Mechanical claw for sorting

Abstract

The invention relates to a mechanical gripper for sorting, and belongs to the technical field of special operation robots, the mechanical gripper for sorting comprises a total mounting plate, the total mounting plate is fixedly connected with the special operation robot, a turnover plate is hinged to the lower portion of the total mounting plate, and a rotating plate lead screw assembly is mounted below the total mounting plate; an opening and closing lead screw assembly and a clamping jaw assembly are installed below the overturning plate. A bag breaking assembly is hinged to one side of the overturning plate, and a bag breaking air cylinder is installed at the top of the overturning plate. The clamping jaw assembly is adjusted to be opened and closed to a proper size through the opening and closing lead screw assembly, a garbage bag is clamped by the clamping jaw assembly, then the garbage bag is subjected to opening breaking treatment through the bag breaking assembly, finally, the turning plate lead screw assembly drives the turning plate to rotate, garbage in the garbage bag is poured out, and bag opening is completed. According to the garbage sorting device, garbage in the fastened closed garbage bag can be detached, so that further sorting treatment of the garbage is facilitated, the garbage sorting efficiency is improved, and the garbage sorting effect is improved; the device is compact in structure, convenient to use and high in automation degree.

Description

Technical Field

[0001] The present invention relates to a mechanical claw for sorting, belonging to the technical field of special operation robots. Background Art

[0002] Special operation robots refer to robots that can perform tasks in specific environments with certain risks, complexities, or great difficulties for humans. The mechanical claw for sorting is an important execution component of special operation robots and is used to grab and transport items to be sorted.

[0003] At the present stage, there are many complex factors in the garbage sorting environment, such as complex and diverse garbage components, possible harmful pollutants, and dirty and messy working environments. Therefore, garbage sorting work is usually completed by special operation robots, which can adapt to special environments and efficiently and accurately complete garbage sorting tasks, classify different types of garbage, and replace humans to engage in this relatively arduous and potentially risky work.

[0004] Since garbage classification has not been fully popularized and garbage components are complex and diverse, especially domestic garbage, usually multiple types of domestic garbage are contained in the same plastic garbage bag, and the garbage in the plastic garbage bag needs to be further taken out. However, the existing sorting mechanical claws only have the ability to grab and cannot handle the tied closed plastic garbage bags, resulting in poor garbage sorting effects. Summary of the Invention

[0005] According to the above deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide a mechanical claw for sorting, which is installed at the execution end of a special operation robot and is used to take out the garbage in the tied closed garbage bag, so as to facilitate the further sorting and processing of garbage, improve the garbage sorting efficiency, and improve the garbage sorting effect.

[0006] The mechanical claw for sorting described in the present invention is installed at the execution end of a special operation robot and includes a general mounting plate, which is fixedly connected to the special operation robot. A turning plate is hinged below the general mounting plate, and a turning plate lead screw assembly is installed below the general mounting plate. The turning plate lead screw assembly can drive the turning plate to rotate; an opening and closing lead screw assembly and a jaw assembly are installed below the turning plate. The jaw assembly is driven by the opening and closing lead screw assembly to complete opening and closing; a bag-breaking assembly is hinged on one side of the turning plate, and a bag-breaking cylinder is installed on the top of the turning plate. The bag-breaking cylinder can drive the bag-breaking assembly to rotate to make a break in the closed garbage bag, so as to take out the garbage in the garbage bag.

[0007] The technical solution of the present invention is to provide a mechanical claw for sorting. When a sealed garbage bag is detected, the clamping jaw assembly is adjusted to an appropriate size by the opening and closing lead screw assembly, the garbage bag is clamped by the clamping jaw assembly, then the garbage bag is broken by the bag-breaking assembly, and finally the turning plate is driven to rotate by the turning plate lead screw assembly to pour out the garbage in the garbage bag, completing the bag opening.

[0008] Preferably, the total mounting plate is rotatably connected to the turning plate through a connecting shaft; the turning plate lead screw assembly includes a turning plate lead screw and a turning plate motor. The turning plate lead screw is in transmission connection with a turning plate nut seat. There are large connecting rods on both sides of the turning plate nut seat. The turning plate nut seat is rotatably connected to the turning plate through the large connecting rods; the turning plate motor drives the turning plate nut seat to move through the turning plate lead screw, thereby driving the turning plate to rotate around the connecting shaft.

[0009] Preferably, the bag-breaking assembly includes a bag-breaking rod, a bag-breaking cutter and a bag-breaking cylinder; the bag-breaking cylinder is fixed to the top of the turning plate, and the first end of the bag-breaking cylinder is movably connected to the upper end of the bag-breaking rod; the bag-breaking cutter is hinged to the bag-breaking rod. There is a connecting ear on the side of the turning plate far from the connecting shaft, and the turning plate is hinged to the bag-breaking rod through the connecting ear.

[0010] Preferably, a floating joint is installed at the first end of the bag-breaking cylinder, and the floating joint is rotatably connected to the upper end of the bag-breaking rod through an adapter seat.

[0011] Furthermore, the bag-breaking rod is of a hollow structure. The bag-breaking rod includes a short rod and a long rod, and the short rod and the long rod are connected in an L shape; a cone is provided at the first end of the short rod to facilitate piercing into the garbage bag; a spreading cylinder is fixed at the corner of the bag-breaking rod, and a spreading seat is installed at the first end of the spreading cylinder. The spreading seat is movably arranged in the short rod of the bag-breaking rod.

[0012] Furthermore, the number of the bag-breaking cutters is multiple, and each bag-breaking cutter is evenly distributed around the short rod; one end of the bag-breaking cutter is hinged to the short rod, and the central part of the bag-breaking cutter is hinged to the spreading seat through a small connecting rod; when the spreading cylinder drives the spreading seat to move, the spreading seat drives the bag-breaking cutter to rotate through the small connecting rod, thereby causing each bag-breaking cutter to spread outwards or close inwards; activity notches for the small connecting rod to move are processed around the short rod.

[0013] Preferably, the opening and closing lead screw assembly includes a forward lead screw and a reverse lead screw. The forward lead screw and the reverse lead screw are connected by a coupling. One end of the forward lead screw is in transmission connection with an opening and closing motor through a belt pulley and a belt; the forward lead screw is in transmission connection with a forward nut seat, and the reverse lead screw is in transmission connection with a reverse nut seat; when the opening and closing motor drives the forward lead screw and the reverse lead screw to rotate, the forward nut seat and the reverse nut seat move in opposite directions respectively.

[0014] Preferably, the jaw assembly includes a jaw mounting base, on which a plurality of jaws are fixed. The jaw mounting base is slidably connected to the turning plate through a guide rail slider assembly; the number of the jaw mounting bases is two, one is fixedly connected to the forward lead screw nut seat, and the other is fixedly connected to the reverse lead screw nut seat; the jaw mounting base is provided with a support plate to prevent the jaws from vibrating during movement.

[0015] Preferably, an extension blade is welded to the side rib part of the short rod. The extension blade extends outward along the diagonal direction of the cross section of the short rod, and the extension blade can be used to increase the opening of the garbage bag to facilitate the removal of garbage.

[0016] The beneficial effects of the present invention compared with the prior art are as follows:

[0017] For the mechanical claw for sorting of the present invention, the opening and closing of the jaw assembly is adjusted to a suitable size through the opening and closing lead screw assembly, the garbage bag is clamped by the jaw assembly, then the garbage bag is broken by the bag breaking assembly, and finally the turning plate is driven to rotate by the turning plate lead screw assembly to pour out the garbage in the garbage bag, completing the bag breaking; the present invention can remove the garbage in the closed garbage bag with a tie, which is beneficial to the further sorting treatment of garbage, improves the garbage sorting efficiency, and improves the garbage sorting effect; the present invention has a compact structure, is easy to use, and has a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the state when the present invention is in use;

[0019] Figure 2 is one of the schematic structural diagrams of the present invention;

[0020] Figure 3 is another schematic structural diagram of the present invention;

[0021] Figure 4 is the third schematic structural diagram of the present invention;

[0022] Figure 5 is the schematic structural diagram of the bag breaking assembly;

[0023] Figure 6 is the three-dimensional view of the bag breaking rod;

[0024] Figure 7 is the three-dimensional view of the turning plate;

[0025] Figure 8 is the three-dimensional view of the jaw mounting base.

[0026] In the figure: 1, the main mounting plate; 11, the connecting shaft; 2, the flip plate; 21, the guide rail slider assembly; 22, the connecting ear; 3, the clamping jaw assembly; 31, the clamping jaw mounting base; 311, the support plate; 32, the clamping jaw; 4, the bag breaking assembly; 41, the bag breaking cylinder; 411, the floating joint; 412, the adapter; 42, the bag breaking rod; 421, the long rod; 422, the short rod; 4221, the cone; 4222, the extended blade; 4 223. Movable slot; 43. Opening cylinder; 44. Bag-breaking cutter; 45. Small connecting rod; 46. Opening seat; 5. Special operation robot; 6. Turntable screw assembly; 61. Turntable motor; 62. Turntable screw; 63. Turntable nut seat; 64. Large connecting rod; 7. Opening and closing screw assembly; 71. Opening and closing motor; 72. Forward screw; 73. Reverse screw; 74. Reverse nut seat; 75. Forward nut seat. DETAILED DESCRIPTION

[0027] The present invention is further described below with reference to specific embodiments.

[0028] However, the description of the present invention is merely an embodiment of structural and even functional description, and the scope of rights of the present invention is not limited by the embodiments described herein.

[0029] For example, multiple embodiments may have various modifications and various forms, and it should be understood that the scope of rights of the present invention includes equivalents that can implement the technical concept.

[0030] like Figures 1 to 8 As shown, this embodiment is implemented through the following technical solutions: the sorting mechanical claw described in this embodiment is installed on the execution end of the special operation robot 5, including a general mounting plate 1, the general mounting plate 1 is fixedly connected to the special operation robot 5, and a flip plate 2 is hinged under the general mounting plate 1, and a rotating plate screw assembly 6 is installed under the general mounting plate 1, and the rotating plate screw assembly 6 can drive the flip plate 2 to rotate; an opening and closing screw assembly 7 and a clamping claw assembly 3 are installed under the flip plate 2, and the clamping claw assembly 3 is driven by the opening and closing screw assembly 7 to complete the opening and closing; a bag breaking assembly 4 is hinged on one side of the flip plate 2, and a bag breaking cylinder 41 is installed on the top of the flip plate 2, and the bag breaking cylinder 41 can drive the bag breaking assembly 4 to rotate, so as to break the closed garbage bag, thereby removing the garbage in the garbage bag.

[0031] In this embodiment, the general mounting plate 1 is rotationally connected to the flip plate 2 through the connecting shaft 11; the turn plate screw assembly 6 includes a turn plate screw 62 and a turn plate motor 61, the turn plate screw 62 is transmission-connected to the turn plate nut seat 63, large connecting rods 64 are provided on both sides of the turn plate nut seat 63, and the turn plate nut seat 63 is rotationally connected to the flip plate 2 through the large connecting rod 64; the turn plate motor 61 drives the turn plate nut seat 63 to move through the turn plate screw 62, thereby driving the flip plate 2 to rotate around the connecting shaft 11.

[0032] The described bag-breaking assembly 4 includes a bag-breaking rod 42, a bag-breaking cutter 44, and a bag-breaking cylinder 41; the bag-breaking cylinder 41 is fixed to the top of the flipping plate 2, and the head end of the bag-breaking cylinder 41 is movably connected to the upper end of the bag-breaking rod 42; the bag-breaking cutter 44 is hinged to the bag-breaking rod 42; on one side of the flipping plate 2 away from the connecting shaft 11, there is a connecting ear 22, and the flipping plate 2 is hinged to the bag-breaking rod 42 through the connecting ear 22. A floating joint 411 is installed at the head end of the bag-breaking cylinder 41, and the floating joint 411 is rotatably connected to the upper end of the bag-breaking rod 42 through an adapter seat 412. The bag-breaking rod 42 is of a hollow structure and includes a short rod 422 and a long rod 421, and the short rod 422 and the long rod 421 are connected in an L shape; a cone 4221 is provided at the head end of the short rod 422 to facilitate piercing into the garbage bag; a spreading cylinder 43 is fixed at the corner of the bag-breaking rod 42, and a spreading seat 46 is installed at the head end of the spreading cylinder 43, and the spreading seat 46 is movably arranged in the short rod 422.

[0033] The number of the bag-breaking cutters 44 is four, and each bag-breaking cutter is evenly distributed around the short rod 422. One end of the bag-breaking cutter 44 is hinged to the short rod 422, and the central part of the bag-breaking cutter 44 is hinged to the spreading seat 46 through a small connecting rod 45; when the spreading cylinder 43 drives the spreading seat 46 to move, the spreading seat 46 drives the bag-breaking cutter 44 to rotate through the small connecting rod 45, so that each bag-breaking cutter 44 spreads outwards or closes inwards; an activity notch 4223 for the movement of the small connecting rod 45 is machined around the short rod 422; a lengthened blade 4222 is welded at the side edge part of the short rod 422, and the lengthened blade 4222 extends outwards along the diagonal direction of the cross section of the short rod 422, which can be used to increase the opening of the garbage bag to facilitate the removal of the garbage.

[0034] The described opening and closing lead screw assembly 7 includes a forward lead screw 72 and a reverse lead screw 73. The forward lead screw 72 and the reverse lead screw 73 are connected by a coupling. One end of the forward lead screw 72 is connected to an opening and closing motor 71 through a belt pulley and a belt; the forward lead screw 72 is connected to a forward lead screw nut seat 75 in a transmission manner, and the reverse lead screw 73 is connected to a reverse lead screw nut seat 74 in a transmission manner; when the opening and closing motor 71 drives the forward lead screw 72 and the reverse lead screw 73 to rotate, the forward lead screw nut seat 75 and the reverse lead screw nut seat 74 move in opposite directions respectively.

[0035] The described jaw assembly 3 includes a jaw mounting seat 31. Two sets of jaws 32 are fixed on each side of the jaw mounting seat 31, and the two sets of jaws are distributed up and down. The jaw mounting seat 31 is slidably connected to the flipping plate 2 through a guide rail slider assembly 21; the number of the jaw mounting seats 31 is two. One is fixedly connected to the forward lead screw nut seat 75, and the other is fixedly connected to the reverse lead screw nut seat 74; a support plate 311 is provided on the jaw mounting seat 31 to prevent the jaws from vibrating during movement.

[0036] The working process of the present invention is as follows:

[0037] 1. Various types of garbage are transported to the garbage sorting area via a conveyor belt. When the vision system detects a closed garbage bag, the special operation robot 5 is activated, moving the sorting mechanical claw near the garbage bag. The opening and closing motor 71 is activated, and the jaw assembly 3 is adjusted to the appropriate size by opening and closing the screw assembly 7.

[0038] 2. Eight sets of grippers move synchronously to clamp eight positions of the garbage bag and pick up the garbage bag;

[0039] 3. The bag breaking cylinder 41 is pushed out, causing the bag breaking rod 42 to swing, and the short rod 422 is completely inserted into the closed garbage bag. During the insertion process, the extended blade 4222 performs a preliminary cut along the diagonal direction of the short rod cross section, thereby initially expanding the break;

[0040] 4. The opening cylinder 43 is pushed out, and the bag-breaking cutter 44 is opened inside the garbage bag. At this time, the bag-breaking cylinder 41 is retracted, and the short rod 422 is pulled out of the garbage bag. The garbage bag is then cut a second time by the bag-breaking cutter 44 to further expand the opening.

[0041] 5. The turn plate motor 61 is activated, driving the flip plate 2 to rotate through the turn plate lead screw assembly 6, pouring out the garbage in the garbage bag, and completing the garbage bag unpacking.

[0042] Of course, the above contents are only preferred embodiments of the present invention and should not be considered as limiting the scope of the embodiments of the present invention. The present invention is not limited to the above examples. Equivalent changes and improvements made by ordinary technicians in this technical field within the essential scope of the present invention should all fall within the scope of the patent of the present invention.

Claims

1. A mechanical claw for sorting, characterized in that, It includes a general mounting plate (1), which is fixedly connected to a special operation robot (5). A turning plate (2) is hinged below the general mounting plate (1), and a turning plate lead screw assembly (6) is installed below the general mounting plate (1); a clamping lead screw assembly (7) and a jaw assembly (3) are installed below the turning plate (2); a bag-breaking assembly (4) is hinged on one side of the turning plate (2). The said bag-breaking assembly (4) includes a bag-breaking rod (42), a bag-breaking cutter (44) and a bag-breaking cylinder (41); the bag-breaking cylinder (41) is fixed to the top of the turning plate (2), and the head end of the bag-breaking cylinder (41) is movably connected to the upper end of the bag-breaking rod (42); the bag-breaking cutter (44) is hinged to the bag-breaking rod (42).

2. The mechanical claw for sorting according to claim 1, wherein The said general mounting plate (1) is rotationally connected to the turning plate (2) through a connecting shaft (11); the said turning plate lead screw assembly (6) includes a turning plate lead screw (62) and a turning plate motor (61), the turning plate lead screw (62) is drivingly connected to a turning plate lead screw nut seat (63), large connecting rods (64) are arranged on both sides of the turning plate lead screw nut seat (63), and the turning plate lead screw nut seat (63) is rotationally connected to the turning plate (2) through the large connecting rods (64).

3. The mechanical claw for sorting according to claim 2, wherein, A connecting ear (22) is arranged on one side of the turning plate (2) far from the connecting shaft (11), and the turning plate (2) is hinged to the bag-breaking rod (42) through the connecting ear (22).

4. The mechanical claw for sorting according to claim 1, characterized in that, A floating joint (411) is installed at the head end of the bag-breaking cylinder (41), and the floating joint (411) is rotationally connected to the upper end of the bag-breaking rod (42) through an adapter seat (412).

5. The mechanical claw for sorting according to claim 4, characterized in that The said bag-breaking rod (42) is of a hollow structure, and the bag-breaking rod (42) includes a short rod (422) and a long rod (421), and the short rod (422) and the long rod (421) are connected in an L shape.

6. The mechanical claw for sorting according to claim 5, characterized in that, An extended blade (4222) is welded at the side rib part of the short rod (422), and the extended blade (4222) extends outward along the diagonal direction of the cross section of the short rod (422).

7. The mechanical claw for sorting according to claim 1, characterized in that, The said clamping lead screw assembly (7) includes a forward lead screw (72) and a reverse lead screw (73), the forward lead screw (72) and the reverse lead screw (73) are connected through a coupling, and one end of the forward lead screw (72) is drivingly connected to a clamping motor (71) through a pulley and a belt; the forward lead screw (72) is drivingly connected to a forward lead screw nut seat (75), and the reverse lead screw (73) is drivingly connected to a reverse lead screw nut seat (74).

8. The mechanical claw for sorting according to claim 7, characterized in that, The said jaw assembly (3) includes a jaw mounting seat (31), a plurality of jaws (32) are fixed on the jaw mounting seat (31), and the jaw mounting seat (31) is slidably connected to the turning plate (2) through a guide rail slider assembly (21); the number of the said jaw mounting seats (31) is two, one is fixedly connected to the forward lead screw nut seat (75), and the other is fixedly connected to the reverse lead screw nut seat (74); a support plate (311) is provided on the said jaw mounting seat (31).

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