CN114148783B

CN114148783B - Unloading robot for bagged cement

Info

Publication number: CN114148783B
Application number: CN202111617323.1A
Authority: CN
Inventors: 范宗民; 吴玉辉
Original assignee: Hefei Cement Research and Design Institute Co Ltd
Current assignee: Hefei Cement Research and Design Institute Co Ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-09-02
Anticipated expiration: 2041-12-27
Also published as: CN114148783A

Abstract

The invention belongs to the technical field of unloading robots and discloses an unloading robot for bagged cement. According to the invention, part of the swinging rods sleeved in the side grooves can swing around the fixed shaft, the vibration hydraulic mechanism and the power motor are additionally arranged at the top of the base, the vertical vibration of the push plate of the vibration hydraulic mechanism is effectively realized through the power motor, the swinging rods are repeatedly pushed to swing by the pushing mechanism by utilizing the change of hydraulic oil, the bagged cement is uniformly beaten and pushed through a plurality of groups of swinging rods uniformly distributed below the bagged cement, the bagged cement is further uniformly distributed in the packaging bags, the contact surface between each group of bagged cement is uniform and flat during stacking, the stacking stability is improved, and the actual unloading effect is improved.

Description

Unloading robot for bagged cement

Technical Field

The invention belongs to the technical field of unloading robots, and particularly relates to an unloading robot for bagged cement.

Background

The robot is an intelligent machine that can work semi-independently or independently entirely, and at present, the robot scholars on the international divide into two types with the robot from application environment: industrial robots in a manufacturing environment and service and humanoid robots in a non-manufacturing environment are classified into four types according to the movement pattern of an arm portion. The arm portion of the rectangular coordinate type can move along three rectangular coordinates; the cylindrical coordinate type arm part can do lifting, rotating and stretching actions; the arm part of the spherical coordinate type can rotate, pitch and stretch; the arm of articulated type has a plurality of revolute joint, when carrying out the unloading of bagged cement, often adopts the robot to carry out convenient unloading.

Present be used for bagged cement machine people that unloads, in the use, utilize transport mechanism to transport the bottom with the bagged cement on the car usually, and drive multiunit clamping jaw control through the robot and grasp bagged cement, and the installation sets for the program and accomplishes intelligent pile up neatly, however bagged cement's cement powder volume is not full of completely, make cement powder inhomogeneous distribution in bagged, in unloading process bagged cement because inside cement powder distributes unevenly, make bagged cement volume irregular, when unloading the pile up neatly after the centre gripping, the actual pile up neatly of the inhomogeneous bagged cement of volume is unstable, along with the increase of pile up neatly height, the bagged cement that the pile up neatly got up appears empting condition such as turn on one's side easily, and the robot is difficult to effectively adjust for unloading at present, the result of use is not good.

On the other hand, current be used for bagged cement unloading robot, in the use, because bagged cement's wrapping bag intensity is limited, scratch breakage appears easily in transportation transport etc. in-process, and the cement powder volume that the inside was adorned is very little, a large amount of cement powder are attached to on the surface of wrapping bag, the cement powder on the bagged cement surface scatters easily and raises under striking and vibrations effect, when actually carrying out the pile up neatly after the robot that unloads centre gripping, the bagged cement that falls collides with the bagged cement of bottom, comparatively serious raise dust condition can appear, make the scene environment quality of unloading reduce, and unloading robot surface collection dirt is serious, the result of use is not good.

Disclosure of Invention

The invention aims to provide a bagged cement unloading robot to solve the problems in the background technology.

In order to achieve the above purpose, the invention provides the following technical scheme: a robot for unloading bagged cement comprises a robot main body, a connecting frame, a mounting seat, a control motor and a base, wherein a control clamp is movably mounted on the bottom surface of the base, a mounting plate is fixedly mounted on the side surface of the control clamp, a clamping jaw is fixedly mounted on the inner surface of the mounting plate, a side groove is formed in the side surface of the clamping jaw, a fixed shaft is fixedly connected to the inner surface of the side groove, a swing rod is movably sleeved on the outer surface of the fixed shaft, two fixed plates are fixedly connected to the top surface of each swing rod, a round shaft is fixedly connected between the two fixed plates, a pushing mechanism is movably mounted on the outer surface of the round shaft, a sleeve is movably sleeved on the outer surface of the pushing mechanism, a distributing sleeve is fixedly communicated with the top surface of the sleeve, a vibration hydraulic mechanism is fixedly mounted on the top surface of the base, a first pipe is fixedly communicated between the vibration hydraulic mechanism and the distributing sleeve, the top surface fixedly connected with riser of base, the top surface fixedly connected with backup pad of riser, the top surface fixed mounting of backup pad has motor power, motor power's output shaft fixedly connected with pivot, the surface mounting of pivot has cup jointed the cam.

Preferably, vibrations hydraulic pressure mechanism includes hydraulic pressure pipe, a hydraulic pressure section of thick bamboo, push pedal, loop bar, roof and spring, the fixed intercommunication of a hydraulic pressure section of thick bamboo is on the top surface of hydraulic pressure pipe, the inside at a hydraulic pressure section of thick bamboo is cup jointed in the push pedal activity, loop bar fixed connection just cup joints with a hydraulic pressure section of thick bamboo activity on the top surface of push pedal, roof fixed connection is on the top surface of loop bar, spring fixed connection is between roof and a hydraulic pressure section of thick bamboo, the cam is located the below of roof.

The first embodiment: as shown in fig. 1, 2, 5, 6, 7 and 8, when unloading and stacking are carried out, the robot body acts to make the base approach the bagged cement downwards, and the control clamp drives the mounting plates at two sides to clamp inwards when being positioned at two sides of the bagged cement, so that the bagged cement is positioned on the top surfaces of the groups of clamping jaws, the power motor is started to drive the rotating shaft to rotate, the cam on the outer surface of the rotating shaft is simultaneously rotated, the top plate of the vibration hydraulic mechanism contacted with the cam moves up and down, the spring vibrates up and down simultaneously, the top plate drives the sleeve rod to move along with the up and down movement of the top plate, the sleeve rod drives the push plate to compress pressure oil up and down, the oil amount in the sleeve pipe is increased and reduced to change repeatedly and alternately, further, the pushing mechanism in the sleeve pipe moves up and down, and the swinging rod movably arranged with the pushing mechanism swings up and down, the swinging rods in the clamping jaw side grooves repeatedly flap the bottoms of the bagged cement, the groups of swinging rods move simultaneously, the volume of the bagged cement is uniform, and the robot main body continues to move to stably place the bagged cement.

At first, set up the side groove through the side at the clamping jaw, make the part cup joint the swinging arms in the side groove can round the fixed axle swing, and distribute at the base top and add vibrations hydraulic pressure mechanism and motor power, effectively realize vibrations from top to bottom of the push pedal of vibrations hydraulic pressure mechanism through motor power, make the change that utilizes hydraulic oil make pushing mechanism promote the swinging arms swing repeatedly, effectively through the swinging arms of multiunit evenly distributed in bagged cement below, carry out even patting and the top is pushed away to bagged cement, and then make bagged cement evenly distributed in the wrapping bag, contact surface between every group bagged cement is even when guaranteeing the pile up neatly, improve the stability of pile up neatly, improve the effect of actually unloading.

Preferably, the fixed case of top surface fixedly connected with of backup pad, fixed case cup joints with the pivot activity, the fixed cup joint in side of fixed case has the bearing, the fixed cup joint in internal surface of bearing has the installation axle, the fixed cup joint in surface of installation axle has a gear, the fixed surface of installation axle has cup jointed the blade, through addding the bearing for the rotation of installation axle is stable, realizes that the stable rotation and the output of blade are taken out and are induced drafted.

Preferably, the fixed cover in surface of pivot has connect No. two gears, No. two gears are located the inside of fixed case, No. two gears are connected with a gear engagement, and the number of teeth of No. two gears is greater than the number of teeth of a gear for can drive the high-speed rotation of a gear when No. two gears are rotatory slower, thereby when making the steady uniform velocity swing of swinging arms, the blade has the effect of high-speed rotation.

Preferably, the side of fixed case has seted up the installing port, the internal surface movable mounting of installing port has filtering mechanism, realizes inhaling the filtration collection of cement powder through filtering mechanism, guarantees that the air that blows off is clean, improves the on-the-spot operational environment quality.

Preferably, the suction hole has been seted up to the bottom surface of base, the top surface fixedly connected with of base and the suction sleeve that the suction hole is linked together, the quantity of suction sleeve is two, two the side of suction sleeve is fixed the intercommunication respectively has No. two pipes and No. three pipes, and No. two pipes cooperate No. three pipes to carry the fixed case with the cement powder suction that the swinging arms patted the in-process and produce.

Preferably, the second pipe is fixedly communicated with the outer surface of the third pipe, and the upper end of the third pipe is fixedly communicated with the fixed box.

The second embodiment: as shown in fig. 1, 3, 4, 8 and 9, when the robot grabs the bagged cement, the power motor drives the rotating shaft to rotate, at the same time, the second gear on the outer surface of the rotating shaft drives the first gear on the outer surface of the mounting shaft to rotate, the larger second gear drives the smaller first gear to rotate at high speed, the mounting shaft drives the blades to rotate along with the high-speed rotation of the first gear, so that the air inside the third pipe is sucked into the fixed box, the multiple groups of swinging rods repeatedly flap the bagged cement along with the rotation of the power motor, so that the cement powder assisted on the surface of the bagged cement vibrates and is sucked into the two groups of air suction sleeves through the air suction holes, the cement powder in the two groups of air suction sleeves is sucked into the fixed box through the second pipe and the third pipe, the sucked air in the fixed box is blown out through the filter plate, the cement powder is filtered on the inner side of the filter plate, the surface of the bagged cement is kept clean, and no cement powder flies in the working site.

First, the surface through the pivot of connecting at motor power cup joints No. two gears, and add the gear that cup joints with the installation axle in fixed incasement portion, rotation through motor power, realize the high-speed rotation of installation axle, and then make the high-speed rotation of the blade that the installation axle surface cup jointed form suction force, cooperate the suction hole of base top surface and with No. three pipes and No. two pipes that the cover communicates with of breathing in, the cement powder that will pat the in-process raise is effectively siphoned away and is collected, avoid the later stage to lift the cement powder on the wrapping bag surface when unloading bagged cement and raise, improve the clean of site environment, guarantee the air quality of job site, guarantee the robot surface cleanness, avoid the cement dust to collect dirt on the robot, cement powder suction is collected effectually, it is convenient to use.

Preferably, the filtering mechanism comprises a fixing rod, a limiting plate, a filtering plate and a locking cap, the fixing rod is fixedly connected inside the fixing box, the limiting plate is fixedly sleeved on the outer surface of the fixing rod, the filtering plate is movably sleeved with the fixing rod, the filtering plate is located in the inner surface of the mounting port, and the locking cap is in threaded sleeve connection with the outer surface of the fixing rod.

Preferably, the side fixedly connected with connecting block of base, the cross-section of connecting block is "L" shape, the top surface and the distribution cover fixed connection of connecting block realize distributing supporting fixed connection through the connecting block, guarantee that the distribution cover has suitable position.

Preferably, the connecting frame is fixedly connected to the end face of the robot main body, the bottom end of the connecting frame is fixedly connected with the mounting seat, the control motor is fixedly mounted on the bottom face of the mounting seat, and an output shaft of the control motor is fixedly connected with the base.

The third embodiment: as shown in fig. 1, 4, 8 and 9, after cement powder is gradually sucked and located in the fixed box, the robot finishes unloading work, the locking cap is screwed out of the fixed rod from the side face of the fixed box and outwards takes the filter plate down, cement powder on the filter holes and the side face of the filter plate is swept down in the external storage box through manual operation, the cement powder in the fixed box is swept out slightly through the mounting port on the side face of the fixed box, the swept cement powder is placed in the storage box, and cleaning are finished.

At first, it is rotatory to utilize motor power to drive the pivot, when making the cam rotatory, the number of teeth is far greater than the number of teeth of a gear two gears drive a gear rotation, realize that a gear makes the high-speed rotation of blade produce the suction through driving the installation axle and induced drafts, and cooperate the vibrations of patting of swinging arms, make bagged cement powder on the surface raise and inhale the fixed case through the suction hole, cooperation filter mechanism, convenient collection processing who realizes the cement powder when shutting down, and the robot surface adheres to the cement powder and is few, reduced the clear work load in robot surface after shutting down greatly, the clean degree of difficulty is little, excellent in use effect.

The invention has the following beneficial effects:

1. according to the invention, the side grooves are formed in the side surfaces of the clamping jaws, the swinging rods partially sleeved in the side grooves can swing around the fixed shaft, the vibration hydraulic mechanism and the power motor are distributed and additionally arranged on the top of the base, the vertical vibration of the push plate of the vibration hydraulic mechanism is effectively realized through the power motor, the swinging rods are repeatedly pushed to swing by the pushing mechanism through the change of hydraulic oil, the bagged cement is uniformly beaten and pushed through multiple groups of swinging rods uniformly distributed below the bagged cement, the bagged cement is uniformly distributed in the packaging bags, the uniform and flat contact surface among each group of bagged cement is ensured during stacking, the stacking stability is improved, and the actual unloading effect is improved.

2. According to the invention, the second gear is sleeved on the outer surface of the rotating shaft connected with the power motor, the first gear sleeved with the mounting shaft is additionally arranged in the fixing box, the high-speed rotation of the mounting shaft is realized through the rotation of the power motor, so that the blades sleeved on the outer surface of the mounting shaft rotate at a high speed to form suction force, and the suction holes on the top surface of the base and the third pipe and the second pipe communicated with the suction sleeves are matched to effectively suck and collect cement powder lifted in the flapping process, so that the cement powder on the surface of the packaging bag is prevented from being lifted when the bagged cement is unloaded at a later stage, the cleanness of the site environment is improved, the air quality of the operation site is ensured, the surface of the robot is ensured to be clean, the cement dust is prevented from collecting on the robot, the cement powder suction and collection effect is good, and the use is convenient.

3. According to the invention, the rotating shaft is driven to rotate by the power motor, so that when the cam rotates, the second gear with the number of teeth far larger than that of the first gear drives the first gear to rotate, the first gear drives the mounting shaft to enable the blades to rotate at high speed to generate suction and suction, and the first gear is matched with flapping vibration of the swinging rod to enable cement powder on the surface of bagged cement to be lifted and sucked into the fixed box through the suction hole.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic front view of the base of the present invention;

FIG. 3 is a bottom view of the base of the present invention;

FIG. 4 is a top view of the base of the present invention;

FIG. 5 is an exploded view of the present invention between the jaw and the sway bar;

FIG. 6 is an exploded view of the pushing mechanism and the sleeve of the present invention;

FIG. 7 is an exploded schematic view of the vibratory hydraulic machine of the present invention;

FIG. 8 is an exploded view of the present invention between the power motor and the stationary box;

fig. 9 is an exploded view of the holding tank and filter mechanism of the present invention.

In the figure: 1. a robot main body; 2. a connecting frame; 3. a mounting base; 4. controlling the motor; 5. a base; 6. a control clip; 7. mounting a plate; 8. a clamping jaw; 9. a side groove; 10. a fixed shaft; 11. a swing lever; 12. a fixing plate; 13. a circular shaft; 14. a pushing mechanism; 141. sheathing; 142. a loop bar; 143. a movable plug; 15. connecting blocks; 16. distributing and matching; 17. a sleeve; 18. a vibration hydraulic mechanism; 181. a hydraulic tube; 182. a hydraulic cylinder; 183. pushing the plate; 184. a loop bar; 185. a top plate; 186. a spring; 19. a first pipe; 20. a vertical plate; 21. a support plate; 22. a power motor; 23. a fixed box; 24. a rotating shaft; 25. a cam; 26. a bearing; 27. installing a shaft; 28. a first gear; 29. a blade; 30. a second gear; 31. an installation port; 32. a filtering mechanism; 321. fixing the rod; 322. a limiting plate; 323. a filter plate; 324. a locking cap; 33. a suction hole; 34. an air suction sleeve; 35. a second tube; 36. tube III.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 9, in the embodiment of the present invention, a robot for unloading bagged cement, includes a robot main body 1, a connecting frame 2, a mounting seat 3, a control motor 4 and a base 5, a control clamp 6 is movably mounted on the bottom surface of the base 5, a mounting plate 7 is fixedly mounted on the side surface of the control clamp 6, a clamping jaw 8 is fixedly mounted on the inner surface of the mounting plate 7, a side groove 9 is formed on the side surface of the clamping jaw 8, a fixed shaft 10 is fixedly connected to the inner surface of the side groove 9, a swing rod 11 is movably sleeved on the outer surface of the fixed shaft 10, two fixed plates 12 are fixedly connected to the top surface of each swing rod 11, a circular shaft 13 is fixedly connected between the two fixed plates 12, a pushing mechanism 14 is movably mounted on the outer surface of the circular shaft 13, a sleeve 17 is movably sleeved on the outer surface of the pushing mechanism 14, a sub-matching 16 is fixedly connected to the top surface of the sleeve 17, a vibration hydraulic mechanism 18 is fixedly mounted on the top surface of the base 5, a first pipe 19 is fixedly communicated between the vibration hydraulic mechanism 18 and the distribution sleeve 16, a vertical plate 20 is fixedly connected to the top surface of the base 5, a support plate 21 is fixedly connected to the top surface of the vertical plate 20, a power motor 22 is fixedly mounted to the top surface of the support plate 21, a rotating shaft 24 is fixedly connected to an output shaft of the power motor 22, and a cam 25 is fixedly sleeved on the outer surface of the rotating shaft 24.

The hydraulic mechanism 18 comprises a hydraulic pipe 181, a hydraulic cylinder 182, a push plate 183, a loop bar 184, a top plate 185 and a spring 186, wherein the hydraulic cylinder 182 is fixedly communicated with the top surface of the hydraulic pipe 181, the push plate 183 is movably sleeved inside the hydraulic cylinder 182, the loop bar 184 is fixedly connected to the top surface of the push plate 183 and movably sleeved with the hydraulic cylinder 182, the top plate 185 is fixedly connected to the top surface of the loop bar 184, the spring 186 is fixedly connected between the top plate 185 and the hydraulic cylinder 182, and the cam 25 is located below the top plate 185.

The first embodiment: as shown in fig. 1, 2, 5, 6, 7 and 8, when unloading and stacking, the robot body 1 moves to make the base 5 approach downward to the bagged cement, and the existing pneumatic control box on the top surface of the existing mounting base 3 is used to push the control clamp 6 mounted inside to swing by a moving angle, so that the control clamps 6 on both sides drive the mounting plate 7 to swing, and further the clamping jaws 8 mounted on both sides are closed and inclined to clamp the bagged cement from the bottom of the bagged cement, so that the inclined sides of the clamping jaws 8 clamp the sides of the bagged cement, and keep the bagged cement above the sides of the clamping jaws 8, complete clamping, start the power motor 22, so that the power motor 22 drives the rotating shaft 24 to rotate, and simultaneously make the cam 25 on the outer surface of the rotating shaft 24 rotate, and make the top plate 185 of the vibration hydraulic mechanism 18 contacting with the cam 25 move up and down, meanwhile, the spring 186 vibrates up and down, the top plate 185 drives the loop bar 184 to move along with the up-and-down movement of the top plate 185, the loop bar 184 drives the push plate 183 to compress pressure oil up and down, the oil amount in the sleeve 17 is increased and decreased to change repeatedly and alternately, the pushing mechanism 14 in the sleeve 17 is further moved up and down, the swinging rod 11 movably mounted with the pushing mechanism 14 is made to swing up and down, the swinging rod 11 in the side groove of the clamping jaw 8 repeatedly beats the bottom of the bagged cement, a plurality of groups of swinging rods 11 act simultaneously, the volume of the bagged cement is uniform, and the robot main body 1 continues to act to stably place the bagged cement.

Firstly, set up side groove 9 through the side at clamping jaw 8, make the part cup joint the swinging arms 11 in side groove 9 can swing round fixed axle 10, and at 5 top distributions of base add vibrations hydraulic pressure mechanism 18 and motor power 22, effectively realize the upper and lower vibrations of the push pedal 183 of vibrations hydraulic pressure mechanism 18 through motor power 22, make the change that utilizes hydraulic oil make pushing mechanism promote the swinging arms 11 swing repeatedly, effectively through the swinging arms 11 of multiunit evenly distributed in bagged cement below, carry out even patting and top pushing to bagged cement, and then make the cement evenly distributed in the bagging-off in the wrapping bag, contact surface between every group bagged cement is evenly leveled when guaranteeing the pile up neatly, improve the stability of pile up neatly, improve the actual effect of unloading.

Wherein, the fixed case 23 of top surface fixedly connected with of backup pad 21, fixed case 23 cup joints with the activity of pivot 24, the fixed bearing 26 that has cup jointed in side of fixed case 23, the internal surface fixation of bearing 26 has cup jointed installation axle 27, the external surface fixation of installation axle 27 has cup jointed gear 28, the external surface fixation of installation axle 27 has cup jointed blade 29, through addding bearing 26, make the rotation of installation axle 27 stable, realize blade 29's stable rotation and output and draw wind.

Wherein, the outer fixed surface of pivot 24 has cup jointed No. two gears 30, and No. two gears 30 are located the inside of fixed case 23, and No. two gears 30 are connected with a gear 28 meshing, and the number of teeth of No. two gears 30 is far away from the number of teeth of a gear 28 for No. two gears 30 can drive the high-speed rotation of a gear 28 when rotatory more slowly, thereby when making the steady uniform velocity swing of swinging arms 11, blade 29 has the effect of high-speed rotation.

Wherein, the side of fixed case 23 has seted up installing port 31, and the internal surface movable mounting of installing port 31 has filtering mechanism 32, realizes the filtration collection that inhales cement powder through filtering mechanism 32, guarantees that the air that blows out is clean, improves on-the-spot operational environment quality.

The bottom surface of the base 5 is provided with two air suction holes 33, the top surface of the base 5 is fixedly connected with two air suction sleeves 34 communicated with the air suction holes 33, the side surfaces of the two air suction sleeves 34 are respectively and fixedly communicated with a second pipe 35 and a third pipe 36, and the second pipe 35 is matched with the third pipe 36 to suck and convey cement powder generated in the beating process of the oscillating rod 11 into the fixed box 23.

Wherein, No. two pipe 35 is fixed the intercommunication on No. three pipe 36's surface, and No. three pipe 36's upper end and fixed case 23 fixed intercommunication.

Second embodiment: as shown in fig. 1, 3, 4, 8 and 9, when the robot grabs the bagged cement, the power motor 22 drives the rotating shaft 24 to rotate, at the same time, the second gear 30 on the outer surface of the rotating shaft 24 drives the first gear 28 on the outer surface of the mounting shaft 27 to rotate, the larger second gear 30 drives the smaller first gear 28 to rotate at a high speed, the mounting shaft 27 drives the blades 29 to rotate with the high-speed rotation of the first gear 28, so that the air inside the third pipe 36 is sucked into the fixed box 23, the groups of oscillating rods 11 repeatedly flap the bagged cement with the rotation of the power motor 22, so that the cement powder on the surface of the bagged cement vibrates and is lifted and sucked into the two groups of suction sleeves 34 through the suction holes 33, the air is sucked with the rotation of the blades 29, the cement powder in the two groups of suction sleeves 34 is sucked into the fixed box 23 through the second pipe 35 and the third pipe 36, the air sucked into the fixed box 23 is blown out through the filter plate 323, the cement powder is filtered on the inner side of the filter plate 323, the surface of the bagged cement is kept clean, and the cement powder is not scattered and splashed on a working site.

Firstly, the outer surface of the rotating shaft 24 connected with the power motor 22 is sleeved with the second gear 30, the first gear 28 sleeved with the mounting shaft is additionally arranged inside the fixing box 23, the high-speed rotation of the mounting shaft 27 is realized through the rotation of the power motor 22, and further the blades 29 sleeved on the outer surface of the mounting shaft 27 rotate at a high speed to form suction force, and the suction hole 33 on the top surface of the base 5 and the third pipe 36 and the second pipe 35 communicated with the suction sleeve 34 are matched to effectively suck and collect cement powder lifted in the beating process, so that the cement powder on the surface of the packaging bag is prevented from being lifted in the later period when the bagged cement is unloaded, the cleanness of the field environment is improved, the air quality of an operation field is ensured, the surface of the robot is ensured to be clean, the dust collection of the cement dust on the robot is avoided, the effect of the suction and collection of the cement powder is good, and the use is convenient.

The filtering mechanism 32 comprises a fixing rod 321, a limiting plate 322, a filtering plate 323 and a locking cap 324, the fixing rod 321 is fixedly connected inside the fixing box 23, the limiting plate 322 is fixedly sleeved on the outer surface of the fixing rod 321, the filtering plate 323 is movably sleeved with the fixing rod 321, the filtering plate 323 is located in the inner surface of the mounting port 31, and the locking cap 324 is sleeved on the outer surface of the fixing rod 321 in a threaded manner.

Wherein, the side fixedly connected with connecting block 15 of base 5, the cross-section of connecting block 15 is "L" shape, and the top surface and the distribution cover 16 fixed connection of connecting block 15 realize distributing the fixed connection of cover 16 through connecting block 15, guarantee that distributing the cover 16 has suitable position.

Wherein, link 2 fixed connection is on the terminal surface of robot main part 1, the bottom and the mount pad 3 fixed connection of link 2, and control motor 4 fixed mounting is on the bottom surface of mount pad 3, and control motor 4's output shaft and base 5 fixed connection.

The third embodiment: as shown in fig. 1, 4, 8 and 9, after cement powder is gradually sucked and located in the fixed box 23, the robot completes the unloading work, the locking cap 324 is unscrewed from the fixed rod 321 from the side surface of the fixed box 23, the filter plate 323 is taken down outwards, the filter holes of the filter plate 323 and the cement powder on the side surface are swept down in the external storage box by manual operation, the cement powder in the fixed box 23 is slightly swept out through the mounting port 31 on the side surface of the fixed box 23, and the swept cement powder is placed in the storage box, so that the cleaning and cleaning are completed.

Firstly, utilize motor power 22 to drive the pivot 24 rotatory, make cam 25 rotatory while, the number of teeth is greater than the number of teeth of a gear 28 No. two gears 30 drive a gear 28 rotatory, realize that a gear 28 makes blade 29 high-speed rotation produce the suction through driving installation axle 27 and inhale the wind, and cooperate the vibrations of patting of swinging arms 11, make bagged cement powder on the surface uplift and inhale fixed case 23 through suction hole 33, cooperation filter mechanism 32, convenient collection of realizing cement powder is handled when shutting down, and robot surface adheres to cement powder and is few, greatly reduced the work load to robot surface cleaning after shutting down, the clean degree of difficulty is little, excellent in use effect.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a be used for bagged water mud to unload machine people, includes robot main part (1), link (2), mount pad (3), control motor (4) and base (5), its characterized in that: the bottom surface movable mounting of base (5) has control clamp (6), the side fixed mounting of control clamp (6) has mounting panel (7), the internal surface fixed mounting of mounting panel (7) has clamping jaw (8), side channel (9) have been seted up to the side of clamping jaw (8), the internal surface fixed connection of side channel (9) has fixed axle (10), swinging arms (11) have been cup jointed in the surface activity of fixed axle (10), every the top surface of swinging arms (11) all fixedly connected with two fixed plates (12), two fixedly connected with round axle (13) between fixed plate (12), the external surface movable mounting of round axle (13) has pushing mechanism (14), the external surface activity of pushing mechanism (14) has cup jointed sleeve pipe (17), the fixed intercommunication of top surface of sleeve pipe (17) has branch complete set (16), the top surface fixed mounting of base (5) has vibrations hydraulic pressure mechanism (18), a first pipe (19) is fixedly communicated between the vibration hydraulic mechanism (18) and the distribution sleeve (16), a vertical plate (20) is fixedly connected to the top surface of the base (5), a support plate (21) is fixedly connected to the top surface of the vertical plate (20), a power motor (22) is fixedly installed on the top surface of the support plate (21), a rotating shaft (24) is fixedly connected to an output shaft of the power motor (22), and a cam (25) is fixedly sleeved on the outer surface of the rotating shaft (24);

the vibrating hydraulic mechanism (18) comprises a hydraulic pipe (181), a hydraulic cylinder (182), a push plate (183), a loop bar (184), a top plate (185) and a spring (186), the hydraulic cylinder (182) is fixedly communicated on the top surface of the hydraulic pipe (181), the push plate (183) is movably sleeved in the hydraulic cylinder (182), the loop bar (184) is fixedly connected on the top surface of the push plate (183) and movably sleeved with the hydraulic cylinder (182), the top plate (185) is fixedly connected on the top surface of the loop bar (184), the spring (186) is fixedly connected between the top plate (185) and the hydraulic cylinder (182), and the cam (25) is positioned below the top plate (185);

the top surface of the supporting plate (21) is fixedly connected with a fixed box (23), the fixed box (23) is movably sleeved with a rotating shaft (24), a bearing (26) is fixedly sleeved on the side surface of the fixed box (23), an installation shaft (27) is fixedly sleeved on the inner surface of the bearing (26), a first gear (28) is fixedly sleeved on the outer surface of the installation shaft (27), and a blade (29) is fixedly sleeved on the outer surface of the installation shaft (27);

a mounting opening (31) is formed in the side face of the fixed box (23), and a filtering mechanism (32) is movably mounted on the inner surface of the mounting opening (31);

the filtering mechanism (32) comprises a fixing rod (321), a limiting plate (322), a filtering plate (323) and a locking cap (324), the fixing rod (321) is fixedly connected inside the fixing box (23), the limiting plate (322) is fixedly sleeved on the outer surface of the fixing rod (321), the filtering plate (323) is movably sleeved with the fixing rod (321), the filtering plate (323) is located in the inner surface of the mounting port (31), and the locking cap (324) is sleeved on the outer surface of the fixing rod (321) in a threaded mode.

2. A robot for unloading bagged cement according to claim 1, characterized in that: a second gear (30) is fixedly sleeved on the outer surface of the rotating shaft (24), the second gear (30) is located inside the fixed box (23), and the second gear (30) is meshed with the first gear (28).

3. A robot for unloading bagged cement according to claim 1, characterized in that: the bottom surface of base (5) has been seted up suction hole (33), the top surface fixedly connected with of base (5) inhales gas jacket (34) that are linked together with suction hole (33), the quantity of inhaling gas jacket (34) is two, two the side of inhaling gas jacket (34) is fixed the intercommunication respectively has No. two pipe (35) and No. three pipe (36).

4. A robot for unloading bagged cement according to claim 3, characterized in that: the second pipe (35) is fixedly communicated with the outer surface of the third pipe (36), and the upper end of the third pipe (36) is fixedly communicated with the fixed box (23).

5. A robot for unloading bagged cement according to claim 1, characterized in that: the side fixedly connected with connecting block (15) of base (5), the cross-section of connecting block (15) is "L" shape, the top surface and the branch of connecting block (15) are supporting (16) fixed connection.

6. A robot for unloading bagged cement according to claim 1, characterized in that: link (2) fixed connection is on the terminal surface of robot main part (1), the bottom and mount pad (3) fixed connection of link (2), control motor (4) fixed mounting is on the bottom surface of mount pad (3), the output shaft and base (5) fixed connection of control motor (4).