CN209986810U

CN209986810U - Telescopic loosening and clamping mechanism and automatic discharging device for canned materials

Info

Publication number: CN209986810U
Application number: CN201822278795.9U
Authority: CN
Inventors: 傅峰峰
Original assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: Guangzhou Fugang Life Intelligent Technology Co Ltd
Priority date: 2018-12-31
Filing date: 2018-12-31
Publication date: 2020-01-24
Anticipated expiration: 2028-12-31

Abstract

Flexible loose clamp mechanism, including the clamping jaw to and the front end connect in the clamping jaw, be used for the drive the fork expansion bracket is cut in the flexible of clamping jaw, it has a plurality of hinge on the fork expansion bracket to cut, one the rigid coupling has and is used for driving on the hinge rotates with control cut the flexible transmission tooth piece of fork expansion bracket, one side of transmission tooth piece is provided with and is used for the drive transmission tooth piece pivoted expansion bracket driving motor. When the scissor type telescopic frame is retracted, the size of the scissor type telescopic frame is small after being folded, no fixed component such as a sliding groove or a lead screw occupies a horizontal space, and the space of a part of the motion track is emptied after the scissor type telescopic frame is retracted. And the utility model provides a flexible loose clamp mechanism, transmission tooth piece set up in cutting the epaxial of hinge of fork expansion bracket self, so can be directly set up expansion bracket driving motor at the end of cutting the fork expansion bracket, saved horizontal space. The utility model also discloses a canned material automatic discharging device.

Description

Telescopic loosening and clamping mechanism and automatic discharging device for canned materials

Technical Field

The utility model belongs to the technical field of automatic food manufacturing equipment and specifically relates to flexible loose clamp mechanism and canned material automatic discharging device.

Background

At present, a telescopic unclamping mechanism generally adopts a linear motion mechanism to drive a clamping jaw to stretch, and the clamping jaw independently controls unclamping of an object. The traditional linear motion driving mechanism adopts a sliding groove sliding block mechanism or a lead screw nut mechanism, and because the length and the position of a sliding groove and a lead screw are not changed, the horizontal space through which the motion track of a clamping jaw passes is reserved when the clamping jaw stretches, even if the clamping jaw is contracted to the limit position, the horizontal space occupied by the whole stretching and releasing mechanism is also unchanged due to the existence of the sliding groove and the lead screw.

The defects of the prior art are as follows: the telescopic unclamping mechanism is in a contracted or stopped state for most of the time, but because the length and the position of the sliding groove and the screw rod are not changed, a large amount of idle space is not utilized actually, and the space can be shared with other movable mechanisms actually. The prior art can not save the space, so that if a telescopic loose clamping mechanism and other moving mechanisms are arranged in one equipment device, the equipment device occupies a space independently, and the structure of the equipment device is not compact.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a telescopic loose clamping mechanism which can save the space on the movement track during the contraction.

Flexible loose clamp mechanism, including the clamping jaw to and the front end connect in the clamping jaw, be used for the drive the fork expansion bracket is cut in the flexible of clamping jaw, it has a plurality of hinge on the fork expansion bracket to cut, one the rigid coupling has and is used for driving on the hinge rotates with control cut the flexible transmission tooth piece of fork expansion bracket, one side of transmission tooth piece is provided with and is used for the drive transmission tooth piece pivoted expansion bracket driving motor.

Furthermore, a right-angled triangle-shaped expansion bracket supporting plate is further arranged, the plane of the right-angled side of the expansion bracket supporting plate is used for mounting the expansion bracket driving motor, the clamping jaw and the scissor type expansion bracket, and the plane of the right-angled side of the expansion bracket supporting plate is used for being fixedly connected with a fixed structure.

Furthermore, the transmission gear block is a fan-shaped body, and meshing teeth used for being matched with the telescopic frame driving motor are arranged on the arc-shaped outer side face of the fan-shaped body.

Further, the clamping jaw comprises a gear rack mechanism and a pair of clamping jaw fingers which are respectively arranged on the gear rack mechanism.

Further, the clamping jaw finger is concave, and it has an arcuation depressed part that is used for holding material jar, arcuation depressed part be equipped with be used for increasing the material jar with the clamping jaw finger is between the frictional force rack form contact surface.

Further, the rack-and-pinion mechanism includes a gear, a rack, and a rack-and-pinion motor for driving the gear to move the rack toward or away from each other.

Further, the scissor type telescopic frame is rightly laid on the telescopic frame supporting plate, and the telescopic frame driving motor is vertically arranged on the telescopic frame supporting plate.

Further, the scissor type telescopic frame is provided with the hinge shafts along the central line and the two sides.

Furthermore, the transmission tooth block is arranged on the hinge shaft on one side of the tail end of the scissor-type expansion bracket, a fixed pulley is arranged at the bottom of the hinge shaft on the other side of the tail end of the scissor-type expansion bracket, an expansion bracket limiting sliding groove is formed in the expansion bracket supporting plate, the fixed pulley is slidably arranged in the expansion bracket limiting sliding groove, and the expansion bracket limiting sliding groove is used for keeping the expansion direction of the scissor-type expansion bracket unchanged.

Canned material automatic discharging device includes the flexible loose clamp mechanism of above arbitrary item.

When the scissor type telescopic frame is retracted, the size of the scissor type telescopic frame is small after being folded, no fixed component such as a sliding groove or a lead screw occupies a horizontal space, and the space of a part of the motion track is emptied after the scissor type telescopic frame is retracted. In addition, general motor and by setting up the driving medium between the driving piece, need occupy certain space equally, and the utility model provides a flexible loose clamp mechanism, transmission tooth piece set up in cutting fork expansion bracket self on the hinge, like figure 5, so transmission tooth piece actual position is in the top of cutting the fork expansion bracket, so can be directly setting up expansion bracket driving motor at the end of cutting the fork expansion bracket, saved the horizontal space.

Drawings

Fig. 1 is an overall schematic view of a material tank receiving and feeding device of the automatic discharging device for canned materials of the utility model;

fig. 2 is a schematic view of the internal structure of the shell hidden in the material tank receiving and feeding device of the automatic discharging device for canned materials of the utility model;

fig. 3 is a schematic view of the material tank of the automatic discharging device for canned materials of the present invention;

fig. 4 is a schematic view of another angle of the material tank of the automatic discharging device for canned materials of the present invention;

fig. 5 is a schematic view of the telescopic loose clamp mechanism of the automatic discharging device for canned materials of the utility model;

FIG. 6 is a schematic view of the push plate recovery mechanism of the automatic discharging device for canned materials of the present invention cooperating with the receiving base of the can body;

fig. 7 is a schematic view of a tank body receiving base of the automatic discharging device for canned materials of the present invention;

fig. 8 is a schematic view of a push plate recovery mechanism of the automatic discharging device for canned materials of the present invention;

fig. 9 is a schematic view of a tank lifting mechanism of the automatic discharging device for canned materials of the present invention;

fig. 10 is an overall schematic view of the automatic discharging device for canned materials of the present invention.

In the figure: 10. a material tank receiving and conveying device group; 11. an AGV carries a vehicle; 12. a material tank receiving and conveying device; 13. A vertical open slot; 14. stacking barrel supporting plates; 15. a can body stacking cylinder; 20. a material tank; 21. inserting grooves; 22. an annular projection; 23. a guide wing; 24. an embedded sealing push plate; 25. an inner cavity of the material tank; 30. A tank receiving base; 31. the base receives the inserted link; 32. a base limiting vertical plate; 33. the base receives the caulking groove; 34. unloading and landslide; 35. a screw pusher bar; 36. a discharge port; 39. a disc turntable; 40. a tank lifting mechanism; 41. a lifting mechanism drive motor; 42. a lift support bracket; 43. a first linear motion drive mechanism; 50. a telescopic loose clamp mechanism; 51. a jaw finger; 52. a rack and pinion mechanism; 53. a scissor-fork type telescopic frame; 54. a transmission gear block; 55. a telescoping rack drive motor; 56. a telescopic frame limiting chute; 57. a fixed pulley; 58. a telescoping rack support plate; 60. a push plate recovery mechanism; 61. a side guide wheel; 62. a push plate receiving cavity; 63. A conveyor belt side plate; 64. a push plate conveyor belt; 65. an upper swing reset plate; 66. and a ball transfer unit.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.

Example one

The existing material container has an upward opening, but the material container needs to be turned over by 180 degrees to pour out the materials, and actually, the two actions of opening the cover and pouring out the materials are included; or the opening is downward, the material can be poured out only by opening the cover, and an independent driving mechanism is required to control the opening and the closing of the container cover. If the material container with the upward opening is adopted, the automatic discharging system needs to be additionally provided with a turnover mechanism for turning over the material container by 180 degrees, so that the occupied space is large, a sensor or other automatic control mechanisms are needed to ensure that the material tank 20 firstly reaches a specified position for receiving materials, and then turning over and uncovering are carried out, and therefore more devices and equipment are needed. If a material container with a downward opening is adopted, an independent driving mechanism is required to be arranged on the automatic discharging system to control the easy cover to open and close; similarly, a sensor or other automatic control mechanism is required to ensure that the material container firstly reaches a designated position for receiving the material and then is opened, so that the occupied space is large, the number of required devices is large, and the production cost is increased.

The material tank 20 unloading system structure comprises a material tank 20 and a tank body receiving base 30; the material tank 20 is characterized in that a tank body opening communicated with an inner cavity 25 of the material tank is formed in the bottom of the tank body of the material tank 20, guide wings 23 and embedded sealing push plates 24 which are slidably embedded with the guide wings 23 and seal the tank body opening are arranged on two opposite sides of the tank body opening;

the tank body receiving base 30 comprises a material receiving open tank, the material receiving open tank is provided with an opening for receiving materials of the material tank 20, two opposite sides above the opening are provided with base receiving caulking grooves 33, the front end of each base receiving caulking groove 33 is used for abutting against the embedded type sealing push plate 24 to enable the embedded type sealing push plate 24 to slip on the guiding wings 23, and the guiding wings 23 slide to the position of the opening corresponding to the tank body opening along the base receiving caulking grooves 33.

After the material is loaded into the material tank 20, the material tank 20 is sealed by inserting the insertion type sealing push plate 24 into the guide wing 23. When the material tank 20 needs to be opened to take out materials, the material tank 20 is made to be at the same height position as the tank body receiving base 30, the guiding wings 23 are aligned to the embedded sealing push plate 24, then the material tank 20 is horizontally pushed to the tank body receiving base 30, the embedded sealing push plate 24 of the material tank 20 is gradually pushed away by the front end of the base receiving embedded groove 33, the exposed guiding wings 23 are embedded into the base receiving embedded groove 33, finally the guiding wings 23 are completely embedded into the base receiving embedded groove 33, the embedded sealing push plate 24 is completely separated from the material tank 20 and falls off, the opening of the tank body corresponds to the opening of the tank body receiving base 30 at the moment, the materials slide into the material receiving opening box from the material tank 20 due to the self gravity, and the tank opening and unloading process is completed. The body-receiving base 30 for receiving the material container 20 performs the opening of the lid and the receiving of the material substantially simultaneously during the engagement with the material container 20, so that there is no need to provide a separate driving mechanism for controlling the opening and closing of the container lid, and the opening of the lid and the receiving of the material must be performed simultaneously, otherwise the material may be poured out accidentally. The unloading system structure of the material tank 20 has the advantages that the process of uncovering and receiving materials can be completed by a simple action of pushing the material tank 20 to the tank body receiving base 30 horizontally, and the automatic control and the production line type production can be realized conveniently.

Further, a discharge port 36 is arranged on one side of the material receiving open box, and a spiral pushing rod 35 is arranged in the inner cavity of the material receiving open box; the discharging system of the material tank 20 is further provided with a discharging motor, and the spiral material pushing rod 35 is driven to rotate by the discharging motor. After the tank receiving base 30 receives the material, the motor drives the spiral pushing rod 35 to take the material out of the discharge port 36, and then the material out of the discharge port 36 is conveyed to production lines of other processes, so that the production line type production can be conveniently and efficiently realized.

Further, the tail end of the base receiving caulking groove 33 is provided with a base limiting vertical plate 32, and the base limiting vertical plate 32 is used for stopping the sliding of the guiding wings 23 when the material tank 20 slides to the tank body opening to be butted with the opening. In order to guarantee that material jar 20 slides to when hovering in base receipt caulking groove 33, jar body opening accuracy correspond to uncovered in order to avoid the material to spill outside, set up the spacing riser 32 of base, material jar 20 moves to when supporting in the position of the spacing riser 32 of base, just jar body opening accuracy correspond to uncovered.

Further, the material tank 20 is provided with an insertion groove 21 at the same side and the same direction as the guiding wing 23, and the base limiting vertical plate 32 is provided with a base receiving insertion rod 31 which is inserted into the insertion groove 21 in the process that the guiding wing 23 slides along the base receiving insertion groove 33. If the straight line of the material tank 20 and the tank receiving base 30 is set as the X axis, the material tank 20 and the tank receiving base 30 are relatively fixed on the Z axis and the Y axis through the matching of the base receiving insertion rod 31 and the insertion groove 21, and the material tank 20 can only move along the X axis direction, so that the guide wings 23 can correspondingly slide into the base receiving insertion grooves 33.

Further, the spiral pushing rod 35 includes a rotating rod and a spiral pushing ring fixedly wound on the rotating rod. The spiral material pushing ring is driven by the rotating rod to rotate, so that the spiral material pushing ring plays a role of being equivalent to an impeller and pushes materials out from the material receiving open box towards the material outlet 36.

Further, the material tank 20 discharging system further comprises a second linear motion driving device for horizontally pushing the material tank 20 to the tank body receiving base 30, wherein a movable end of the second linear motion driving device is provided with a clamping jaw for clamping the material tank 20. In order to achieve the production line type automatic production, a second linear motion driving device can be adopted to horizontally push the material tank 20 to the tank body receiving base 30, so that the steps of manual operation are further reduced.

Furthermore, the material container 20 is provided with annular projections 22 one above the other for preventing the material container 20 from slipping out of the clamping jaws. Because the wall surface of the material tank 20 is smooth, and the material tank 20 filled with materials is heavy, the friction force between the clamping jaw fingers 51 and the material tank 20 may not be enough to balance the gravity of the material tank 20, and the material tank 20 may slip off in the clamping process, the annular protrusions 22 are arranged up and down, even if the friction force between the material tank 20 and the clamping jaw fingers 51 is not enough to balance the gravity of the material tank 20 to cause the material tank 20 to slip off, the upper annular protrusions 22 can support the clamping jaw fingers 51, and the material tank 20 is prevented from slipping off the clamping jaw fingers 51.

Further, the open periphery side of the material receiving open box is provided with a discharging slide slope 34 which is convenient for the material to slide from the material tank 20 to the inner cavity of the material receiving open box. If the materials directly fall into the material receiving open box from the opening of the tank body, due to a certain height difference between the two materials, the materials can splash, so that the discharging slide slope 34 is arranged, part of the materials directly fall into the inner cavity of the material receiving open box from the opening of the tank body, and even if the materials splash, most of the splashed materials can be blocked by the discharging slide slope 34 and the inner wall of the material receiving open box; a portion of the material falls from the material tank 20 to the discharge ramp 34 and then from the discharge ramp 34 to the material receiving open box interior, which is equivalent to reducing the height of the fall and also reducing the possibility of material splashing.

Furthermore, two opposite sides of the material tank 20 are provided with extension plates one above the other, and the insertion groove 21 is arranged on the extension plates. In order to avoid opening the insertion groove 21 directly on the tank, an extension plate is provided and the insertion groove 21 is provided on the extension plate.

An automatic discharging device for canned materials comprises a discharging system structure of any one of the material tanks 20.

Example two

Such as material container 20 of the first embodiment, which may be held by a gripper, is pushed toward container receiving base 30. The traditional linear motion driving mechanism adopts a sliding groove sliding block mechanism or a lead screw nut mechanism, and even if the clamping jaw moves to the limit position, the sliding groove and the lead screw occupy larger horizontal space because the lengths of the sliding groove and the lead screw are not changed. The present embodiment is directed to a retractable unclamping mechanism 50, which can save more horizontal space after retraction, so that the structure of the device and the equipment equipped with the retractable unclamping mechanism 50 is more compact.

The telescopic unclamping mechanism 50 comprises clamping jaws and a scissor type telescopic frame 53, wherein the front end of the scissor type telescopic frame is connected with the clamping jaws and used for driving the clamping jaws to stretch, a plurality of hinge shafts are arranged on the scissor type telescopic frame 53, one driving toothed block 54 which is used for driving the hinge shafts to rotate so as to control the scissor type telescopic frame 53 to stretch is fixedly connected to the hinge shafts, and a telescopic frame driving motor 55 which is used for driving the driving toothed block 54 to rotate is arranged on one side of the driving toothed block 54. When the scissor-type telescopic frame 53 is retracted, the folded scissor-type telescopic frame is small in volume, and no fixed component such as a sliding groove or a lead screw occupies a horizontal space. In addition, will set up the driving medium between general motor and the driven piece, need occupy certain space equally, and the utility model provides a flexible loose clamp mechanism 50, transmission tooth piece 54 set up in cutting fork expansion bracket 53 self on the hinge, like fig. 5, so transmission tooth piece 54 actual position is in the top of cutting fork expansion bracket 53, so can directly set up expansion bracket driving motor 55 at the end of cutting fork expansion bracket 53, has saved horizontal space.

Furthermore, a right-angled triangle-shaped expansion bracket support plate 58 is further arranged, the plane of one right-angled side is used for mounting the expansion bracket driving motor 55, the clamping jaw and the scissor type expansion bracket 53, and the plane of the other right-angled side is used for fixedly connecting with a fixed structure. If the clamping device is a rectangular flat plate, the connecting area of the side surface of the rectangular flat plate and the fixed structure is small, and if the weight of an object to be clamped is large, the flat plate is easy to bear too large and fall off the fixed structure. The telescopic support plate 58 is arranged in a right triangle shape, and the area of one side of the telescopic support plate for connecting with the fixed structure is large, so that the connection between the telescopic support plate 58 and the fixed structure is more firm, and the telescopic support plate 58 is not easy to fall off from the fixed structure due to heavy bearing.

Further, the transmission gear block 54 is a fan-shaped body, and is disposed on an arc-shaped outer side surface of the fan-shaped body in cooperation with the engagement gear of the telescopic frame driving motor 55. If the extending distance of the telescopic loose-clamping mechanism 50 is small, for example, the scissor type telescopic frame 53 can be driven to extend to a target position only by rotating the transmission gear block 54 for half a turn, the transmission gear block 54 provided by the preferred scheme can be adopted, and the telescopic frame driving motor 55 can not timely rotate reversely to drive the scissor type telescopic frame 53 to recover in case, because the transmission gear block 54 is only a fan-shaped body, the transmission gear block 54 can be separated from the driving part of the telescopic frame driving motor by continuously rotating the telescopic frame driving motor 55 forwards, so that the scissor type telescopic frame 53 can not continuously extend, a function similar to an outage switch mechanism is realized, and the condition that the scissor type telescopic frame 53 extends to an unexpected distance to collide with other components or fixed structures due to the fact that the telescopic frame driving motor 55 does not timely rotate backwards is avoided.

Further, the gripper includes a rack and pinion mechanism 52 and a pair of gripper fingers 51 respectively provided on the rack and pinion mechanism 52. The rack and pinion mechanism 52 has two racks one above the other, and the two racks can be controlled by the gear to move away from or close to each other, and the two gripper fingers 51 are respectively disposed on the two racks one above the other, so that the two gripper fingers 51 can be driven to move away from or close to each other by controlling the movement of the racks, thereby clamping or releasing the object by the gripper fingers 51.

Further, the claw fingers 51 are concave and have arc-shaped concave portions for holding the material tank 20, and the arc-shaped concave portions are provided with rack-shaped contact surfaces for increasing the friction force between the material tank 20 and the claw fingers 51. The jaw fingers 51 provided with the depressions are easy to clamp a generally cylindrical object, and the rack-shaped contact surfaces are provided on the inside contact surfaces of the depressions to increase the friction between the jaw fingers 51 and the object, so that the jaw fingers 51 can clamp the object, and the phenomenon that the object slips off the jaw fingers 51 under the action of gravity due to the fact that the friction between the object and the jaw fingers 51 is insufficient to counteract the gravity of the object itself because the object has too large mass is avoided.

Further, the rack and pinion mechanism 52 includes a gear, a rack, and a rack and pinion motor for driving the gear to move the upper and lower racks toward and away from each other. In order to facilitate automatic control and production line, the rack-and-pinion mechanism 52 uses a rack-and-pinion motor to control the racks to move away from or toward each other, which is convenient and efficient.

Further, the scissor-fork type telescopic frame 53 is rightly laid on the telescopic frame support plate 58, and the telescopic frame driving motor 55 is vertically arranged on the telescopic frame support plate 58. This preferred scheme is through putting expansion bracket driving motor 55 vertically, has saved the horizontal space better.

Further, the scissor-type telescopic frame 53 is provided with the hinge shaft along the center line and both sides.

Further, the transmission gear block 54 is disposed on a first hinge shaft at one side of the tail end of the scissor-type telescopic frame 53, a fixed pulley 57 is disposed at the bottom of a second hinge shaft at the other side of the tail end of the scissor-type telescopic frame 53, a telescopic frame limiting sliding groove 56 is disposed on the telescopic frame supporting plate 58, the fixed pulley 57 is slidably mounted in the telescopic frame limiting sliding groove 56, and the telescopic frame limiting sliding groove 56 is used for keeping the telescopic direction of the scissor-type telescopic frame 53 unchanged. According to the preferred scheme, the two hinge shafts of the scissor type telescopic frame 53 are kept on the same straight line, so that the scissor type telescopic frame 53 can extend and retract along the direction perpendicular to the straight line when being driven to extend and retract, the scissor type telescopic frame 53 is ensured to extend along the target direction, and the situation that the scissor type telescopic frame 53 deviates to one side when extending out is avoided.

An automatic discharging device for canned materials comprises any one of the telescopic loose clamping mechanisms 50.

EXAMPLE III

The material tank 20 discharge system of the first embodiment requires a precise height matching of the material tank 20 and the tank receiving base 30 to achieve its function. The prior art lifting mechanism is shown in chinese patent CN201220102599.6, in which a lifting plate holds a plurality of stacked articles one by one at a time, then the lifting plate is lifted up by a height corresponding to the height of one article each time, the topmost article is made to reach a designated height position, then the pushing mechanism is made to push out the topmost article, and the above operations are repeated to lift and push out the next article. This prior art is not suitable for the material container receiving and feeding device 12, since the material container 20 with the material is heavy and the lifting device is subjected to a large load in this way. Of course, the user can also directly place the objects one by one on the lifting device, then the lifting device directly lifts the single object to the specified height position, the object is pushed out by the push-out mechanism, then the lifting device returns to the initial position, and then the next assembly is performed, and obviously, the lifting mode has low efficiency and is not suitable for the material tank receiving and delivering device 12 with high automation degree. Therefore, in order to efficiently lift the material tank 20 to a height matching the tank receiving base 30 with a small load on the lifting device, the material tank 20 filled with the material is pushed out, so that the material tank 20 and the empty tank receiving base 30 together form the discharging system of the material tank 20 in the first embodiment; or the empty material tank 20 left on the tank body receiving base 30 after unloading is clamped and then contracted and recovered, and the embodiment aims to provide the material tank receiving and sending device 12 and the AGV carrying vehicle 11.

The material tank receiving and feeding device 12 is used for receiving and feeding a material tank 20, and the material tank receiving and feeding device 12 comprises a tank body stacking barrel used for vertically stacking the material tank 20, a telescopic loose clamping mechanism 50 used for clamping and horizontally pushing out or withdrawing the material tank 20, and a tank body lifting mechanism 40 used for conveying the material tank 20 filled with materials from the tank body stacking barrel to the telescopic loose clamping mechanism 50;

in the material tank 20, a tank body opening communicated with the material tank inner cavity 25 is formed in the bottom of the material tank 20, guide wings 23 and an embedded sealing push plate 24 which is slidably embedded with the guide wings 23 and seals the tank body opening are arranged on two opposite sides of the tank body opening;

the tank body lifting mechanism 40 comprises a concave lifting support bracket 42 with the middle part being an avoiding groove and the two sides being lifting support plates, and a first linear motion driving mechanism 43 for driving the movable part to do vertical motion, wherein the lifting support bracket 42 is hinged with the movable part; the avoiding groove is used for preventing the lifting support bracket 42 from interfering with the tank body of the material tank 20 during lifting; the lifting supporting plate is used for turning upwards to avoid when falling to abut against the guide wings 23 of the material tank 20 and resetting to a horizontal state capable of supporting the embedded sealing push plate 24 when not abutted by the guide wings 23;

the tank body stacking barrel is arranged in the lifting channel of the lifting support bracket 42, an opening for taking and placing the material tank 20 is formed in the end part of the tank body stacking barrel, an opening vertical groove is formed in one side surface of the tank body stacking barrel, and the opening vertical groove is used for enabling the lifting support plate to lift without interference of the tank body stacking barrel;

and a telescopic unclamping mechanism 50 arranged on the upper part of the lifting channel of the lifting support bracket 42.

The material tanks 20 are vertically stacked in the tank stacking cylinder one by one; the lift bracket 42 interferes with the material tank 20 in the tank stacking cylinder during the lifting process, and, in particular, in the descending process, the material tank 20 at the top in the tank body stacking cylinder is touched, the lifting support bracket 42 avoids the tank body of the material tank 20 through the avoiding groove so as not to interfere with the tank body of the material tank 20, when the lifting support plate descends, the lifting support plate is interfered with the upper parts of the guide wings 23 of the material tank 20, so that the lifting support plate is overturned upwards by approximately 90 degrees to avoid the guide wings 23 until the lifting support plate descends to a position where the lifting support plate is not interfered by the guide wings 23, because the supporting force is lost, the lifting support plate is reset to be in a horizontal state under the action of self gravity and keeps a state capable of bearing, the first linear motion driving mechanism 43 which moves vertically moves reversely drives the lifting support plate to ascend, the lifting support plate ascends to be in contact with the lower part of the guide wing 23, and then the guide wing 23 is supported to lift the material tank 20. When the material tank 20 is lifted to the position of the telescopic unclamping mechanism 50, the telescopic unclamping mechanism 50 clamps the material tank 20 and pushes the material tank 20 out to be matched with the tank body receiving base 30. After the material tank 20 is unloaded by matching with the tank receiving base 30 and left on the tank receiving base 30, the telescopic unclamping mechanism 50 is recovered, and the lifting support bracket 42 lifts the next material tank 20 up to the telescopic unclamping mechanism 50 in the same way. It should be noted that the can body lifting mechanism 40 is driven by a lifting mechanism driving motor 41.

Further, flexible loose clamp mechanism 50, including the clamping jaw to and front end connect in the clamping jaw, be used for driving the flexible scissors fork expansion bracket 53 of clamping jaw, have a plurality of hinge shafts on the scissors fork expansion bracket 53, one the rigid coupling has and is used for driving the hinge shaft and rotates in order to control the flexible transmission pinion 54 of scissors fork expansion bracket 53 on the hinge shaft, one side of transmission pinion 54 is provided with and is used for driving the pivoted expansion bracket driving motor 55 of transmission pinion 54. The working principle can refer to the second embodiment, and the beneficial effect is that the horizontal space is saved.

Further, the clamping jaw comprises a gear rack mechanism 52 and a pair of clamping jaw fingers 51 respectively arranged on the gear rack mechanism 52; the rack and pinion mechanism 52 includes a gear, a rack, and a rack and pinion motor for driving the gear to move the upper and lower racks toward and away from each other.

Further, the claw fingers 51 are concave and have arc-shaped concave portions for holding the material tank 20, and the arc-shaped concave portions are provided with rack-shaped contact surfaces for increasing the friction force between the material tank 20 and the claw fingers 51.

Further, the transmission gear block 54 is a fan-shaped body, and is arranged on the arc-shaped outer side surface of the fan-shaped body in a manner of being matched with the meshing teeth of the telescopic frame driving motor 55; the telescopic unclamping mechanism 50 is arranged on a fixed telescopic support plate 58, the scissor type telescopic frame 53 is rightly laid on the telescopic support plate 58, and the telescopic frame driving motor 55 is vertically arranged on the telescopic support plate 58.

Further, the transmission gear block 54 is disposed on a first hinge shaft at one side of the tail end of the scissor-type telescopic frame 53, a fixed pulley 57 is disposed at the bottom of a second hinge shaft at the other side of the tail end of the scissor-type telescopic frame 53, a telescopic frame limiting sliding groove 56 is disposed on the telescopic frame supporting plate 58, the fixed pulley 57 is slidably mounted in the telescopic frame limiting sliding groove 56, and the telescopic frame limiting sliding groove 56 is used for keeping the telescopic direction of the scissor-type telescopic frame 53 unchanged.

Further, a hovering support plate extends from the bottom of the lifting support bracket 42, and the hovering support plate is used for supporting the movable portion to stop the lifting support bracket 42 from overturning when the lifting support bracket 42 overturns to the horizontal position.

Further, material tank receiving and feeding device 12 still includes the shell, and the tip of shell one side is provided with the window that the flexible pine clamp mechanism of being convenient for released material tank 20 and collect, has set firmly vertical opening slot 13 on another lateral wall in the shell, the bottom level of vertical opening slot 13 has set firmly and stacks a section of thick bamboo backup pad 14, and the jar body is stacked one side of a section of thick bamboo 15 and is provided with and is used for can dismantling the slot installation plug-in components of being connected with vertical opening slot 13. The beneficial effect of this preferred scheme is that, can regard as a plurality of different modules like this, some modules can be used for sending the material jar 20 that is equipped with the material to jar body and receive base 30, and some modules can be used for collecting empty material jar 20.

An AGV carrier 11 comprising a material container receiving and delivery arrangement 12 according to any one of the preceding claims. It should be noted that the AGV carrier 11 may also be provided with the material tank receiving and feeding device group 10, so that the material tanks 20 are conveniently received and fed in a sub-module manner, that is, one group of material tank receiving and feeding devices 12 is used for sending the material tanks 20, and one group of material tank receiving and feeding devices 12 is used for receiving the material tanks 20.

An automatic discharging device for canned materials comprises the material can receiving and sending device 12.

Example four

In order to efficiently transport the material tank 20 in a pipeline manner, open the cover of the material tank 20, and recover the empty material tank 20 and the cover (the embedded sealing push plate 24) of the material tank 20, the present embodiment provides an automatic discharging device for canned materials.

As shown in fig. 1-10, the automatic discharging device for canned materials comprises a material tank receiving and feeding device 12, a material tank 20 discharging system structure and a push plate recycling mechanism 60;

the material tank receiving and sending device 12 comprises a telescopic loose clamp mechanism 50 used for clamping and horizontally pushing out or withdrawing the material tank 20 at a specified height position, and a tank body lifting mechanism 40 used for lifting the material tank 20 to the specified height position;

the material tank 20 unloading system structure comprises a material tank 20 and a tank body receiving base 30;

the tank body receiving base 30 comprises a material receiving open box, the material receiving open box is provided with an open for receiving materials of the material tank 20 at a specified height position, two opposite sides above the open are provided with base receiving caulking grooves 33, the front ends of the base receiving caulking grooves 33 are used for abutting against the embedded sealing push plate 24 to enable the embedded sealing push plate 24 to slip off the guiding wings 23 and enable the guiding wings 23 to slide to the position corresponding to the open of the tank body along the base receiving caulking grooves 33;

the push plate recovery mechanism 60 is arranged below one side of the tank body receiving base 30, which is used for receiving the material tank 20, and the push plate recovery mechanism 60 is used for receiving and storing the embedded sealing push plate 24 which slides out of the guide wings 23.

The material tank receiving and feeding device 12 is used for feeding the material tank 20 to the material tank 20 discharging system structure, the material tank 20 and the tank body receiving base 30 are matched to carry out 'cover opening discharging' action on the material tank 20, the embedded sealing push plate 24 of the pull-out guide wings 23 is recovered by the push plate recovery mechanism 60, the material is discharged into a material receiving open box of the tank body receiving base 30, the first empty material tank 20 which is discharged is left on the first tank body receiving base 30, the next material tank 20 can be pushed to the next tank body receiving base 30, or after the first empty material tank 20 is taken back from the first tank body receiving base 30 by the telescopic loose clamp mechanism 50, the next material tank 20 is pushed to the first tank body receiving base 30.

Further, a discharge port 36 is arranged on one side of the material receiving open box, and a spiral pushing rod 35 is arranged in the inner cavity of the material receiving open box; the discharging system of the material tank 20 is further provided with a discharging motor, and the spiral material pushing rod 35 is driven to rotate by the discharging motor.

Further, the material tank 20 is provided with an insertion groove 21 at the same side and the same direction as the guiding wing 23, and the base limiting vertical plate 32 is provided with a base receiving insertion rod 31 which is inserted into the insertion groove 21 in the process that the guiding wing 23 slides along the base receiving insertion groove 33.

Further, the tail end of the base receiving caulking groove 33 is provided with a base limiting vertical plate 32, and the base limiting vertical plate 32 is used for stopping the sliding of the guiding wings 23 when the material tank 20 slides to the tank body opening to be butted with the opening.

Further, the open periphery side of the material receiving open box is provided with a discharging slide slope 34 which is convenient for the material to slide from the material tank 20 to the inner cavity of the material receiving open box.

Further, the telescopic unclamping mechanism 50 comprises a clamping jaw and a scissor type telescopic frame 53, the front end of the scissor type telescopic frame 53 is connected with the clamping jaw and used for driving the clamping jaw to stretch, a plurality of hinge shafts are arranged on the scissor type telescopic frame 53, a transmission gear block 54 used for driving the hinge shafts to rotate so as to control the scissor type telescopic frame 53 to stretch is fixedly connected to one hinge shaft, and a telescopic frame driving motor 55 used for driving the transmission gear block 54 to rotate is arranged on one side of the transmission gear block 54; the telescopic unclamping mechanism 50 is disposed above the elevation path of the can body elevating mechanism 40.

Further, the tank lifting mechanism 40 comprises a concave lifting support bracket 42 with a middle part being an avoiding groove and two sides being lifting support plates, and a first linear motion driving mechanism 43 for driving the movable part to move vertically, wherein the lifting support bracket 42 is hinged with the movable part; the avoiding groove is used for preventing the lifting support bracket 42 from interfering with the tank body of the material tank 20 during lifting; the lifting supporting plate is used for turning upwards to avoid when being lowered to abut against the guide wings 23 of the material tank 20, and is reset to a horizontal state capable of supporting the embedded sealing push plate 24 when not abutted by the guide wings 23. The tank lifting mechanism 40 does not need to bear all the material tanks 20 at one time, but compared with a mode that the material tanks 20 are transported from the lowest point to the highest point one by one and then return to the lowest point to bear the next material tank 20, the tank lifting mechanism 40 has fewer traveling routes, so that the time for loading the material tanks 20 onto the tank lifting mechanism 40 for multiple times is saved, and the conveying efficiency is higher.

Further, the material tank receiving and feeding device 12 further comprises a tank stacking barrel for vertically stacking the material tanks 20, the tank stacking barrel is arranged in the lifting channel of the lifting support bracket 42, an opening for taking and placing the material tanks 20 is formed in the end portion of the tank stacking barrel, an opening vertical groove is formed in one side surface of the tank stacking barrel, and the opening vertical groove is used for enabling the lifting support plate to lift without interference of the tank stacking barrel.

Further, the push plate recovery mechanism 60 includes an upper pendulum reset plate 65 which is arranged below one side of the tank body receiving base 30 for receiving the material tank 20 in a turnable manner, a push plate receiving cavity 62 which is arranged on one side of the upper pendulum reset plate 65, and a third linear motion driving device of which one end is fixedly connected with the upper pendulum reset plate 65, wherein the upper pendulum reset plate 65 is used for receiving the embedded sealing push plate 24 which is slipped out of the guide wing 23, and then is turned over under the acting force of the third linear motion driving device and enables the embedded sealing push plate 24 to slip into the push plate receiving cavity 62. The upper swing reset plate 65 is originally in a horizontal state, and after the dropped embedded sealing push plate 24 is received, the third linear motion driving device acts to turn the upper swing reset plate 65 upwards, so that the embedded sealing push plate 24 slides into the push plate receiving cavity 62 on one side. It should be noted that the push plate recovery mechanism 60 may be provided with a gravity sensor, and when sensing that the embedded sealing push plate 24 falls onto the upper swing reset plate 65, the third linear motion driving device drives the upper swing reset plate 65 to turn upwards.

Further, the upper end face of the pendulum return plate 65 is provided with a ball-and-socket 66 or ball-and-socket roller that facilitates sliding of the inline seal push plate 24 into the push plate receiving cavity 62. The ball bearings 66 and the roller bearings are all for easier sliding of the embedment seal push plate 24 into the push plate receiving cavity 62.

Further, a push plate conveyor belt 64 is arranged between the upper swing reset plate 65 and the push plate receiving cavity 62, and conveyor belt side plates 63 are arranged on two sides of the push plate conveyor belt 64; above the upper swing reset plate 65, side guide wheels 61 are provided, the side guide wheels 61 being adapted to align the guide wings 23 with the base receiving slots 33 when the material tank 20 is pushed towards the tank receiving base 30. The push plate conveyor belt 64 can more easily drive the embedded seal push plate 24 to slide more easily into the push plate receiving cavity 62, and the conveyor side plates 63 prevent the embedded seal push plate 24 from sliding out of the push plate receiving cavity 62.

Further, a plurality of the tank receiving bases 30 are circumferentially arranged on a disc turntable 39, and the front end of each tank receiving base 30 radially deviates from the center of the disc turntable 39; a plurality of the material tank receiving and sending devices 12 are arranged on an AGV carrying vehicle 11. The tank receiving base 30 is arranged on the disc turntable 39, when the first tank receiving base 30 has received the first material tank 20 and completed discharging, the empty first material tank 20 can be withdrawn without waiting for the telescopic unclamping mechanism 50, and the next tank receiving base 30 is directly rotated to the disc turntable to correspond to the next material tank 20 filled with the material, so that the cover opening and discharging efficiency is improved, and the assembly line type production is facilitated.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.

Claims

1. Flexible loose clamp mechanism, its characterized in that: including the clamping jaw, and the front end connect in the clamping jaw, be used for the drive the fork expansion bracket is cut in the flexible of clamping jaw, it has a plurality of hinge on the fork expansion bracket to cut, one the rigid coupling has and is used for driving on the hinge rotates with control cut the flexible transmission pick block of fork expansion bracket, one side of transmission pick block is provided with and is used for the drive transmission pick block pivoted expansion bracket driving motor.

2. The telescopic unclamping mechanism as claimed in claim 1, wherein: the telescopic frame is further provided with a right-angle triangular telescopic frame supporting plate, the plane of one right-angle side of the telescopic frame supporting plate is used for installing the telescopic frame driving motor, the clamping jaw and the scissor type telescopic frame, and the plane of the other right-angle side of the telescopic frame supporting plate is used for being fixedly connected with a fixed structure.

3. The telescopic unclamping mechanism as claimed in claim 1, wherein: the transmission gear block is a fan-shaped body, and meshing teeth used for being matched with the telescopic frame driving motor are arranged on the outer side face of the fan-shaped body in an arc shape.

4. The telescopic unclamping mechanism as claimed in claim 1, wherein: the clamping jaw comprises a gear rack mechanism and a pair of clamping jaw fingers which are respectively arranged on the gear rack mechanism.

5. The telescopic unclamping mechanism as claimed in claim 4, wherein: the clamping jaw finger is concave, and the clamping jaw finger is provided with an arc-shaped depressed part for clamping a material tank, wherein the arc-shaped depressed part is provided with a rack-shaped contact surface for increasing the friction force between the material tank and the clamping jaw finger.

6. The telescopic unclamping mechanism as claimed in claim 4, wherein: the rack-and-pinion mechanism comprises a gear, a rack and a rack-and-pinion motor for driving the gear to enable the rack to move towards or away from each other.

7. The telescopic unclamping mechanism as claimed in claim 2, wherein: the scissor type telescopic frame is rightly laid on the telescopic frame supporting plate, and the telescopic frame driving motor is vertically arranged on the telescopic frame supporting plate.

8. The telescopic unclamping mechanism as claimed in claim 7, wherein: the scissor type telescopic frame is provided with the hinge shafts along the central line and the two sides.

9. The telescopic unclamping mechanism as claimed in claim 2, wherein: the transmission tooth block is arranged on the hinge shaft on one side of the tail end of the scissor-type expansion bracket, a fixed pulley is arranged at the bottom of the hinge shaft on the other side of the tail end of the scissor-type expansion bracket, an expansion bracket limiting sliding groove is formed in the expansion bracket supporting plate, the fixed pulley is slidably arranged in the expansion bracket limiting sliding groove, and the expansion bracket limiting sliding groove is used for keeping the expansion direction of the scissor-type expansion bracket unchanged.

10. Canned material automatic discharging device, its characterized in that: comprising a telescopic unclamping mechanism according to any one of claims 1 to 9.