Straight rod type manipulator for narrow space

Abstract

A straight rod type manipulator for a narrow space belongs to the field of packaging machinery and comprises a frame, two groups of driving shafts horizontally arranged front and back are symmetrically arranged on the left side and the right side of the frame, the front ends and the rear ends of the driving shafts are hinged to the middle of the frame, driven shafts are arranged below the driving shafts, and the front portions and the rear portions of the driven shafts are hinged to the lower end of the frame. The vertical center line of the driven shaft coincides with the vertical center line of the driving shaft, a driving belt wheel is arranged on the main rotating shaft, a driven belt wheel is arranged on the driven shaft, the tooth number of the driving belt wheel is larger than that of the driven belt wheel, synchronous belt transmission is adopted between the driving belt wheel and the driven belt wheel, and vertically-arranged fingers are evenly arranged on the driven shaft. The main rotating shaft is connected with one end of a swing arm, the other end of the swing arm is hinged to a cylinder rod of a swing cylinder, and a cylinder body of the swing cylinder is hinged to the frame. According to the utility model, the material bags can be released in a narrow space, the material bags can be stacked to be close to the carriage wall, and the situation that the stack shape is damaged due to shaking in the carriage during transportation is avoided.

Description

Technical Field

[0001] The utility model relates to a straight-rod type manipulator used in a narrow space, belonging to the field of packaging machinery. Background Art

[0002] Patent document CN219116645U discloses a toothed clamp for bagged materials, which uses a cylinder to drive a 90° bent jaw to close around a rotating axis to achieve the purpose of clamping the bag; however, when releasing the bag, the two jaws of this structure rotate outward around the rotating axis by a certain angle, and the outermost distance of the jaws is greater than the width of the mounting frame. On the one hand, it will make it impossible to release the bag in a small space. On the other hand, when loading the bag close to the wall of the carriage, due to the limitation of the jaws and the obstruction of the wall, the placement distance of the bag needs to reserve a gap with the wall of the carriage, which will lead to a waste of carriage space. In addition, due to the existence of the gap, the bag will shake in the carriage during transportation, damaging the stack shape and causing inconvenience to the subsequent unloading. Utility Model Content

[0003] In order to solve the problem that the clamps of the prior art cannot release the material bag in a narrow space and cannot fit the wall of the carriage to load the material, the utility model proposes a straight rod type manipulator for a narrow space, which comprises a frame 1, two sets of driving shafts 2 arranged horizontally in front and back are symmetrically arranged on the left and right sides of the frame 1, the front and rear ends of the driving shaft 2 are hinged at the middle of the frame 1, a driven shaft 6 is arranged below the driving shaft 2, the front and rear parts of the driven shaft 6 are hinged at the lower end of the frame 1, the vertical center line of the driven shaft 6 coincides with the vertical center line of the driving shaft 2, and the driving shaft 2 is provided with a There is a driving pulley 3, and a driven pulley 5 is provided on the driven shaft 6. The number of teeth of the driving pulley 3 is greater than the number of teeth of the driven pulley 5. The driving pulley 3 and the driven pulley 5 are driven by a synchronous belt 4. Vertically arranged fingers 7 are evenly arranged on the driven shaft 6. The driving shaft 2 is connected to one end of a swing arm 8, and the other end of the swing arm 8 is hinged to the cylinder rod of a swing cylinder 9. The cylinder body of the swing cylinder 9 is hinged to the frame 1. The swing cylinder 9 drives the swing arm 8 to rotate toward the outside of the frame 1, so that the fingers 7 swing around the driven shaft 6 toward the inside of the frame 1.

[0004] When the finger 7 is in the upper position, the finger direction is 10 degrees downward from the horizontal.

[0005] The driving shaft 2 is provided with two sets of front and rear driving pulleys 3 , and the driven shaft 6 is provided with two sets of driven pulleys 5 corresponding to the driving pulleys 3 .

[0006] The working principle of the utility model is:

[0007] A. The manipulator moves to the top of bag A. After the manipulator is lowered into position, the swing cylinder 9 drives the swing arm 8 to rotate outward by an angle, driving the driving shaft 2 and the driven shaft 6 to rotate synchronously, so that the fingers 7 swing inward by 80 degrees, clamping the bag between the fingers 7 on both sides;

[0008] B. The manipulator rises, driving the gripped bag to move to the top of the designated position. The swing cylinder 9 drives the swing arm 8 to rotate inward, driving the driving shaft 2 and the driven shaft 6 to rotate synchronously, so that the finger 7 returns to the vertical state, and the bag falls to the designated position below.

[0009] The beneficial effects of the utility model are:

[0010] A. The swing cylinder 9 is used to drive the swing arm 8 to rotate inward at a small angle, and the rotation angle between the driven shaft 6 and the driving shaft 2 is magnified to make the finger 7 swing outward at a large angle from a nearly horizontal position to a vertical position, thereby realizing the release operation of the material bags, thereby completing the stacking and stacking of the material bags in a small space. When stacking the material bags close to the wall of the carriage, there is no space restriction, which improves the utilization rate of the carriage volume and avoids shaking and damage to the stacking shape due to the gap between the material bags and the carriage wall during transportation.

[0011] B. The vertical arrangement of the fingers 7 maximizes the width utilization of the overall frame 1, reduces the weight of the entire manipulator, reduces the moment of inertia when driving the manipulator to rotate, and improves the reliability of the drive structure.

[0012] C. After finger 7 swings to the upper position, its finger direction is 10 degrees horizontally downward. Because the material in the bag is fluid, compared with the traditional horizontal grabbing of the bag, finger 7 is 10 degrees horizontally downward to make it fit the bag better. During the movement after grabbing, the bag will not move relatively in finger 7. The vertical center of the bag can always be consistent with the vertical center of the two fingers 7. When the manipulator is opened, the bag can be released more quickly, reducing friction, making the bag stacking position more accurate and the stacking shape more regular.

[0013] D. The two sets of synchronous belts 4 arranged between the driving shaft 2 and the driven shaft 6 are used for transmission, which can ensure the reliability of the opening and closing action of the fingers 7. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional axonometric view of the utility model.

[0015] Figure 2 It is the front view of the utility model.

[0016] Figure 3 It is a right view of the utility model.

[0017] Figure 4 It is a schematic diagram of the state when clamping the bag. DETAILED DESCRIPTION

[0018] The specific implementation of the utility model can be found in Figure 1~Figure 4 A straight rod type manipulator for a narrow space comprises a frame 1, two sets of driving shafts 2 arranged horizontally in the front and rear directions are symmetrically arranged on the left and right sides of the frame 1, the front and rear ends of the driving shaft 2 are hinged at the middle of the frame 1, a driven shaft 6 is arranged below the driving shaft 2, the front and rear parts of the driven shaft 6 are hinged at the lower end of the frame 1, the vertical center line of the driven shaft 6 coincides with the vertical center line of the driving shaft 2, a driving pulley 3 is arranged on the driving shaft 2, a driven pulley 5 is arranged on the driven shaft 6, and the number of teeth of the driving pulley 3 is greater than that of the driven pulley 5 The driving pulley 3 and the driven pulley 5 are driven by a synchronous belt 4. The driven shaft 6 is evenly provided with vertically arranged fingers 7. The driving shaft 2 is connected to one end of a swing arm 8. The other end of the swing arm 8 is hinged to the cylinder rod of a swing cylinder 9. The cylinder body of the swing cylinder 9 is hinged to the frame 1. The swing cylinder 9 drives the swing arm 8 to rotate toward the outside of the frame 1, so that the finger 7 swings around the driven shaft 6 toward the inside of the frame 1. When the finger 7 is in the upper position, the finger direction is 10 degrees horizontally downward.

[0019] The driving shaft 2 is provided with two sets of front and rear driving pulleys 3 , and the driven shaft 6 is provided with two sets of driven pulleys 5 corresponding to the driving pulleys 3 .

Claims

1. A straight-rod type manipulator for use in a narrow space, comprising a frame (1), characterized in that: The frame (1) is symmetrically provided with two groups of driving shafts (2) arranged horizontally in the front and rear directions on the left and right sides, the front and rear ends of the driving shaft (2) are hinged to the middle of the frame (1), a driven shaft (6) is provided below the driving shaft (2), the front and rear parts of the driven shaft (6) are hinged to the lower end of the frame (1), the vertical center line of the driven shaft (6) coincides with the vertical center line of the driving shaft (2), the driving shaft (2) is provided with a driving pulley (3), the driven shaft (6) is provided with a driven pulley (5), the number of teeth of the driving pulley (3) is greater than that of the driven pulley (5), and the driving pulley (3) has a larger number of teeth than the driven pulley (5). ), a synchronous belt (4) is used for transmission between the driving pulley (3) and the driven pulley (5), vertically arranged fingers (7) are evenly arranged on the driven shaft (6), the driving shaft (2) is connected to one end of a swing arm (8), the other end of the swing arm (8) is hinged to the cylinder rod of a swing cylinder (9), the cylinder body of the swing cylinder (9) is hinged to the frame (1), and the swing cylinder (9) drives the swing arm (8) to rotate toward the outside of the frame (1), so as to realize the swing of the fingers (7) around the driven shaft (6) toward the inside of the frame (1).

2. A straight-rod manipulator for use in a narrow space according to claim 1, characterized in that: When the finger (7) is in the upper position, the finger direction is 10 degrees downward from the horizontal.

3. A straight-rod manipulator for use in a narrow space according to claim 1, characterized in that: The driving shaft (2) is provided with two sets of front and rear driving pulleys (3), and the driven shaft (6) is provided with two sets of driven pulleys (5) corresponding to the driving pulleys (3).

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