CN215363708U

CN215363708U - Arm anchor clamps of gypsum pile up neatly machine people in bags

Info

Publication number: CN215363708U
Application number: CN202121363242.9U
Authority: CN
Inventors: 王朋; 张开封; 马智慧; 朱丹
Original assignee: Henan Jieyuan New Building Materials Co ltd
Current assignee: Henan Jieyuan New Building Materials Co ltd
Priority date: 2021-06-19
Filing date: 2021-06-19
Publication date: 2021-12-31
Anticipated expiration: 2031-06-19

Abstract

The utility model discloses an arm clamp of a bagged gypsum stacking robot, wherein two sides of a shaft bracket are provided with first arm claws for grabbing in an overturning manner, a rotation driving mechanism is arranged between the two first arm claws and the shaft bracket, two ends of the shaft bracket are provided with second arm claws in an overturning manner, the second arm claws are driven by the rotation driving mechanism to overturn, the first arm claws and the second arm claws are both plate-shaped, a pressing plate is arranged below the shaft bracket between the four arm claws, and a linear driving device for driving the pressing plate to move up and down is arranged between the pressing plate and the shaft bracket. The four sides of the shaft bracket are provided with the arm claws, so that the four plate-shaped arm claws can be contacted with the four surfaces of the gypsum bag pressed into a rectangle, the gypsum bag is in a pre-pressed state, the size error of the gypsum bag is reduced, and the stability of a gypsum pile is enhanced. And after the lower surface of the gypsum bag contacts the lower gypsum bag, the pressing plate can be adopted to press the gypsum bag tightly to separate the gypsum bag from the arm claws, so that the size of the gypsum bag is further ensured.

Description

Arm anchor clamps of gypsum pile up neatly machine people in bags

Technical Field

The utility model relates to an arm clamp of a bagged gypsum stacking robot, and belongs to the field of gypsum processing.

Background

At the last festival of the gypsum production process in bags meeting pile up the gypsum in bags on the tray, what mainly adopted is pile up neatly machine people, because its flexible and accurate, high efficiency, the stability of functioning is high, the operating efficiency is high, greatly practices thrift manufacturing cost, improves the security of production, consequently obtains wide application in pile up neatly production processes. However, in the stacking process, the gypsum bags are extruded by the robot palletizer, so that the gypsum bags are slightly deformed, the stacking is irregular due to the difference, the inclination occurs, the more the layer number is, the more the inclination is obvious, the stability of the gypsum stack is influenced, and the inconvenience is caused for subsequent transportation.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an arm clamp of a bagged gypsum palletizing robot, which aims to solve the problem that in the prior art, a gypsum bag pressed into a rectangular shape is slightly deformed in the process of clamping the gypsum bag by the arm clamp of the palletizing robot, so that the size difference of the gypsum bag is caused.

In order to achieve the purpose, the utility model adopts the following technical scheme: the utility model provides a gypsum pile up neatly machine people's in bags arm anchor clamps, is provided with the first arm claw that snatchs including the banding pedestal of assembly on the robot arm in the both sides upset of pedestal, is provided with between two first arm claws and the pedestal and rotates actuating mechanism, the both ends upset of pedestal be provided with second arm claw, second arm claw by rotate actuating mechanism drive upset, first arm claw and second arm claw are platelike, the below of pedestal is provided with the clamp plate between four arm claws, be provided with the sharp drive arrangement that the drive clamp plate reciprocated between clamp plate and the pedestal.

And rolling shafts which rotate around the horizontal shaft are vertically arranged on the inner sides of the first arm claw and the second arm claw, the inner edge of each rolling shaft protrudes out of the inner side surface of the corresponding arm claw, and a damping structure is arranged between each rolling shaft and the corresponding arm claw.

The rolling shafts are arranged in U-shaped grooves with downward openings formed in the lower portions of the corresponding arm claws, and two ends of each rolling shaft are respectively assembled with two groove walls of the U-shaped grooves of the corresponding arm claws in a rotating mode.

The pedestal pass through double-acting cylinder and robot arm assembly, the both ends of double-acting cylinder's first piston rod are fixed respectively on pedestal and robot arm, rotation actuating mechanism include with first arm claw and second arm claw one-to-one and constitute four-bar linkage's connecting rod with the first cylinder body of the first arm claw or second arm claw and double-acting cylinder that correspond, the upper end of first arm claw and second arm claw articulate respectively on first cylinder body, the both ends of connecting rod articulate with the middle part and the pedestal of the first arm claw or second arm claw that correspond respectively.

The linear driving device is a hydraulic cylinder, a second cylinder body of the hydraulic cylinder is fixed on the shaft bracket, and a second piston rod of the hydraulic cylinder is fixed on the pressing plate.

Each arm claw is hinged with the corresponding connecting rod at the middle part of the left and the right.

The outer side of the first cylinder body is fixedly provided with a square frame, two connecting rods corresponding to one arm claw are arranged, and the two connecting rods corresponding to one arm claw are respectively arranged at the two sides of the corresponding arm claw in the left-right direction.

The four sides of the shaft bracket are provided with the arm claws, so that the four plate-shaped arm claws can be contacted with the four surfaces of the gypsum bag pressed into a rectangle, the gypsum bag is in a pre-pressed state, the size error of the gypsum bag is reduced, and the stability of a gypsum pile is enhanced. And after the lower surface of the gypsum bag contacts the lower gypsum bag, the pressing plate can be adopted to press the gypsum bag tightly to separate the gypsum bag from the arm claws, so that the size of the gypsum bag is further ensured.

According to the utility model, the rollers which rotate around the horizontal shaft are vertically arranged on the inner sides of the first arm claw and the second arm claw, the inner edge of each roller protrudes out of the inner side surface of the corresponding arm claw, a damping structure is arranged between each roller and the corresponding arm claw, and the existence of the rollers enables the gypsum bag to be separated from the arm claws more easily.

Drawings

FIG. 1 is a schematic structural view of embodiment 1 of the present invention;

fig. 2 is a schematic view of the structure of fig. 1 with one second arm jaw removed.

Detailed Description

An embodiment 1 of a steel ball screening device of a ball mill for building gypsum modification is shown in figures 1 and 2, wherein a robot arm 1 is provided with a shaft bracket 2, the shaft bracket 2 is rectangular or strip-shaped on the whole, so as to match the shape of a gypsum bag, the shaft bracket 2 is assembled on the robot arm 1 through a double-acting oil cylinder 3, the double-acting oil cylinder refers to that two ends of a piston rod of the oil cylinder respectively extend out from two ends of the oil cylinder, pistons are fixed at two ends of the piston rod, an oil cavity of the oil cylinder at one side of the piston enters the end of the piston at the side to retract, and the end of the piston at the other side extends out, and both sides of the oil cylinder can do work, so the device is commonly called as a double-acting oil cylinder and is a common power device. The piston rod of the double-acting oil cylinder is a first piston rod 4, and the cylinder body of the double-acting oil cylinder is a first cylinder body. One end of the first piston rod 4 is fixed on the shaft bracket 2, and the other end of the first piston rod 4 is fixed on the robot arm 1. In this way, the relative position of the pedestal 2 and the robot arm 1 is fixed. The four sides of the shaft bracket 2 are all provided with arm claws in an overturning way, wherein the arm claws on two longer side walls of the shaft bracket are the first arm claws 5, the other two arm claws are the second arm claws 6, a U-shaped groove 7 is formed in the lower part of each arm claw, the opening of the U-shaped groove 7 faces downwards, the lower part refers to the state that the arm clamp puts the gypsum bag on the gypsum stack, and the orientation of each part is defined in the state because the arm clamp is in the working state. The first arm claw 5 and the second arm claw 6 are both plate-shaped, a roller 8 is provided in a U-shaped groove 7 of each arm claw, both ends of either roller 8 are rotatably fitted with both groove walls of the U-shaped groove of the corresponding arm claw, respectively, each roller 8 is rotated about a horizontal axis, and an inner edge of the roller 8 is projected beyond an inner wall of the corresponding arm claw, where the inner edge of the arm claw means an inner side surface of the first arm claw opposite to the first arm claw, and similarly, means an inner side surface of the second arm claw opposite to the second arm claw. A damping structure is arranged between each roller 8 and the corresponding arm claw. The damping structure is commercially available and will not be described in detail herein. The existence of damping structure makes the arm claw can grab up the gypsum bag, and the damping structure has also born the weight of gypsum bag for the roller bearing does not rotate, and when putting down the gypsum bag, the gypsum bag is compressed tightly by the clamp plate and is overcome the resistance of damping structure and make the roller bearing roll, and the gypsum bag falls. The cylinder body of the double-acting oil cylinder is a first cylinder body 9, the upper ends of a first arm claw 5 and a second arm claw 6 are respectively hinged on the first cylinder body 9, a connecting rod 10 is arranged corresponding to one arm claw, one end of one connecting rod 10 is hinged with the middle part of the corresponding arm claw in the vertical direction, the other end of the connecting rod is hinged on the shaft bracket 2, the connecting rod, the corresponding first arm claw or second arm claw, the shaft bracket and the cylinder body form a four-bar linkage mechanism, the four-bar linkage mechanism is a swing rod sliding block mechanism, and the first cylinder body serving as a sliding block drives the arm claws to turn in the vertical movement process to complete the action of grabbing or releasing. The position where each arm claw is hinged with the corresponding connecting rod is also the middle part of the left and the right. A pressing plate 11 is arranged below the shaft bracket 2, and the pressing plate 11 is positioned in a space enclosed by the four-arm claws, namely, positioned between the four-arm claws. The pressing plate 11 is assembled on the shaft bracket 2 through a hydraulic cylinder 12, a second cylinder body of the hydraulic cylinder 12 is fixed on the shaft bracket 2, and a second piston rod of the hydraulic cylinder 12 is fixed on the pressing plate 11. The hydraulic cylinder drives the platen 11 to move up and down linearly.

An embodiment 2 of a steel ball screening device of a ball mill for building gypsum modification is different from the embodiment 1 in that: the outer side of the first cylinder body is fixedly provided with a square frame, two connecting rods corresponding to one arm claw are arranged, and the two connecting rods corresponding to the arm claw are respectively arranged at the two sides of the corresponding arm claw in the left-right direction.

The arm claw in the above embodiment is assembled with the shaft bracket in a four-bar linkage structure, and in other embodiments, the arm claw can also be assembled in a direct rotation manner and then driven by a horizontal oil cylinder, and the two connection manners are common in the prior art.

The linear drive device in the above embodiment is a hydraulic cylinder, and in other embodiments, other types of linear drive devices may be used to drive the platen.

Claims

1. The utility model provides a gypsum pile up neatly machine people's in bags arm anchor clamps, is provided with the first arm claw that snatchs including the banding pedestal of assembly on the robot arm in the both sides upset of pedestal, is provided with between two first arm claws and the pedestal and rotates actuating mechanism, its characterized in that: the two ends of the shaft bracket are overturned to be provided with second arm claws, the second arm claws are driven to overturn by the rotation driving mechanism, the first arm claws and the second arm claws are plate-shaped, a pressing plate is arranged between the four arm claws below the shaft bracket, and a linear driving device for driving the pressing plate to move up and down is arranged between the pressing plate and the shaft bracket.

2. The arm clamp of the bagged gypsum palletizing robot as claimed in claim 1, wherein: and rolling shafts which rotate around the horizontal shaft are vertically arranged on the inner sides of the first arm claw and the second arm claw, the inner edge of each rolling shaft protrudes out of the inner side surface of the corresponding arm claw, and a damping structure is arranged between each rolling shaft and the corresponding arm claw.

3. The arm clamp of the bagged gypsum palletizing robot as claimed in claim 2, wherein: the rolling shafts are arranged in U-shaped grooves with downward openings formed in the lower portions of the corresponding arm claws, and two ends of each rolling shaft are respectively assembled with two groove walls of the U-shaped grooves of the corresponding arm claws in a rotating mode.

4. The arm clamp of the bagged gypsum palletizing robot as claimed in claim 3, wherein: the pedestal pass through double-acting cylinder and robot arm assembly, the both ends of double-acting cylinder's first piston rod are fixed respectively on pedestal and robot arm, rotation actuating mechanism include with first arm claw and second arm claw one-to-one and constitute four-bar linkage's connecting rod with the first cylinder body of the first arm claw or second arm claw and double-acting cylinder that correspond, the upper end of first arm claw and second arm claw articulate respectively on first cylinder body, the middle part and the pedestal of direction about the both ends of connecting rod respectively with the first arm claw or the second arm claw that correspond articulate.

5. The arm clamp of the bagged gypsum palletizing robot as claimed in claim 4, wherein: the linear driving device is a hydraulic cylinder, a second cylinder body of the hydraulic cylinder is fixed on the shaft bracket, and a second piston rod of the hydraulic cylinder is fixed on the pressing plate.

6. The arm clamp of the bagged gypsum palletizing robot as claimed in claim 5, wherein: each arm claw is hinged with the corresponding connecting rod at the middle part of the left and the right.

7. The arm clamp of the bagged gypsum palletizing robot as claimed in claim 5, wherein: the outer side of the first cylinder body is fixedly provided with a square frame, two connecting rods corresponding to one arm claw are arranged, and the two connecting rods corresponding to one arm claw are respectively arranged at the two sides of the corresponding arm claw in the left-right direction.