Activated carbon processing storage unit clamping and transferring device and process thereof

Abstract

The invention relates to the technical field of activated carbon processing, in particular to a storage unit clamping and transferring device for activated carbon processing, and the storage unit clamping and transferring device comprises a main manipulator, a supporting assembly is mounted on the main manipulator, and a shape-adjustable clamping assembly is mounted on the supporting assembly. Clamping work is conducted through the shape-adjustable clamping assembly, the shape-adjustable clamping assembly is provided with the size-adjustable clamping assembly, the size-adjustable clamping assembly adapts to different sizes of the storage units, the supporting assembly is provided with the first driving assembly, and the second driving assembly is provided with the second driving assembly. The shape-adjustable clamping assembly can be driven through the first driving assembly, meanwhile, the shape-adjustable clamping assembly can be locked, the invention further relates to a conversion technology of the storage unit clamping and transferring device for activated carbon processing, and the conversion technology comprises the following steps that firstly, the shape of the clamping plate is converted; secondly, a conversion gear is fixed; and thirdly, the size of the clamping plate is converted.

Description

Technical Field

[0001] This invention relates to the field of activated carbon processing technology, specifically to a storage unit clamping and transfer device and its process for activated carbon processing. Background Technology

[0002] Activated carbon needs to be repackaged and transferred during production and processing. This is usually done using industrial robots. The robotic arms hold and transport the containers containing the activated carbon. However, different repackaging containers are used depending on market demand. These containers vary in size and shape, and are mostly cylindrical or rectangular. Existing robotic arms cannot be adjusted to accommodate the size and shape of the containers, resulting in poor adaptability. Summary of the Invention

[0003] The purpose of this invention is to provide a storage unit clamping and transfer device and process for activated carbon processing, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A storage unit clamping and transfer device for activated carbon processing includes a main manipulator, on which a support assembly is mounted, and on which a shape-adjustable clamping assembly is mounted, for clamping operations. The shape-adjustable clamping assembly is equipped with a size-adjustable clamping assembly, which can adapt to different sizes of the storage unit by changing the size of the clamping assembly; The support component is equipped with a first drive component, which can drive the shape-adjustable clamping component and lock the shape-adjustable clamping component. The support component is also equipped with a second drive component, which can drive the size-adjustable clamping component to move.

[0005] Preferably, the support assembly includes hydraulic rods and support robotic arms, with two support robotic arms respectively mounted on the main robotic arm.

[0006] Preferably, the supporting robotic arm is movably connected to a hydraulic rod, and the hydraulic rod drives the supporting robotic arm to move.

[0007] Preferably, the shape-adjustable clamping assembly includes a conversion gear and a movable positioning plate. The conversion gear is installed at the end of the supporting robotic arm, and a first clamping robotic arm is fixedly mounted on the conversion gear.

[0008] Preferably, a first arc-shaped clamping plate is fixedly provided at one end of the first clamping robotic arm, and a first square clamping plate is fixedly provided at the other end.

[0009] Preferably, the movable locking plate is located below the conversion gear, and the conversion gear is positioned and locked by the movable locking plate.

[0010] Preferably, the size-adjustable clamping assembly includes a second clamping robotic arm and a driving block, wherein a second arc-shaped clamping plate is fixedly disposed at one end of the second clamping robotic arm and a second square clamping plate is fixedly disposed at the other end.

[0011] Preferably, the second gripping robotic arm is connected to the drive block, and the second drive assembly drives the second gripping robotic arm to move through the drive block.

[0012] Preferably, the first driving component includes an L-shaped carrier bar, a first threaded carrier rod, and a second threaded carrier rod. The L-shaped carrier bar moves via the first threaded carrier rod and can support and limit the movable locking plate. The second threaded carrier rod can fix the L-shaped carrier bar.

[0013] Preferably, the second driving component includes a driving support plate and a movable mating plate. The driving support plate moves via a second threaded rod, and the driving support plate and the movable mating plate are movably connected to drive the block to move.

[0014] A conversion process for a storage unit clamping and transfer device for activated carbon processing includes the following steps: Step 1: Change of clamping plate shape: Rotate the first threaded carrier rod to move the L-shaped carrier bar, which in turn drives the conversion gear to rotate, thereby changing the shape of the clamping plate; Step 2: Fixing the conversion gear: After the shape of the clamping plate is changed, rotate the second threaded rod to fix the L-shaped carrier bar, thereby ensuring the stability of the conversion gear; Step 3: Clamping plate size conversion: When it is necessary to convert the clamping plate size, further rotating the second threaded rod will drive the drive bearing plate to move, thereby driving the second clamping robotic arm to move downwards, completing the size conversion.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the present invention has a reasonable structural design and strong functionality, and has the following advantages: 1. When it is necessary to clamp storage containers of different shapes, the first threaded carrier rod can be rotated to drive the L-shaped carrier bar to move. Then, under the action of the drive mating teeth, the conversion gear can be driven to rotate, thereby changing the shape of the clamping plate to adapt to storage containers of different shapes. The operation is simple, convenient and quick.

[0016] 2. When the L-shaped carrier bar moves, the movable locking plate can be released, which unlocks the conversion gear. This allows the drive gear to rotate the conversion gear and smoothly change the shape of the clamping plate. After the conversion gear has rotated, the L-shaped carrier bar can fix the movable locking plate again, thus fixing the conversion gear and ensuring its stability during use.

[0017] 3. In addition, when it is necessary to adjust the size of the clamping plate, rotating the second threaded rod can drive the drive bearing plate to move upward. As the drive bearing plate moves upward, it will drive the moving cooperating plate to move, which in turn can drive the carrier block to move. Under the action of the carrier block, the second clamping robot arm can be driven to move downward. In this way, clamping plates of different sizes can be used, making it more adaptable. Attached Figure Description

[0018] Figure 1 A first-person perspective diagram of the main robotic arm assembly.

[0019] Figure 2 for Figure 1 Enlarged diagram of point A in the middle.

[0020] Figure 3 A second-view diagram of the main robotic arm assembly.

[0021] Figure 4 This is a schematic diagram of the assembly of the robotic arm and the L-shaped carrier.

[0022] Figure 5 for Figure 4 Enlarged diagram of point B in the middle.

[0023] Figure 6 This is a schematic diagram of the assembly of the L-shaped carrier bar.

[0024] Figure 7 This is a schematic diagram of the assembly of the drive bearing strip.

[0025] Figure 8 A first-person view of the gear assembly.

[0026] Figure 9 A second-view schematic diagram of the gear assembly.

[0027] In the diagram: 1. Main robotic arm; 11. Mating hand plate; 12. Support arm plate; 13. Bearing mechanical rod; 14. Hydraulic rod; 15. Drive connecting plate; 16. Drive connecting arm; 2. Supporting robotic arm; 21. Supporting protruding rod; 22. Assembly loading hole; 23. Moving guide hole; 24. Lower protruding bearing plate; 25. First threaded hole; 26. Side bearing arm plate; 27. Mating guide hole; 28. Upper bearing block; 281. Support channel; 29. ​​Side bearing block; 291. Side bearing column; 3. L-shaped carrier bar; 31. Carrying groove; 32. Second threaded hole; 33. First linkage rod; 34. First linkage channel; 35. Support driving rod; 36. Drive mating carrier bar; 37. Drive mating tooth; 38. Support limiting bar; 4. First threaded carrier rod; 41. Mating carrying block; 5. Second threaded carrier rod; 6. Drive bearing plate strip; 61. Mating top 62. Second linkage rod; 63. Second linkage channel; 64. Matching limiting rod; 65. Top connecting hole; 66. Drive bending strip; 67. First matching mechanical rod; 7. Moving matching plate; 71. Moving matching hole; 8. Conversion gear; 81. Conversion shaft; 82. Matching bearing; 83. Positioning lock groove; 84. First clamping mechanical arm; 85. Bearing rod; 86. First arc-shaped clamping plate; 87. First square clamping plate; 88. Mounting upright; 89. Matching top plate; 90. Second clamping mechanical arm; 91. Second arc-shaped clamping plate; 92. Second square clamping plate; 93. Matching through hole; 94. Matching spring; 95. Second matching mechanical rod; 96. Driven carrier block; 97. Movable matching hole; 98. Matching plumb bob; 10. Movable locking plate; 101. Connecting through hole; 102. Connecting spring; 103. Arc-shaped locking strip. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] This invention provides a technical solution: like Figure 1 and Figure 3As shown, a storage unit clamping and transfer device for activated carbon processing includes a main manipulator 1, a support assembly mounted on the main manipulator 1, a shape-adjustable clamping assembly mounted on the support assembly, and a size-adjustable clamping assembly mounted on the shape-adjustable clamping assembly to adapt to different sizes of the storage unit. A first drive assembly is mounted on the support assembly to drive and lock the shape-adjustable clamping assembly. A second drive assembly is also mounted on the support assembly to move the size-adjustable clamping assembly.

[0030] The lower end of the main manipulator 1 is equipped with a mating hand plate 11. Support arm plates 12 are symmetrically fixed on the mating hand plate 11. A load-bearing mechanical rod 13 is fixed between the support arm plates 12. A hydraulic rod 14 is fixedly installed on the mating hand plate 11. A drive connecting plate 15 is fixedly installed on the hydraulic rod 14. A drive connecting arm 16 is symmetrically hinged on the drive connecting plate 15.

[0031] like Figure 3 and Figure 4 As shown, the support assembly includes a hydraulic rod 14 and two support robotic arms 2, each mounted on the main robotic arm 1. The support robotic arms 2 are movably connected to the hydraulic rod 14, and the hydraulic rod 14 drives the support robotic arms 2 to move. The lower end of the drive arm 16 is hinged to the support robotic arm 2. A support protrusion 21 is fixedly provided at one end of the support robotic arm 2. An assembly hole 22 is provided at the end of the support robotic arm 2 near the support protrusion 21, and a moving guide hole 23 is provided at the other end of the support robotic arm 2. A load-bearing device is inserted into the moving guide hole 23. A lower convex bearing plate 24 is fixedly installed on the supporting mechanical arm 2 below the mechanical rod 13 and the moving guide hole 23. A first threaded hole 25 is opened on the lower convex bearing plate 24 on one of the supporting mechanical arms 2. A side bearing arm plate 26 is fixedly installed on one side of the supporting mechanical arm 2. A mating guide hole 27 is opened on the side bearing arm plate 26. An upper bearing block 28 is fixedly installed at the upper end of the supporting mechanical arm 2. A support channel 281 is opened on the upper bearing block 28. A side bearing block 29 is also fixedly installed on the supporting mechanical arm 2 next to the mounting hole 22. A side bearing column 291 is fixedly installed on the side bearing block 29.

[0032] like Figure 2 , Figure 8 and Figure 9As shown, the shape-adjustable clamping assembly includes a conversion gear 8 and a movable positioning plate 10. The conversion gear 8 is installed at the end of the supporting robotic arm 2. A first clamping robotic arm 84 is fixedly mounted on the conversion gear 8. A first arc-shaped clamping plate 86 is fixedly mounted at one end of the first clamping robotic arm 84, and a first square clamping plate 87 is fixedly mounted at the other end. A conversion shaft 81 is fixedly mounted at the lower end of the conversion gear 8. A mating bearing 82 is sleeved on the conversion shaft 81 and installed in the mounting hole 22. A positioning locking groove 83 is symmetrically opened at the lower end of the conversion gear 8. A bearing rod 85 is also symmetrically fixedly mounted on the first clamping robotic arm 84, and a mounting pole 88 is symmetrically fixedly mounted at the upper end of the first clamping robotic arm 84. A mating top plate 89 is fixedly mounted at the upper end of the mounting pole 88.

[0033] The movable positioning plate 10 is located below the conversion gear 8. The movable positioning plate 10 is used to position and lock the conversion gear 8. The movable positioning plate 10 has a connecting through hole 101. A side bearing column 291 is inserted into the connecting through hole 101. A connecting spring 102 is sleeved on the side bearing column 291. The two ends of the connecting spring 102 are fixed to the movable positioning plate 10 and the side bearing block 29, respectively. An arc-shaped positioning strip 103 is fixedly provided on the movable positioning plate 10. When the arc-shaped positioning strip 103 positions and locks the conversion gear 8, it is partially inserted into the positioning lock groove 83.

[0034] like Figure 8 and Figure 9 As shown, the size-adjustable clamping assembly includes a second clamping robotic arm 9 and a driving block 96. A second arc-shaped clamping plate 91 is fixedly installed at one end of the second clamping robotic arm 9, and a second square clamping plate 92 is fixedly installed at the other end. The second clamping robotic arm 9 has symmetrical mating through holes 93. A mounting rod 88 is inserted into the mating through hole 93, and a mating spring 94 is sleeved on the mounting rod 88. The mating spring 94 is located on the upper side of the second clamping robotic arm 9, and the two ends of the mating spring 94 are fixed on the second clamping robotic arm 9 and the mating top plate 89, respectively.

[0035] The second gripping robotic arm 9 is connected to the drive block 96. The second drive assembly drives the second gripping robotic arm 9 to move via the drive block 96. The two sides of the second gripping robotic arm 9 are symmetrically hinged with second mating mechanical rods 95. The lower end of the second mating mechanical rods 95 is hinged to the drive block 96. The drive block 96 is provided with a movable mating hole 97. A bearing rod 85 is inserted into the movable mating hole 97. A mating plumb bob 98 is fixedly provided at the lower end of the drive block 96.

[0036] like Figure 4 , Figure 5 and Figure 6As shown, the first drive assembly includes an L-shaped carrier bar 3, a first threaded carrier rod 4, and a second threaded carrier rod 5. The L-shaped carrier bar 3 moves via the first threaded carrier rod 4 and can support and limit the movable locking plate 10. The second threaded carrier rod 5 can fix the L-shaped carrier bar 3. There are two L-shaped carrier bars 3, which are respectively installed on two supporting robotic arms 2. One L-shaped carrier bar 3 has a carrying groove 31, and the L-shaped carrier bar 3 next to the carrying groove 31 has a second threaded hole 32. A first linkage rod 33 is fixedly installed on the L-shaped carrier bar 3 with the carrying groove 31. The other L-shaped carrier bar 3 has a first linkage channel 34, and the first linkage rod 33 is inserted into the first linkage channel 34. In channel 34, the first linkage rod 33 can move along the first linkage channel 34. The upper end of the L-shaped carrier bar 3 is fixedly provided with a support drive rod 35, which is inserted into the support channel 281. The other end of the support drive rod 35 is fixedly provided with a drive engagement carrier bar 36. The drive engagement carrier bar 36 is fixedly provided with a drive engagement tooth 37, and the drive engagement carrier bar 36 is symmetrically provided with support limit bars 38. The support limit bars 38 provide support for the movable card plate 10. The first threaded carrier bar 4 is threadedly connected to the first threaded hole 25, and the first threaded carrier bar 4 is fixedly provided with a engagement carrying block 41. The engagement carrying block 41 is partially inserted into the carrying groove 31.

[0037] like Figure 3 and Figure 7 As shown, the second drive assembly includes a drive bearing plate 6 and a movable mating plate 7. The drive bearing plate 6 moves via a second threaded rod 5, and the drive bearing plate 6 and the movable mating plate 7 are movably connected to drive the carrier block 96 to move. There are two drive bearing plates 6, which are respectively installed on two supporting robotic arms 2. The second threaded rod 5 is threaded into a second threaded hole 32. A mating top block 61 is fixedly provided on the drive bearing plate 6. A second linkage rod 62 is fixedly provided on the mating top block 61 on one drive bearing plate 6, and a second linkage channel 63 is opened on the mating top block 61 on the other drive bearing plate 6. The linkage rod 62 is inserted into the second linkage channel 63 and can move along the second linkage channel 63. A matching limiting rod 64 is fixedly installed on the drive bearing plate 6 and is inserted into the matching guide hole 27. An upper connecting hole 65 is also opened on the drive bearing plate 6 above the second threaded rod 5. A drive bending strip 66 is fixedly installed at the other end of the drive bearing plate 6. A first matching mechanical rod 67 is hinged on the drive bending strip 66. A movable matching plate 7 is hinged to the upper end of the first matching mechanical rod 67. A movable matching hole 71 is opened on the movable matching plate 7, and a support protrusion 21 is inserted into the movable matching hole 71.

[0038] A conversion process for a storage unit clamping and transfer device for activated carbon processing includes the following steps: Step 1: Change of clamping plate shape: Rotate the first threaded carrier rod 4 to drive the L-shaped carrier bar 3 to move, which in turn drives the conversion gear 8 to rotate to realize the change of clamping plate shape; Step 2: Fixing the conversion gear 8: After the shape of the clamping plate is changed, rotate the second threaded rod 5 to fix the L-shaped carrier bar 3, thereby ensuring the stability of the conversion gear 8. Step 3: Clamping plate size conversion: When the clamping plate size needs to be converted, further rotating the second threaded carrier rod 5 will drive the drive bearing strip 6 to move, thereby driving the second clamping robotic arm 9 to move downwards, completing the size conversion.

[0039] When the second threaded carrier rod 5 fixes the L-shaped carrier strip 3, it is inserted into the upper connecting hole 65. When the shape of the clamping plate needs to be changed, the first threaded carrier rod 4 is rotated to move the L-shaped carrier strip 3. When the driving engagement tooth 37 on the L-shaped carrier strip 3 meshes with the conversion gear 8, the support limit strip 38 will no longer support the movable clamping plate 10, thus making the movable clamping plate 10 movable. When the driving engagement tooth 37 drives the conversion gear 8 to rotate, the arc-shaped clamping strip 103 can move downward under the action of the conversion gear 8, causing it to exit the positioning lock groove 83. After the change is completed, the arc-shaped clamping strip 103 will be inserted into another positioning lock groove 83 to position the conversion gear 8. Then, the support limit strip 38 supports the movable clamping plate 10 from below, preventing it from moving downward. Thus, the conversion gear can be achieved under the action of the arc-shaped clamping strip 103. The fixing of wheel 8 ensures its stability during operation. After conversion, the second threaded rod 5 is rotated to move it upward and insert it into the upper connecting hole 65. This achieves the fixing between the L-shaped carrier strip 3 and the supporting mechanical arm 2, further ensuring the stability of the conversion gear 8. When it is necessary to change to a clamping plate of other sizes, the second threaded rod 5 is rotated upward. Under the action of the second threaded rod 5, the driving carrier strip 6 will be driven upward. As the driving carrier strip 6 moves upward, it will drive the moving cooperating strip 7 to move under the action of the first cooperating mechanical rod 67. This will cause the moving cooperating strip 7 to contact the cooperating plumb bob 98, which will then drive the cooperating plumb bob 98 to move away from the second clamping mechanical arm 9. This will then drive the second clamping mechanical arm 9 to move downward, moving it to the working position. The container can then be clamped by the clamping plate on it. It is very convenient to change the shape and size of the clamping plate, and has stronger adaptability.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A storage unit clamping and transfer device for activated carbon processing, comprising a main robotic arm, characterized in that: The main robotic arm is equipped with a support assembly, and the support assembly is equipped with a shape-adjustable clamping assembly, which performs clamping work. The shape-adjustable clamping assembly is equipped with a size-adjustable clamping assembly, which can adapt to different sizes of the storage unit by changing the size of the clamping assembly; The support component is equipped with a first drive component, which can drive the shape-adjustable clamping component and lock it. The support component is also equipped with a second drive component, which can drive the size-adjustable clamping component to move.

2. The storage unit clamping and transfer device for activated carbon processing according to claim 1, characterized in that: The support assembly includes hydraulic rods and two support robotic arms, which are respectively mounted on the main robotic arm.

3. The storage unit clamping and transfer device for activated carbon processing according to claim 2, characterized in that: The supporting robotic arm is movably connected to a hydraulic rod, which drives the supporting robotic arm to move.

4. The storage unit clamping and transfer device for activated carbon processing according to claim 3, characterized in that: The shape-adjustable clamping assembly includes a conversion gear and a movable positioning plate. The conversion gear is installed at the end of the supporting robotic arm, and a first clamping robotic arm is fixedly mounted on the conversion gear.

5. The storage unit clamping and transfer device for activated carbon processing according to claim 4, characterized in that: One end of the first gripping robotic arm is fixedly provided with a first arc-shaped clamping plate, and the other end is fixedly provided with a first square clamping plate.

6. The storage unit clamping and transfer device for activated carbon processing according to claim 5, characterized in that: The movable locking plate is located below the conversion gear, and the conversion gear is positioned and locked by the movable locking plate.

7. The storage unit clamping and transfer device for activated carbon processing according to claim 6, characterized in that: The size-adjustable clamping assembly includes a second clamping robotic arm and a drive block. One end of the second clamping robotic arm is fixedly provided with a second arc-shaped clamping plate, and the other end is fixedly provided with a second square clamping plate.

8. The storage unit clamping and transfer device for activated carbon processing according to claim 7, characterized in that: The second gripping robotic arm is connected to the drive block, and the second drive assembly drives the second gripping robotic arm to move through the drive block.

9. The storage unit clamping and transfer device for activated carbon processing according to claim 8, characterized in that: The first drive assembly includes an L-shaped carrier bar, a first threaded carrier rod, and a second threaded carrier rod. The L-shaped carrier bar moves via the first threaded carrier rod and can support and limit the movable locking plate. The second threaded carrier rod can fix the L-shaped carrier bar.

10. The storage unit clamping and transfer device for activated carbon processing according to claim 9, characterized in that: The second drive assembly includes a drive bearing plate and a movable mating plate. The drive bearing plate moves via a second threaded rod, and the drive bearing plate and the movable mating plate are movably connected to drive the block to move.

11. A conversion process for a storage unit clamping and transfer device in activated carbon processing, characterized in that: This conversion process is applicable to the clamping and transferring device according to any one of claims 1-11, and includes the following steps: Step 1: Change of clamping plate shape: Rotate the first threaded carrier rod to move the L-shaped carrier bar, which in turn drives the conversion gear to rotate, thereby changing the shape of the clamping plate; Step 2: Fixing the conversion gear: After the shape of the clamping plate is changed, rotate the second threaded rod to fix the L-shaped carrier bar, thereby ensuring the stability of the conversion gear. Step 3: Clamping plate size conversion: When it is necessary to convert the clamping plate size, further rotating the second threaded rod will drive the drive bearing plate to move, thereby driving the second clamping robotic arm to move downwards, completing the size conversion.

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