Pneumatic gripper for fermenter
By designing a pneumatic gripper for fermentation tanks, and using scissor-type claws and limiting devices, the problem of incompatibility between existing technologies and fermentation tanks of different specifications has been solved, achieving stable gripping of fermentation tanks of multiple specifications and protecting the tank walls.
Patent Information
- Application Number
- CN202422967672.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-03
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2034-12-03
AI Technical Summary
Existing fermentation tank grippers are difficult to effectively hold fermentation tanks of different sizes, and are prone to clamping the protruding interface of conical tanks. The clamping curvature cannot be adjusted, resulting in poor adaptability.
A pneumatic gripper for fermentation tanks was designed, including scissor-type grippers, a clamping device, and a limiting device. By adjusting the distance and curvature of the clamping device and the limiting device, it can adapt to fermentation tanks of different specifications and avoid clamping protruding interfaces. An elastic pad is provided on the inner side of the clamping device to protect the tank wall.
It achieves effective clamping of fermentation tanks of different sizes, avoids clamping protruding interfaces, protects the tank walls, and adapts to the clamping needs of fermentation tanks of various sizes.
Smart Images
Figure CN223604366U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of clamp, especially a kind of fermentation vat pneumatic clamping hand. BACKGROUND
[0002] In prior art, referring to Figure 1 As shown, fermentation vat 50 includes conical barrel 51 and support seat 52 for supporting conical barrel 51. The top of conical barrel 51 has a top opening, and the side wall of conical barrel 51 is provided with a plurality of convex interfaces in communication with the inner cavity of conical barrel 51.
[0003] The existing fermentation vat clamping jaw may clamp the convex interface of the side wall of conical barrel 51 when clamping conical barrel 51, thereby making the fermentation vat clamping jaw unable to effectively fit the side wall of conical barrel 51, i.e. the fermentation vat clamping jaw cannot effectively clamp conical barrel 51. In addition, the distribution of the convex interface of the side wall of conical barrel 51 of different specifications of fermentation vat 50 is different. Therefore, it further increases the difficulty of effectively clamping conical barrel 51 by fermentation vat clamping jaw.
[0004] In addition, the clamping radius of the existing fermentation vat clamping jaw cannot be adjusted, and cannot be adapted to different specifications of fermentation vat 50. UTILITY MODEL CONTENT
[0005] The utility model aims at providing a kind of fermentation vat pneumatic clamping hand, with the characteristics of effectively clamping fermentation vat and not touching the convex interface of fermentation vat.
[0006] To achieve this purpose, the utility model adopts the following technical solutions:
[0007] A kind of fermentation vat pneumatic clamping hand for clamping fermentation vat, characterized in that, the fermentation vat pneumatic clamping hand includes frame, scissor type clamping jaw, clamping device and limiting device;
[0008] The scissor type clamping jaw includes symmetrically distributed first rod and second rod, cross arranged and rotationally connected third rod and fourth rod, and cylinder fixed on the frame;The first end of the first rod and the second rod are hingedly connected to the driving end of the cylinder, the first end of the third rod is hingedly connected to the second end of the first rod, and the first end of the fourth rod is hingedly connected to the second end of the second rod;The third rod and the fourth rod are rotationally connected by the frame;
[0009] The clamping device is two, symmetrically arranged at the second ends of the third rod and the fourth rod; the clamping device comprises a fixed plate, an elastic arc plate, and a plurality of adjusting screws; the outer side of the fixed plate is connected with the second end of the third rod or the fourth rod, and the inner side of the fixed plate is connected with the middle part of the outer side of the elastic arc plate; one end of the adjusting screw passes through the end of the fixed plate and is arranged on the outer side of the elastic arc plate, used for adjusting the arc size of the elastic arc plate;
[0010] The limiting device is arranged on the frame and located above the clamping device; the limiting device is adapted to abut against the top opening of the fermentation barrel, so as to limit the position of the clamping device clamping the fermentation barrel. By adjusting the clamping device and the limiting device, the pneumatic clamping hand of the fermentation barrel can clamp fermentation barrels of different specifications, and effectively avoids the clamping device from contacting the convex interface of the side wall of the conical barrel.
[0011] Further, the frame comprises a frame body, the first rod and the second rod are arranged in the inner cavity of the frame body, and the third rod and the fourth rod extend to the outside of the frame body;
[0012] The second end of the frame body is provided with a fixed rod; the middle part of the third rod and the middle part of the fourth rod are rotationally connected with the fixed rod, so that the third rod and the fourth rod are cross arranged and rotationally connected;
[0013] The fixed end of the air cylinder is arranged on the fixed rod. By using the above scheme, the scissor type clamping jaw can be smoothly opened and closed.
[0014] Further, the first end of the frame body is provided with a connecting piece for adapting to a mechanical arm. By using the above scheme, the frame body can be assembled on the mechanical arm.
[0015] Further, the first rod and the second rod are respectively provided with a weight reduction hole. By using the above scheme, the weight of the pneumatic clamping hand of the fermentation barrel is reduced.
[0016] Further, the limiting device comprises a limiting plate and a lifting device for driving the limiting plate to lift;
[0017] The lifting device is arranged on the frame, and the limiting plate is arranged at the driving end of the lifting device. By using the above scheme, the position of the clamping device clamping the fermentation barrel is limited.
[0018] Further, the limiting device further comprises a telescopic rod;
[0019] The telescopic rod is arranged between the frame and the limiting plate, and is used for guiding the lifting of the limiting plate. By using the above scheme, the limiting plate can be stably lifted.
[0020] Further, the inner side of the elastic arc plate is provided with an elastic pad. The above scheme is adopted to protect the side wall of the fermentation barrel.
[0021] Further, the inner side of the elastic pad is embedded with a plurality of suction cups. The above scheme is adopted to prevent the slip between the pneumatic clamp hand of the fermentation barrel and the fermentation barrel.
[0022] Further, the adjusting screw is at least two and symmetrically distributed at both ends of the fixed plate. The above scheme is adopted to effectively adjust the arc size of the elastic arc plate.
[0023] The technical scheme provided by the utility model can have the following beneficial effects:
[0024] By adjusting the clamping device and the limiting device, the pneumatic clamp hand of the fermentation barrel can clamp different specifications of fermentation barrels, and effectively avoid the contact of the clamping device with the convex interface of the side wall of the conical barrel.
[0025] The inner side of the elastic arc plate is additionally provided with an elastic pad to effectively protect the side edge of the fermentation barrel. BRIEF DESCRIPTION OF DRAWINGS
[0026] Figure 1 is a schematic view of the fermentation barrel in the utility model;
[0027] Figure 2 is a schematic view of the pneumatic clamp hand of the fermentation barrel clamping the fermentation barrel in the utility model;
[0028] Figure 3 is a schematic view of the pneumatic clamp hand of the fermentation barrel installed on the mechanical arm in the utility model;
[0029] Figure 4 is a schematic view of the local structure of the pneumatic clamp hand of the fermentation barrel in the utility model;
[0030] Figure 5 is a top view of the pneumatic clamp hand of the fermentation barrel clamping the fermentation barrel in the utility model;
[0031] Figure 6 is a schematic view of the scissor type clamp jaw and the clamping device in the utility model;
[0032] Figure 7 is a schematic view of the clamping device in the utility model;
[0033] Figure 8 is a schematic view of the limiting device in the utility model.
[0034] The reference signs in the drawings are as follows:
[0035] 10, frame; 11, frame body; 12, connecting piece; 13, fixed rod;
[0036] 20, scissor clamp jaw; 21, first rod; 22, second rod; 23, third rod; 24, fourth rod; 25, cylinder;
[0037] 30, clamping device; 31, fixed plate; 32, elastic arc plate; 33, adjusting screw; 34, elastic pad;
[0038] 40, limiting device; 41, limiting plate; 42, lifting device; 43, telescopic rod; 44, bottom plate;
[0039] 50, fermentation barrel; 51, conical barrel; 52, support seat;
[0040] 60, mechanical arm. DETAILED DESCRIPTION
[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.
[0042] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features limited as "first" and "second" can explicitly or implicitly include one or more features for distinguishing the described features, and there is no order or difference.
[0043] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.
[0044] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0045] The present application provides a kind of fermentation barrel pneumatic clamp hand, for clamping fermentation barrel 50.In the present embodiment, please refer toFigures 1-2 As shown in FIG. 1, the fermentation barrel 50 includes a conical barrel 51 and a support base 52 for supporting the conical barrel 51. The top of the conical barrel 51 has a top opening, and the sidewall of the conical barrel 51 is provided with a plurality of protruding interfaces communicating with the inner cavity of the conical barrel 51. The pneumatic clamp hand of the fermentation barrel is adapted to clamp the middle segment of the sidewall of the conical barrel 51, so as to carry the fermentation barrel 50.
[0046] As shown in FIG. 1, the fermentation barrel 50 includes a conical barrel 51 and a support base 52 for supporting the conical barrel 51. The top of the conical barrel 51 has a top opening, and the sidewall of the conical barrel 51 is provided with a plurality of protruding interfaces communicating with the inner cavity of the conical barrel 51. The pneumatic clamp hand of the fermentation barrel is adapted to clamp the middle segment of the sidewall of the conical barrel 51, so as to carry the fermentation barrel 50. Figure 2 Figures 4-6 As shown in FIG. 1, the fermentation barrel 50 includes a conical barrel 51 and a support base 52 for supporting the conical barrel 51. The top of the conical barrel 51 has a top opening, and the sidewall of the conical barrel 51 is provided with a plurality of protruding interfaces communicating with the inner cavity of the conical barrel 51. The pneumatic clamp hand of the fermentation barrel is adapted to clamp the middle segment of the sidewall of the conical barrel 51, so as to carry the fermentation barrel 50.
[0047] As shown in FIG. 1, the fermentation barrel 50 includes a conical barrel 51 and a support base 52 for supporting the conical barrel 51. The top of the conical barrel 51 has a top opening, and the sidewall of the conical barrel 51 is provided with a plurality of protruding interfaces communicating with the inner cavity of the conical barrel 51. The pneumatic clamp hand of the fermentation barrel is adapted to clamp the middle segment of the sidewall of the conical barrel 51, so as to carry the fermentation barrel 50. Figures 6-7 As shown in FIG. 1, the fermentation barrel 50 includes a conical barrel 51 and a support base 52 for supporting the conical barrel 51. The top of the conical barrel 51 has a top opening, and the sidewall of the conical barrel 51 is provided with a plurality of protruding interfaces communicating with the inner cavity of the conical barrel 51. The pneumatic clamp hand of the fermentation barrel is adapted to clamp the middle segment of the sidewall of the conical barrel 51, so as to carry the fermentation barrel 50.
[0048] The limiting device 40 is arranged on the frame 10 and located above the clamping device 30. The limiting device 40 is adapted to abut against the top opening of the fermentation barrel 50, so as to limit the position of the clamping device 30 clamping the fermentation barrel 50, thereby avoiding the clamping device 30 contacting the protruding interfaces of the sidewall of the conical barrel 51.
[0049] In the present application, the clamping device 30 and the limiting device 40 are adjusted so that the pneumatic clamping hand of the fermentation barrel can clamp fermentation barrels 50 of different specifications, and effectively avoid the clamping device 30 from contacting the protruding interface of the side wall of the conical barrel 51.
[0050] In the present embodiment, the material of the elastic arc plate 32 is set to be a plastic with a certain elasticity. The plastic is a high molecular compound polymerized by polyaddition or polycondensation reaction with monomer as raw material, which has a medium deformation resistance between fiber and rubber, and is composed of synthetic resin and fillers, plasticizers, stabilizers, lubricants, colorants and other additives, which ensures that the arc can be adjusted while the elastic arc plate 32 has a certain hardness, thereby facilitating the clamping of the conical barrel 51.
[0051] Further, the adjusting screw 33 is at least two and symmetrically distributed at both ends of the fixed plate 31.
[0052] Further, the frame 10 comprises a frame body 11. The first rod 21 and the second rod 22 are arranged in the inner cavity of the frame body 11. The third rod 23 and the fourth rod 24 extend to the outside of the frame body 11.
[0053] The second end of the frame body 11 is provided with a fixed rod 13. The middle part of the third rod 23 and the middle part of the fourth rod 24 are respectively rotatably connected with the fixed rod 13, so that the third rod 23 and the fourth rod 24 are cross arranged and rotatably connected. The fixed end of the air cylinder 25 is arranged on the fixed rod 13.
[0054] In the present embodiment, please refer to Figure 3 As shown in the figure, the frame body 11 is rectangular. The first end of the frame body 11 is provided with a connecting piece 12 for adapting the mechanical arm 60. The second end of the frame body 11 is provided with an opening. The fixed rod 13 is fixed in the middle of the second end opening of the frame body 11. The third rod 23 and the fourth rod 24 extend to the outside of the frame body 11 through the second end opening of the frame body 11.
[0055] Further, in the present embodiment, please refer to Figure 6 As shown in the figure, the third rod 23 comprises two third connecting rods arranged in an upper and lower interval. The first ends of the two third connecting rods are connected through a first connecting rod. The second end of the first rod 21 is rotatably connected with the first connecting rod, so as to realize the hinging between the third rod 23 and the first rod 21. The middle part of the third connecting rod is rotatably connected with the fixed rod 13. The fourth rod 24 comprises two fourth connecting rods arranged in an upper and lower interval. The first ends of the two fourth connecting rods are connected through a second connecting rod. The second end of the second rod 22 is rotatably connected with the second connecting rod, so as to realize the hinging between the second rod 22 and the fourth rod 24. The middle part of the fourth connecting rod is rotatably connected with the fixed rod 13. The above structure makes the scissor type clamping jaw 20 structure more stable.
[0056] Further, the third connecting rod and the fourth connecting rod are identical in structure, and each comprises a first segment, a second segment and a third segment connected in sequence, and the first segment and the third segment are arranged in parallel.
[0057] Further, in order to reduce the weight of the fermentation barrel pneumatic gripper, please refer to Figure 6 As shown in the figure, the first rod 21 and the second rod 22 are respectively provided with weight-reducing holes. The shape of the weight-reducing hole includes but is not limited to a rectangle, a circle. In this embodiment, the weight-reducing hole is a circle.
[0058] Further, please refer to Figure 8 As shown in the figure, the limiting device 40 comprises a limiting plate 41 and a lifting device 42 for driving the limiting plate 41 to lift. The lifting device 42 is arranged on the frame 10, and the limiting plate 41 is arranged on the driving end of the lifting device 42.
[0059] Further, in order to ensure that the limiting plate 41 lifts stably, the limiting device 40 further comprises a telescopic rod 43. The telescopic rod 43 is arranged between the frame 10 and the limiting plate 41, and is used for guiding the lifting of the limiting plate 41.
[0060] In this embodiment, the limiting device 40 further comprises a bottom plate 44. The bottom plate 44 is arranged on the top of the frame 10. The lifting device 42 is fixed on the bottom plate 44. The telescopic rod 43 is two, and the two ends thereof are respectively connected with the bottom plate 44 and the limiting plate 41.
[0061] Further, in order to effectively protect the side wall of the fermentation barrel 50, the inner side of the elastic arc plate 32 is provided with an elastic pad 34.
[0062] Further, in order to prevent the phenomenon that the fermentation barrel 50 slips after being clamped by the clamping device 30, the inner side of the elastic pad 34 is embedded with a plurality of suction cups (not shown in the figure). In this embodiment, the suction cups are connected with the air pipe. The suction cups can be separated from or attached to the side wall of the fermentation barrel 50 by air suction and exhaust actions of the air pipe.
[0063] In this embodiment, the working principle of the fermentation barrel pneumatic gripper is as follows:
[0064] According to the specification of the fermentation barrel 50 to be carried, the distance between the limiting plate 41 and the clamping device 30 is adjusted, so that when the limiting plate 41 abuts against the top opening of the fermentation barrel 50, the clamping device 30 can clamp the middle segment side wall of the conical barrel 51 without touching the protruding interface of the side wall of the conical barrel 51;
[0065] According to the specification of the fermentation barrel 50 to be carried, the rotary adjusting screw 33 is rotated, so that the elastic arc plate 32 is adapted to the side wall of the conical barrel 51;
[0066] Afterwards, the fermentation barrel pneumatic clamp hand is installed on the mechanical arm 60, the mechanical arm 60 drives the fermentation barrel pneumatic clamp hand to move, and during the period, the cylinder 25 drives the scissor type clamp jaw 20 to open and close, to realize the clamping and carrying of the fermentation barrel 50.
[0067] The utility model discloses through adjusting clamping device and stop device, to make fermentation barrel pneumatic clamp hand can clamping different specifications' fermentation barrel, and effectively avoid clamping device contact the convex interface of the lateral wall of conical barrel, through being additionally provided with elastic pad in the inboard of elastic cambered board, effectively protection fermentation barrel's side.
[0068] In the description of the present specification, the description referring to the terms "embodiment", "example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0069] Although the embodiments of the present utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.
Claims
1. A pneumatic gripper for holding a fermentation tank, characterized in that, The pneumatic clamping hand of the fermentation vat comprises a frame, a scissor-type clamping jaw, a clamping device and a limiting device; The scissor-type clamping jaw comprises symmetrically distributed first and second rods, cross-arranged and rotationally connected third and fourth rods and a cylinder fixed on the frame; the first ends of the first and second rods are collectively hinged to the driving end of the cylinder, the first end of the third rod is hinged to the second end of the first rod, and the first end of the fourth rod is hinged to the second end of the second rod; the third and fourth rods are rotationally connected through the frame; The clamping device is two and symmetrically arranged at the second ends of the third and fourth rods; the clamping device comprises a fixed plate, an elastic arc plate and a plurality of adjusting screws; the outer side of the fixed plate is connected to the second end of the third or fourth rod, and the inner side of the fixed plate is connected to the middle part of the outer side of the elastic arc plate; one end of the adjusting screw passes through the end of the fixed plate and is arranged on the outer side of the elastic arc plate for adjusting the arc size of the elastic arc plate; The limiting device is arranged on the frame and above the clamping device; the limiting device is adapted to abut against the top opening of the fermentation vat to limit the position of the clamping device clamping the fermentation vat.
2. The pneumatic gripper for a fermentor according to claim 1, wherein, The frame comprises a frame body, the first and second rods are arranged in the inner cavity of the frame body, and the third and fourth rods extend to the outside of the frame body; The second end of the frame body is provided with a fixed rod; the middle part of the third rod and the middle part of the fourth rod are rotationally connected with the fixed rod, so that the third and fourth rods are cross-arranged and rotationally connected; The fixed end of the cylinder is arranged on the fixed rod.
3. The pneumatic gripper for a fermentor according to claim 2, wherein, The first end of the frame body is provided with a connecting piece for adapting a mechanical arm.
4. The pneumatic gripper for a fermentor according to claim 1, wherein, The first and second rods are respectively provided with a weight-reducing hole.
5. The pneumatic gripper for a fermentor according to claim 1, wherein, The limiting device comprises a limiting plate and a lifting device for driving the limiting plate to lift; The lifting device is arranged on the frame, and the limiting plate is arranged at the driving end of the lifting device.
6. The pneumatic gripper for a fermentor according to claim 5, wherein, The limiting device further comprises a telescopic rod; The telescopic rod is arranged between the frame and the limiting plate and serves as a guide for lifting the limiting plate.
7. The pneumatic gripper for a fermentor according to claim 1, wherein, The inner side of the elastic arc plate is provided with an elastic pad.
8. The pneumatic gripper for a fermentor according to claim 7, wherein, The inner side of the elastic pad is embedded with a plurality of suction cups.
9. The pneumatic gripper for a fermentor according to claim 1, wherein, The adjusting screw is at least two and symmetrically arranged at the two ends of the fixed plate.