CN216836048U - Tobacco bale device of unloading and manipulator that is used for snatching tobacco bale - Google Patents

Abstract

A tobacco bale unloading device and a manipulator for grabbing tobacco bales relate to the technical field of tobacco bale unloading, and the technical scheme adopted by the tobacco bale unloading device comprises a lifting device, a longitudinal moving device, a transverse moving device, a belt conveyor, image acquisition equipment and a controller; the lifting device comprises a supporting frame, a winch, a traction rope, a gripper mounting plate, a scissor type telescopic piece and a plurality of manipulators; the manipulator comprises a fixed frame, a connecting piece is connected between the fixed frame and the gripper mounting plate, the fixed frame is rotationally connected with two parallel rotating shafts, and a driven gear and at least one gripper hook are arranged on each of the two rotating shafts; the fixing frame is also provided with a telescopic device, an output shaft of the telescopic device is provided with a driving rod, and the driving rod is provided with a rack meshed with the driven gear. The utility model discloses the simple structure of elevating gear and manipulator is convenient for maintain to mechanical device replaces manual work, improves the efficiency of unloading, reduces the in-process of unloading and makes the bits of broken glass to the secondary of tobacco leaf raw materials.

Description

Tobacco bale device of unloading and manipulator that is used for snatching tobacco bale

Technical Field

The utility model relates to a tobacco bale technical field that unloads especially relates to a tobacco bale device of unloading and manipulator that is used for snatching the tobacco bale.

Background

In modern threshing and redrying enterprises, the unloading mode of raw tobacco packets is still relatively backward, most of tobacco packets are manually thrown to the ground on a vehicle, and then are transported to a specified position by manpower or a forklift for storage. The unloading mode has the advantages of low efficiency, high labor intensity, potential safety hazard and large secondary crushing of tobacco leaf raw materials by trampling of workers. Although some mechanized unloading devices exist at present, the shape and the manufacture are fixed, the device is difficult to adapt to complex building environments, and a manipulator used for grabbing cigarette packets is complex in structure and difficult to maintain.

SUMMERY OF THE UTILITY MODEL

To the problem that manual unloading intensity of labour is big, the inefficiency among the prior art scheme, the utility model provides a tobacco bale device of unloading and the manipulator that is used for snatching the tobacco bale.

The utility model provides a following technical scheme: a manipulator for grabbing cigarette packets comprises a fixed frame, wherein the fixed frame is rotationally connected with two parallel rotating shafts, and a driven gear and at least one grabbing hook are arranged on each of the two rotating shafts; the fixing frame is further provided with a telescopic device, an output shaft of the telescopic device is provided with a driving rod, the driving rod is inserted between the two driven gears, and racks meshed with the driven gears are arranged on two side faces facing the two driven gears respectively.

Preferably, both ends of the rotating shaft are provided with one of the grapples.

A tobacco bale unloading device comprises a lifting device, a longitudinal moving device, a transverse moving device, a belt conveyor, an image acquisition device and a controller, wherein the longitudinal moving device is used for driving the lifting device to move longitudinally, the transverse moving device is used for driving the lifting device to move transversely, the belt conveyor is used for conveying tobacco bales, the image acquisition device is used for capturing the real-time positions of the tobacco bales in the lifting device and a truck hopper, and the controller is in signal connection with the lifting device, the longitudinal moving device and the transverse moving device; the lifting device comprises a supporting frame, a winch arranged on the supporting frame, a strip-shaped hand grip mounting plate connected with a winding drum of the winch through a traction rope, a scissor type telescopic piece connected between the hand grip mounting plate and the supporting frame and a plurality of mechanical arms sequentially arranged in the length direction of the hand grip mounting plate, wherein the mechanical arms are used for gripping cigarette packets.

Preferably, the hoist engine sets up braced frame's central authorities, the hoist engine both sides all be provided with braced frame fixed connection's fixed pulley, two the one end of haulage rope all is connected on the reel of hoist engine, the other end all vertically connects on the tongs mounting panel, and two the haulage rope is respectively around establishing two on the fixed pulley.

Preferably, the longitudinal moving device comprises two longitudinal rails respectively arranged at two ends of the supporting frame, two longitudinal rollers used for rolling on the longitudinal rails are rotatably connected to two ends of the supporting frame, and longitudinal driving motors used for driving the longitudinal rollers to rotate are arranged at two ends of the supporting frame.

Preferably, the transverse moving device comprises two transverse rails respectively positioned at two ends of the longitudinal rail and two transverse trusses connected between the two longitudinal rails and respectively corresponding to the two transverse rails, two transverse rollers for rolling on the transverse rails are rotatably connected to the bottoms of the two transverse trusses, and a transverse driving motor for driving the transverse rollers to rotate is further arranged at the bottoms of the transverse trusses.

Preferably, the transverse moving device comprises two transverse rails respectively arranged at two ends of the longitudinal rail, a plurality of stand columns arranged at the bottom of the transverse rails, and two transverse connecting rods connected between the two longitudinal rails and respectively corresponding to the two transverse rails, wherein the bottoms of the two transverse connecting rods are respectively and rotatably connected with two transverse rollers used for rolling on the transverse rails, and the transverse connecting rods are further provided with transverse driving motors used for driving the transverse rollers to rotate.

Preferably, the belt conveyor is disposed between the two transverse rails.

Preferably, the transverse moving device comprises two transverse rails and two groups of transverse roller groups which are arranged on two sides of the supporting frame and respectively correspond to the two transverse rails, each group of transverse roller groups comprises two transverse rollers which are rotatably connected to the bottom of the supporting frame, and the supporting frame is further provided with a transverse driving motor for driving the transverse rollers to rotate; the longitudinal moving device comprises two longitudinal rails, a stand column and two longitudinal connecting rods, wherein the two longitudinal rails are respectively arranged at two ends of the transverse rails, the stand column is arranged at the bottoms of two ends of the longitudinal rails, the stand column is connected between the two transverse rails and the two longitudinal connecting rods are respectively corresponding to the longitudinal rails, the bottoms of the longitudinal connecting rods are rotatably connected with the two longitudinal rollers which roll on the longitudinal rails, and the longitudinal connecting rods are further provided with longitudinal driving motors which are used for driving the longitudinal rollers to rotate.

Preferably, the telescopic device is a cylinder or a hydraulic cylinder.

The utility model has the advantages that: the lifting device and the manipulator have simple structures and are convenient to maintain; longitudinal movement device and lateral shifting device make elevating gear's removal scope cover freight train car hopper and band conveyer, make things convenient for elevating gear to snatch the tobacco bale on the freight train car hopper optional position and shift to band conveyer again on, the rethread band conveyer transports the parking position to replace manual work, improve the efficiency of unloading, reduce the unloading in-process and make garrulous to the secondary of tobacco leaf raw materials.

Drawings

Figure 1 is a side view i of a first embodiment of the cigarette packet unloading device of the present invention.

Figure 2 is a side view ii of the first embodiment of the cigarette packet unloading device of the present invention.

Fig. 3 is a plan view of the first embodiment of the cigarette packet unloading device of the present invention.

Fig. 4 is a cross-sectional view of an embodiment of a robot of the present invention.

Fig. 5 is a top view of an embodiment of a robot of the present invention.

Fig. 6 is a top view of a second embodiment of the cigarette packet unloading device of the present invention.

Figure 7 is a side view of a second embodiment of the cigarette packet unloading device of the present invention.

Fig. 8 is a top view of a third embodiment of the cigarette packet unloading device of the present invention.

Fig. 9 is a side view of a third embodiment of the cigarette packet unloading device of the present invention.

Reference numerals: 1-lifting device, 11-supporting frame, 12-winch, 13-hauling rope, 14-gripper mounting plate, 15-scissor type telescopic piece, 16-fixed pulley, 2-mechanical arm, 21-fixed frame, 22-connecting piece, 23-rotating shaft, 24-driven gear, 25-gripper hook, 26-telescopic device, 27-driving rod, 28-rack, 31-longitudinal rail, 32-longitudinal roller, 33-longitudinal driving motor, 34-longitudinal connecting rod, 41-transverse rail, 42-transverse truss, 43-transverse roller, 44-transverse driving motor, 45-upright post, 46-transverse connecting rod and 5-belt conveyor.

Detailed Description

The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings and reference numerals, so that those skilled in the art can implement the embodiments after studying the specification. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The utility model provides a manipulator for grabbing cigarette packets as shown in figures 4 and 5, which comprises a fixed frame 21, wherein the fixed frame 21 is rotationally connected with two parallel rotating shafts 23, and the two rotating shafts 23 are both provided with a driven gear 24 and at least one grabbing hook 25; the fixed frame 21 is further provided with a telescopic device 26, an output shaft of the telescopic device 26 is provided with a driving rod 27, and the driving rod 27 is inserted between the two driven gears 24 and is respectively provided with racks 28 which are meshed with the driven gears towards two sides of the two driven gears. The telescopic device 26 may be a cylinder for pushing the driving rod 27 to be telescopic, thereby driving the driven gear 24 and the grapple 25 on both sides to rotate synchronously, so that the two grapples 25 are closed and opened. The tail end of the grapple 25 can adopt a sharp-thorn-shaped structure, which is beneficial to puncturing the cigarette packet for grabbing. The outside of the fixing frame 21 can be provided with a shell, and a through groove for the movement of the grapple is reserved on the shell. Further, both ends of one rotating shaft 23 are provided with a grapple 25 to increase the contact area between the manipulator and the cigarette pack.

The utility model provides a tobacco bale device of unloading, including elevating gear 1, be used for driving elevating gear longitudinal movement's longitudinal movement device, be used for driving elevating gear lateral shifting's lateral shifting device, be used for carrying the band conveyer 5 of tobacco bale, be used for catching the image acquisition equipment of the real-time position of the tobacco bale in elevating gear 1 and the freight train car hopper and with elevating gear 1, longitudinal movement device, lateral shifting device signal connection's controller. Elevating gear 1 is used for driving the manipulator to reciprocate, makes the manipulator can stretch into the inside tobacco bale of freight train car hopper and grab, simultaneously under longitudinal movement device and lateral shifting device's assistance, the utility model discloses can cover whole freight train car hopper and band conveyer 5 partly, make manipulator 2 grab the tobacco bale and shift to band conveyer again, band conveyer 5 carries the assigned position with the tobacco bale again. Image acquisition equipment can adopt high definition digtal camera and with high definition digtal camera signal connection's computer, the high definition digtal camera mountable is at the top or the lateral part of the factory building at tobacco bale unloading device place, with the real-time position image transmission of the tobacco bale in elevating gear 1 and the freight train car hopper to the computer, operating personnel can pass through controller control elevating gear 1, longitudinal movement device and lateral shifting device according to the picture that shows in the computer. The controller can adopt a programmable logic controller, and the lifting device 1, the longitudinal moving device and the transverse moving device can adopt a cable or wireless signal transceiver for signal connection and are used for operating the movement of the lifting device 1, the longitudinal moving device and the transverse moving device; furthermore, the image acquisition equipment also comprises a visual positioning module, adopts the existing CCD machine vision system, acquires images through a high-definition camera, and automatically controls the lifting device 1, the longitudinal moving device and the transverse moving device through a controller.

Specifically, in the embodiment shown in fig. 1, the lifting device 1 includes a support frame 11, a hoist 12 provided on the support frame 11, a bar-shaped gripper mounting plate 14 connected to a drum of the hoist 12 through a traction rope 13, a scissor-type telescopic member 15 connected between the gripper mounting plate 14 and the support frame 11, and a plurality of manipulators 2 sequentially arranged in a length direction of the gripper mounting plate 14. The supporting frame 11 is arranged on the longitudinal moving device or the transverse moving device and plays a supporting role for other components of the lifting device, and the supporting frame 11 can be a square frame made of steel. The gripper mounting plate 14 is disposed at the bottom of the support frame 11 for mounting the robot 2, and is connected to the support frame 11 by using a scissor-type telescopic member 15, and the scissor-type telescopic member 15 makes the connection between the gripper mounting plate 14 and the support frame 11 more stable, and at the same time, makes the distance between the two variable. A traction rope 13 is further connected between the winding drum of the winding engine 12 and the gripper mounting plate 14, the traction rope 13 can be a steel wire rope, the winding engine 12 drives the winding drum to rotate forwards or backwards, the length of the traction rope 13 wound on the winding drum is changed, and therefore the gripper mounting plate 14 and the manipulator 2 are pulled to move up and down relative to the supporting frame 11. The gripper mounting plate 14 is a long strip steel structure, the length of the gripper mounting plate can be slightly smaller than that of a truck hopper, the manipulator 2 can be connected to the mounting plate 14 through a connecting piece 22, and the plurality of manipulators 2 are sequentially arranged along the length direction of the mounting plate 14, so that a plurality of cigarette packets can be gripped at one time. The connecting element 22 can be a wire rope and the manipulator 2 is a manipulator for gripping packets of cigarettes as described above.

Preferably, the winch 12 is disposed in the center of the supporting frame 11, the fixed pulleys 16 fixedly connected with the supporting frame are disposed on both sides of the winch 12, one end of each of the two hauling ropes 13 is connected to the winding drum of the winch 12, the other end of each of the two hauling ropes 13 is vertically connected to the gripper mounting plate 14, and the two hauling ropes 13 are respectively wound on the two fixed pulleys 16.

Preferably, the telescopic device 26 is a pneumatic or hydraulic cylinder.

In the first embodiment as shown in fig. 1-3, the longitudinal moving device includes two longitudinal rails 31 respectively disposed at two ends of the supporting frame 11, two longitudinal rollers 32 for rolling on the longitudinal rails 31 are rotatably connected to two ends of the supporting frame 11, and a longitudinal driving motor 33 for driving the longitudinal rollers 32 to rotate is disposed at each end of the supporting frame 11. The transverse moving device comprises two transverse rails 41 respectively positioned at two ends of the longitudinal rail 31 and two transverse girders 42 connected between the two longitudinal rails 31 and respectively corresponding to the two transverse rails 41, two transverse rollers 43 used for rolling on the transverse rails 41 are rotatably connected to the bottoms of the two transverse girders 42, and a transverse driving motor 44 used for driving the transverse rollers 43 to rotate is further arranged at the bottom of the transverse girders 42. The longitudinal and transverse driving motors can adopt stepping motors or servo motors. The transverse rails 41 are arranged on the ground, and the transverse truss 42 can raise the height of the lifting device 1 and the longitudinal rails 31 to make the truck get in and out. The lifting device 1 can move on the longitudinal rail 31 under the drive of the longitudinal driving motor 33, and the lifting device 1, the longitudinal rail 31 and the transverse truss 42 can move on the transverse rail 41 under the drive of the transverse driving motor 44. Furthermore, limiting rings used for clamping the rails are arranged on the longitudinal and transverse rollers, so that the rollers are prevented from deviating from the rails.

In the second embodiment as shown in fig. 6-7, the longitudinal moving device has the same structure as the first embodiment, the transverse moving device includes two transverse rails 41 respectively located at two ends of the longitudinal rail 31, a plurality of vertical posts 45 arranged at the bottom of the transverse rails 41, and two transverse connecting rods 46 connected between the two longitudinal rails 31 and respectively corresponding to the two transverse rails 41, two transverse rollers 43 for rolling on the transverse rails are rotatably connected to the bottom of each of the two transverse connecting rods 46, and the transverse connecting rods 46 are further provided with a transverse driving motor 44 for driving the transverse rollers 43 to rotate. The upright 45 is used for raising the heights of the transverse rail 41, the longitudinal moving device and the lifting device 1 to make room for the truck to enter and exit. The lifting device 1 can move on the longitudinal rail 31 under the drive of the longitudinal driving motor 33, and the lifting device 1, the longitudinal rail 31 and the transverse connecting rod 46 can move on the transverse rail 41 under the drive of the transverse driving motor 44.

Preferably, in the first and second embodiments, the belt conveyor 5 is disposed between the two lateral rails 41 on one side of the truck parking position.

In the third embodiment as shown in fig. 8-9, the lateral moving device includes two lateral rails 41, two sets of lateral roller sets disposed at both sides of the supporting frame 11 and respectively corresponding to the two lateral rails 41, each set of lateral roller sets includes two lateral rollers 43 rotatably connected to the bottom of the supporting frame 11, the supporting frame 11 is further provided with a lateral driving motor 44 for driving the lateral rollers 43 to rotate; the longitudinal moving device comprises two longitudinal rails 31 respectively positioned at two ends of the transverse rail 41, an upright post 45 arranged at the bottom of the two ends of the longitudinal rail 31 and two longitudinal connecting rods 34 connected between the two transverse rails 41 and respectively corresponding to the two longitudinal rails 31, the bottom of each longitudinal connecting rod 34 is rotatably connected with two longitudinal rollers 32 used for rolling on the longitudinal rail 31, and the longitudinal connecting rods 34 are further provided with a longitudinal driving motor 33 used for driving the longitudinal rollers 32 to rotate. The upright column 45 is used for raising the heights of the longitudinal rail 31, the transverse moving device and the lifting device 1 and making the truck get in and out; the lifting device 1 can move on the transverse rail 41 under the drive of the transverse driving motor 44, and the lifting device 1, the transverse rail 41 and the longitudinal connecting rod 34 can move on the longitudinal rail 31 under the drive of the longitudinal moving motor 33. Further, the belt conveyor 5 is arranged between two uprights of the same longitudinal rail.

The foregoing is directed to one or more embodiments of the present invention, which are described in some detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. The utility model provides a manipulator for snatching tobacco bale which characterized in that: the device comprises a fixed frame (21), wherein the fixed frame (21) is rotationally connected with two parallel rotating shafts (23), and a driven gear (24) and at least one grapple (25) are arranged on each of the two rotating shafts (23); still be provided with telescoping device (26) on mount (21), be provided with actuating lever (27) on the output shaft of telescoping device (26), actuating lever (27) insert two between driven gear (24) and respectively towards two driven gear's two sides all be provided with driven gear meshing's rack (28).

2. The manipulator for grabbing cigarette packets as claimed in claim 1, wherein: both ends of the rotating shaft (23) are provided with one grabbing hook (25).

3. The utility model provides a tobacco bale device of unloading which characterized in that: the device comprises a lifting device (1), a longitudinal moving device for driving the lifting device to move longitudinally, a transverse moving device for driving the lifting device to move transversely, a belt conveyor (5) for conveying cigarette packets, image acquisition equipment for capturing the real-time positions of the lifting device (1) and the cigarette packets in a truck hopper, and a controller in signal connection with the lifting device (1), the longitudinal moving device and the transverse moving device;

elevating gear (1) includes braced frame (11), sets up hoist engine (12) on braced frame (11), through haulage rope (13) and tongs mounting panel (14) of the bar that the reel of hoist engine (12) is connected, connect in cut fork extensible member (15) between tongs mounting panel (14) and braced frame (11) and follow a plurality of manipulators (2) that the length direction of tongs mounting panel (14) set gradually, the manipulator be claim 1 or 2 a manipulator for snatching the tobacco bale.

4. The cigarette packet unloading device according to claim 3, characterized in that: hoist engine (12) set up the central authorities of braced frame (11), hoist engine (12) both sides all be provided with braced frame fixed connection's fixed pulley (16), two the one end of haulage rope (13) all is connected on the reel of hoist engine (12), the other end is all connected vertically on tongs mounting panel (14), and two haulage rope (13) are respectively around establishing two on fixed pulley (16).

5. The cigarette packet unloading device according to claim 3, characterized in that: the longitudinal moving device comprises two longitudinal rails (31) which are respectively arranged at two ends of the supporting frame (11), two ends of the supporting frame (11) are respectively and rotatably connected with two longitudinal rollers (32) which are used for rolling on the longitudinal rails (31), and two ends of the supporting frame (11) are respectively provided with a longitudinal driving motor (33) which is used for driving the longitudinal rollers (32) to rotate.

6. The cigarette packet unloading device according to claim 5, characterized in that: the transverse moving device comprises two transverse rails (41) which are respectively arranged at two ends of the longitudinal rail (31) and two transverse trusses (42) which are connected between the two longitudinal rails (31) and respectively correspond to the two transverse rails (41), two transverse rollers (43) which are used for rolling on the transverse rails (41) are rotationally connected to the bottoms of the two transverse trusses (42), and a transverse driving motor (44) which is used for driving the transverse rollers (43) to rotate is further arranged at the bottom of each transverse truss (42).

7. The cigarette packet unloading device according to claim 5, characterized in that: the transverse moving device comprises two transverse rails (41) which are respectively arranged at two ends of the longitudinal rail (31), a plurality of stand columns (45) arranged at the bottom of the transverse rails (41) and two transverse connecting rods (46) which are connected between the two longitudinal rails (31) and respectively correspond to the transverse rails (41), wherein the bottoms of the transverse connecting rods (46) are respectively and rotatably connected with two transverse rollers (43) which roll on the transverse rails, and the transverse connecting rods (46) are also provided with transverse driving motors (44) which are used for driving the transverse rollers (43) to rotate.

8. The cigarette packet unloading device according to claim 6 or 7, characterized in that: the belt conveyor (5) is arranged between the two transverse rails (41).

9. The cigarette packet unloading device according to claim 3, characterized in that: the transverse moving device comprises two transverse rails (41) and two groups of transverse roller sets which are arranged on two sides of the supporting frame (11) and respectively correspond to the two transverse rails (41), each group of transverse roller sets comprises two transverse rollers (43) which are rotatably connected to the bottom of the supporting frame (11), and the supporting frame (11) is further provided with a transverse driving motor (44) for driving the transverse rollers (43) to rotate; the longitudinal moving device comprises two longitudinal rails (31) which are respectively arranged at two ends of each transverse rail (41), an upright post (45) arranged at the bottoms of two ends of each longitudinal rail (31) and two longitudinal connecting rods (34) which are connected between the two transverse rails (41) and respectively correspond to the two longitudinal rails (31), wherein the bottoms of the longitudinal connecting rods (34) are rotatably connected with two longitudinal rollers (32) which roll on the longitudinal rails (31), and the longitudinal connecting rods (34) are further provided with longitudinal driving motors (33) which are used for driving the longitudinal rollers (32) to rotate.

10. The cigarette packet unloading device according to claim 3, characterized in that: the telescopic device (26) is a cylinder or a hydraulic cylinder.

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