A debarking system alkali solution bag unpacking robot

Abstract

The utility model relates to automatic material handling technical field discloses a kind of lye bag unpacking robot for core pulling system, robot includes the machine body frame being jointly constituted by mounting plate, upper plate, bottom plate and connecting column, and main claw component, vice claw component, pressing plate, vibrator and cleaning component are integrated in height on frame. Among them, main claw component is equipped with flat angle head main claw hook to realize lossless grabbing;Vice claw component is equipped with sharp head vice claw hook, and pressing plate driven by cylinder cooperates to firmly hold and fix lye bag;Vibrator is installed in upper plate, for efficiently vibrating and falling residual material in bag;Cleaning component includes telescopic high-pressure nozzle driven by electric push rod, can carry out omnibearing automatic cleaning to grabbing site.The utility model is through ingenious multifunctional structure integration, effectively solve the problem that material bag is easily broken, material residue and equipment cleaning difficulty, with the beneficial effect of reliable grabbing, high raw material utilization, high degree of automation and safe and reliable use.

Description

Technical Field

[0001] This utility model relates to the field of automated material handling technology, and in particular to a bag-unpacking robot for an alkaline bag removal system. Background Technology

[0002] In the core-removal process of the foundry industry or similar chemical production processes, it is often necessary to unpack and feed bagged chemical raw materials such as alkali solutions. To improve production efficiency and reduce the risks of manual operation, the use of industrial robots in conjunction with end effectors to automate this task has become an industry trend.

[0003] However, most existing robotic end effectors are of general-purpose design. When gripping flexible packaging such as alkali bags, their sharp edges or excessive gripping force can easily tear or squeeze the packaging bags, causing alkali leakage. This not only pollutes the environment and wastes raw materials, but also poses a threat to the safety of equipment and personnel.

[0004] Furthermore, after the packaging bag is picked up and opened, some of the alkali solution will adhere to the inner wall of the bag due to its viscosity. It is difficult to empty the bag completely by simply pouring it out, which leads to waste of raw materials and increases production costs.

[0005] More importantly, corrosive alkaline solutions inevitably remain on the grippers after the operation is completed. Cleaning these residues is a necessary but dangerous task. Traditional manual cleaning methods are inefficient and leave blind spots, while operators face significant safety hazards due to direct contact with corrosive substances. Existing automation solutions often neglect the equipment's own cleaning function, resulting in a significant shortcoming in the entire automation process.

[0006] In summary, the existing technology lacks an integrated robotic end effector specifically designed for material bags such as alkali bags that can combine non-destructive gripping, assisted emptying, and automatic cleaning functions.

[0007] Therefore, this utility model proposes a bag-unpacking robot for an alkaline bag removal system to address the shortcomings of existing technologies. Utility Model Content

[0008] To overcome the above shortcomings, this utility model provides a bag-unpacking robot for an alkaline bag removal system, which aims to improve the problems of easy damage to the bag during gripping, material residue inside the bag, and difficult and unsafe equipment cleaning after operation in the existing robot end effectors used for automated processing of alkaline bags.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: A bag-unpacking robot for an alkaline bag removal system includes: a mounting plate, an upper plate, a bottom plate, a connecting column, and a main claw assembly mounted on the bottom plate; as well as a multi-functional operating system integrating a connecting flange, a secondary claw assembly, a pressure plate, a vibrator, and a cleaning assembly.

[0010] In this multi-functional operating system, the various components form a specific spatial relationship on the machine frame, which is composed of mounting plate, upper plate, bottom plate and connecting column.

[0011] Specifically, the connecting flange is mounted on the mounting plate; the vibrator is mounted on the upper plate; the auxiliary claw assembly is mounted on the base plate; the pressure plate is set to work in conjunction with the auxiliary claw assembly; and the cleaning assembly has a high-pressure nozzle that sprays cleaning fluid toward the gripping parts of the main claw assembly and the auxiliary claw assembly. Through this integrated structural layout, multiple functions can work together.

[0012] Preferably, the main claw assembly includes a main claw hook, and the end of the main claw hook has a flat-angle head structure.

[0013] Preferably, the main claw assembly further includes a shaft for supporting the main claw hook, a first pneumatic rod, a first connecting rod, and a fixing block; the moving end of the first pneumatic rod drives the first connecting rod, and the first connecting rod drives the shaft to rotate under the guidance or support of the fixing block.

[0014] Preferably, the secondary claw assembly includes a secondary claw hook, the end of which has a pointed structure; and the pressure plate is disposed below the secondary claw hook.

[0015] Preferably, the robot further includes a second cylinder for driving the pressure plate; the secondary claw assembly further includes a connecting shaft for carrying the secondary claw hook, a second air rod, and a second connecting rod; the moving end of the second air rod drives the second connecting rod to rotate the connecting shaft.

[0016] Preferably, the cleaning assembly further includes a telescopic tube, an electric push rod, and a connecting block; the high-pressure nozzle is mounted on the telescopic tube, and the electric push rod drives the telescopic tube to extend and retract through the connecting block.

[0017] Preferably, the cleaning assembly further includes a water distribution pipe and a water inlet pipe, the water inlet pipe being used to connect to an external water source, and the water distribution pipe being used to distribute water from the water inlet pipe to the telescopic pipe.

[0018] This utility model has the following beneficial effects: 1. In this utility model, a main claw hook with a flat-angled end is used for initial gripping, and a secondary claw hook with a pointed end works with a pressure plate for secondary fixation. This solves the problem that the existing general-purpose grippers, due to their simple structure, cannot balance the integrity of the gripping process with the stability of subsequent processes, which can easily lead to damage to the material bag or insecure fixation. This achieves the technical effect of both non-destructive gripping and firm fixation, significantly improving the reliability of the operation.

[0019] 2. In this utility model, by integrating a vibrator on the machine frame, the problem of incomplete emptying and waste of raw materials caused by relying solely on gravity to pour out easily residual materials such as alkali solutions in the prior art is solved. This achieves the technical effect of effectively shaking off the residual materials in the bag, improving the utilization rate of raw materials and reducing production costs.

[0020] 3. In this utility model, by integrating a retractable cleaning component driven by an electric push rod and equipped with a high-pressure nozzle, the problems of low efficiency, many cleaning dead corners, and safety risks faced by operators caused by the need for manual cleaning of equipment after handling corrosive or hazardous materials in the prior art are solved. It achieves the technical effect of automated and all-round precise cleaning of core working components, and improves the automation level and maintenance safety of the equipment.

[0021] 4. In this utility model, by highly integrating the non-destructive main claw, fixed secondary claw, vibration mechanism and self-cleaning mechanism into an integrated machine frame, the problem of multiple equipment or workstations required to complete complex processes in the prior art, resulting in complex systems, large footprints and low automation, is solved. This achieves the technical effect of compact structure, comprehensive functions and high degree of automation. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of an alkaline bag unpacking robot for a core-removing system proposed in this utility model; Figure 2 This is a schematic diagram of the mounting plate of an alkaline bag unpacking robot for a core-removing system proposed in this utility model; Figure 3 This is a schematic diagram of the main claw assembly of an alkaline bag unpacking robot for a core-removing system proposed in this utility model; Figure 4 This is a schematic diagram of the cleaning component of an alkaline bag unpacking robot for a core removal system proposed in this utility model; Figure 5 This is a schematic diagram of the upper plate of an alkaline bag unpacking robot for a core-removing system proposed in this utility model.

[0023] Legend: 1. Mounting plate; 2. Secondary claw assembly; 201. Secondary claw hook; 202. Connecting shaft; 203. Second connecting rod; 204. Second air rod; 3. Cleaning assembly; 301. Water distribution pipe; 302. Water inlet pipe; 303. Electric push rod; 304. Connecting block; 305. High-pressure nozzle; 306. Telescopic pipe; 4. Connecting flange; 5. Base plate; 6. Connecting column; 7. Cylinder; 8. Main claw assembly; 801. Main claw hook; 802. Shaft; 803. First air rod; 804. First connecting rod; 9. Fixing block; 10. Upper plate; 11. Pressure plate; 12. Vibrator. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please refer to Figures 1 to 4 This utility model provides a bag-unpacking robot for an alkaline bag removal system, which aims to solve the problems of easy tearing of material bags, material residue, and difficult and unsafe equipment cleaning caused by the simple structure of existing gripping devices.

[0026] like Figure 1 and Figure 2 As shown, the core removal system uses an alkaline bag unpacking robot to construct a body frame. The body frame includes a mounting plate 1, an upper plate 10, a bottom plate 5, and connecting columns 6 for connection. A connecting flange 4 is fixedly connected to the top of the mounting plate 1 for mounting the entire robot to a host computer such as a robotic arm. The upper plate 10 is fixedly connected to the bottom of the mounting plate 1 by fasteners. The upper and lower ends of multiple connecting columns 6 are fixedly connected to the upper plate 10 and the bottom plate 5 respectively, thus forming a stable support structure between the two. The body frame integrates a main claw assembly 8, a secondary claw assembly 2, a pressure plate 11, a vibrator 12, and a cleaning assembly 3. The vibrator 12 is installed on the top of the upper plate 10. The main claw assembly 8 and the secondary claw assembly 2 are both installed on the bottom of the bottom plate 5. The cleaning assembly 3 is integrated into the structure of the mounting plate 1 and the upper plate 10. The pressure plate 11 is located near the secondary claw assembly 2 to work together.

[0027] To solve the above-mentioned technical problems, the core of the technical solution in this embodiment is that the alkaline bag unpacking robot of the core removal system achieves non-destructive gripping and firm fixation of the alkaline bag by setting up a main and auxiliary gripping system with complementary structure and function.

[0028] Please refer to the following carefully. Figure 1 , Figure 2 and Figure 3 The structure of the main claw assembly 8 will be described in detail below: The main claw assembly 8 is used for the initial gripping of the alkali solution bag. It includes multiple main claw hooks 801, the ends of which are designed with flat-angled heads to increase the contact area when contacting and gripping the alkali solution bag, preventing the bag from being torn due to stress concentration. The main claw hooks 801 are fixedly mounted on a rotatable shaft 802, which is rotatably connected to the base plate 5 via bearings. The main claw assembly 8 also includes a drive unit, which includes a first air rod 803, a first connecting rod 804, and a fixing block 9. The cylinder of the first air rod 803 is fixed to the base plate 5, and its moving end is connected to... One end of the first connecting rod 804 is hinged, and the other end of the first connecting rod 804 is eccentrically fixed to the shaft 802. The fixing block 9 is fixed on the base plate 5 and is used to guide or support the first connecting rod 804 when it moves. When the first air rod 803 moves, its moving end pushes the first connecting rod 804 to generate displacement, thereby driving the shaft 802 to rotate, and finally driving the main claw hook 801 to achieve the action of clamping inward or opening outward. This flat-angled claw structure ensures the integrity during the process of gripping and transferring the alkali bag.

[0029] Based on the above embodiments, the present invention may further include the following preferred technical solutions: In a preferred embodiment, to more securely fix the alkali bag before opening, the robot is also equipped with a secondary claw assembly 2 and a pressure plate 11. The secondary claw assembly 2 includes multiple secondary claw hooks 201, the ends of which are pointed to facilitate partial insertion or reliable hooking of the outer packaging of the alkali bag during clamping. The pressure plate 11 is located below the secondary claw hooks 201 and is driven by an independent cylinder 7 to reciprocate up and down. The secondary claw hooks 201 are fixedly mounted on the connecting shaft 202, which is rotatably connected to the base plate 5 via bearings. The driving part of the secondary claw assembly 2 includes a second air rod 204 and a second connecting rod 203. The cylinder of the second air rod 204 is fixed to the base plate 5, and its moving end is hinged to one end of the second connecting rod 203. The other end of the second connecting rod 203 is fixedly connected to the connecting shaft 202, thereby driving the secondary claw hooks 201 to clamp or release.

[0030] As another preferred embodiment, in order to achieve automated cleaning after equipment operation, the robot integrates a cleaning component 3. The cleaning component 3 includes a water inlet pipe 302, a water distribution pipe 301, a telescopic pipe 306, and a high-pressure nozzle 305. The water inlet pipe 302 is used to connect to an external water source. The external water source is distributed to the telescopic pipe 306 via the water distribution pipe 301 and sprayed out from the high-pressure nozzle 305 installed on the telescopic pipe 306. In order to achieve precise control of the cleaning position, the cleaning component 3 also includes an electric push rod 303 and a connecting block 304. The housing of the electric push rod 303 is fixed to the bottom of the mounting plate 1, and its push rod end is fixedly connected to the telescopic pipe 306 via the connecting block 304, so as to drive the telescopic pipe 306 together with the high-pressure nozzle 305 to move in the vertical direction to cover the entire gripping area.

[0031] Working principle: When the equipment is installed on the robotic arm via the connecting flange 4 and moved above the alkali bag, the main claw assembly 8 starts to work. The moving end of the first air rod 803 pushes the first connecting rod 804. Under the guidance or support of the fixed block 9, the first connecting rod 804 drives the shaft 802 to rotate, thereby causing the main claw hook 801 with a flat-angle head structure to clamp the alkali bag inward, achieving non-destructive gripping. After transporting the alkali bag to the designated workstation, the secondary claw assembly 2 and the pressure plate 11 work together. The second air rod 204 drives the second connecting rod 203 to rotate the connecting shaft 202, causing the secondary claw hook 201 with a pointed head structure to clamp the alkali bag inward. At the same time, the cylinder 7 drives the pressure plate 11 downward. Pressing the alkali bag securely fixes it in place through a combination of clamping and pressing. After the alkali bag is opened, the vibrator 12 installed on the upper plate 10 starts, and the vibration it generates is transmitted to the bottom plate 5 and the main and auxiliary claw assemblies through the connecting column 6, effectively shaking off the residual alkali liquid adhering to the inner wall of the alkali bag. After the operation is completed, the cleaning assembly 3 starts to work. The electric push rod 303 drives the telescopic tube 306 to extend downward through the connecting block 304, so that the high-pressure nozzle 305 reaches the predetermined cleaning position. The external water source is delivered to the high-pressure nozzle 305 through the water inlet pipe 302 and the water distribution pipe 301 and sprayed out to perform all-round automatic cleaning of components such as the main claw hook 801 and the auxiliary claw hook 201.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A bag-unpacking robot for an alkaline bag removal system, comprising: Mounting plate (1); The upper plate (10) is disposed below the mounting plate (1); Base plate (5); A connecting column (6) is connected between the upper plate (10) and the bottom plate (5) to form a body frame; The main claw assembly (8) is mounted on the base plate (5); The robot is characterized in that it further includes: A connecting flange (4) is provided on the mounting plate (1) for mounting the robot to the robotic arm; The secondary claw assembly (2) is mounted on the base plate (5); Pressure plate (11), the pressure plate (11) is used to cooperate with the auxiliary claw assembly (2) to press and fix the alkali bag; A vibratory machine (12) is mounted on the upper plate (10); The cleaning assembly (3) has a high-pressure nozzle (305) that sprays cleaning fluid toward the main claw assembly (8) and the auxiliary claw assembly (2).

2. The alkali bag unpacking robot for a core-removing system according to claim 1, characterized in that: The main claw assembly (8) includes a main claw hook (801), the end of which is a flat-angle head structure.

3. The alkali bag unpacking robot for a core-removing system according to claim 2, characterized in that: The main claw assembly (8) also includes: Shaft body (802), the main claw hook (801) is mounted on the shaft body (802); First gas spring (803); The first connecting rod (804) is driven by the moving end of the first air rod (803) to drive the shaft (802) to rotate; A fixing block (9) is used to guide or support the first connecting rod (804).

4. The alkali bag unpacking robot for a core-removing system according to claim 1, characterized in that: The secondary claw assembly (2) includes a secondary claw hook (201), the end of which is a pointed structure; the pressure plate (11) is disposed below the secondary claw hook (201).

5. The alkali bag unpacking robot for a core-removing system according to claim 4, characterized in that: The robot also includes a second cylinder (7) for driving the pressure plate (11); the secondary claw assembly (2) also includes: Connecting shaft (202), the secondary claw hook (201) is mounted on the connecting shaft (202); Second gas spring (204); The second connecting rod (203) is driven by the moving end of the second air rod (204) to drive the connecting shaft (202) to rotate.

6. The alkali bag unpacking robot for a core-removing system according to claim 1, characterized in that: The cleaning assembly (3) further includes: Telescopic pipe (306), the high-pressure nozzle (305) is mounted on the telescopic pipe (306); Electric linear actuator (303); The connecting block (304) allows the electric push rod (303) to drive the telescopic tube (306) to extend or retract via the connecting block (304).

7. The alkali bag unpacking robot for a core-removing system according to claim 6, characterized in that: The cleaning assembly (3) further includes a water distribution pipe (301) and a water inlet pipe (302), the water inlet pipe (302) being used to connect to an external water source, and the water distribution pipe (301) distributing water from the water inlet pipe (302) to the telescopic pipe (306).

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