CN212445280U - Gripping apparatus device, robot and dangerous waste material dumping system - Google Patents
Gripping apparatus device, robot and dangerous waste material dumping system Download PDFInfo
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- CN212445280U CN212445280U CN202020770991.2U CN202020770991U CN212445280U CN 212445280 U CN212445280 U CN 212445280U CN 202020770991 U CN202020770991 U CN 202020770991U CN 212445280 U CN212445280 U CN 212445280U
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Abstract
The utility model provides a gripper device, a robot and a hazardous waste dumping system, wherein the gripper device comprises a clamp base which is arranged on a robot arm, and a guide rail which extends along the vertical direction is arranged on the clamp base; the upper clamp can clamp the bottom of the charging bucket and is arranged on the clamp base; the upper clamp can clamp the top of the charging bucket and is arranged on the clamp base; and the driving structure is used for driving at least one of the lower clamp and the upper clamp to move along the guide rail relative to the clamp base so as to drive the upper clamp and the lower clamp to be matched to clamp and release the charging bucket. The gripping apparatus device of this application can cooperate the unmanned of robot arm realization storage bucket to snatch and carry, makes the staff keep away from dangerous waste material to guarantee staff occupational health has replaced manual work simultaneously, has reduced intensity of labour.
Description
Technical Field
The utility model relates to a useless incineration disposal technical field of danger, more specifically say, relate to a gripping apparatus device, the utility model discloses still relate to a robot and a dangerous waste material system of empting that have above-mentioned gripping apparatus device.
Background
The hazardous waste incineration treatment is to dump hazardous waste materials from a material barrel to a waste pit and then place the waste into an incinerator for incineration treatment.
At present mainly carry the storage bucket to the waste pit through manual driving fork truck, the staff can closely contact danger waste material and then can't ensure staff occupational health, needs manual driving fork truck transport storage bucket and strikes the storage bucket simultaneously, leads to intensity of labour great.
In addition, the fork truck only utilizes the fork to support the charging basket from the bottom, so that the risk of dropping the charging basket is easy to occur, and the working reliability is influenced.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a gripping apparatus device to ensure staff occupational health, reduce intensity of labour simultaneously.
Another object of the utility model is to provide a robot and a danger waste material system of empting with above-mentioned gripping apparatus device.
In order to achieve the above object, the utility model provides a following technical scheme:
a gripper attachment comprising:
the fixture base is used for being installed on a robot arm, and a guide rail extending in the vertical direction is arranged on the fixture base;
the upper clamp can clamp the bottom of the charging bucket and is arranged on the clamp base;
the upper clamp can clamp the top of the charging bucket and is arranged on the clamp base;
and the driving structure is used for driving at least one of the lower clamp and the upper clamp to move along the guide rail relative to the clamp base so as to drive the upper clamp and the lower clamp to be matched to clamp and release a charging bucket.
Preferably, in the gripper device, the upper clamp and the lower clamp are both in sliding fit with the guide rail;
the driving structure can drive the upper clamp to move up and down along the guide rail and drive the lower clamp to move up and down along the guide rail.
Preferably, in the above gripper apparatus, the driving structure includes a driving member, and the driving member can simultaneously drive the upper clamp and the lower clamp to move.
Preferably, in the gripper device, the driving member is configured to provide a rotational force, an output shaft of the driving member is connected to a driving gear, the upper clamp is in transmission connection with the driving gear through a first rack, and the lower clamp is in transmission connection with the driving gear through a second rack;
the first rack and the second rack extend along the vertical direction and are respectively meshed with two sides of the driving gear.
Preferably, the gripper device further includes:
the first sensor and the second sensor are used for detecting the position of the upper clamp and are arranged on the clamp base;
the controller controls the driving piece to rotate towards one direction when the charging bucket needs to be clamped, and controls the driving piece to stop rotating until the first sensor detects the upper clamp; when the charging bucket needs to be loosened, the controller controls the driving piece to rotate towards the other direction until the second sensor detects the upper clamp, and the driving piece is controlled to stop rotating.
Preferably, the gripper device further includes:
the first limiting structure is used for preventing the lower clamp from being separated from the clamp base, and the first limiting structure is arranged on the clamp base and can block the bottom end of the lower clamp;
and the second limiting structure is used for preventing the charging bucket from sliding out of the lower clamp, and the second limiting structure is arranged at the extending end of the lower clamp.
Preferably, in the gripper device, the clamp base is provided with a flange plate for connecting with a robot arm.
Preferably, in the gripper apparatus, the upper clamp includes two upper clamping rods arranged at intervals;
the lower clamp comprises two lower clamping rods arranged at intervals, and the extending end of each upper clamping rod is shorter than the extending end of each lower clamping rod.
According to the technical scheme, the gripper device provided by the utility model comprises a clamp base arranged on the robot arm, and a guide rail extending along the vertical direction is arranged on the clamp base; the upper clamp can clamp the bottom of the charging bucket and is arranged on the clamp base; the upper clamp can clamp the top of the charging bucket and is arranged on the clamp base; and the driving structure is used for driving at least one of the lower clamp and the upper clamp to move along the guide rail relative to the clamp base so as to drive the upper clamp and the lower clamp to be matched to clamp and release the charging bucket.
When the clamp is applied, the clamp base is arranged on a robot arm; the utility model discloses a working process of gripping apparatus transport storage bucket as follows:
firstly, moving the whole gripping apparatus to a material barrel to be carried by the movement of a robot arm, and positioning a lower clamp at the bottom of the material barrel; then, driving at least one of the lower clamp and the upper clamp to move along the guide rail relative to the clamp base along the driving structure in the direction of reducing the distance between the upper clamp and the lower clamp until the upper clamp and the lower clamp are matched to clamp the charging bucket; then, the gripper device together with the clamped charging basket is conveyed to the position of the charging basket to be dumped by the movement of the robot arm; and then driving at least one of the lower clamp and the upper clamp to move along the guide rail relative to the clamp base in a direction of increasing the distance between the upper clamp and the lower clamp by using a driving structure until the upper clamp and the lower clamp are matched to release the charging bucket.
The gripping apparatus device of this application can cooperate the unmanned of robot arm realization storage bucket to snatch and carry, makes the staff keep away from dangerous waste material to guarantee staff occupational health has replaced manual work simultaneously, has reduced intensity of labour.
In addition, this application utilizes anchor clamps and lower anchor clamps cooperation to press from both sides tight storage bucket, and is better to the fixed strength of storage bucket, has reduced the risk that takes place the storage bucket and drop, and then has improved operational reliability.
The utility model also provides a robot, including robot arm, still including setting up the last gripping apparatus device of robot arm, the gripping apparatus device is any kind of gripping apparatus device of the aforesaid, because above-mentioned gripping apparatus device has above-mentioned effect, and the robot that has above-mentioned gripping apparatus device has same effect, so this paper is no longer repeated.
The utility model also provides a system is emptyd to danger waste material, including the conveying chain device that is used for carrying the storage bucket, be used for with the storage bucket is emptyd to the upset vibration platform device in waste pit, still including being used for with the storage bucket of conveying chain device output transports the robot of upset vibration platform device, the robot is foretell robot, because above-mentioned robot has above-mentioned effect, the danger waste material that has above-mentioned robot emptys the system and has same effect, so this paper is no longer repeated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a gripper device according to an embodiment of the present invention.
Wherein, in the above fig. 1:
1-a clamp base, 2-a guide rail, 3-a first limiting structure, 4-a lower clamp, 5-a second limiting structure, 6-a driving gear, 7-a second rack, 8-an upper clamp, 9-a second sensor, 10-a first sensor, 11-a first rack and 12-a flange plate.
Detailed Description
The embodiment of the utility model provides a gripping apparatus device can ensure staff occupational health, reduces intensity of labour simultaneously.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, a gripper device provided in an embodiment of the present invention includes a fixture base 1 for being mounted on a robot arm, wherein a guide rail 2 extending in a vertical direction is disposed on the fixture base 1; the lower clamp 4 can clamp the bottom of the charging bucket, and the lower clamp 4 is arranged on the clamp base 1; an upper clamp 8 capable of clamping the top of the charging bucket, wherein the upper clamp 8 is arranged on the clamp base 1; and the driving structure is used for driving at least one of the lower clamp 4 and the upper clamp 8 to move along the guide rail 2 relative to the clamp base 1 so as to drive the upper clamp 8 and the lower clamp 4 to be matched with and clamp and release the charging barrel.
When the clamp is applied, the clamp base 1 is arranged on a robot arm; the utility model discloses a working process of gripping apparatus transport storage bucket as follows:
firstly, moving the whole gripping apparatus to a material barrel to be carried by the movement of a robot arm, and positioning a lower clamp 4 at the bottom of the material barrel; then, driving at least one of the lower clamp 4 and the upper clamp 8 to move along the guide rail 2 relative to the clamp base 1 in a direction of reducing the distance between the upper clamp 8 and the lower clamp 4 by using a driving structure until the upper clamp 8 and the lower clamp 4 are matched to clamp the charging basket; then, the gripper device together with the clamped charging basket is conveyed to the position of the charging basket to be dumped by the movement of the robot arm; at least one of the lower clamp 4 and the upper clamp 8 is then driven by the driving structure along the guide rail 2 relative to the clamp base 1 in a direction to increase the distance between the upper clamp 8 and the lower clamp 4 until the upper clamp 8 and the lower clamp 4 cooperate to release the bucket.
The gripping apparatus device of this application can cooperate the unmanned of robot arm realization storage bucket to snatch and carry, makes the staff keep away from dangerous waste material to guarantee staff occupational health has replaced manual work simultaneously, has reduced intensity of labour.
In addition, this application utilizes last anchor clamps 8 and 4 cooperation clamp tightly buckets of lower anchor clamps, and is better to the fixed strength of bucket, has reduced the risk that takes place the bucket and drop, and then has improved operational reliability.
The gripping apparatus provided by the embodiment of the utility model can be suitable for gripping a circular charging basket with the diameter of 600mm, the height of 900mm and the weight of 300 Kg; of course, other sizes and shapes of buckets may be suitable.
In a preferred embodiment, the upper clamp 8 and the lower clamp 4 are both in sliding fit with the guide rail 2; the drive mechanism is capable of driving the upper clamp 8 up and down along the guide rail 2 and the lower clamp 4 up and down along the guide rail 2.
In the embodiment, the clamp base 1 is provided with the guide rail 2 and the driving structure, and the upper clamp 8 and the lower clamp 4 are movably arranged on the clamp base 1 through the guide rail 2; and the drive structure can drive the lower clamp 4 and the upper clamp 8 to move up and down relative to the clamp base 1, so that the centering and clamping of the charging basket are realized, and the abrasion of the lower clamp 4 to the bottom of the charging basket is avoided.
It will be appreciated that the present application may also be such that only the upper clamp 8 or the lower clamp 4 can be moved up and down along the rail 2 to achieve the same purpose of increasing or decreasing the distance between the upper clamp 8 and the lower clamp 4.
In order to simplify the structure, the driving structure comprises a driving member which can simultaneously drive the upper clamp 8 and the lower clamp 4 to move. This application utilizes the removal of two anchor clamps of a driving piece simultaneous drive, has reduced the part number, has saved the energy simultaneously. Alternatively, the number of the driving members may be two, and the upper jig 8 and the lower jig 4 are driven respectively.
In a further technical scheme, a driving piece is used for providing a rotating force, an output shaft of the driving piece is connected with a driving gear 6, an upper clamp 8 is in transmission connection with the driving gear 6 through a first rack 11, and a lower clamp 4 is in transmission connection with the driving gear 6 through a second rack 7; wherein, the first rack 11 and the second rack 7 both extend along the vertical direction and are respectively meshed with two sides of the driving gear 6.
The driving piece is specifically a motor, and an output shaft of the motor is sleeved with a driving gear 6. A first rack 11 on the inner side of the upper clamp 8 and a second rack 7 on the inner side of the lower clamp 4 are meshed with the driving gear 6; the rotation of the driving gear 6 can drive the upper clamp 8 and the lower clamp 4 to move simultaneously, so that the charging basket is clamped and loosened; the structure is simpler, and the operational reliability is better.
It will be appreciated that the drive member may also be an electric push rod, a drive cylinder or the like which directly provides a linear drive force.
Preferably, the gripper apparatus further comprises: a first sensor 10 and a second sensor 9 for detecting the position of the upper clamp 8, both of which are provided on the clamp base 1; the controller controls the driving piece to rotate in one direction, namely forward rotation, when the charging barrel needs to be clamped, and controls the driving piece to stop rotating until the first sensor 10 detects the upper clamp 8; when the charging bucket needs to be loosened, the controller controls the driving piece to rotate towards the other direction and correspondingly rotates reversely until the second sensor 9 detects the upper clamp 8, and the driving piece is controlled to stop rotating.
In the embodiment, the first sensor 10 and the second sensor 9 are installed on the upper portion of the clamp base 1, when the upper clamp 8 touches the first sensor 10, the first sensor 10 sends a signal to the controller, and the controller controls the motor to stop rotating so as to complete clamping action on the charging basket; when the upper clamp 8 touches the second sensor 9, the second sensor 9 sends a signal to the controller, and the controller controls the motor to stop rotating to finish the loosening action of the charging basket.
This application sends the stopping that the signal comes control driving piece to the controller through the sensor to the self-holding of anchor clamps 8, lower anchor clamps 4 is realized, is loosened, has further improved the automation. The motor can be automatically stopped by controlling the running time of the motor without arranging a sensor; the stroke of the clamp can be controlled by manually pressing a control button.
The gripper device further comprises a first limiting structure 3 for preventing the lower clamp 4 from being separated from the clamp base 1, wherein the first limiting structure 3 is arranged on the clamp base 1 and can block the bottom end of the lower clamp 4; and the second limiting structure 5 is used for preventing the material barrel from sliding out of the lower clamp 4, and the second limiting structure 5 is arranged at the extending end of the lower clamp 4.
In order to simplify the structure, the first limiting structure 3 and the second limiting structure 5 are both limiting blocks. The second limiting structure 5 comprises two limiting blocks, can form triangular limitation with the lower clamp 4 and the guide surface matched with the guide rail 2, and can play a good role in fixing the charging basket.
For ease of installation, the clamp base 1 is provided with a flange 12 for connection to a robot arm. The clamp base 1 is in a welded steel structure form and is mounted at the tail end of a robot arm through a flange plate 12, and disassembly and assembly are facilitated. Of course, the clamp base 1 can also be directly connected with the robot arm through a thread structure.
In order to further optimize the above technical solution, the upper clamp 8 comprises two upper clamping bars arranged at intervals; the lower clamp 4 comprises two lower clamping bars arranged at a distance, the protruding end of the upper clamping bar being shorter than the protruding end of the lower clamping bar. This application utilizes two to go up the tight storage bucket tops of clamp rod clamp, utilizes two tight storage bucket bottoms of clamp rod clamp down, and the tight position of clamp that covers is great, can save material simultaneously, alleviates anchor clamps weight, reduce cost.
The upper and lower clamps 8, 4 may also be of other configurations, such as clamping plates or rings.
The embodiment of the utility model provides a still provide a robot, including the robot arm, still including setting up the gripping apparatus device on the robot arm, this gripping apparatus device is the gripping apparatus device that any one above-mentioned embodiment provided, can ensure staff occupational health, reduces intensity of labour simultaneously, and its advantage is brought by the gripping apparatus device, and relevant part in above-mentioned embodiment is referred to specific please, just no longer gives details here.
The embodiment of the utility model provides a danger waste material system of empting is still provided, including the conveying chain device that is used for carrying the storage bucket for empty the storage bucket to the upset vibration platform device in waste pit, still including being used for transporting the storage bucket of conveying chain device output the robot of upset vibration platform device, this robot is foretell robot, can ensure staff occupational health, reduces intensity of labour simultaneously.
When danger waste material emptys system application, at first the conveying chain device with the storage bucket conveying to the robot wait to snatch the position, the robot snatchs the storage bucket from the conveying chain device after that, carries upset vibration platform device, and upset vibration platform device is poured the storage bucket into the bunker at last in, realized that the automation of danger waste material is emptyd, can satisfy the useless demand of empting automatic product line upper and lower unloading of danger, greatly improved the operating efficiency.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A gripper attachment, comprising:
the fixture comprises a fixture base (1) used for being installed on a robot arm, wherein a guide rail (2) extending along the vertical direction is arranged on the fixture base (1);
the lower clamp (4) can clamp the bottom of the charging bucket, and the lower clamp (4) is arranged on the clamp base (1);
an upper clamp (8) capable of clamping the top of the charging bucket, wherein the upper clamp (8) is arranged on the clamp base (1);
and the driving structure is used for driving at least one of the lower clamp (4) and the upper clamp (8) to move along the guide rail (2) relative to the clamp base (1) so as to drive the upper clamp (8) and the lower clamp (4) to be matched to clamp and release the charging barrel.
2. A gripper attachment according to claim 1, characterized in that the upper gripper (8) and the lower gripper (4) are both in sliding engagement with the guide rail (2);
the driving structure can drive the upper clamp (8) to move up and down along the guide rail (2) and drive the lower clamp (4) to move up and down along the guide rail (2).
3. A gripper attachment according to claim 2, characterized in that the drive structure comprises a drive member which simultaneously drives the upper gripper (8) and the lower gripper (4) in movement.
4. A gripper attachment according to claim 3, characterized in that the driving element is adapted to provide a rotational force, a pinion (6) is connected to an output shaft of the driving element, the upper gripper (8) is in driving connection with the pinion (6) via a first rack (11), and the lower gripper (4) is in driving connection with the pinion (6) via a second rack (7);
the first rack (11) and the second rack (7) extend in the vertical direction and are respectively meshed with two sides of the driving gear (6).
5. The gripper attachment of claim 4 further comprising:
a first sensor (10) and a second sensor (9) for detecting the position of the upper clamp (8), both disposed on the clamp base (1);
the controller controls the driving piece to rotate towards one direction when the charging bucket needs to be clamped, and controls the driving piece to stop rotating until the first sensor (10) detects the upper clamp (8); when the charging bucket needs to be loosened, the controller controls the driving piece to rotate towards the other direction until the second sensor (9) detects the upper clamp (8), and the driving piece is controlled to stop rotating.
6. The gripper attachment of claim 4 further comprising:
the first limiting structure (3) is used for preventing the lower clamp (4) from being separated from the clamp base (1), and the first limiting structure (3) is arranged on the clamp base (1) and can block the bottom end of the lower clamp (4);
and the second limiting structure (5) is used for preventing the charging basket from sliding out of the lower clamp (4), and the second limiting structure (5) is arranged at the extending end of the lower clamp (4).
7. Gripper attachment according to claim 1, characterized in that the gripper base (1) is provided with a flange (12) for connection with a robot arm.
8. A gripper attachment according to claim 1, characterized in that the upper clamp (8) comprises two upper clamping bars arranged at a distance;
the lower clamp (4) comprises two lower clamping rods which are arranged at intervals, and the extending end of each upper clamping rod is shorter than the extending end of each lower clamping rod.
9. A robot comprising a robot arm, characterized in that it further comprises a gripper arrangement arranged on the robot arm, the gripper arrangement being as claimed in any one of claims 1-8.
10. A hazardous waste material dumping system comprising conveyor chain means for conveying a bucket, a tumbling vibratory platform means for dumping said bucket into a waste pit, and a robot for transporting a bucket output by said conveyor chain means to said tumbling vibratory platform means, said robot being as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020770991.2U CN212445280U (en) | 2020-05-11 | 2020-05-11 | Gripping apparatus device, robot and dangerous waste material dumping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020770991.2U CN212445280U (en) | 2020-05-11 | 2020-05-11 | Gripping apparatus device, robot and dangerous waste material dumping system |
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| Publication Number | Publication Date |
|---|---|
| CN212445280U true CN212445280U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020770991.2U Active CN212445280U (en) | 2020-05-11 | 2020-05-11 | Gripping apparatus device, robot and dangerous waste material dumping system |
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| CN (1) | CN212445280U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421570A (en) * | 2020-05-11 | 2020-07-17 | 北京中车重工机械有限公司 | Gripping apparatus device, robot and dangerous waste material dumping system |
-
2020
- 2020-05-11 CN CN202020770991.2U patent/CN212445280U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421570A (en) * | 2020-05-11 | 2020-07-17 | 北京中车重工机械有限公司 | Gripping apparatus device, robot and dangerous waste material dumping system |
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