Clamping jaw for loading, unloading and grabbing jute bag tobacco bales

Abstract

The clamping jaw comprises a trapezoidal plate connected to a multi-degree-of-freedom mechanical arm, the middle of the top face of the trapezoidal plate is provided with a two-way air cylinder, and a left end piston rod and a right end piston rod of the two-way air cylinder synchronously retract or stretch out, wherein the left end piston rod and the right end piston rod extend in the left-right direction. A left rotating shaft and a right rotating shaft are hinged to the two corners of the top face of the trapezoidal plate respectively, a plurality of left pricking needles are arranged in the length direction of the left rotating shaft at intervals, a plurality of right pricking needles are arranged in the length direction of the right rotating shaft at intervals, and each of the left pricking needles and the right pricking needles comprises a linear section and an arc-shaped section which are connected. A left push rod forming an included angle with the linear section is arranged in the middle of the left rotating shaft, a right push rod forming an included angle with the linear section is arranged in the middle of the right rotating shaft, and strip-shaped grooves are formed in the left push rod and the right push rod in the length direction. A pin shaft capable of freely moving in the strip-shaped groove of the right push rod is arranged at the free end of the right piston rod, and pricking needle penetrating holes are formed in the positions, corresponding to the left pricking needles and the right pricking needles, of the trapezoidal plate.

Description

Technical Field

[0001] The utility model relates to the technical field of unloading and discharging raw cigarette packages, in particular to a clamping claw for unloading and grabbing sack cigarette packages. Background Art

[0002] The tobacco leaves that have been initially cured in the producing area need to be packed into raw tobacco bales in sacks and transported to the redrying factory for redrying by trucks. Currently, the unloading of raw tobacco bales from trucks is done manually, which is labor-intensive and inefficient. The reason for manual loading and unloading is that the raw tobacco bales are packed in sacks and are large in size, and cannot be grasped by ordinary grasping robots. There are currently no robots suitable for grasping raw tobacco bales on the market. Utility Model Content

[0003] In view of this, the purpose of the utility model is to provide a clamping claw for grabbing sack cigarette packs during unloading and discharging, so as to solve the technical problems that manual unloading of raw cigarette packs is labor-intensive, inefficient and there is no robot suitable for grabbing raw cigarette packs.

[0004] The purpose of this utility model is achieved through the following technical solutions:

[0005] A clamping claw for unloading and grasping sack cigarette packages, comprising a trapezoidal plate connected to a multi-degree-of-freedom mechanical arm, a left-end piston rod and a right-end piston rod extending in the left-right direction are provided in the middle of the top surface of the trapezoidal plate, and a two-way cylinder for synchronously retracting or extending is provided, a left rotating shaft and a right rotating shaft are respectively hinged on the two corners of the top surface of the trapezoidal plate, a plurality of left thorns capable of piercing the sack are provided at intervals in the length direction of the left rotating shaft, and a plurality of right thorns capable of piercing the sack are provided at intervals in the length direction of the right rotating shaft, and the left thorns and the right thorns both include connected straight line segments and arc segments, The straight section is connected to the left rotating shaft or the right rotating shaft, the left needle and the right needle opening are opposite to each other, a left push rod is provided in the middle of the left rotating shaft, which forms a certain angle with the straight section, and a right push rod is provided in the middle of the right rotating shaft, which forms a certain angle with the straight section. Strip grooves are provided on the left and right push rods in the length direction, a pin that can move freely in the strip groove of the left push rod is provided at the free end of the left end piston rod, and a pin that can move freely in the strip groove of the right push rod is provided at the free end of the right end piston rod, and needle perforations are provided on the trapezoidal plate corresponding to each left needle and right needle.

[0006] Furthermore, the linear segments of the left needles and the adjacent arc segments are connected via a left holder, and the linear segments of the right needles and the adjacent arc segments are connected via a right holder, and the left holder and the right holder both include a plurality of cylinders respectively sleeved on the left needles or the right needles, and the plurality of cylinders are connected together via a connector.

[0007] Furthermore, hinge seats are respectively provided at both ends of the two corners of the trapezoidal plate, bearings are provided in the hinge seats, the two bearing sleeves on the left side of the trapezoidal plate are arranged on the left rotating shaft, and the two bearing sleeves on the right side of the trapezoidal plate are arranged on the right rotating shaft.

[0008] Furthermore, the left push rod and the right push rod both include a sleeve mounted on the left rotating shaft or the right rotating shaft, and two ear plates parallel to each other and perpendicular to the sleeve are provided on the surface of the sleeve, and the strip groove is provided on the ear plates, and the left end piston rod or the right end piston rod is located between the two ear plates and the pins thereon pass through the strip grooves on the two ear plates respectively.

[0009] Furthermore, both left and right side surfaces of the trapezoidal plate are hollow structures.

[0010] Furthermore, a mounting plate is provided in the middle of the top surface of the trapezoidal plate, and the bidirectional cylinder is mounted on the mounting plate.

[0011] The beneficial effects of the utility model are:

[0012] The utility model discloses a gripping claw for unloading and grasping sack cigarette packages. When grasping a cigarette package, firstly, the left and right piston rods are synchronously retracted by the two-way cylinder, and then the left and right push rods are used to lift the left and right needles so that the ends of the needles are located in the needle holes or on the upper surface of the trapezoidal plate. When the trapezoidal plate is close to the upper surface of the cigarette package, the left and right piston rods are synchronously extended by the two-way cylinder, and then the left and right push rods are used to lift the left and right needles through the needle holes on the trapezoidal plate and the sack into the cigarette package. At this time, the cigarette package can be moved by a multi-degree-of-freedom mechanical arm. After moving into place, the left and right piston rods are synchronously retracted by the two-way cylinder, and then the left and right push rods are used to lift the left and right needles to put down the cigarette package, thereby realizing fully automatic grasping of the sack cigarette package with high efficiency.

[0013] The provision of the left retainer and the right retainer can increase the overall strength of the left needles and the right needles.

[0014] The articulated seat and the bearing can ensure smooth steering of the left and right shafts.

[0015] The weight of the clamping jaws can be reduced by setting the left and right sides of the trapezoidal plate as a hollow structure.

[0016] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and will be apparent to those skilled in the art based on the following examination and research, or can be taught from the practice of the present invention to some extent. The objectives and other advantages of the present invention can be achieved and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below with reference to the accompanying drawings, in which:

[0018] Figure 1 It is a three-dimensional diagram of the utility model.

[0019] Figure 2 This is a three-dimensional diagram from another perspective of the present invention.

[0020] Figure 3 This is the main view of the utility model in use.

[0021] In the figure: trapezoidal plate 1, mounting plate 2, bidirectional cylinder 3, left rotating shaft 4, left end piston rod 5, pin shaft 6, left retaining frame 7, left pricking needle 8, left push rod 9, right end piston rod 10, right retaining frame 11, right pricking needle 12, right push rod 13, hinge seat 14, bearing 15, right rotating shaft 16, sack cigarette pack 17. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the protection scope of the present invention.

[0023] like Figure 1-3As shown, a clamping claw for unloading and grasping sack cigarette packages, the main body of which is a trapezoidal plate 1, the trapezoidal plate 1 is connected to a multi-degree-of-freedom mechanical arm, a two-way cylinder 3 extending in the left and right directions is installed in the middle of the top surface of the trapezoidal plate 1 through a mounting plate 2, the left end piston rod 5 and the right end piston rod 10 of the two-way cylinder 3 are synchronously retracted or extended, and a left rotating shaft 4 and a right rotating shaft 16 are respectively hinged on the two corners of the trapezoidal plate 1; specifically, hinge seats 14 are respectively provided at both ends of the left corner of the trapezoidal plate 1, bearings 15 are respectively provided in the two hinge seats 14, and the two bearings 15 are respectively sleeved on the two ends of the left rotating shaft 4; hinge seats 14 are respectively provided at both ends of the right corner of the trapezoidal plate 1, bearings 15 are respectively provided in the two hinge seats 14, and the two bearings 15 are respectively sleeved on the two ends of the right rotating shaft 16. Such a machine The structure can ensure the smooth steering of the left and right rotating shafts; the left rotating shaft 4 is evenly spaced along its length direction with a plurality of left thorns 8 that can pierce sacks, cigarette packs and sacks, the left thorn 8 includes a straight section and an arc section connected to each other, the straight section is connected to the left rotating shaft 4, a left push rod 9 is provided in the middle of the left rotating shaft 4, which forms a certain angle with the straight section of the left thorn 8, and a strip groove is provided on the left push rod 9 along its length direction. Specifically, a sleeve is fixedly sleeved in the middle of the left rotating shaft 4, and two connecting ears that are parallel and perpendicular to the sleeve are provided on the surface of the sleeve, and strip grooves are provided on the two connecting ears along their length direction, and a pin 6 is vertically provided at the free end of the left piston rod 5, and the free end of the left piston rod 5 is located between the two connecting ears, and the two ends of the pin 6 thereon are respectively freely movable in the strip grooves of the two connecting ears, in order to provide The overall strength of all left needles 8 is improved. The linear segments of each left needle 8 are connected to the arc segments through the left holder 7. The left holder 7 includes a plurality of cylinders respectively sleeved on each left needle 8, and the plurality of cylinders are connected together through a connector. A plurality of right needles 12 that can pierce sacks, cigarette packs and sacks are evenly spaced on the right rotating shaft 16 along its length direction. The right needle 12 includes a linear segment and an arc segment connected to each other. The linear segment is connected to the right rotating shaft 16. A right push rod 13 that forms a certain angle with the linear segment of the right needle 12 is provided in the middle of the right rotating shaft 16. A strip groove is provided on the right push rod 13 along its length direction. Specifically, a sleeve is fixedly sleeved in the middle of the right rotating shaft 16. Two parallel connecting ears that are perpendicular to the sleeve are provided on the surface of the sleeve. The two connecting ears are provided with strip grooves along their length direction. The free end of the right piston rod 10 is vertically provided with a pin 6, the free end of the right piston rod 10 is located between the two connecting ears and the two ends of the pin 6 thereon are respectively freely movable in the strip grooves of the two connecting ears. In order to improve the overall strength of all right needles 12, the straight segments of each right needle 12 adjacent to the arc segment are connected together through a right retainer 11, and the right retainer 11 includes a plurality of cylinders respectively sleeved on each right needle 12, and the plurality of cylinders are connected together through a connector. The openings of the left needle 8 and the right needle 12 are opposite to each other, and the overall strength formed by each left needle 8 and each right needle 12 is sufficient to lift the sack cigarette pack 17, and needle perforations are provided on the trapezoidal plate 1 corresponding to each left needle 8 and the right needle 12. The left and right sides of the trapezoidal plate 1 are both hollow structures, which can reduce the weight of the clamp.

[0024] The working principle of the clamp is as follows: before grabbing the sack cigarette pack, the left end piston rod 5 and the right end piston rod 10 are retracted synchronously by the two-way cylinder 3, and the left and right needles 8 and 12 are lifted up by the left and right push rods 9 and 13 until the left and right needles 8 and 12 are in the needle holes of the trapezoidal plate 1 or on the upper surface of the trapezoidal plate 1, such as Figure 1 As shown, when the trapezoidal plate 1 is close to the upper surface of the sack cigarette pack 17, the left end piston rod 5 and the right end piston rod 10 are synchronously extended through the bidirectional cylinder 3, and the left push rod 9 and the right push rod 13 carry the left needles 8 and the right needles 12 through the needle holes of the trapezoidal plate 1 and the sack of the sack cigarette pack 17 and extend into the sack cigarette pack 17 (as shown in FIG. Figure 3 As shown), the sack cigarette package 17 can be moved by a multi-free-end robotic arm, thereby achieving fully automatic grabbing of the sack cigarette package 17 with high efficiency.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the utility model.

Claims

1. A clamping claw for unloading and grabbing sack cigarette packages, characterized in that: The invention comprises a trapezoidal plate (1) connected to a multi-degree-of-freedom mechanical arm, wherein a bidirectional cylinder (3) extending in the left-right direction is provided in the middle of the top surface of the trapezoidal plate (1), wherein the bidirectional cylinder (3) comprises a left end piston rod (5) and a right end piston rod (10) which are synchronously retracted or extended, and a left rotation shaft (4) and a right rotation shaft (16) are respectively hinged at two corners of the top surface of the trapezoidal plate (1), wherein a plurality of left thorns (8) capable of piercing a sack are provided at intervals in the length direction of the left rotation shaft (4), and a plurality of right thorns (12) capable of piercing a sack are provided at intervals in the length direction of the right rotation shaft (16), wherein the left thorns (8) and the right thorns (12) both comprise a connected straight line segment and an arc segment, wherein the straight line segment connects the left rotation shaft (4) or the right rotation shaft (16). The left thorn needle (8) and the right thorn needle (12) are opposite to each other in opening. A left push rod (9) is provided at the middle of the left rotating shaft (4) and forms a certain angle with the straight section of the left thorn needle (8). A right push rod (13) is provided at the middle of the right rotating shaft (16) and forms a certain angle with the straight section of the right thorn needle (12). Strip grooves are provided on the length direction of the left push rod (9) and the right push rod (13). The free end of the left end piston rod (5) is provided with a pin shaft (6) that can move freely in the strip groove of the left push rod (9). The free end of the right end piston rod (10) is provided with a pin shaft (6) that can move freely in the strip groove of the right push rod (13). The trapezoidal plate (1) is provided with needle perforations corresponding to each of the left thorn needle (8) and the right thorn needle (12).

2. The clamp for unloading and grabbing sack cigarette packages according to claim 1, characterized in that: The linear segments of the left needles (8) and the adjacent arc segments are connected via a left retaining frame (7), and the linear segments of the right needles (12) and the adjacent arc segments are connected via a right retaining frame (11). The left retaining frame (7) and the right retaining frame (11) both comprise a plurality of cylinders respectively sleeved on the left needles or the right needles, and the plurality of cylinders are connected together via a connector.

3. The clamp for unloading and grabbing sack cigarette packages according to claim 1, characterized in that: Hinge seats (14) are respectively provided at both ends of the two corners of the trapezoidal plate (1), and bearings (15) are provided in the hinge seats (14). The two bearings (15) on the left side of the trapezoidal plate (1) are sleeved on the left rotating shaft (4), and the two bearings (15) on the right side of the trapezoidal plate (1) are sleeved on the right rotating shaft (16).

4. The clamp for unloading and grabbing sack cigarette packages according to claim 1, characterized in that: The left push rod (9) and the right push rod (13) both comprise a sleeve sleeved on the left rotating shaft (4) or the right rotating shaft (16), the sleeve surface being provided with two parallel ear plates which are perpendicular to the sleeve, the strip groove being provided on the ear plates, the left end piston rod (5) or the right end piston rod (10) being located between the two ear plates and the pin shaft (6) thereon respectively passing through the strip grooves on the two ear plates.

5. The clamp for unloading and grabbing sack cigarette packages according to claim 1, characterized in that: The left and right side surfaces of the trapezoidal plate (1) are both hollow structures.

6. The clamp for unloading and grabbing sack cigarette packages according to claim 1 or 2, characterized in that: A mounting plate (2) is provided in the middle of the top surface of the trapezoidal plate (1), and the bidirectional cylinder (3) is mounted on the mounting plate (2).

Images