CN206654525U - A kind of mechanical gripper and the bale breaker including the handgrip - Google Patents
A kind of mechanical gripper and the bale breaker including the handgrip Download PDFInfo
- Publication number
- CN206654525U CN206654525U CN201720434570.0U CN201720434570U CN206654525U CN 206654525 U CN206654525 U CN 206654525U CN 201720434570 U CN201720434570 U CN 201720434570U CN 206654525 U CN206654525 U CN 206654525U
- Authority
- CN
- China
- Prior art keywords
- grapple
- mechanical gripper
- bottom plate
- handgrip
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 239000000463 material Substances 0.000 claims description 61
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 238000013461 design Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000002994 raw material Substances 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 230000036541 health Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 239000004677 Nylon Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003337 fertilizer Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 229920001778 nylon Polymers 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- WCUXLLCKKVVCTQ-UHFFFAOYSA-M Potassium chloride Chemical compound [Cl-].[K+] WCUXLLCKKVVCTQ-UHFFFAOYSA-M 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- BFNBIHQBYMNNAN-UHFFFAOYSA-N ammonium sulfate Chemical compound N.N.OS(O)(=O)=O BFNBIHQBYMNNAN-UHFFFAOYSA-N 0.000 description 1
- 229910052921 ammonium sulfate Inorganic materials 0.000 description 1
- 235000011130 ammonium sulphate Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 235000011164 potassium chloride Nutrition 0.000 description 1
- 239000001103 potassium chloride Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The utility model discloses a kind of mechanical gripper and the bale breaker including the handgrip, including a bottom plate, grapple cylinder and lift cylinder are installed on described bottom plate, the described bottom plate of described lift cylinder driving moves up and down；Described grapple cylinder drives a rack to move up and down, and described rack engages with two gears positioned at its both sides, and two gear direction of rotation are on the contrary, the anglec of rotation is identical；Two described gears drive two rotary shaft rotations, and multigroup grapple is provided with the rotary shaft described in two, and multigroup grapple rotates with described rotary shaft, realizes the folding of pneumatic grapple；The deep-slotted chip breaker coordinated with grapple is provided with described bottom plate.
Description
Technical field
The utility model discloses a kind of mechanical gripper and the bale breaker including the handgrip.
Background technology
Chemical fertilizer production line is different according to factory formula at present, generally require three to five kinds of input primary raw material (potassium chloride,
Ammonium sulfate etc.), general 50 kilogram/bag of packaging bag of raw material or 40 kilograms/every bag, the material of packaging bag is nylon braided bag, former
After material transports factory, material bag is put into dog-house, pocket knife is then manually held and cuts open bag, then material is poured over and fed intake
In mouthful, and some materials caking, it is necessary to be manually broken into fritter, the production line of general 50,000 tons of production capacity is, it is necessary to 5
The material of input 15 tons (300 bags) is at least needed to 6 worker's each hours, and needs the work of continuous high intensity.
Working method of unpacking at present is entirely handwork, it is necessary to artificial more, and labor intensity is big, and human body connects during work
Material is touched, it is big to human health damage.With State Council on printing and distributing《Made in China 2025》Notice be opportunity, design research and development one
Kind mechanical gripper, captures material, instead of hand labor, applies on automatic bale breaker, realization is worked continuously automatically.
Utility model content
At present, in the feeding station of novel intelligent Unpacking, realize crawl and lose the function of putting material, raw material is with five
The form of flower pile puts into production line, five 5 bags of every layer of piles of flower, typically piles up 8 layers, to realize maximum production efficiency, while energy
Enough realize is cut to material, shakes material, the function of transport, it is therefore desirable to which design a mechanism handgrip, can be carried out to material
Successively (every layer 5 bag) crawl, and can adapt to uneven between every layer of material bag, avoid leakage grabbing, the phenomenon grabbed more.
To achieve these goals, the utility model discloses a kind of mechanical gripper, including a bottom plate, at described bottom
Grapple cylinder and lift cylinder are installed, the described bottom plate of described lift cylinder driving moves up and down on plate；Described grapple
Cylinder drives a rack to move up and down, and described rack engages with two gears positioned at its both sides, and two gear rotations
In the opposite direction, the anglec of rotation is identical；Two described gears drive two rotary shaft rotations, are set in the rotary shaft described in two
There is multigroup grapple, multigroup grapple rotates with described rotary shaft, realizes the folding of pneumatic grapple；It is provided with described bottom plate
The deep-slotted chip breaker coordinated with grapple.
Further, described grapple includes four groups, and every group includes two hooks, and one of hook is arranged on rotation
On axle I, another hook is arranged on rotary shaft II, and two hooks are symmetrical.
Further, wherein two groups of hooks are arranged on the both ends of two rotary shafts, two groups of hooks are arranged on lifting air in addition
The both sides of cylinder.
Further, described grapple is arc, and the folding track of grapple and the circular arc of grapple are concentric circles.
Further, described grapple uses spring steel.
Further, grapple cylinder supports frame is fixed with described bottom plate, for supporting fixed grapple cylinder.
Further, described lift cylinder is fixed on the supporting plate, and guide rod is provided with described supporting plate,
Described guide rod is connected to through supporting plate on described bottom plate.
Further, described mechanical gripper includes multiple, and multiple mechanical grippers are arranged on a handgrip pallet, described
Handgrip pallet be provided with multiple steam lines, described steam line connection source of the gas, is described grapple cylinder, lift cylinder
Supply.
Further, the cylinder body of described lift cylinder is fixed on described handgrip pallet, and it is whole that it drives bottom plate to drive
Grapple cylinder and grapple move up and down.
Further, pressure-reducing valve is installed in described steam line；It is provided with described handgrip pallet for feeling
Answer the sensor of the height of material.
The invention also discloses a kind of bale breaker, and it includes foregoing mechanical gripper.
The specific course of work is as follows：
Whole handgrip disk controls lifting position by lowering or hoisting gear, when handgrip disk falls, passes through multiple photoelectric sensors
The height of material is sensed, after one of sensor sensing is to material, whole handgrip disk stops falling, and lift cylinder is stretched
Go out, the air pressure of stretching is adjustable, and the pressure of air pressure is less than the deadweight of whole handgrip disk, makes can connecing for each handgrip unit more preferable
Touch material bag, if decline air pressure it is larger, can by whole handgrip unit jack up come, so as to lose the work of lifting
With.Grapple cylinders retract, makes grapple be rotatably inserted among material bag, and last lift cylinder resets, and elevating mechanism will be grabbed entirely
Setting stick is lifted.Grapple, which can grasp material the station specified is transported to by travelling bogie, cut bag, material is shaken, when material falls
After the completion of, grab collection station of the closing quotation with empty material bag to material bag.Grapple cylinder stretches out, pneumatic grapple rotation, material
Bag Automatic-falling.
The beneficial effects of the utility model：
1. mechanical gripper of the present utility model can realize the automatic crawl to material, transport, the action such as placement, coordinate electricity
Gas control system can work continuously, and production efficiency is high.
2. the utility model uses pneumatic control, driven relative to hydraulic pressure or motor, faster, control circuit is simple for response speed
Clean convenience, security performance is high, and maintenance cost is low.
3. the modularized design of the utility model mechanical gripper unit, can be right according to the stacking mode and size of material
Manipulator unit is increased and decreased.
4. the design of the pneumatic grapple of arc form is highly suitable for chemical fertilizer raw material packaging bag (nylon in the utility model
Bag) crawl, place.
5. due to material be by artificial code into Wu Huaduo, so every layer of material all can be uneven, give material crawl
Very big difficulty is brought, has and leakage grabs, grabs not firm, to drop phenomenon, so as to the continuity that the equipment influenceed is run, handgrip
The lifting design of unit enables each grapple to press close to material bag as far as possible, substantially increases the Grasping skill of material bag.
6. relieving hand labor by mechanically actuated, avoid people and the injury caused to health is contacted with material.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Overall distribution structure of Fig. 1 mechanical grippers on handgrip pallet；
The concrete structure diagram of Fig. 2 mechanical grippers；
Fig. 3, Fig. 4, Fig. 5 are the three-view diagram of mechanical gripper；
Fig. 6, Fig. 7 are the structural representation of grapple；
In figure：1. pipeline, 2. sensors, 3. mechanical gripper units, 4. magnetic valves, 5. pressure-reducing valves, 6. handgrip pallets, 7. water
Flat board, 8. grapple cylinders, 9. lift cylinders, 10. rack-and-pinion, 10-1 racks, 10-2 gears, the fixed plate of 11. guide sleeve 12.
13. riser I, 14. guide rods, 15. connecting rods, 16. guide rod seats, 17. riser II, 18. bearings, 19. axles, 20. bottom plates, 21.
Riser III, 22. pneumatic grapples, 23 fixed seats, 24 arc hooks.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, working method of unpacking at present is entirely handwork, it is necessary to artificial more, labor
Fatigue resistance is big, human contact's material during work, big to human health damage.In order to solve technical problem as above, the application carries
A kind of mechanical gripper and the bale breaker including the handgrip are gone out.
In a kind of typical embodiment of the application, as shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, there is provided a kind of mechanical gripping
Hand, the pneumatic grapple that each unit has multigroup arc structure are captured to material, placed.Grapple is fixed on two with rotary shaft
On, rotary shaft installation bearing is fixed on riser I and riser III, and each rotary shaft fixes a gear by key connection, two
It is engaged among gear with a two-sided rack, one end of the two-sided rack is connected with grapple cylinder, and cylinder is fixed on riser I and riser
On II, reciprocating motion of the cylinder with carry-over bar, gear is passed to, two gear direction of rotation pass through on the contrary, the anglec of rotation is identical
The rotation of gear drives two axles to synchronize reciprocal rotary motion, realizes the folding of pneumatic grapple, and concrete structure is as follows：
It includes a bottom plate 20, is provided with grapple cylinder 8 and lift cylinder 9, described lift cylinder 9 on the base plate 20
The described bottom plate 20 of driving moves up and down；Described grapple cylinder 8 drives a rack 10-1 to move up and down, described rack
10-1 engages with two gear 10-2 positioned at its both sides, and two gear 10-2 direction of rotation are on the contrary, the anglec of rotation is identical；Institute
The two gear 10-2 stated drive two rotary shafts 19 to rotate, and multigroup grapple is provided with the rotary shaft 19 described in two, multigroup
Grapple rotates with described rotary shaft, realizes the folding of pneumatic grapple 22；It is provided with described bottom plate and coordinates with grapple 22
Deep-slotted chip breaker.
It is specific as follows：
Grapple includes four groups, and every group includes two hooks, and one of hook is arranged on rotary shaft I, another hook
On rotary shaft II, and two hooks are symmetrical.
Wherein two groups of hooks are arranged on the both ends of two rotary shafts, and two groups of hooks are arranged on the both sides of lift cylinder in addition.
Further, grapple cylinder supports frame is fixed with bottom plate, for supporting fixed grapple cylinder, support frame be by
Riser III21, riser II17 and a level board 7 are formed.
Further, lift cylinder is fixed in fixed plate 12, and guide rod 14, institute are provided with described fixed plate 12
The guide rod 14 stated is connected to through guide sleeve 11, fixed plate 12, handgrip pallet on described bottom plate 20.The work of lift cylinder
Stopper rod is connected by connecting rod 15 with bottom plate 20.
Guide rod seat 16 is installed on described bottom plate 20.
Two rotary shafts sequentially pass through riser III21, riser II17, riser I 13, and are fixed by bearing 18.
In addition, the pneumatic grapple structure in the utility model aims at the crawl of raw material bag and designed, such as Fig. 6, Fig. 7 institute
Show, including circular arc seat 23 and arc hook 24；Because container packing bag is softer, and there is certain toughness, but material is easy
Caking, hardness is very high, therefore the institution requests of grapple have certain rigidity, while ensures that grapple prevents when crawl
Material drops, and material bag can smoothly come off when opening.Therefore the material of grapple uses spring steel, and structure uses circular arc
Formula, the folding track of grapple and the circular arc of grapple are concentric circles.
The utility model type mechanical gripper is by multigroup pipeline, multiple sensors, multiple mechanical gripper units, plurality of electromagnetic
Valve, pressure-reducing valve, pneumatic control unit are all installed on handgrip pallet, to be applicable the material that material five spends pile stacking mode, machine
Tool handgrip is made up of multigroup module, uses pneumatic control.Appropriate increase and decrease can be carried out according to the stacking mode of material.
Lift cylinder is fixed in lift cylinder fixed plate and connected with handgrip disk, and lift cylinder is connected by connecting rod and bottom plate
Connect, controlling the lifting of handgrip unit, the air pressure of decline is adjustable, decline air pressure pressure be less than whole handgrip disk from
It is dynamic, can connecing for each handgrip unit is preferably touched material bag, can be by whole handgrip list if the air pressure declined is larger
Member is jacking up, so as to lose the effect of lifting.Lift cylinder fixed plate installs the guiding on two guide sleeves and handgrip unit
Bar coordinates, and plays balance and stability to handgrip unit baseboard.
Whole handgrip disk controls lifting position by lowering or hoisting gear, when handgrip disk falls, passes through multiple photoelectric sensors
The height of material is sensed, after one of sensor sensing is to material, whole handgrip disk stops falling, and lift cylinder is stretched
Go out, make each contacts baseplate to material.Grapple cylinders retract, makes grapple be rotatably inserted among material bag, last lift cylinder
Reset, elevating mechanism lifts whole handgrip disk.Grapple, which can grasp material the station specified is transported to by travelling bogie, to be entered
Go and cut bag, shake material, after the completion of material whereabouts, grab collection station of the closing quotation with empty material bag to material bag.Grapple cylinder
Stretch out, pneumatic grapple rotation, material bag Automatic-falling.
As can be seen from the above description, the application the above embodiments realize following technique effect：
1. mechanical gripper of the present utility model can realize the automatic crawl to material, transport, the action such as placement, coordinate
Electric control system can work continuously, and production efficiency is high.
2. the utility model uses pneumatic control, driven relative to hydraulic pressure or motor, faster, control circuit is simple for response speed
Clean convenience, security performance is high, and maintenance cost is low.
3. the modularized design of the utility model mechanical gripper unit, can be right according to the stacking mode and size of material
Manipulator unit is increased and decreased.
4. the design of the pneumatic grapple of arc form is highly suitable for chemical fertilizer raw material packaging bag (nylon in the utility model
Bag) crawl, place.
5. due to material be by artificial code into Wu Huaduo, so every layer of material all can be uneven, give material crawl
Very big difficulty is brought, has and leakage grabs, grabs not firm, to drop phenomenon, so as to the continuity that the equipment influenceed is run, handgrip
The lifting design of unit enables each grapple to press close to material bag as far as possible, substantially increases the Grasping skill of material bag.
6. relieving hand labor by mechanically actuated, avoid people and the injury caused to health is contacted with material.
It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model
Within enclosing.
Claims (10)
1. a kind of mechanical gripper, it is characterised in that including a bottom plate, grapple cylinder and lifting are provided with described bottom plate
Cylinder, the described bottom plate of described lift cylinder driving move up and down；Described grapple cylinder drives a rack to move up and down,
Described rack engages with two gears positioned at its both sides, and two gear direction of rotation are on the contrary, the anglec of rotation is identical；It is described
Two gears drive the rotation of two rotary shafts, multigroup grapple is provided with the rotary shaft described in two, multigroup grapple is with institute
The rotary shaft rotation stated, realizes the folding of pneumatic grapple；The deep-slotted chip breaker coordinated with grapple is provided with described bottom plate.
A kind of 2. mechanical gripper as claimed in claim 1, it is characterised in that every group of grapple includes two hooks, one of them
Hook is arranged on rotary shaft I, and another hook is arranged on rotary shaft II, and two hooks are symmetrical.
3. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described grapple includes four groups, wherein two groups of extensions
Hook is arranged on the both ends of two rotary shafts, and two groups of hooks are arranged on the both sides of lift cylinder in addition.
4. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described grapple is arc, the folding rail of grapple
The circular arc of mark and grapple is concentric circles.
5. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described grapple uses spring steel.
A kind of 6. mechanical gripper as claimed in claim 1, it is characterised in that described lift cylinder is fixed on the supporting plate,
Guide rod is installed in described supporting plate, described guide rod is connected to through supporting plate on described bottom plate.
7. a kind of mechanical gripper as claimed in claim 1, it is characterised in that described mechanical gripper includes multiple, Duo Geji
Tool handgrip is arranged on a handgrip pallet, and multiple steam lines are provided with described handgrip pallet, and described steam line connects
Source of the gas is connect, is described grapple cylinder, lift cylinder supply.
8. a kind of mechanical gripper as claimed in claim 7, it is characterised in that be provided with pressure-reducing valve in described steam line.
9. a kind of mechanical gripper as claimed in claim 7, it is characterised in that be provided with described handgrip pallet for feeling
Answer the sensor of the height of material.
10. a kind of bale breaker, it is characterised in that including any described mechanical grippers of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434570.0U CN206654525U (en) | 2017-04-24 | 2017-04-24 | A kind of mechanical gripper and the bale breaker including the handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434570.0U CN206654525U (en) | 2017-04-24 | 2017-04-24 | A kind of mechanical gripper and the bale breaker including the handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206654525U true CN206654525U (en) | 2017-11-21 |
Family
ID=60319176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720434570.0U Expired - Fee Related CN206654525U (en) | 2017-04-24 | 2017-04-24 | A kind of mechanical gripper and the bale breaker including the handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206654525U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865213A (en) * | 2017-04-24 | 2017-06-20 | 山东森烨生态工程有限公司 | A kind of mechanical gripper and the bale breaker including the handgrip |
| CN108301840A (en) * | 2018-01-29 | 2018-07-20 | 中国矿业大学(北京) | A kind of loading method for rock gangway medium-length hole blasting |
-
2017
- 2017-04-24 CN CN201720434570.0U patent/CN206654525U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865213A (en) * | 2017-04-24 | 2017-06-20 | 山东森烨生态工程有限公司 | A kind of mechanical gripper and the bale breaker including the handgrip |
| CN108301840A (en) * | 2018-01-29 | 2018-07-20 | 中国矿业大学(北京) | A kind of loading method for rock gangway medium-length hole blasting |
| CN108301840B (en) * | 2018-01-29 | 2020-08-21 | 中国矿业大学(北京) | Charging method for rock tunnel medium-length hole blasting |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171121 |