A palletizing robot on the ammonium perchlorate packaging line

Abstract

The present invention belongs to the technical field of palletizing on a packaging line and relates to a palletizing manipulator on an ammonium perchlorate packaging line. The present invention includes a mounting base and a clamping unit. Two sliding frames are symmetrically and slidably arranged at the lower end of the mounting base. A clamping plate is fixedly installed on the sliding frame, and a plurality of clamping units are installed at intervals on the clamping plate. The clamping unit includes a fixed claw and a rotating claw. The fixed claw is fixedly connected to the clamping plate, and rotating shafts are rotatably arranged at both ends of the fixed claw. A rotating claw is fixed at one end of the rotating shaft. When palletizing the packaging bags, by rotating the rotating claws, the packaging bags can be clamped in two directions, making the clamping and fixing of the packaging bags more stable and providing guarantee for smooth palletizing. Moreover, multiple rotating claws can maintain the same clamping force, avoiding the movement of ammonium perchlorate in the packaging bag caused by uneven clamping force of the rotating claws, thereby reducing the unstable palletizing situation caused by uneven distribution of ammonium perchlorate in the packaging bag and improving the palletizing quality.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing on a packaging line and relates to a palletizing robot on an ammonium perchlorate packaging line. Background Art

[0002] On the ammonium perchlorate packaging line, the packaged barrels or bags of ammonium perchlorate are palletized for easy transportation.

[0003] When the palletizing robot grabs the bagged ammonium perchlorate, since ammonium perchlorate is a white crystalline powder or granules with a certain fluidity, when the gripper grabs the bagged ammonium perchlorate, if the grabbing force is uneven or unstable, it is easy to cause the ammonium perchlorate to move in the packaging bag, resulting in uneven distribution of ammonium perchlorate in the packaging bag, which can easily cause unstable palletizing.

[0004] In order to solve the above problems, the present invention proposes a palletizing robot on an ammonium perchlorate packaging line. Summary of the Invention

[0005] In order to solve the problems existing in the background technology, the present invention proposes a palletizing robot on an ammonium perchlorate packaging line.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a palletizing robot on an ammonium perchlorate packaging line, comprising a mounting seat and a clamping unit; two sliding frames are symmetrically slidably provided at the lower end of the mounting seat, and an electric slide rail is provided at the lower end of the mounting seat, and the electric slide rail drives the two sliding frames to move closer to or away from each other; a splint is fixedly installed on the sliding frame, and a plurality of clamping units are installed on the splint at intervals, and the clamping unit includes a fixed claw and a rotating claw; the fixed claw and the rotating claw are both arc-shaped; the fixed claw is fixedly connected to the splint, and both ends of the fixed claw are rotatably provided with a rotating shaft, one end of the rotating shaft is fixed with a rotating claw, and the other end of the rotating shaft is fixed with a worm gear, the worm gear is meshed with a worm, and the worm is rotatably provided on the fixed claw, and a drive component for driving the worm to rotate is provided on the splint.

[0007] Furthermore, a countersunk hole is provided at the end of the fixing claw, the rotating shaft is rotatably arranged in the countersunk hole, and a limiting component is provided between the rotating shaft and the fixing claw.

[0008] Furthermore, the limiting assembly includes a first stopper and a second stopper, the first stopper is fixedly disposed in the countersunk hole, the second stopper is fixedly disposed on the rotating shaft, and the first stopper and the second stopper cooperate with each other.

[0009] Further, the driving assembly includes a gear and a rack. The gear is rotatably mounted at the end of the fixed claw, and the gear is coaxially and fixedly connected to the worm. The rack meshes with the gear, and the rack is arranged on the clamping plate to move up and down.

[0010] Further, a driving plate is arranged in the clamping plate to move up and down. A slideway is arranged on the driving plate, and a slider is elastically movable in the slideway. The lower end of the rack is fixedly connected to the slider, and the slider moves horizontally.

[0011] Further, an electric telescopic rod is mounted on the clamping plate, and the telescopic end of the electric telescopic rod extends into the clamping plate and is fixedly connected to the driving plate.

[0012] Further, the rotation directions of the rotating claws between adjacent clamping units on the same clamping plate are arranged in opposite directions.

[0013] Further, the tooth parts of the racks between adjacent clamping units on the same clamping plate face in opposite directions.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] When palletizing the packaging bags, by rotating the rotating claws, the packaging bags can be clamped in two directions, making the clamping and fixing of the packaging bags more stable and providing guarantee for smooth palletizing. Moreover, multiple rotating claws can maintain the same clamping force, avoiding the movement of ammonium perchlorate in the packaging bags caused by uneven clamping force of the rotating claws, thereby reducing the unstable palletizing situation caused by uneven distribution of ammonium perchlorate in the packaging bags and improving the palletizing quality.

[0016] By making the rotating claws in different states, the manipulator can not only palletize the packaging barrels but also palletize the packaging bags, thus improving the applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is in the present invention Figure 1 is an enlarged view of part A;

[0019] Figure 3 is a schematic diagram of the structure of the clamping plate in the present invention;

[0020] Figure 4 is in the present invention Figure 3 is an enlarged view of part B;

[0021] Figure 5 is a schematic diagram of the structure of the rotating claw in the present invention;

[0022] Figure 6In the present invention Figure 5 is an enlarged view of part C of the present invention;

[0023] Figure 7 is an enlarged view of the structure of the drive board in the present invention;

[0024] Figure 8 is a schematic diagram of the state when the convex side of the rotating claw in the present invention approaches the axis of the fixed claw.

[0025] In the figure: 1, mounting base; 2, electric slide rail; 3, sliding frame; 4, clamping plate; 5, fixed claw; 6, countersunk hole; 7, first stop block; 8, rotating shaft; 9, second stop block; 10, rotating claw; 11, worm gear; 12, worm; 13, gear; 14, electric telescopic rod; 15, drive board; 16, slideway; 17, slider; 18, spring; 19, rack; 20, through hole. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] As Figures 1-8 shown, the technical solution adopted by the present invention is as follows: A palletizing robot on an ammonium perchlorate packaging line includes a mounting base 1 and a clamping unit. A connecting block is installed on the upper end surface of the mounting base 1, and the mounting base 1 is connected to a robotic arm with multiple degrees of freedom through the connecting block.

[0028] Two sliding frames 3 are slidably arranged on the mounting base 1. Specifically, two electric slide rails 2 are installed at the lower end of the mounting base 1, and each electric slide rail 2 is provided with an electric slider. The two sliding frames 3 correspond to the two electric slide rails 2 one by one, and the sliding frame 3 is fixedly connected to the corresponding electric slider. The two sliding frames 3 move closer to or away from each other.

[0029] A clamping plate 4 is connected to the lower end of each sliding frame 3, and the clamping plate 4 is C-shaped. The two clamping plates 4 are symmetrically arranged. A plurality of clamping units are installed at intervals on each clamping plate 4. Each clamping unit includes a fixed claw 5 and a rotating claw 10. The fixed claw 5 is fixedly connected to the clamping plate 4. The fixed claw 5 is arc-shaped. In this embodiment, four clamping units are provided on each clamping plate 4.

[0030] Rotating claws 10 are rotatably installed at both ends of each fixed claw 5. Specifically, a counterbore 6 is formed at the end of the fixed claw 5, a rotating shaft 8 is rotatably installed in the counterbore 6, one end of the rotating shaft 8 is fixedly connected to the rotating claw 10, and the other end of the rotating shaft 8 is fixedly connected to a worm gear 11. A worm 12 is rotatably installed on the fixed claw 5, and the worm 12 meshes with the worm gear 11. When the worm 12 rotates, it drives the worm gear 11 to rotate, the rotating shaft 8 rotates, and then the rotating claw 10 rotates around the rotating shaft 8 to clamp the packaging bag. After the rotating claw 10 clamps the packaging bag, due to the self-locking property between the worm 12 and the worm gear 11, the rotating claw 10 will not accidentally rotate in the reverse direction, and thus the rotating claw 10 stably clamps the packaging bag.

[0031] As Figure 3 shown, the rotating claw 10 is arc-shaped. When the convex side of the rotating claw 10 faces away from the axis of the fixed claw 5, the axis of the rotating claw 10 and the axis of the fixed claw 5 are on the same straight line. At this time, the rotating claw 10 and the fixed claw 5 are on the same circle. When used to clamp the packaging barrel containing ammonium perchlorate, it helps to increase the contact area between the clamping unit and the packaging barrel, and thus is conducive to stably clamping and fixing the packaging barrel, providing guarantee for smooth palletizing.

[0032] A limiting component is arranged between the rotating shaft 8 and the fixed claw 5. The limiting component includes a first stop block 7 and a second stop block 9. The first stop block 7 is fixed on the inner wall of the counterbore 6. The second stop block 9 is fixed on the outer circumference of the rotating shaft 8. The first stop block 7 and the second stop block 9 are cooperatively arranged. When the axis of the rotating claw 10 and the axis of the fixed claw 5 are on the same straight line, the second stop block 9 abuts against the first stop block 7, so that the rotating shaft 8 cannot rotate further.

[0033] A driving component for driving the worm 12 to rotate is installed on the clamping plate 4. The driving component includes a gear 13 and a rack 19. The gear 13 is rotatably arranged at the end of the fixed claw 5, the gear 13 is coaxially and fixedly connected to the worm 12, and the rack 19 is installed on the clamping plate 4 to move up and down. The gear 13 meshes with the rack 19.

[0034] Two driving plates 15 are arranged to move up and down in the clamping plate 4. Electric telescopic rods 14 are installed on both the upper and lower sides of the clamping plate 4. The telescopic ends of the electric telescopic rods 14 extend into the clamping plate 4 and are fixedly connected to the corresponding driving plates 15. The electric telescopic rods 14 drive the driving plates 15 to move up and down. The two driving plates 15 move closer to or away from each other. The driving plates 15 drive the rack 19 on the same side to move.

[0035] A through hole 20 is provided at a position on the clamping plate 4 corresponding to the rack 19. One end of the rack 19 passes through the through hole 20 and extends into the clamping plate 4 to be connected to the corresponding driving plate 15. A slider 17 is fixedly connected to one end of the rack 19 close to the driving plate 15. The slider 17 is slidably arranged in a slideway 16, and the slideway 16 is fixedly connected to the driving plate 15. A spring 18 is arranged in the slideway 16. One end of the spring 18 is fixedly connected to the slider 17, and the other end of the spring 18 is fixedly connected to the slideway 16. Under the action of the spring 18, the slider 17 abuts against one end of the slideway 16, and the rack 19 meshes with the gear 13. When the gear 13 cannot rotate any further, as the rack 19 continues to move, under the action of the gear 13, the rack 19 moves away from the gear 13 against the elastic force of the spring 18, so that the rack 19 can continue to move.

[0036] In this embodiment, as Figure 3 shown, the tooth directions of the rack 19 between two adjacent clamping units on the same clamping plate 4 are opposite, so that the rotation directions of the corresponding two rotating claws 10 are opposite. When the rotating claw 10 moves close to the packaging bag and abuts against the packaging bag, the rotating claw 10 exerts a pressure perpendicular to the axis direction of the fixed claw 5 and a pressure parallel to the axis of the fixed claw 5 on the packaging bag, and the pressures exerted by two adjacent rotating claws 10 on the packaging bag in the direction parallel to the axis of the fixed claw 5 are opposite, so as to clamp and fix the packaging bag more stably.

[0037] Working principle: The mounting seat 1 is installed on the robotic arm. After the clamping unit clamps the packing barrel or the packaging bag, the robotic arm drives the packing barrel or the packaging bag to move, so as to stack the packing barrel or the packaging bag.

[0038] Initially, the rotating claw 10 and the fixed claw 5 are on the same circumference, and the axis of the rotating claw 10 and the axis of the fixed claw 5 are on the same straight line. The first stop block 7 and the second stop block 9 are in contact. At this time, it is used to clamp the packing barrel. Under the action of the spring 18, the rack 19 abuts against one end of the slideway 16, and the rack 19 meshes with the corresponding gear 13.

[0039] When in use, when the packing barrel moves below the mounting seat 1, the robotic arm drives the mounting seat 1 to move downwards so that the packing barrel is located between the two clamping plates 4. The two rotating claws 10 on the clamping unit are respectively arranged on both sides of the packing barrel. Then, the two sliding frames 3 are moved closer to each other through the electric slide rail 2, so that the clamping unit moves close to the packing barrel, and the clamping unit clamps and fixes the packing barrel. Then, the robotic arm drives the packing barrel to move to stack the packing barrel. Since the rotating claw 10 and the fixed claw 5 are coaxial at this time, it helps to increase the clamping area and improve the stability of the packing barrel, so that the robotic arm can smoothly move it and stack it.

[0040] When palletizing bags containing ammonium perchlorate, the bags are moved below mounting base 1, which is then lowered by a robotic arm, positioning the bags between two clamping plates 4. Two rotating claws 10 on the clamping unit are positioned on either side of the bag. The two sliding frames 3 are then brought closer together by an electric slide 2, gradually bringing the clamping unit closer to the bag, forcing the fixed claws 5 to rest against it.

[0041] The electric telescopic rod 14 is then activated, driving the drive plate 15, which in turn moves the rack 19 into the clamping plate 4. The rack 19 then rotates the gear 13, which in turn rotates the worm 12, which in turn rotates the worm gear 11, which in turn rotates the shaft 8, causing the claw 10 to rotate about the axis of the shaft 8. This causes the convex side of the claw 10 to move toward the packaging bag. When the claw 10 abuts the bag, it squeezes it, while the bag resists its movement. Because of the bag's resistance, if some claws 10 are unable to rotate around the shaft 8, the corresponding gear 13 cannot rotate. As the rack 19 continues to move into the clamping plate 4, the gear 13 forces the corresponding rack 19 to overcome the resistance of the spring 18 and move away from the gear 13, allowing the drive plate 15 to continue moving toward the center of the clamping plate 4. This allows the remaining claws 10 to continue rotating, clamping the bag. Due to the self-locking property between the worm wheel 11 and the worm 12 , the worm wheel 11 cannot drive the worm 12 to move, so that the rotating claw 10 will not rotate accidentally, thereby ensuring the stability of the clamping unit clamping the packaging bag.

[0042] The clamping forces of the multiple rotating claws 10 on the packaging bag are made equal, thereby avoiding the movement of ammonium perchlorate in the packaging bag due to uneven clamping forces of the rotating claws 10, thereby reducing the unstable palletizing caused by uneven distribution of ammonium perchlorate in the packaging bag and improving the palletizing quality.

[0043] It should be noted that when one of the claws 10 is unable to rotate due to obstruction by the bag, the ammonium perchlorate is relatively uniformly distributed within the bag, so the other claws 10 are unlikely to need to rotate significantly further to secure the bag. Therefore, when one of the claws 10 is unable to rotate due to obstruction by the bag, a relatively small movement of the drive plate 15 will allow all of the claws 10 to secure the bag. Furthermore, since the slider 17 is elastically disposed within the slideway 16, wear on the rack 19 and gear 13 is within normal limits.

[0044] When the rotating claw 10 clamps the packaging bag, since the axis of the rotating claw 10 and the axis of the fixed claw 5 have a certain angle, the rotating claw 10 not only has a squeezing force on the packaging bag perpendicular to the packaging bag, that is, a squeezing force in the direction perpendicular to the axis of the fixed claw 5, but also has a squeezing force in the horizontal direction, that is, a squeezing force in the direction parallel to the axis of the fixed claw 5.

[0045] Since the rotation directions of the rotating claws 10 between adjacent clamping units are opposite, the squeezing forces of the rotating claws 10 on the packaging bag in the horizontal direction between adjacent clamping units are opposite, which is conducive to more stable clamping and fixing of the packaging bag, providing guarantee for smooth palletizing.

[0046] When it is necessary to release the clamping of the packaging bag, the electric telescopic rod 14 is started, so that the two drive plates 15 in the same clamping plate 4 move away from each other, and the rack 19 moves out of the clamping plate 4. The rack 19 drives the gear 13 to rotate, so that the rotating claw 10 rotates in the reverse direction until the rotating claw 10 is reset, that is, the axis of the rotating claw 10 and the axis of the fixed claw 5 are on the same axis, and the corresponding first stop block 7 and the second stop block 9 are in contact. If there is still a rotating claw 10 that has not been reset at this time, then the electric telescopic rod 14 continues to shorten, the drive plate 15 continues to move, and the rack 19 continues to move out of the clamping plate 4. Then, due to the contact between the first stop block 7 and the second stop block 9 corresponding to the rotating claw 10 that has been reset, the corresponding rotating shaft 8 cannot continue to rotate, and the corresponding gear 13 cannot continue to rotate. Under the action of the corresponding gear 13, the corresponding rack 19 moves away from the gear 13 against the elastic force of the spring 18, so that the drive plate 15 continues to move, so that the rotating claw 10 that has not been reset can continue to rotate until all the rotating claws 10 are reset, that is, return to the initial state. After all the rotating claws 10 return to the initial state, the rack 19 meshes with the gear 13 under the action of the spring 18.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A palletizing manipulator on an ammonium perchlorate packaging line, characterized in that: It includes a mounting base (1) and a clamping unit; two sliding frames (3) are symmetrically and slidably arranged at the lower end of the mounting base (1), an electric slide rail (2) is arranged at the lower end of the mounting base (1), and the electric slide rail (2) drives the two sliding frames (3) to move closer to or away from each other; a clamping plate (4) is fixedly installed on the sliding frame (3), and a plurality of clamping units are spacedly installed on the clamping plate (4), and the clamping unit includes a fixed claw (5) and a rotating claw (10); both the fixed claw (5) and the rotating claw (10) are arc-shaped; the fixed claw (5) is fixedly connected to the clamping plate (4), rotating shafts (8) are rotatably arranged at both ends of the fixed claw (5), a rotating claw (10) is fixed at one end of the rotating shaft (8), a worm gear (11) is fixed at the other end of the rotating shaft (8), the worm gear (11) meshes with a worm (12), the worm (12) is rotatably arranged on the fixed claw (5), and a driving component for driving the worm (12) to rotate is arranged on the clamping plate (4). The driving component includes a gear (13) and a rack (19), the gear (13) is rotatably installed at the end of the fixed claw (5) and the gear (13) is coaxially and fixedly connected to the worm (12), the rack (19) meshes with the gear (13), and the rack (19) is arranged to move up and down on the clamping plate (4). A driving plate (15) is arranged to move up and down in the clamping plate (4), a slideway (16) is arranged on the driving plate (15), a slider (17) is elastically movable in the slideway (16), the lower end of the rack (19) is fixedly connected to the slider (17), and the slider (17) moves horizontally; a spring (18) is arranged in the slideway (16), one end of the spring (18) is fixedly connected to the slider (17), and the other end of the spring (18) is fixedly connected to the slideway (16). After the rotating claw (10) abuts against the packaging bag, the packaging bag is squeezed, and at the same time, the movement of the rotating claw (10) is resisted by the packaging bag; under the blocking action of the packaging bag, when some rotating claws (10) cannot continue to rotate around the rotating shaft (8), the corresponding gear (13) cannot continue to rotate; as the rack (19) continues to move into the clamping plate (4), under the action of the gear (13), the corresponding rack (19) moves away from the gear (13) against the resistance of the spring (18), so that the driving plate (15) can continue to move towards the middle of the clamping plate (4), and further enables other rotating claws (10) to continue to rotate and clamp the packaging bag.

2. The palletizing robot on the ammonium perchlorate packaging line according to claim 1, characterized in that: A counterbore (6) is formed at the end of the fixed claw (5), the rotating shaft (8) is rotatably arranged in the counterbore (6), and a limiting component is arranged between the rotating shaft (8) and the fixed claw (5).

3. The palletizing manipulator on the ammonium perchlorate packaging line according to claim 2, characterized in that: The limiting component includes a first stop block (7) and a second stop block (9), the first stop block (7) is fixedly arranged in the counterbore (6), the second stop block (9) is fixedly arranged on the rotating shaft (8), and the first stop block (7) and the second stop block (9) cooperate with each other.

4. The palletizing robot on the ammonium perchlorate packaging line according to claim 1, wherein: An electric telescopic rod (14) is installed on the clamping plate (4), and the telescopic end of the electric telescopic rod (14) extends into the clamping plate (4) and is fixedly connected to the driving plate (15).

5. The palletizing robot on the ammonium perchlorate packaging line according to claim 1, wherein: The rotation directions of the rotating claws (10) between adjacent clamping units on the same clamping plate (4) are set to be opposite.

6. The palletizing robot on the ammonium perchlorate packaging line according to claim 4, characterized in that: The tooth parts of the racks (19) between adjacent clamping units on the same clamping plate (4) face in opposite directions.

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