CN209291498U - A kind of gripping manipulator of heavy calcium carbonate packet - Google Patents

Abstract

The utility model belongs to calcium carbonate processing equipment field, a kind of gripping manipulator of heavy calcium carbonate packet is disclosed, including the mechanical finger for clamping powder packet；It further include pedestal, the first arm of setting on the base, second arm hinged with the first arm and the hinged third arm of the second arm；The mechanical finger includes fixed frame, the lower surface of fixed frame is arranged in for clamping the gripping body of powder packet；The lower part of the fixed frame is additionally provided with the pressing plate above gripping body, and the fixed frame is equipped with the first cylinder, and first cylinder is for driving the pressing plate to move up and down；Powder packet automatically can be removed and be transferred on yoke from conveying mechanism by the manipulator, will not generate a large amount of dust in the process.

Description

A kind of gripping manipulator of heavy calcium carbonate packet

Technical field

The utility model relates to calcium carbonate processing equipment field, the clamping of especially a kind of heavy calcium carbonate packet is mechanical Hand.

Background technique

Powdered whiting needs to pack after having processed, and the snakeskin bag of generally 20kg or 25kg are packed, packaging It needs to carry out stacking after good.

In traditional operation, operator stands in the end of conveyer belt, and product is put on yoke.

This there are the problem of are as follows: 1, large labor intensity；2, calcium carbonate belongs to the product of easily dust, at operation scene, behaviour Making personnel can not handle with care, this means that there are many live dust, if safeguard procedures are not in place, operator has Suffer from the risk of pneumoconiosis.

If solved the above problems, automation is unique approach.During automation, to solve the problems, such as be, How powder packet to be transferred on yoke, and handled with care, guarantees that a large amount of dust will not be generated in placement process.

Utility model content

The purpose of the utility model is to provide a kind of gripping manipulator of heavy calcium carbonate packet, which can be automatic Powder packet is removed and is transferred on yoke from conveying mechanism, a large amount of dust will not be generated in the process.

Technical solution provided by the utility model are as follows: a kind of gripping manipulator of heavy calcium carbonate packet, including for pressing from both sides The firmly mechanical finger of powder packet；Further include pedestal, setting the first arm on the base, second arm hinged with the first arm, The third arm hinged with the second arm；

The mechanical finger includes fixed frame, the lower surface of fixed frame is arranged in for clamping the gripping body of powder packet； The lower part of the fixed frame is additionally provided with the pressing plate above gripping body, and the fixed frame is equipped with the first cylinder, institute The first cylinder stated is for driving the pressing plate to move up and down；

It is equipped between the pedestal and the first arm for driving the first arm to rotate centered on the axle center of pedestal First driving unit；It is equipped between first arm and the second arm for driving the second arm to swing around articulated position Second driving unit is equipped between second arm and third arm for driving third arm to swing around articulated position Third driving unit；It is equipped between the third arm and fixed frame for driving during fixed frame with the axle center of third arm is 4th driving unit of heart rotation.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, first driving unit includes being fixed on pedestal Interior first motor and with the first train of reduction gears；The power output end of the first motor is connect with the first train of reduction gears And first train of reduction gears be connected to the first arm；

Second driving unit includes the second motor being arranged in the second arm and the second train of reduction gears；It is described The power output end of the second motor connect with the second train of reduction gears and the second train of reduction gears is connected to the first arm；

The third driving unit includes the third motor being arranged in third arm and third train of reduction gears, described The power output end of third motor connect with third train of reduction gears and third train of reduction gears is connected to the second arm；

4th driving unit includes the 4th motor being arranged in third arm and the 4th train of reduction gears, described The power output end of the 4th motor connect with the 4th train of reduction gears and the 4th train of reduction gears is connected to fixed frame.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, the fixed frame is equipped with rotation seat, described Rotation seat and third arm are flexibly connected in a manner of the axis rotation around rotation seat, the rotation seat and the 4th reduction gearing Group connection.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, the pressing plate is equipped with air hole.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, the gripping body includes setting up separately under fixed frame Two pairs of bearings of the two sides on surface, every a pair of bearings are equipped with shaft；The shaft is equipped with connecting plate and catch bar, described Connecting plate and catch bar be arranged symmetrically with the axle center of shaft, on the connecting plate side by side be equipped with multiple bendings metallic rod； The catch bar is connected with the second cylinder for driving catch bar to drive shaft rotation.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, the company of being equipped between second cylinder and catch bar Extension bar, one end of the connecting rod and the power output end of the second cylinder are hinged, the other end of the connecting rod with push away Lever is hinged.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, first cylinder is 2, is set up separately in pressing plate The both ends on top.

In the gripping manipulator of above-mentioned heavy calcium carbonate packet, the connecting plate is equipped with multiple hollow out items.

The utility model is after adopting the above technical scheme, it has the beneficial effect that

This programme is combined using pedestal, the first arm, the second arm, third arm and mechanical finger, realizes three-dimensional sky The powder packet transfer of interior automation, and fugitive dust is reduced when being placed on yoke by air in pressing plate discharge bag.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model embodiment 1；

Fig. 2 is the main view of the mechanical finger of the utility model embodiment 1；

Fig. 3 is the right view of the mechanical finger of the utility model embodiment 1；

Fig. 4 is the top view of the pressing plate of the utility model embodiment 1.

Specific embodiment

With reference to embodiment, the technical solution of the utility model is described in further detail, but not structure Any restrictions of pairs of the utility model.

Embodiment 1:

With reference to Fig. 1-4, a kind of gripping manipulator of heavy calcium carbonate packet, including the mechanical finger 1 for clamping powder packet； Further include pedestal 2, setting the first arm 3 on the base 2, cut with scissors with the second hinged arm 4 of the first arm 3, with the second arm 4 The third arm 5 connect；

The mechanical finger 1 includes fixed frame 101, the lower surface of fixed frame 101 is arranged in for clamping the folder of powder packet Take mechanism；The lower part of the fixed frame 101 is additionally provided with the pressing plate 102 above gripping body, on the fixed frame 101 Equipped with the first cylinder 103, first cylinder 103 is for driving the pressing plate 102 to move up and down；

It is equipped between the pedestal 2 and the first arm 3 for driving the first arm 3 to turn centered on the axle center of pedestal 2 The first dynamic driving unit；It is equipped between first arm 3 and the second arm 4 for driving the second arm 4 around hinge position The second driving unit of swing is set, is equipped between second arm 4 and third arm 5 for driving third arm 5 around hinge Connect the third driving unit of position swing；It is equipped between the third arm 5 and fixed frame 101 for driving fixed frame 101 The 4th driving unit rotated centered on the axle center of third arm 5.

In the process of running, if to clamp the powder packet on the conveying mechanism of peripheral hardware, need to do following movement:

1, the first arm 3 turns to the top of powder packet by the driving of the first driving unit；

2, the second arm 4 is rotated by the second driving unit to change the height of third arm 5；

3, third arm 5 is rotated by third driving unit to change horizontal position and the height of fixed frame 101；

4, fixed frame 101 is driven by the 4th driving unit, clamps powder packet to adjust the angle of fixed frame 101.

During clamping, the powder packet on the conveying mechanism of peripheral hardware is compressed by the air in discharge powder packet by pressing plate 102, Then gripping body clamps powder packet, then so that powder packet is moved to wood by above-mentioned first arm 3, the second arm 4, third arm 5 It is put well on frame.

First driving unit, the second driving unit, third driving unit, the 4th driving unit driving principle be similar , only illustrate by taking the first driving unit as an example: first driving unit includes 21 He of first motor being fixed in pedestal 2 With the first train of reduction gears 22；The power output end of the first motor 21 is connect with the first train of reduction gears 22 and first subtracts Fast gear set 22 is connected to the first arm 3；

First motor 21 drives the first train of reduction gears 22, and train of reduction gears is made of multiple gears, passes through fixed frame 101 It is fixed in pedestal 2, while the output end of reduction gearing is fixedly connected with the first arm 3, first motor 21 is slowed down by first Gear set 22 makes to produce relative rotation between pedestal 2 and the first arm 3.

More specifically connection structure can refer to: a kind of mechanical arm of CN201620536395.1.

For specifically, second driving unit includes the second motor 41 being arranged in the second arm 4 and Two train of reduction gears 42；The power output end of second motor 41 is connect with the second train of reduction gears 42 and the second reducing gear Wheel group 42 is connected to the first arm 3；

The third driving unit includes the third motor 51 being arranged in third arm 5 and third train of reduction gears 52, the power output end of the third motor 51 is connect with third train of reduction gears 52 and third train of reduction gears 52 is connected to Second arm 4；

4th driving unit includes the 4th motor 53 being arranged in third arm 5 and the 4th train of reduction gears 54, the power output end of the 4th motor 53 is connect with the 4th train of reduction gears 54 and the 4th train of reduction gears 54 is connected to Fixed frame 101.

As the further preferred of above scheme, the fixed frame 101 is equipped with rotation seat 104, the rotation seat 104 and third arm 5 be flexibly connected in a manner of the axis rotation around rotation seat 104, the rotation seat 104 and the 4th slow down Gear set 54 connects.

In the present embodiment, the pressing plate 102 is equipped with air hole 105 in favor of the air discharge in powder packet；It is described Gripping body include the two pairs of bearings 106 set up separately in the two sides of 101 lower surface of fixed frame, every a pair of bearings 106, which is equipped with, to be turned Axis 107；The shaft 107 is equipped with connecting plate 108 and catch bar 109, and the connecting plate 108 and catch bar 109 are to turn The axle center of axis 107 is arranged symmetrically, and is equipped with the metallic rod 110 of multiple bendings on the connecting plate 108 side by side；The catch bar 109 are connected with the second cylinder 111 for driving catch bar 109 that shaft 107 is driven to rotate.

During clamping, the second cylinder 111 drives catch bar 109 to rotate, and catch bar 109 drives shaft 107 to rotate, and turns Axis 107 drives connecting plate 108 to rotate, and connecting plate 108 drives metallic rod 110 to rotate, and metallic rod 110 is similar to two hands of people Finger, embracing powder packet can be realized clamping.

In the present embodiment, connecting rod 112, the connection are equipped between second cylinder 111 and catch bar 109 One end of bar 112 and the power output end of the second cylinder 111 are hinged, the other end and catch bar 109 of the connecting rod 112 Hingedly, first cylinder 103 is 2, sets up the both ends on the top of pressing plate 102 separately, and the connecting plate 108 is equipped with more A hollow out item 113, hollow out item 113 are conducive to the discharge of air in powder packet during clamping.

Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.

Claims (8)

1. a kind of gripping manipulator of heavy calcium carbonate packet, including the mechanical finger for clamping powder packet；It is characterized by: also Including pedestal, the first arm of setting on the base, second arm hinged with the first arm and the hinged third of the second arm Arm；

The mechanical finger includes fixed frame, the lower surface of fixed frame is arranged in for clamping the gripping body of powder packet；It is described The lower part of fixed frame be additionally provided with the pressing plate above gripping body, the fixed frame is equipped with the first cylinder, described First cylinder is for driving the pressing plate to move up and down；

First for driving the first arm to rotate centered on the axle center of pedestal is equipped between the pedestal and the first arm Driving unit；Second for driving the second arm to swing around articulated position is equipped between first arm and the second arm Driving unit is equipped with the third for driving third arm to swing around articulated position between second arm and third arm Driving unit；It is equipped between the third arm and fixed frame for driving fixed frame to turn centered on the axle center of third arm The 4th dynamic driving unit.

2. the gripping manipulator of heavy calcium carbonate packet according to claim 1, which is characterized in that first driving Unit include the first motor being fixed in pedestal and with the first train of reduction gears；The power output end of the first motor with First train of reduction gears connects and the first train of reduction gears is connected to the first arm；

Second driving unit includes the second motor being arranged in the second arm and the second train of reduction gears；Described The power output end of two motors is connect with the second train of reduction gears and the second train of reduction gears is connected to the first arm；

The third driving unit includes the third motor being arranged in third arm and third train of reduction gears, and described The power output end of three motors is connect with third train of reduction gears and third train of reduction gears is connected to the second arm；

4th driving unit includes the 4th motor being arranged in third arm and the 4th train of reduction gears, and described The power output end of four motors is connect with the 4th train of reduction gears and the 4th train of reduction gears is connected to fixed frame.

3. the gripping manipulator of heavy calcium carbonate packet according to claim 2, which is characterized in that on the fixed frame Equipped with rotation seat, the rotation seat and third arm are flexibly connected in a manner of the axis rotation around rotation seat, and described turns Dynamic seat is connect with the 4th train of reduction gears.

4. the gripping manipulator of heavy calcium carbonate packet according to claim 1, which is characterized in that set on the pressing plate There is air hole.

5. the gripping manipulator of heavy calcium carbonate packet according to claim 4, which is characterized in that the gripping body Including setting up two pairs of bearings in the two sides of fixed frame lower surface separately, every a pair of bearings is equipped with shaft；The shaft is equipped with Connecting plate and catch bar, the connecting plate and catch bar are arranged symmetrically with the axle center of shaft, are set side by side on the connecting plate There is the metallic rod of multiple bendings；The catch bar is connected with the second cylinder for driving catch bar to drive shaft rotation.

6. the gripping manipulator of heavy calcium carbonate packet according to claim 5, which is characterized in that second cylinder Connecting rod, one end of the connecting rod and hinged, the described company of the power output end of the second cylinder are equipped between catch bar The other end of extension bar and catch bar are hinged.

7. the gripping manipulator of heavy calcium carbonate packet according to claim 6, which is characterized in that first cylinder It is 2, sets up the both ends on the top of pressing plate separately.

8. the gripping manipulator of heavy calcium carbonate packet according to claim 7, which is characterized in that on the connecting plate Equipped with multiple hollow out items.