Clamping jaw mechanism, ton bag gripping system

Abstract

The utility model discloses a kind of clamping jaw mechanisms, ton bag grabbing system and ton bag grabbing method, including support assembly, several groups of grabbing components, lifting assembly and steering assembly, several groups of grabbing components are arranged in the side of support assembly, rotatably connected on support assembly, lifting assembly is connected on the other side of support assembly opposite with grabbing component, steering assembly is connected in lifting assembly, steering assembly is configured as the difference value of displacement stroke according to the displacement stroke of the ton bag between each group of grabbing components Control support assembly rotation angle adjustment is carried out.The utility model judges the deviation position of ton bag according to the stroke difference value of driving cylinder, angle adjustment is carried out to clamping jaw mechanism by steering assembly, realize the automatic deviation correction of clamping jaw mechanism by effective angle adjustment and error correction mechanism, realize stable, accurate grabbing, improve the stability and efficiency of grabbing.

Description

Technical Field

[0001] This utility model relates to the field of ton bag gripping technology, and in particular to a gripper mechanism and a ton bag gripping system. Background Technology

[0002] Ton bags are a type of unitized container, facilitating unitized transportation. They are characterized by large capacity, light weight, and ease of loading and unloading, making them suitable for transporting large quantities of bulk powdery materials. Ton bag grippers are specialized mechanical devices for clamping, handling, and manipulating ton bags, enabling safe and efficient movement to meet the material handling needs of various industrial production processes.

[0003] Existing ton bag grippers typically determine the bag's hanging position using vision sensors and limit switches. However, their flexibility and adaptability are insufficient when faced with complex and variable material inlet angles. Tton bag grippers often lack effective angle adjustment and error correction mechanisms. When the material inlet angle is uncertain or deviates, the grippers often struggle to react quickly and accurately, leading to an unstable and inefficient gripping process. This limitation not only affects the continuity and smoothness of the production line but may also increase the risk of material damage, thus threatening overall production efficiency and product quality. Utility Model Content

[0004] To address the shortcomings of existing ton bag grippers, the applicant provides a gripper mechanism and ton bag grasping system. Through an effective angle adjustment and error correction mechanism, the gripper mechanism achieves automatic correction, enabling stable and accurate grasping even when the angle of the incoming ton bag is uncertain, thereby improving grasping stability and efficiency.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A gripper mechanism for gripping ton bags includes a support assembly, several sets of gripping components, a lifting assembly, and a steering assembly. The several sets of gripping components are disposed on one side of the support assembly and rotatably connected to the support assembly. The lifting assembly is connected to the support assembly on the opposite side of the gripping components. The steering assembly is connected to the lifting assembly and is configured to control the rotation of the support assembly to adjust the angle based on the difference in displacement stroke of the gripping ton bags between the sets of gripping components.

[0007] As a further improvement to the above technical solution:

[0008] Each gripping assembly is equipped with a swing arm, which has a hook. The swing arm is rotatably connected to the support assembly, and a drive component is connected to the swing arm. The drive component drives the swing arm to rotate through linear displacement. The steering assembly controls the rotation of the support assembly based on the displacement stroke difference between the drive components of each gripping assembly. The displacement stroke difference is the stroke displacement difference between the drive components of two gripping assemblies that are in opposite positions.

[0009] The driving component that drives the swing arm to rotate is a drive cylinder, which is mounted on the support assembly. The support assembly is equipped with a solenoid valve, which is connected to the drive cylinder of the gripping assembly. A locking rod and a locking cylinder are mounted on the swing arm of the gripping assembly above the hook. The locking rod is connected to the output rod of the locking cylinder, and the hook has a corresponding insertion hole for the locking rod. A telescopic sleeve is fitted on the output rod of the locking cylinder.

[0010] The steering component controls the rotation angle of the support component based on the difference in stroke displacement. a, b, c, and d represent the displacement strokes of the driving components of the sequentially spaced gripping assembly, and e is a constant value.

[0011] The steering assembly includes a first gear, a second gear, a steering motor, and a support plate. The first gear and the second gear mesh with each other. The first gear is connected to the lifting assembly, and the second gear is connected to the steering motor. The steering motor is fixed to the lifting assembly via the support plate.

[0012] The first gear of the lifting assembly and the steering assembly is connected to the bracket assembly; the lifting assembly includes an electric cylinder and a connecting shaft, the connecting shaft extends downward from the bottom of the electric cylinder, and the first gear of the steering assembly is sleeved on the connecting shaft of the lifting assembly.

[0013] The frame of the support assembly has pillars extending upwards at the four corners, and the top of each pillar is connected to a load-bearing base. The pivot is connected between the load-bearing bases of the two corresponding pillars, and the swing arm of the gripping assembly is fitted onto the pivot via a kit.

[0014] A ton bag gripping system includes the aforementioned gripper mechanism and a control system, wherein the gripper mechanism is controlled by the control system to perform ton bag gripping.

[0015] The beneficial effects of this utility model are as follows:

[0016] This utility model has a simple structure and reasonable design. The gripper mechanism reads the displacement stroke of the drive cylinder of the gripping component, determines the deviation position of the ton bag based on the stroke difference of the drive cylinder, and calculates the adjustment direction and adjustment angle. The steering component adjusts the angle of the gripper mechanism according to the calculated rotation angle θ. Through an effective angle adjustment and error correction mechanism, the gripper mechanism can automatically correct its deviation. Even when the angle of the ton bag is uncertain, it can achieve stable and accurate gripping, improve gripping stability and efficiency, and make the gripper mechanism more flexible and adaptable. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the gripper mechanism of this utility model.

[0018] Figure 2 for Figure 1 A three-dimensional structural diagram of the middle gripper mechanism with the outer casing removed.

[0019] Figure 3 for Figure 2 A partial structural diagram of the gripper mechanism.

[0020] Figure 4 for Figure 1 A three-dimensional structural diagram of the gripping component of the middle gripper mechanism.

[0021] Figure 5 This is a flowchart illustrating the gripping process of the gripper mechanism of this utility model.

[0022] In the diagram: 1. Support assembly; 11. Frame body; 12. Column; 13. Load-bearing base; 14. Rotating shaft; 15. Crossbeam; 16. Rib plate; 2. Gripping assembly; 21. Swing arm; 22. Hook; 221. Insertion hole; 23. Kit; 24. Drive cylinder; 25. Locking rod; 26. Locking cylinder; 27. Telescopic sleeve; 28. Protective cover; 29. ​​Housing; 3. Lifting assembly; 31. Electric cylinder; 32. Connecting shaft; 4. Steering assembly; 41. First gear; 42. Second gear; 43. Steering motor; 44. Support plate; 5. Weighing assembly; 51. Weighing module; 52. Base plate; 53. Top plate; 54. Linear bearing; 55. Guide shaft; 6. Protective shell assembly; 7. Solenoid valve. Detailed Implementation

[0023] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0024] For ease of explanation, an XYZ rectangular coordinate system is shown in the accompanying drawings. The X-axis represents the horizontal direction (left-right), the Y-axis represents the horizontal direction (front-back), and the Z-axis represents the vertical direction. The X, Y, and Z axes are orthogonal to each other. The naming and setting of the X, Y, and Z axes are for the purpose of fully illustrating the relevant structure and are not restrictive. Slight adjustments to the horizontal and vertical directions also fall within the protection scope of this utility model.

[0025] like Figure 1 , Figure 2 As shown, the gripper mechanism of this utility model includes a support assembly 1, a gripping assembly 2, a lifting assembly 3, a steering assembly 4, and a weighing assembly 5. Several sets of gripping assemblies 2 are disposed below the support assembly 1 and rotatably connected to the support assembly 1. In this embodiment, a set of gripping assemblies 2 is disposed at each of the four corners of the support assembly 1; in other embodiments, depending on the type of ton bag, two, three, or other numbers of gripping assemblies 2 corresponding to the number of ton bag straps can also be provided. The weighing assembly 5 is disposed above the support assembly 1 and fixed in the middle of the support assembly 1. The steering assembly 4 is connected to the lifting assembly 3, and the weighing assembly 5 is disposed between the lifting assembly 3 and the support assembly 1. A protective shell assembly 6 is provided on the support assembly 1, which covers the weighing assembly 5 and the internal structural components of the support assembly 1, providing protection for the internal structural components and the weighing assembly 5.

[0026] like Figure 2 As shown, the rectangular frame 11 of the support assembly 1 is arranged horizontally along the XY plane. Support columns 12 extend upwards along the Z-direction at the four corners of the frame 11, and load-bearing bases 13 are connected to the top of each support column 12. Two support columns 12, positioned identically in the X-direction and arranged sequentially in the Y-direction, form a group, divided into left and right groups. A pivot 14 connects the load-bearing bases 13 of each group of support columns 12, and the pivot 14 is arranged horizontally along the Y-direction. A crossbeam 15 is placed horizontally along the Y-direction in the middle of the frame 11, and several stiffening plates 16 are provided between the crossbeam 15 and the frame 11 to improve the connection strength of the crossbeam 15.

[0027] like Figure 2 , Figure 4As shown, four gripping components 2 are rotatably connected to corresponding rotating shafts 14 of the support assembly 1. Each gripping component 2 has a swing arm 21 with a hook 22 at its bottom, forming an L-shape. A fitting 23 is connected to the top of the swing arm 21, and the swing arm 21 is fitted onto the rotating shaft 14 via the fitting 23. A drive cylinder 24 is located on one side of the swing arm 21. The cylinder body of the drive cylinder 24 is connected to the frame 11 of the support assembly 1 via a cylinder seat. The plunger rod of the drive cylinder 24 is hinged to the swing arm 21 via a plunger joint. The drive cylinder 24 is arranged along the X-direction, and its plunger rod extends and retracts along the X-direction. The extension and retraction of the plunger rod causes the swing arm 21 to rotate in the XZ plane, thereby causing the hook 22 to move towards or away from the ton bag. A solenoid valve 7 is installed inside the frame 11 of the support assembly 1. The solenoid valve 7 is connected to the drive cylinder 24 and controls its extension and retraction. A locking rod 25 and a locking cylinder 26 are installed on the swing arm 21 above the hook 22. The locking rod 25 is connected to the output rod of the locking cylinder 26 via a connector. The locking cylinder 26 drives the locking rod 25 to extend or retract through the output rod, thereby locking or releasing the ton bag strap. A telescopic sleeve 27 is fitted on the output rod of the locking cylinder 26 to protect the output rod from damage during movement. A corresponding insertion hole 221 is provided on the hook 22 for the locking rod 25. When the locking rod 25 is locked, it is inserted into the insertion hole 221; when the locking rod 25 is released, it is withdrawn from the insertion hole 221. A protective cover 28 is fitted on the outside of the part of the swing arm 21 that protrudes from the frame body 11. The protective cover 28 is fixedly connected to the bottom surface of the frame body 11 and can seal and protect the movement gap between the swing arm 21 and the frame body 11. A cover 29 is provided to protect the locking cylinder 26.

[0028] like Figure 3 As shown, the lifting assembly 3 includes an electric cylinder 31 and a connecting shaft 32. The connecting shaft 32 extends downward from the bottom of the electric cylinder 31. The electric cylinder 31 can drive the connecting shaft 32 to rise and fall along the Z direction, thereby driving the gripper mechanism to rise and fall as a whole.

[0029] The steering assembly 4 includes a first gear 41, a second gear 42, a steering motor 43, and a support plate 44. The first gear 41 and the second gear 42 mesh with each other. The first gear 41 is sleeved on the connecting shaft 32 of the lifting assembly 3, and the second gear 42 is sleeved on the drive shaft of the steering motor 43. The steering motor 43 is fixed on the support plate 44, and the support plate 44 is fixedly connected to the electric cylinder 31 of the lifting assembly 3.

[0030] The weighing assembly 5 includes a weighing module 51, a base plate 52, a top plate 53, linear bearings 54, and a guide shaft 55. The weighing module 51 is disposed between the base plate 52 and the top plate 53. Linear bearings 54 are symmetrically arranged on the left and right sides of the base plate 52 in the X direction. The guide shaft 55 extends downward from the top plate 53 and is inserted into the linear bearings 54. The guide shaft 55 can slide up and down along the linear bearings 54 to ensure the weighing accuracy and reliability of the weighing module 51. The connecting shaft 32 of the lifting assembly 3 and the first gear 41 of the steering assembly 4 are fixedly connected to the top plate 53 of the weighing assembly 5. The base plate 52 of the weighing assembly 5 is fixedly connected to the crossbeam 15 of the support assembly 1. Several stiffening plates 16 are provided between the base plate 52 and the crossbeam 15 to improve the connection strength.

[0031] The gripping component 2, lifting component 3, steering component 4, and weighing component 5 are connected to the control system and are controlled in coordination by the control system (the control system is not shown in the figure).

[0032] In practical application, the four-cylinder gripper mechanism of this utility model mainly follows... Figure 5 The grabbing process shown is used to grab the ton bag:

[0033] I. First, after the ton bag is conveyed to the area below the four-cylinder gripper mechanism, the control system controls the lifting assembly 3 to drive the support assembly 1 to descend to a predetermined position in the direction of the ton bag. This position allows the gripping assembly 2 to grip the strap of the ton bag. At the same time, the control system controls the four sets of drive cylinders 24 of the gripping assembly 2 to work through the solenoid valve 7. The plunger rod of the drive cylinder 24 pushes outward, causing the swing arm 21 to swing outward around the central axis of the rotating shaft 14 (rotating away from the ton bag). The gripping assembly 2 opens, and the locking rod 25 of the gripping assembly 2 opens.

[0034] II. After the mechanism descends to the position, the control system controls the drive cylinder 24 of the gripping component 2 through the solenoid valve 7 to retract the plunger rod inward, causing the swing arm 21 to swing inward around the center axis of the rotating shaft 14 (rotating towards the ton bag), and the gripping component 2 retracts inward until at least one hook 22 of the gripping component 2 touches the ton bag and stops, and obtains the stroke displacement of the drive cylinder 24 of each gripping component.

[0035] III. The displacement stroke of the drive cylinder 24 of each gripping component 2 is transmitted to the control system. The control system calculates the displacement stroke difference between each gripping component 2 and compares the difference with a preset difference to determine the gripping position of the ton bag. The drive cylinders 24 of the four gripping components 2 are numbered A, B, C, and D in counterclockwise order (see...). Figure 2In this configuration, A and C, B and D are arranged diagonally. The retraction displacement strokes of the plunger rods of the four drive cylinders 24 (A, B, C, and D) are represented by a, b, c, and d, respectively. After receiving the stroke signals of each drive cylinder 24, the control system performs difference calculations (ad, bc) on the displacement strokes of the two sets of Y-direction drive cylinders 24. The difference is compared with the minimum allowable difference f of the corresponding displacement stroke. Based on the comparison results, the ton bag gripping position status is determined as follows: i) When -f < ad < +f, and simultaneously -f < bc < +f, the ton bag gripping position is suitable and without deviation, and the ton bag is within the gripping angle range of the gripping component 2; ii) When ad > +f, or bc < -f, the ton bag gripping position deviates counterclockwise relative to the gripper mechanism; iii) When ad < -f, or bc > +f, the ton bag gripping position deviates clockwise relative to the gripper mechanism.

[0036] IV. If the comparison result of the difference is the same as in step III (i), then the four sets of gripping components 2 grip the ton bag, the hook 22 is hooked onto the strap of the ton bag, the locking cylinder 26 drives the locking rod 25 to extend and insert into the insertion hole 221 of the hook 22, locking the strap onto the hook 22 to prevent the strap from coming off; after the ton bag is gripped, the electric cylinder 31 of the lifting component 3 drives the entire mechanism to rise, and the weighing component 5 weighs the ton bag. If the weight meets the standard, the gripping is successful; if the weight is too light, the gripping is repeated.

[0037] V. If the comparison result of the difference is either ii) or iii) in step III, then the gripping component 2 is opened, and the control system calculates the rotation angle θ of the mechanism based on the difference. The calculation method of the rotation angle θ is as follows:

[0038] ,

[0039] Where e is the distance between cylinders A and D, and cylinders B and C in the Y direction. Since the positions of the four drive cylinders 24 in the Y direction are fixed, e is a constant value.

[0040] Steering component 4 controls the overall rotation of the gripper mechanism to adjust the angle according to the calculated rotation angle θ: Steering motor 43 drives the gripper mechanism to rotate counterclockwise (as described in case ii) or clockwise (as described in case iii) by gear transmission at angle θ.

[0041] After the gripper mechanism angle is adjusted, return to steps II and III to reassess the gripping position of the ton bag;

[0042] Follow steps II-IV above to adjust the angle of the gripper mechanism. Usually, it only takes 1-2 adjustments to get it right. Step V includes a correction count check. If the number of corrections exceeds 3, manual intervention is required. Manual correction improves work efficiency and ensures the continuity and smoothness of the production line.

[0043] This utility model has a simple structure and reasonable design. The gripper mechanism reads the displacement stroke of the drive cylinder 24 of the gripping component 2, determines the deviation position of the ton bag based on the stroke difference of the drive cylinder 24, and determines the adjustment direction and adjustment angle. The steering component 4 adjusts the angle of the gripper mechanism according to the calculated rotation angle θ. Through an effective angle adjustment and error correction mechanism, the gripper mechanism can automatically correct itself. Even when the angle of the ton bag is uncertain, it can achieve stable and accurate gripping, improve gripping stability and efficiency, and make the gripper mechanism more flexible and adaptable.

[0044] The above description is an explanation of the present utility model and not a limitation thereof. The present utility model can be modified in any form without departing from its spirit.

Claims

1. A gripper mechanism for gripping ton bags, characterized in that: The device includes a support assembly (1), several sets of gripping assemblies (2), a lifting assembly (3), and a steering assembly (4). Several sets of gripping assemblies (2) are disposed on one side of the support assembly (1) and rotatably connected to the support assembly (1). The lifting assembly (3) is connected to the support assembly (1) on the opposite side of the gripping assembly (2). The steering assembly (4) is connected to the lifting assembly (3). The steering assembly (4) is configured to control the rotation of the support assembly (1) to adjust the angle based on the difference in displacement stroke of the gripping ton bags between the gripping assemblies (2).

2. The gripper mechanism according to claim 1, characterized in that: Each gripping component (2) is provided with a swing arm (21), and a hook (22) is provided on the swing arm (21). The swing arm (21) is rotatably connected to the support assembly (1). A driving component is connected to the swing arm (21). The driving component drives the swing arm (21) to rotate through linear displacement. The steering component (4) controls the rotation of the support assembly (1) according to the displacement stroke difference of the driving components of each gripping component (2). The displacement stroke difference is the stroke displacement difference between the driving components of the gripping components (2) that are in opposite positions.

3. The gripper mechanism according to claim 2, characterized in that: The driving component for rotating the swing arm (21) is a driving cylinder (24), which is mounted on the support assembly (1). A solenoid valve (7) is mounted on the support assembly (1), and the solenoid valve (7) is connected to the driving cylinder (24) of the gripping assembly (2). A locking rod (25) and a locking cylinder (26) are mounted on the swing arm (21) of the gripping assembly (2) above the hook (22). The locking rod (25) is connected to the output rod of the locking cylinder (26), and an insertion hole (221) is provided on the hook (22) corresponding to the locking rod (25). A telescopic sleeve (27) is fitted on the output rod of the locking cylinder (26).

4. The gripper mechanism according to claim 1 or 2, characterized in that: The steering assembly (4) controls the rotation angle of the support assembly (1) based on the stroke displacement difference. a, b, c, d are the displacement strokes of the driving components of the sequentially spaced gripping components (2), and e is a constant value.

5. The gripper mechanism according to claim 1, characterized in that: The steering assembly (4) includes a first gear (41), a second gear (42), a steering motor (43), and a support plate (44). The first gear (41) and the second gear (42) mesh with each other. The first gear (41) is connected to the lifting assembly (3), and the second gear (42) is connected to the steering motor (43). The steering motor (43) is fixed to the lifting assembly (3) through the support plate (44).

6. The gripper mechanism according to claim 5, characterized in that: The first gear (41) of the lifting assembly (3) and the steering assembly (4) is connected to the bracket assembly (1); the lifting assembly (3) includes an electric cylinder (31) and a connecting shaft (32), the connecting shaft (32) extends downward from the bottom of the electric cylinder (31), and the first gear (41) of the steering assembly (4) is sleeved on the connecting shaft (32) of the lifting assembly (3).

7. The gripper mechanism according to claim 1 or 2, characterized in that: The frame (11) of the support assembly (1) has four corners with support columns (12) extending upwards, and the top of the support column (12) is connected to the load-bearing base (13); the pivot (14) is connected between the load-bearing bases (13) of the two corresponding support columns (12), and the swing arm (21) of the gripping assembly (2) is fitted onto the pivot (14) through the kit (23).

8. A ton bag gripping system, characterized in that: The invention includes the gripper mechanism and control system according to any one of claims 1-7, wherein the gripper mechanism is controlled by the control system to perform the gripping of the ton bag.

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