper bar (212) is connected with the first cross bar (211), and the first rotary protrusion (213) is movably connected with the first connecting protrusion (111); the second gripper (22) comprises a second cross rod (221), a second gripper bar (222) and a second rotary protrusion (223), wherein the end part of the second gripper bar (222) is connected with the second cross rod (221), and the second rotary protrusion (223) is movably connected with the second connecting protrusion (112); the third gripper (23) comprises a third cross rod (231), a third gripper bar (232) and a third rotary protrusion (233), wherein the end part of the third gripper bar (232) is connected with the third cross rod (231), and the third rotary protrusion (233) is movably connected with the third connecting protrusion (113).
10. A loading method realized by the three-jaw independent release cement bagging vehicle structure as claimed in any one of the claims 1 to 9, characterized by comprising the following steps:
step S1, judging the type, the width and the height of a railing panel of a loading vehicle;
s2, determining a loading stacking mode according to the loading truck type and the truck width, and determining the loading layer number of the cement bags according to the height of the breast board;
and S3, the control unit (50) controls the gripper driving unit (30) to enable the gripper unit (20) to grasp or release the cement bag, and controls the rotary driving unit (40) to enable the loading position to be adjusted.
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| WO2016206422A1 (en) * | 2015-06-26 | 2016-12-29 | 张萍 | Intelligent robot gripper for palletizing system |
| CN206185892U (en) * | 2016-10-08 | 2017-05-24 | 深圳市芬能自动化设备有限公司 | Synchronous hand claw equipment of pile up neatly |
| CN209319813U (en) * | 2018-12-10 | 2019-08-30 | 无锡城市职业技术学院 | A kind of bagged grain conveyance manipulator |
| CN218057413U (en) * | 2022-08-17 | 2022-12-16 | 中建材凯盛机器人四川有限公司 | Device for realizing three-grab separate control of bagged materials |
| CN116281256A (en) * | 2023-05-12 | 2023-06-23 | 山东蔚创智能科技有限公司 | Continuous automatic loading system for bagged articles |
| CN116767894A (en) * | 2023-07-13 | 2023-09-19 | 安徽海螺中南智能机器人有限责任公司 | Bagged cement loading production line with robot capable of automatically switching grippers |
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2023
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07132477A (en) * | 1993-11-04 | 1995-05-23 | Fanuc Ltd | Pouch handling hand for industrial robot |
| WO2016206422A1 (en) * | 2015-06-26 | 2016-12-29 | 张萍 | Intelligent robot gripper for palletizing system |
| CN206185892U (en) * | 2016-10-08 | 2017-05-24 | 深圳市芬能自动化设备有限公司 | Synchronous hand claw equipment of pile up neatly |
| CN209319813U (en) * | 2018-12-10 | 2019-08-30 | 无锡城市职业技术学院 | A kind of bagged grain conveyance manipulator |
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| CN116281256A (en) * | 2023-05-12 | 2023-06-23 | 山东蔚创智能科技有限公司 | Continuous automatic loading system for bagged articles |
| CN116767894A (en) * | 2023-07-13 | 2023-09-19 | 安徽海螺中南智能机器人有限责任公司 | Bagged cement loading production line with robot capable of automatically switching grippers |
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