A mechanical grasping device for circular materials

Abstract

The present invention discloses a mechanical grasping device for circular materials, belonging to the technical field of solid waste treatment. The device includes an actuator bracket for arranging a vertically retractable linear actuator, the actuator bracket is fixedly connected to an annular upper disc, and the push rod of the linear actuator passes through the upper disc and is fixedly connected to the center of the lower disc; three fixed arms extending radially are evenly distributed and fixed on the lower disc in the circumference, and the outer end of the fixed arm is hinged to the middle of the clamping arm, and the clamping arm is formed into a curved arm shape by a radial downward-inclined arm and a vertical grasping arm connected as one body, and the three grasping arms surround the clamping circle, and a horizontal axis roller is installed at the inner end of the downward-inclined arm, and the roller is located in the sliding groove of the upper disc circumference to form a dynamic fit. The clamping of the present invention is achieved by the relative vertical movement of the upper disc and the lower disc, and no radial drive is required, so the structure is compact; and the structure of the roller at the inner end of the clamping arm constrained by the upper disc and the lower disc not only merges the moving pair and the hinge pair, and significantly simplifies the mechanism, but also effectively avoids jamming, and ensures the stability and reliability of the clamping.

Description

Technical Field

[0001] The present invention relates to a mechanical grasping device, in particular to a mechanical grasping device for circular materials, and belongs to the technical field of solid waste treatment. Background Art

[0002] To reduce the impact of polluting wastes on the environment, it is usually necessary to minimize the treatment of polluting solid wastes, that is, to perform compaction and volume reduction treatment in each link. For example, after super-compacting a steel drum containing compactable dry pollutants to produce a drum cake, it is repackaged in a steel drum and fixed with cement. During this process, to improve the pollutant filling rate and reduce the volume of pollutants to be disposed of, it is necessary to put several drum cakes with appropriate weights and heights into a steel drum through the grasping device of the drum cake optimization system to optimize the space utilization rate in the steel drum.

[0003] It is found through retrieval that a Chinese patent with the application number 201720862170.X discloses a three-jaw pneumatic manipulator grasping mechanism, including: a column, a mounting hoop, a slide rail, a slider, a longitudinal driving mechanism, a claw mounting plate, and a three-jaw mechanism. The number of columns is 2, and they are fixed in a gantry manner on the workbench surface. The slide rail is fixedly connected to the upper end of the column through the mounting hoop. The slider is movably connected to the slide rail. The longitudinal driving mechanism is fixedly connected to the slider. The claw mounting plate is fixedly connected to the longitudinal driving mechanism. The three-jaw mechanism is fixedly connected to the claw mounting plate. It is introduced that this technical solution can ensure that the three fingers have high synchronism during the opening and closing process of the three-jaw mechanism, and thus has good grasping performance. However, although the technical solution of this patent document is unclear (for example, it does not explain how the air claw cylinder drives the cross slider), it can be seen that the connection links of its mechanism kinematic pairs include the horizontal moving pair between the air claw cylinder 108 and the cross slider 109, the moving pair between the cross slider 109 and the upper surface chute of the sliding rod 110, the first hinge pair between the outer end of the sliding rod 110 and the upper end of the finger 111, and the second hinge pair 113 between the connecting plate 114 and the middle of the hook-shaped rod 121. So many mechanism links not only make the structure complex and the cumulative error large, so the clamping is unreliable, but also the moving pair adjacent to the power source is prone to jamming faults, which must be avoided during the transfer of polluting solid wastes. In addition, this technical solution also has the following disadvantages: 1) The grasping action of the hook-shaped rod relies on the centripetal sliding of the cross slider along the sliding rod, so a radial driving space needs to be reserved, and the structure is not compact; 2) The clamping range of the hook-shaped rod 121 is fixed, and the adaptability is poor. Summary of the Invention

[0004] The purpose of the present invention is to provide a mechanical grasping device for circular materials with a simple mechanism, a compact structure, and reliable clamping, so as to ensure the safety of grasping and loading the polluting solid waste material drum cake into the steel drum.

[0005] To achieve the above object, the basic technical solution of the circular material mechanical grasping device of the present invention is as follows: It includes an actuator bracket for installing a vertically telescopic linear actuator, the actuator bracket is fixedly connected to an annular upper disc, and the push rod of the linear actuator passes through the upper disc and is fixedly connected to the center of the lower disc;

[0006] Three fixed arms extending radially are circumferentially and evenly distributed on the lower disc, the outer ends of the fixed arms are hinged to the middle parts of the clamping arms, the clamping arms are formed into a bent arm shape by a radially inclined arm and a vertically grasping arm connected as a whole, and the three grasping arms form a gripper surrounding the clamping circle. A horizontal shaft roller is installed at the inner end of the inclined arm, and the roller is in a moving fit with the circumferential chute of the upper disc.

[0007] During operation, when driving the relative vertical movement of the upper disc and the lower disc, under the restraint of the upper and lower discs of the upper disc, the inclined arm will drive the grasping arm to swing around the hinge point in the middle, thereby changing the distance between its lower end and the center of the clamping circle: when the radius of the clamping circle becomes smaller, it clamps; when it becomes larger, it releases.

[0008] Compared with the prior art, the clamping action of the present invention is realized by the relative vertical movement of the upper disc and the lower disc, without radial drive, so the structure is compact; and the structure of the upper and lower discs restricting the inner end rollers of the clamping arms not only combines the moving pair and the hinge pair, significantly simplifies the mechanism, but also can effectively avoid jamming and ensure the reliable clamping.

[0009] Further, a telescopic bracket including an upper leg and a lower leg is fixedly connected to the upper disc, and the upper leg and the lower leg form a vertical moving pair.

[0010] Further, the upper leg is in a π shape, and the vertical long grooves on both sides are in a moving fit with the guiding pins on the connecting plate respectively, and the lower part of the connecting plate is fixedly connected to the lower leg.

[0011] Further, the lower leg of the telescopic bracket is fixedly connected to the upper disc, the upper end of the actuator bracket is hinged with a linear actuator seat body, and the lower end is fixedly connected to the upper disc.

[0012] Further, the lower end of the upper disc has a central convex ring extending downward, the upper end of the lower disc has a central depression, and the central convex ring is inserted into the central depression to form a moving pair.

[0013] Further, the lower disc has three radially distributed radial plates, and the fixed arms extending radially are fixed through radial long grooves on the radial plates.

[0014] Further, a limit rod passing through the lower disc and adjustable and lockable by threads is fixed on the lower surface of the upper disc.

[0015] Further, a sensor trigger plate is provided on the limit rod; a closing sensor is installed on the upper part of the lower disc, and a material in-place sensor is installed on the lower surface; an opening sensor is installed between the upper disc and the lower disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 It is a schematic structural diagram of a system adopting the grasping device of the present invention.

[0018] Figure 2 It is a schematic structural diagram of an embodiment of the present invention.

[0019] Figure 3 It is Figure 2 a side view of

[0020] Figure 4 It is Figure 2 a top view of

[0021] Figure 5 It is Figure 2 a schematic structural diagram of the gripper of the embodiment.

[0022] Figure 6 It is Figure 2 a schematic structural diagram of the grasping state of the embodiment.

[0023] In the figure: material storage table 60, truss manipulator 70, steel drum 80, control cabinet 90, circular material mechanical grasping device 100; limit rod 1, in-place sensor 2, gripper 3, telescopic bracket 4, grasping sensor 5, electrical junction box 6, linear actuator 7, upper disc 8, actuator bracket 9, lower disc 10, opening sensor 11, closing sensor 12; clamping arm 301, fixed arm 302, support pin shaft 303, roller 304, roller pin shaft 305; lower leg 401, connecting plate 402, upper leg 404. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The technical solutions in 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.

[0025] The circular material mechanical grasping device of this embodiment is applied to Figure 1 the shown polluted solid waste transfer system. The system includes a steel drum transfer roller path and a material storage table 60 spaced apart from each other. Above the transfer roller path and the material storage table 60, there is a truss composed of a guide rail cross beam supported on two end columns. A horizontally movable manipulator 70 is installed on the truss, and the manipulator 70 has a lifting arm with a circular material mechanical grasping device 100 installed at the lower end.

[0026] The specific structure of the mechanical grasping device 100 for circular materials is as follows Figures 2 to 6 as shown. It includes a telescopic support 4 whose upper end is fixedly connected to the lifting arm. The vertical long grooves on both sides of the upper leg 404 of the π-shaped telescopic support 4 form a moving fit with the guide pins on the connecting plate 402. The lower part of the connecting plate 402 is fixedly connected to the lower leg 401 by fasteners, so that the upper leg 404 and the lower leg 401 form a vertical moving pair. A grasping sensor 5 is installed on one side of the upper leg 404 of the telescopic support 4.

[0027] The lower end of the lower leg 4-1 of the telescopic support 4 is fixedly connected to the upper disk. The upper end of the actuator support 9 is hinged to the upper end of the seat body of the linear actuator 7 (IA5-230-20-B-102-B of MOTECK Company), and the lower end is fixedly connected to the annular upper disk 8. The push rod of the linear actuator 7 passes through the upper disk 8 and is fixedly connected to the center of the lower disk 10. The lower end of the upper disk 8 has a central convex ring 8-1 extending downward, and the upper end of the lower disk 10 has a central depression 10-1. The central convex ring 8-1 is inserted into the central depression 10-1 to form a moving pair, so as to ensure the stable and reliable relative movement of the upper disk 8 and the lower disk 10.

[0028] Three circumferentially evenly distributed radial plates 306 of the lower disk 10 respectively fix three fixed arms 302 extending radially through radial long grooves. The outer ends of the fixed arms 302 are hinged to the middle parts of the clamping arms 301 through support pin shafts 303 serving as lever fulcrums. The clamping arms 301 are composed of a radially inclined arm and a vertical grasping arm connected as a whole to form an elbow shape. The three grasping arms form a gripper 3 around the clamping circle. By adjusting the radial extension position of the fixed arms 302 as needed, the clamping circle radius of the grasping arms can be adjusted, so as to adapt to different specifications of the objects to be grasped. The inner end of the inclined arm of the clamping arm 301 is equipped with a roller 304 through a horizontal roller pin shaft 305, and the roller 304 forms a moving fit in the circumferential chute of the upper disk.

[0029] In addition, three limit rods 1 passing through the lower disk 10 and adjustable and lockable by threads are fixed on the lower surface of the upper disk 8, and sensor trigger plates are provided on the limit rods 1. A closing sensor 12 is installed on the upper part of the lower disk 10, and a material-in-place sensor 2 is installed on the lower surface. A opening sensor 11 is installed between the upper disk 8 and the lower disk 10. An electrical junction box 6 is installed on the actuator support 9, and the actuator is equipped with an anti-slip brake.

[0030] The polluted solid waste transfer system using the circular material mechanical grasping device (hereinafter referred to as the grasping device) of this embodiment. The steel drum located on the roller path and the truss manipulator that can be set above the material storage table and the steel drum can be an intelligent robot with autonomous navigation or other automated machines moving along the guide rail. The grasping device is driven by a driving component arranged on the truss manipulator. The power of the driving component comes from a servo motor reducer, and a rack and pinion drive is adopted, with a roller guide rail as the guiding member. To ensure safety, the truss manipulator is also equipped with a brake system to prevent objects from falling. These are similar to the prior art, so no detailed description will be given.

[0031] During operation, the complete control process from grasping to releasing is as follows:

[0032] 1) The lifting arm of the truss manipulator drives the grasping device to move downward until the mounting screw of the material in-place sensor touches the upper plane of the barrel cake, triggering the material in-place sensor to send a material in-place signal;

[0033] 2) The truss manipulator drives the upper leg of the telescopic support to continue moving downward until the grasping sensor on one side of the upper leg is triggered to send a stop signal, and the truss manipulator stops moving;

[0034] 3) The push rod of the linear actuator generates a tendency to extend and push the lower disk. Since there is material below the lower disk and it cannot move, the base of the linear actuator will drive the upper disk to move upward, increasing the vertical distance between the upper disk and the lower disk. The roller constrained by the upper disk causes the clamping arm to swing around its hinge point, and the gripper closes to clamp the circular material (barrel cake);

[0035] 4) The closing sensor sends a clamping-in-place signal, and the linear actuator stops operating;

[0036] 5) The truss manipulator drives the grasping device and the material to rise. After the material leaves the storage table, the legs return to the extended state under the action of gravity, completing the grasping;

[0037] 6) The truss manipulator drives the grasped material horizontally along the truss to above the empty steel drum, and then the lifting arm descends, and the material enters the empty drum;

[0038] 7) When the material touches the inner bottom surface of the empty drum and stops, the truss manipulator drives the upper leg of the telescopic support to continue moving downward until the grasping sensor on one side of the upper leg is triggered to send a stop signal, and the truss manipulator stops moving;

[0039] 8) The push rod of the linear actuator retracts. Since the grasping device is in the state of clamping the circular material (barrel cake), the lower disk cannot move. Under the reaction force, the base of the linear actuator drives the upper disk to move downward, reducing the vertical distance between the upper disk and the lower disk. The roller constrained by the upper disk causes the clamping arm to swing around its hinge point in the reverse direction, and the gripper expands to release the circular material (barrel cake);

[0040] 9) After the downward movement stroke of the lower leg of the telescopic support is completed, the upper disc stops moving, the lower disc starts to move upward, and the grasping arm continues to open until the opening sensor is triggered, sending a stop signal to make the linear actuator stop operating;

[0041] 10) The truss manipulator moves out the empty barrel with the grasping device, completing the circular material transfer and barrel filling operation from grasping to releasing.

[0042] The theory and tests show that this embodiment has the following remarkable advantages:

[0043] 1. The upper and lower discs that can move relative to each other driven by the linear actuator can make the clamping arms perform the required closing and opening actions, reliably clamping circular materials;

[0044] 2. Cleverly using a telescopic support to replace the traditional integral support enables the upper and lower discs to conveniently achieve the required relative movement;

[0045] 3. The organic combination of the linear actuator and the lifting arm of the truss manipulator. When the material and the grasping device are restricted and no longer move, the upper leg of the upper truss manipulator still provides a material in-place signal feedback by moving downward, laying a foundation for the control system to achieve full-automatic control without the aid of human eyes or cameras;

[0046] 4. The scientifically set sensors provide a guarantee for the control system to achieve full-automatic control of the grasping action;

[0047] 5. The structure is compact, can be remotely controlled, significantly improves work efficiency, and ensures operation safety;

[0048] 6. Adjustable links are set in multiple places, which can adapt to circular materials of different specifications and sizes, significantly enhancing the applicability.

[0049] In addition to the above embodiments, the present invention can also have other implementation manners. All technical solutions obtained by equivalent replacement or equivalent transformation fall within the protection scope required by the present invention.

Claims

1. A mechanical grasping device for circular materials, characterized in that: It includes an actuator bracket (9) for installing a vertically telescopic linear actuator (7). The actuator bracket (9) is fixedly connected to an annular upper disk (8). The push rod of the linear actuator passes through the upper disk and is fixedly connected to the center of the lower disk (10). Three fixed arms (302) extending radially are circumferentially and uniformly fixed on the lower disk. The outer ends of the fixed arms are hinged to the middle parts of the clamping arms (301). Each clamping arm is formed into a bent arm shape by a radially inclined arm and a vertically grasping arm connected as a whole. The three grasping arms form a gripper (3) surrounding the clamping circle. A horizontal shaft roller (304) is installed at the inner end of the inclined arm. The roller is in a moving fit with the circumferential chute of the upper disk. A limiting rod passing through the lower disk and adjustable and lockable by threads is fixed on the lower surface of the upper disk. A sensor trigger plate is provided on the limiting rod. A closing sensor is installed on the upper part of the lower disk, and a material-in-place sensor is installed on the lower surface. An opening sensor is installed between the upper disk and the lower disk. A telescopic bracket (4) including an upper leg (404) and a lower leg (401) is fixedly connected to the upper disk. The upper leg and the lower leg form a vertical moving pair. The lower leg of the telescopic bracket is fixedly connected to the upper disk. The upper end of the actuator bracket is hinged with a linear actuator seat body, and the lower end is fixedly connected to the upper disk. A central convex ring extending downward is provided at the lower end of the upper disk, and a central depression is provided at the upper end of the lower disk. The central convex ring is inserted into the central depression to form a moving pair.

2. The circular material mechanical grasping device according to claim 1, characterized in that: The upper leg is in the shape of π. The vertical long grooves on both sides are respectively in a moving fit with the guide pins on the connecting plate. The lower part of the connecting plate is fixedly connected to the lower leg.

3. The circular material mechanical grasping device according to claim 2, wherein: The lower disk has three radially distributed radial plates. The radial plates fix the radially extending fixed arms through radial long grooves.

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