阅读说明：本技术 一种气囊抓手及无尘翻转方法 (Air bag gripper and dust-free overturning method ) 是由 郭芳 韩秀洁 李锡文 夏同友 宣银侗 李聚昆 于 2019-09-30 设计创作，主要内容包括：本发明公开了一种气囊抓手及无尘翻转方法,用于配合机器人将料筒内的物料转移至接料装置,属于化工生产领域。该气囊抓手包括：环形气囊、气囊气动管接头、抓取翻转装置及气动控制阀；所述抓取翻转装置包括机器人连接部、料筒抓取部及料斗；所述料筒抓取部设置有上下贯通的通孔,所述通孔内设有至少一个环形槽,至少一个所述环形气囊一一对应固定于所述环形槽中；所述环形气囊通过所述气囊气动管接头充气和放气；所述料斗密封固定于料筒抓取部下部,所述料斗上端连通所述通孔,下端与所述气动控制阀固定连接；抓取料筒时,所述气动控制阀关闭,向接料装置内倾倒物料时,所述气动控制阀打开。本发明能以简单的结构实现无尘翻转,节省资源。(The invention discloses an air bag gripper and a dust-free overturning method, which are used for transferring materials in a material cylinder to a material receiving device by matching with a robot and belong to the field of chemical production. This gasbag tongs includes: the device comprises an annular air bag, an air bag pneumatic pipe joint, a grabbing and overturning device and a pneumatic control valve; the grabbing and overturning device comprises a robot connecting part, a material barrel grabbing part and a hopper; the material barrel grabbing part is provided with a through hole which is communicated up and down, at least one annular groove is arranged in the through hole, and at least one annular air bag is fixed in the annular groove in a one-to-one correspondence manner; the annular air bag is inflated and deflated through the air bag pneumatic pipe joint; the hopper is fixed at the lower part of the material cylinder grabbing part in a sealing way, the upper end of the hopper is communicated with the through hole, and the lower end of the hopper is fixedly connected with the pneumatic control valve; when the material barrel is grabbed, the pneumatic control valve is closed, and when the material is dumped into the material receiving device, the pneumatic control valve is opened. The invention can realize dust-free overturning by a simple structure and save resources.)

1. The utility model provides an gasbag tongs for cooperate the robot to shift the material in the feed cylinder (200) to receiving device (300), its characterized in that includes: the device comprises an annular air bag (1), an air bag pneumatic pipe joint (2), a grabbing and overturning device (3) and a pneumatic control valve (4);

The grabbing and overturning device (3) comprises a robot connecting part (31), a material barrel grabbing part (32) and a hopper (33);

The charging barrel grabbing part (32) is provided with a through hole (34) which is communicated up and down, at least one annular groove (35) is formed in the through hole, and at least one annular air bag (1) is fixed in the annular groove (35) in a one-to-one correspondence manner; the annular air bag (1) is inflated and deflated through the air bag pneumatic pipe joint (2);

the hopper (33) is fixed at the lower part of the material cylinder grabbing part (32) in a sealing way, the upper end of the hopper (33) is communicated with the through hole (34), and the lower end of the hopper (33) is fixedly connected with the pneumatic control valve (4); when the material barrel (200) is grabbed, the pneumatic control valve (4) is closed, and when the material is poured into the material receiving device (300), the pneumatic control valve (4) is opened.

2. The air bag gripper as claimed in claim 1, wherein the robot connecting part (31), the cartridge gripping part (32) and the hopper (33) are integrally cast or welded.

3. the air bag gripper as claimed in claim 1, further comprising an air bag connection port (5), wherein one end of the air bag connection port (5) is provided with a flange (51);

A plurality of openings (11) are circumferentially and uniformly distributed in the annular air bag (1), and the number of the air bag connecting ports (5) and the number of the air bag pneumatic pipe joints (2) are equal to that of the openings (11); each flange (51) is positioned in the annular air bag (1) and is in one-to-one correspondence with the periphery of the opening (11) for sealing, bonding and fixing;

the annular groove (35) is provided with unthreaded holes (36) which are equal in number and correspond to the open holes (11) in position one by one; the other end of each air bag connecting port (5) penetrates through each light hole (36) in a one-to-one correspondence mode, and is connected with each air bag pneumatic pipe connector (2) in a sealing mode in a one-to-one correspondence mode so as to enable the inner cavity of the annular air bag (1) to be communicated with the air bag pneumatic pipe connectors (2).

4. an air bag gripper as claimed in claim 1, characterised in that said pneumatic control valve (4) is a pneumatic hose valve or a pneumatic flap valve.

5. An air bag gripper as claimed in claim 4, characterised in that said pneumatic control valve (4) is a pneumatic hose valve comprising: a control valve pneumatic pipe joint (41), a shell (42), a rubber pipe (43) and a gland (44);

The two pressing covers (44) are respectively fixed at two ends of the shell (42), and the pressing cover (44) at the upper end is fixedly connected with the lower end of the grabbing and overturning device (3); the two ends of the rubber tube (43) are clamped between the two pressing covers (44) and the two ends of the shell (42) so that an air charging space (45) is formed between the rubber tube (43) and the shell (42); the control valve pneumatic pipe joint (41) is arranged on the side wall of the shell (42) and used for inflating the inflation space (45); when the control valve pneumatic pipe joint (41) is inflated, the rubber pipe (43) expands to close the pneumatic control valve (4), and after pressure is relieved, the rubber pipe (43) recovers to open the pneumatic control valve (4).

6. a dust-free overturning method is characterized by comprising the following steps:

(1) mounting the airbag grab handle (100) of any one of claims 1 to 5 to a working end of the robot through the robot connecting part (31);

(2) Placing the upper end of the charging barrel (200) into the through hole (34), wherein the annular air bag (1) is not inflated;

(3) inflating the annular air bag (1) through the air bag pneumatic pipe joint (2) so that the annular air bag (1) is tightly clamped on the outer wall of the charging barrel (200), and the pneumatic control valve (4) is kept in a closed state;

(4) The robot drives the charging barrel (200) and the air bag gripper (100) to integrally turn over, and after the pneumatic control valve (4) is in sealed butt joint with an inlet of the material receiving device (300), the pneumatic control valve (4) is opened to transfer materials.

Technical Field

the invention belongs to the field of chemical production, and particularly relates to an air bag gripper and a dust-free overturning method.

Background

in chemical production, the raw material barrel containing powder needs to be dumped for subsequent work such as sieving, weighing and transferring. The powder enters into receiving device's in-process by the upset of former storage bucket can produce a large amount of raise dusts, and on the one hand dust static is gathered and is had great potential safety hazard, and on the other hand operating personnel and dust direct contact easily produce the damage to human respiratory track, form occupational disease "pneumoconiosis".

In order to solve the dust problem, the most adopted method at present is to cover the turning process in a dustproof bin, and the dustproof bin is provided with a fan to suck dust in the air and then uniformly treat the dust. Although the method isolates the dust generation source and the external environment, a large amount of dust still accumulates in the dust-proof bin; the dust-proof bin body surrounds the whole dumping device, so that the occupied area is large, a dust removal device is required, and the subsequent treatment process is complicated; in addition, a fan is required to remove dust, and energy consumption is high.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides an air bag gripper and a dust-free overturning method, and aims to save a complex dust-proof and dust-removing structure with large occupied space by improving the structure of the gripper and directly gripping and sealing a charging barrel by using an annular air bag, thereby solving the technical problems of difficult dust removal, high energy and resource consumption and complex post-treatment process in the prior art.

to achieve the above object, according to one aspect of the present invention, there is provided an air bag gripper for cooperating with a robot to transfer a material in a cartridge to a receiving device, including: the device comprises an annular air bag, an air bag pneumatic pipe joint, a grabbing and overturning device and a pneumatic control valve;

the grabbing and overturning device comprises a robot connecting part, a material barrel grabbing part and a hopper;

the material barrel grabbing part is provided with a through hole which is communicated up and down, at least one annular groove is arranged in the through hole, and at least one annular air bag is fixed in the annular groove in a one-to-one correspondence manner; the annular air bag is inflated and deflated through the air bag pneumatic pipe joint;

The hopper is fixed at the lower part of the material cylinder grabbing part in a sealing way, the upper end of the hopper is communicated with the through hole, and the lower end of the hopper is fixedly connected with the pneumatic control valve; when the material barrel is grabbed, the pneumatic control valve is closed, and when the material is dumped into the material receiving device, the pneumatic control valve is opened.

Further, the robot connecting part, the charging barrel grabbing part and the hopper are integrally cast or welded.

the air bag connector is characterized by further comprising an air bag connector, wherein one end of the air bag connector is provided with a flange;

A plurality of openings are circumferentially and uniformly distributed on the annular air bag, and the number of the air bag connecting ports and the number of the air bag pneumatic pipe joints are equal to that of the openings; each flange is positioned in the annular air bag and is in one-to-one correspondence with the periphery of the opening hole for sealing, bonding and fixing;

the annular groove is provided with unthreaded holes which are equal in number and correspond to the openings in position one by one; the other end of each air bag connecting port penetrates through each unthreaded hole in a one-to-one correspondence mode, and is in sealing connection with each air bag pneumatic pipe joint in a one-to-one correspondence mode, so that the inner cavity of the annular air bag is communicated with the air bag pneumatic pipe joint.

Further, the pneumatic control valve is a pneumatic rubber tube valve or a pneumatic flap valve.

Further, the pneumatic control valve is a pneumatic rubber tube valve, and comprises: the pneumatic pipe joint of the control valve, the shell, the rubber pipe and the gland are arranged;

the two pressing covers are respectively fixed at two ends of the shell, and the pressing cover at the upper end is fixedly connected with the lower end of the grabbing turnover device; the two ends of the rubber tube are clamped between the two pressing covers and the two ends of the shell, so that an inflation space is formed between the rubber tube and the shell; the control valve pneumatic pipe joint is arranged on the side wall of the shell and used for inflating the inflation space; when the pneumatic pipe joint of the control valve is inflated, the rubber pipe expands to close the pneumatic control valve, and after pressure is relieved, the rubber pipe recovers to open the pneumatic control valve.

In order to achieve the above object, the present invention further provides a dust-free flipping method, comprising the following steps:

installing the airbag gripper in any one of the above manners at the working end of the robot through the robot connecting part;

the upper end of the charging barrel is placed into the through hole, and the annular air bag is not inflated at the moment;

the annular air bag is inflated through the air bag pneumatic pipe joint, so that the annular air bag is sealed and clamped on the outer wall of the charging barrel, and the pneumatic control valve is kept in a closed state;

The robot drives the material cylinder and the air bag gripper to integrally turn over, and after the pneumatic control valve is in sealed butt joint with an inlet of the material receiving device, the pneumatic control valve is opened to transfer materials.

in general, compared with the prior art, the above technical solution contemplated by the present invention can obtain the following beneficial effects:

1) The invention does not need a special feeding bin and a dust removal device in the turning process, can realize grabbing and sealing by inflating the annular air bag in the grabbing and turning device, ensures dustless in the turning process, has simple structure and small occupied area, and does not need complicated subsequent treatment procedures.

2) all adopt pneumatic drive, be applicable to the hazardous environment operation.

3) The blanking speed and the blanking amount can be controlled by adjusting the aeration amount of the pneumatic control valve, and the operation is flexible and changeable.

Drawings

FIG. 1 is a schematic view of the overall assembly of the preferred embodiment of the present invention.

Fig. 2 is a longitudinal sectional view of fig. 1.

fig. 3 is a partially enlarged view of a-a in fig. 2.

fig. 4 shows the working process of the dust-free turnover device according to the preferred embodiment of the present invention.

the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:

The automatic feeding device comprises a 100-air bag gripper, a 1-air bag, an 11-hole, a 2-air bag pneumatic pipe connector, a 3-gripping and overturning device, a 31-robot connecting part, a 32-material barrel gripping part, a 33-hopper, a 34-through hole, a 35-annular groove, a 36-unthreaded hole, a 4-pneumatic control valve, a 41-control valve pneumatic pipe connector, a 42-shell, a 43-rubber pipe, a 44-gland, a 45-inflation space, a 5-air bag connecting port, a 51-flange, a 200-material barrel and a 300-material receiving device.

Detailed Description

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 3, an air bag gripper according to a preferred embodiment of the present invention is used in conjunction with a robot to transfer a material in a material cylinder 200 to a material receiving device 300, and includes: the device comprises an annular air bag 1, an air bag pneumatic pipe joint 2, a grabbing and overturning device 3 and a pneumatic control valve 4.

The gripping and inverting device 3 includes a robot connecting portion 31, a cartridge gripping portion 32, and a hopper 33. The material cylinder grabbing part 32 is provided with a through hole 34 which is vertically communicated, at least one annular groove 35 is arranged in the through hole, and at least one annular air bag 1 is correspondingly fixed in the annular groove 35. The annular air bag 1 is inflated and deflated through the air bag pneumatic tube joint 2. The hopper 33 is hermetically fixed at the lower part of the material cylinder grabbing part 32, the upper end of the hopper 33 is communicated with the through hole 34, and the lower end of the hopper 33 is fixedly connected with the pneumatic control valve 4. When the material barrel 200 is grabbed, the pneumatic control valve 4 is closed, and when the material is poured into the material receiving device 300, the pneumatic control valve 4 is opened.

Preferably, the robot connecting part 31, the cartridge grasping part 32, and the hopper 33 are integrally cast or welded.

Preferably, the air bag connecting port 5 is further included, and one end of the air bag connecting port 5 is provided with a flange 51. A plurality of trompils 11 of annular gasbag 1 hoop equipartition, gasbag connector 5 the pneumatic coupling of gasbag connects 2 quantity all with trompil 11 quantity equals. The flanges 51 are positioned inside the annular air bag 1 and are in one-to-one correspondence sealing bonding fixation with the periphery of the opening 11. The annular groove 35 is provided with unthreaded holes 36 which are equal in number and correspond to the open holes 11 in position one to one. The other end of each air bag connecting port 5 penetrates through each light hole 36 in a one-to-one correspondence manner, and is in sealing connection with each air bag pneumatic pipe joint 2 in a one-to-one correspondence manner, so that the inner cavity of the annular air bag 1 is communicated with the air bag pneumatic pipe joint 2.

Preferably, the pneumatic control valve 4 is a pneumatic rubber tube valve or a pneumatic flap valve.

Preferably, the pneumatic control valve 4 is a pneumatic rubber tube valve, comprising: a control valve pneumatic pipe joint 41, a shell 42, a rubber pipe 43 and a gland 44.

The two pressing covers 44 are respectively fixed at two ends of the housing 42, and the pressing cover 44 at the upper end is fixedly connected with the lower end of the grabbing and overturning device 3. Both ends of the hose 43 are sandwiched between the two pressing covers 44 and both ends of the housing 42 so that an air charging space 45 is formed between the hose 43 and the housing 42. The control valve pneumatic tube connector 41 is mounted to a side wall of the housing 42 for inflating the inflation space 45. When the control valve pneumatic pipe joint 41 is inflated, the rubber pipe 43 expands to close the pneumatic control valve 4, and after the pressure is relieved, the rubber pipe 43 recovers to open the pneumatic control valve 4.

As shown in fig. 4, the dust-free tumbling operation of the present invention is as follows:

(1) Installing an air bag gripper 100 at a working end of the robot through the robot connecting part 31;

(2) Placing the upper end of the charging barrel 200 into the through hole 34, wherein the annular air bag 1 is not inflated;

(3) The annular air bag 1 is inflated through the air bag pneumatic pipe joint 2, so that the annular air bag 1 is tightly clamped on the outer wall of the charging barrel 200, and the pneumatic control valve 4 is kept in a closed state;

(4) The robot drives the material cylinder 200 and the air bag gripper 100 to integrally turn over, and after the pneumatic control valve 4 is in sealed butt joint with the inlet of the material receiving device 300, the pneumatic control valve 4 is opened to transfer materials.

The working principle of the present invention will be described in a more specific case.

In this embodiment, the air bag gripper 100 is composed of an air bag 1, an air bag pneumatic pipe joint 2, a gripping and turning device 3, a pneumatic control valve 4, and the like, and the robot drives the gripper to move and realize a turning function. The grabbing and overturning device 3 comprises a robot connecting part 31, a material barrel grabbing part 32 and a hopper 33, and all the parts can be integrally cast or welded. The robot connecting portion 31 is connected to a robot (not shown) by a bolt. A plurality of ring channels (this embodiment is 2) have been arranged along the axial on the feed cylinder portion of snatching 32, 1 ring equipartition trompil of annular gasbag (this embodiment is 3 holes for the ring direction equipartition), it has the gasbag connector 5 that has flange 51 to bond, place annular gasbag 1 in ring channel 35 earlier during the assembly, the gasbag connector 5 that the ring direction was evenly arranged passes unthreaded hole 36 on the feed cylinder portion of snatching 32 ring channel 35 and is connected through the screw thread with gasbag pneumatic tube connector 2 (as shown in fig. 3), reach the effect of fixing a position and fastening annular gasbag 1. The hopper 33 is arranged below the cartridge grasping portion 32 and is connected to the pneumatic control valve 4 by flange bolts. The pneumatic control valve 4 may be a pneumatic rubber tube valve or a pneumatic flap valve, etc., and fig. 2 illustrates a pneumatic rubber tube valve structure, which includes a control valve pneumatic tube joint 41, a housing 42, a rubber tube 43 and a gland 44, wherein the rubber tube 43 is clamped between the gland 44 and the housing 42, when the control valve pneumatic tube joint 41 is fully inflated, the pneumatic control valve 4 is closed, the inflation is stopped, the pressure is released, and then the pneumatic control valve 4 is opened. The inflation quantity of the pneumatic pipe joint 41 of the control valve is adjusted, so that the expansion degree of the rubber pipe 43 can be changed, and the blanking speed and the blanking quantity can be freely controlled.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.