CN217675584U

CN217675584U - Unstacking gripper device

Info

Publication number: CN217675584U
Application number: CN202221090352.7U
Authority: CN
Inventors: 郑新峰; 范阳月; 张富强; 孙大桢; 赵海强; 苏百顺
Original assignee: Jinchuan Group Co Ltd
Current assignee: Jinchuan Group Nickel Cobalt Co ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-10-28
Anticipated expiration: 2032-05-07

Abstract

The utility model provides a grab hand device breaks a jam, relates to ore dressing medicament dilution technical field, including installing the sucking disc in the robotic arm below, the support is held in hand that is the rectangle frame is installed to the below of sucking disc, the below on four limits of the support is held in hand all has set firmly the installation component, install on the installation component and hold in hand with the barb that is "concave" shape, the barb that is located the minor face below of the support is held in hand the width of holding in hand and is greater than the barb that is located the long limit below of the support is held in hand and is held in hand the width, the barb is held in hand the bottom of holding in hand and is set firmly the grabbing tooth, the grabbing tooth is "L" shape, through setting up the support of holding in hand to be the rectangle, sets firmly the installation component in four limits of rectangle frame below simultaneously, all installs the barb on the installation component and hold in hand, sets up the grabbing tooth of "L" shape on the barb is held in hand, when snatching the medicament bag, all can receive the atress on four sides, can strengthen and snatch reliability and stability when shifting the medicament bag, and the hole left over after grabbing the grabbing tooth is little simultaneously, and the medicament in the medicament bag is difficult for spilling.

Description

Unstacking gripper device

Technical Field

The utility model belongs to the technical field of the ore dressing medicament dilutes, the tongs device that specifically breaks a jam.

Background

A large amount of chemicals need to be added in the flotation process of ores, solid powdery chemicals relate to stacking operation during temporary storage and unstacking operation during automatic dilution of the chemicals in the preparation process, the stacking operation refers to that the chemical packaging bags are grabbed from a certain fixed point position of a conveyor through a mechanical arm and then transferred to a chemical tray for storage, and the unstacking operation refers to that the mechanical arm grabs the chemical packaging bags from the chemical tray according to a set sequence and then transfers the bags to the conveyor for dilution. Although the stacking operation and the unstacking operation are similar in process but opposite in sequence, the mechanical hand grippers used for grabbing the packaging bags on the mechanical hand are a pair of barb type hand grippers, 16 barb type hand gripper teeth are totally provided, the bending degree of the hand gripper teeth is about 120 degrees, the using effect in the stacking process is good, but the mechanical hand grippers are inconvenient in unstacking, and 1) the bending degree of the hand gripper teeth is too large, the angles of the mechanical arms need to be adjusted according to different positions of the medicine bags on a tray during grabbing, stress points are not uniform during grabbing of the medicine bags, and the grabbed medicine bags are easy to slip and fall off in the transferring process; 2) The barb hand has thicker gripping teeth, so that the medicament bag can be broken to leave larger holes when unstacking and grabbing are carried out, and the medicament is easy to spill; 3) Different specification medicament bags are difficult to nimble control hand when snatching and are held and open and close the angle, and the result of use is unsatisfactory, and unrestrained medicament still needs the manual work to clean every day, and the medicament bag that drops also needs the manual work to lift to the conveyer on, and work efficiency is low on the whole, to above problem, the utility model provides an unstacking tongs device.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: for solving the technical problem who proposes in the background art, the utility model provides a tongs device breaks a jam.

The utility model discloses a realize above-mentioned purpose and specifically adopt following technical scheme:

the utility model provides a tongs device destacks, is including installing the sucking disc in the robotic arm below, the support is held in hand that is the rectangle frame is installed to the below of sucking disc, the below on four limits of the support is held in hand has all set firmly the installation component, install on the installation component and be "concave" the barb that appears and hold in hand, the barb that is located the minor face below of holding in hand the support width of holding in hand that the barb held in hand that is greater than the barb that is located the long limit below of holding in hand the support width of holding in hand, the bottom that the barb held in hand has set firmly the tooth of holding in hand, the tooth of holding in hand is "L" shape.

Further, the installation component includes two vertical support plates, and the below of two vertical support plates has set firmly the horizontal plate, the below of horizontal plate has set firmly two connecting plates, the installation component still includes two drive plates that are "+" shape, and two drive plates set firmly respectively in the left side and the right side that the barb held in hand, all are equipped with the through-hole on the horizontal part of drive plate and the connecting plate, wear to be equipped with the live-rollers in the through-hole, the rigid coupling is held in hand to the vertical part of drive plate and barb, the cylinder has set firmly on the connecting plate, the output rigid coupling of cylinder is on the drive plate.

Further, the two connecting plates are respectively positioned on the left side and the right side of the horizontal plate.

Further, be the inside of the support is grabbed to hand of rectangle frame and two support bars that are parallel to each other have set firmly, the support bar is parallel with the shorter one side of rectangle frame, the sucking disc sets firmly on two support bars, the sucking disc is located the central point of rectangle frame and puts.

The utility model has the advantages that:

1. the utility model discloses a sucking disc that can install in robotic arm below, the support is held in hand that is the rectangle frame is installed to the below of sucking disc, the below on four limits of the support is held in hand has all set firmly the installation component, install on the installation component and be the barb of "concave" shape and hold in hand, the barb that lies in the minor face below of holding in hand the support is held in hand the width of holding in hand is greater than the barb that lies in the long limit below of holding in hand the support and holds in hand the width, the barb is held in hand the bottom of holding in hand and is set firmly the tooth in hand, the tooth is held in hand "L" shape, sets up the tooth of holding in hand through holding in hand the support to be the rectangle, sets firmly the installation component in four limits below of rectangle frame simultaneously, all installs barb on the installation component and hold in hand, when snatching the medicament bag, and all can receive the stress on four sides, can strengthen reliability and stability when snatching and shifting the medicament bag, set up the tooth of holding in hand of "L" shape on the barb and hold in hand the tooth degree of bending and be 90, snatch the stress point stability after snatching, the medicament bag is difficult for the hole to drop, and the medicament bag is difficult for the design, and the medicament bag is snatching in hand the whole wide range of the medicament bag, can snatching in the use wide specification.

2. Installation component includes two vertical support boards, and the below of two vertical support boards has set firmly the horizontal plate, the below of horizontal plate has set firmly two connecting plates, installation component still includes two drive plates that are "+" shape, and two drive plates set firmly respectively in the left side and the right side that the barb was handed, all are equipped with the through-hole on the horizontal part of drive plate and the connecting plate, wear to be equipped with the live-rollers in the through-hole, the rigid coupling is handed to the vertical part and the barb of drive plate, the cylinder has set firmly on the connecting plate, the output rigid coupling of cylinder is on the drive plate, and two connecting plates are located the left side and the right side of horizontal plate respectively, through all setting up the through-hole on the horizontal part of drive plate and connecting plate, adopt the connecting roller to connect drive plate and connecting plate as an organic whole simultaneously, can realize the rotation that the barb was handed, and the tooth of being convenient for grabbing snatchs the medicament bag.

3. Be the inside of the support is grabbed to hand of rectangle frame has set firmly two support bars that are parallel to each other, support bar and the shorter one side of rectangle frame are parallel, the sucking disc sets firmly on two support bars, the sucking disc is located the central point of rectangle frame and puts.

Drawings

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

reference numerals

1-sucker, 2-grasping bracket, 3-barb grasping, 4-grasping tooth and 5-rotating roller.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "up", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are conventionally placed when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the term refers must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.

Example 1

As shown in fig. 1, a tongs device of breaking a jam, including can install the sucking disc 1 in the robotic arm below, the below of sucking disc 1 is installed and is the support 2 is held in hand of rectangle frame, the below on four limits of the support 2 is held in hand has all set firmly the installation component, install on the installation component and hold in hand 3 for the barb that is "concave" shape, the width that is located the barb that holds in hand 3 for the short side below of the support 2 is held in hand is greater than the width that is located the barb that holds in hand 3 for the long side below of the support 2 is held in hand, the bottom that 3 is held in hand for the barb has set firmly the tooth 4, hold in hand 4 for the tooth be "L" shape, through setting up holding in hand support 2 for being the rectangle, the installation component sets firmly below four limits of rectangle frame simultaneously, all install barb hand on the installation component and hold in hand 3, when snatching the medicament bag, all sides can be competent, reliability and stability when can strengthen snatching the medicament bag and shifting, set up "L" shape hold in hand 4 for the tooth on the barb, namely, the tooth 4 degree of bending is 90, the stress point is stable after snatching the medicament bag, the medicament bag is difficult for dropping, the small, the medicament is difficult for snatching in the whole the design, the medicament is difficult for the small scale of snatching in the medicament, the medicament is snatching in the big, the medicament is used.

Preferably, the installation component includes two vertical support boards, and the below of two vertical support boards has set firmly the horizontal plate, and the below of horizontal plate has set firmly two connecting plates, and the installation component still includes two drive plates that are "+" shape, and two drive plates set firmly respectively and hold 3 left sides and right sides in the barb hand, all are equipped with the through-hole on the horizontal part of drive plate and the connecting plate, wear to be equipped with live-rollers 5 in the through-hole, and 3 rigid couplings are held in the hand to the vertical part of drive plate and barb, the cylinder has set firmly on the connecting plate, the output rigid coupling of cylinder is on the drive plate, and two connecting plates are located the left side and the right side of horizontal plate respectively, through all setting up the through-hole on the horizontal part of drive plate and connecting plate, adopt the connecting roller to connect drive plate and connecting plate as an organic whole simultaneously, can realize the barb hand and hold 3 rotations, are convenient for hand 4 snatchs the medicament bag.

Preferably, the inside of the hand-held support 2 which is a rectangular frame is fixedly provided with two parallel supporting bars, the supporting bars are parallel to the shorter side of the rectangular frame, the sucker 1 is fixedly arranged on the two supporting bars, and the sucker 1 is positioned at the center of the rectangular frame.

The utility model discloses the working process: when the medicine bag grabbing device is used, a starting switch of the mechanical arm is turned on, the sucker 1 can be sucked on the mechanical arm, when a medicine bag needs to be grabbed, the mechanical arm rotates to the position above the medicine bag, the air cylinder starts to work, the driving plate is sleeved on the rotating roller 5 and can rotate around the rotating roller 5, the output end of the air cylinder drives the driving plate to move, and the moving driving plate drives the hand grabbing teeth 4 to move, so that the hand grabbing teeth 4 are pricked into the medicine bag, and the medicine bag is grabbed; when the medicament bag needs to be put down, along with robotic arm's removal, the actuating cylinder makes the medicament bag and the tooth 4 separation of grabbing of hand, and the medicament bag is shifted to the assigned position of cylinder, thereby realizes that the medicament bag snatchs, uses the utility model discloses can effectively solve the medicament bag and easily drop, grab the too big medicament that causes of empty and easily spill and the unsatisfactory problem of different specification medicament bag unstacking effect, improve work efficiency, reduce post personnel work load, simultaneously because the hole that produces when the tooth 4 grabbing the medicament bag is grabbed to the hand is little, can ensure that the environment is clean, the utility model discloses the structure is succinct, easy operation, convenient to use, low cost, dependable performance, convenient to maintain.

It will be appreciated by those skilled in the art that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes within the scope of the invention or within the scope equivalent to the invention are all embraced by the invention.

Claims

1. The utility model provides a tongs device unstacks, its characterized in that, is including installing sucking disc (1) in robotic arm below, support (2) are held in hand that is the rectangle frame is installed to the below of sucking disc (1), the below on four limits of support (2) is held in hand has all set firmly the installation component, install on the installation component and be "concave" barb of shape and hold in hand (3), the barb that is located the minor face below of holding in hand support (2) is held in hand the width of (3) and is greater than the barb that is located the long limit below of support (2) and holds in hand the width of (3), the barb is held in hand the bottom of (3) and is set firmly and is held in hand tooth (4), it is "L" shape to hold in hand tooth (4).

2. The unstacking gripper device according to claim 1, wherein the mounting assembly comprises two vertical supporting plates, a horizontal plate is fixedly arranged below the two vertical supporting plates, two connecting plates are fixedly arranged below the horizontal plate, the mounting assembly further comprises two driving plates in a 'random' shape, the two driving plates are fixedly arranged on the left side and the right side of the barb hand gripper (3) respectively, through holes are formed in the horizontal part and the connecting plates of the driving plates, rotating rollers (5) penetrate through the through holes, the vertical part of the driving plates is fixedly connected with the barb hand gripper (3), an air cylinder is fixedly arranged on the connecting plates, and an output end of the air cylinder is fixedly connected to the driving plates.

3. The unstacking gripper according to claim 2 wherein the two connecting plates are located on the left and right sides of the horizontal plate, respectively.

4. The unstacking gripper device according to claim 1, wherein two parallel supporting bars are fixedly arranged inside the rectangular-frame gripper support (2), the supporting bars are parallel to the shorter side of the rectangular frame, the sucker (1) is fixedly arranged on the two supporting bars, and the sucker (1) is located at the center of the rectangular frame.