Ejection type clamping jaw mechanism

Abstract

The utility model belongs to the technical field of clamping jaw equipment, and particularly relates to an ejection type clamping jaw mechanism which solves the problems that the ejection type clamping jaw mechanism cannot stretch out and draw back, and objects cannot be grabbed at a short distance and a long distance. The ejection type clamping jaw mechanism comprises an ejection frame and a clamping jaw seat, a grabbing assembly is arranged on the clamping jaw seat, the clamping jaw seat is slidably connected to the ejection frame through a sliding structure and has an extending position and a retracting position, and an ejection structure enabling the clamping jaw seat to tend to move towards the extending position is arranged between the clamping jaw seat and the ejection frame. And the limiting release structure is used for limiting or allowing the clamping jaw seat on the retraction position to move. According to the mechanism, the grabbing assembly and a corresponding structure used for stretching and retracting are combined, the effect that objects are grabbed in a short distance and a long distance through stretching and retracting is achieved, the structure is simple, and operation is convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of clamping claw equipment, and particularly relates to an ejection type clamping claw mechanism. Background Art

[0002] The gripper is a structure used to grasp objects. It is widely used in mechanical equipment and can realize corresponding material transfer, loading, unloading and other tasks. It is a very important mechanical structure.

[0003] At present, most of the existing technologies generally only have the function of grasping, and they themselves may not have the ability to extend and retract. It is necessary to set up a structure to move the mechanism as a whole to achieve axial extension or radial movement, which will inevitably increase the complexity of the equipment and increase the equipment cost. Utility Model Content

[0004] The utility model aims to solve the above problems in the prior art and proposes an ejection type clamping claw mechanism.

[0005] In order to achieve the purpose of the innovative utility model, the following technical solutions can be used:

[0006] An ejection type clamp mechanism comprises an ejection frame and a clamp seat, wherein the clamp seat is provided with a grab assembly, and the clamp seat is slidably connected to the ejection frame through a sliding structure, and has an extended position and a retracted position. An ejection structure which makes the clamp seat have a tendency to move toward the extended position, and a limit release structure which is used to limit or allow the clamp seat to move in the retracted position are provided between the clamp seat and the ejection frame.

[0007] The main body of the utility model is an ejection frame and a clamping claw seat. The grabbing assembly on the clamping claw seat is used for grabbing specific objects. The clamping claw seat slides on the ejection frame. The position of the clamping claw seat away from the ejection frame is the extended position, and the position close to the ejection frame is the retracted position. The ejection structure is used to provide a driving force for ejecting and extending to the extended position. The limit release structure is used to keep the clamping claw seat in the retracted position in a state of being ready to go, and is also used to release the limit and release the clamping claw seat to make it extend. The clamping claw mechanism has a simple structure and can realize the object grabbing function at close range and long range.

[0008] In the above-mentioned ejection type clamp mechanism, the sliding structure includes an outer sleeve arranged on the ejection frame and an inner sleeve arranged on the clamp seat, the inner sleeve is slidably inserted in the outer sleeve, and the ejection structure is arranged between the outer sleeve and the inner sleeve.

[0009] An inner sleeve is arranged on the inner end surface of the clamping claw seat, an outer sleeve is arranged at one end of the ejection frame, the inner sleeve is inserted into the outer sleeve to realize sliding connection, and the ejection structure is arranged between the inner sleeve and the outer sleeve to push the inner sleeve out to provide ejection force.

[0010] In the above-mentioned ejection type clamping claw mechanism, the inner sleeve includes an outer cylinder section and an inner cylinder section, the inner cylinder section is fixed to the bottom surface of the clamping claw seat, the outer cylinder section is sleeved on the inner cylinder section and is detachably fixed by a bolt structure; the ejection structure includes a first spring in a compressed state, and the two ends of the first spring are respectively in contact with the inner bottom surface of the outer sleeve and the lower end surface of the inner cylinder section.

[0011] The outer cylinder section can be detachably fixed on the inner cylinder section for easy disassembly and assembly. The outer cylinder section is relatively long and is mainly used for plugging with the outer sleeve to achieve sliding connection. The inner cylinder section is relatively short. The first spring and the lower end surface of the inner cylinder section abut against each other to provide an elastic force for the inner sleeve to output outward. The outer diameter of the first spring is adapted to the inner diameter of the outer cylinder section to ensure stable abutment between the first spring and the inner cylinder section.

[0012] In the above-mentioned ejection-type clamping jaw mechanism, the limit release structure includes a sliding block slidably connected to the limit sliding groove and a connecting rod for connecting the sliding block and the clamping jaw seat, the limit sliding groove is axially arranged on the ejection frame, and a blocking structure is arranged on the moving path of the sliding block. A radially extending anti-rotation guide portion is fixed to the side of the ejection frame, a guide through groove is arranged on the connecting rod along the length direction, an anti-rotation bolt is arranged on the anti-rotation guide portion, and the anti-rotation bolt slides in the guide through groove.

[0013] The sliding block slides in the limiting slide groove but cannot be separated. The connecting rod connects the sliding block and the clamping claw seat so that the two move synchronously. The blocking structure is used to limit the movement of the sliding block, especially to prevent the movement of the sliding block when the clamping claw seat is in the retracted position, so as to achieve the effect of giving the clamping claw seat a state of being ready to launch. In order to make the movement of the clamping claw seat and the linkage of the connecting rod more stable, and to prevent the relative rotation of the clamping claw seat and the ejection frame, an anti-rotation guide part is provided on the side of the ejection frame, and the anti-rotation bolt on the anti-rotation guide part slides in the guide groove of the connecting rod, which does not affect the normal telescopic movement of the connecting rod.

[0014] As an optimization, the number of anti-rotation guide parts and connecting rods is adapted, and two groups are provided, which are evenly distributed circumferentially on the outside of the ejection frame to make the structure more stable.

[0015] As an optimization, the sliding block is provided with a limiting portion adapted to the shape of the limiting slide groove, and the limiting portion slides in the limiting slide groove but is restricted from leaving the limiting slide groove.

[0016] The cross-sectional shapes of the limiting portion and the limiting slide groove are adapted to each other, thereby preventing the sliding block from escaping from the limiting slide groove without affecting the sliding effect.

[0017] In the above-mentioned ejection-type clamp mechanism, the blocking structure includes at least one ratchet clamping column, and the limiting section of the ratchet clamping column is radially inserted into the limiting sliding groove through the clamping column through hole on the ejection frame, and has a limiting position in an extended state for preventing the sliding block from moving and a launching position in a retracted state for releasing the sliding block.

[0018] The ratchet clamp column is inserted into the limit slide groove through the clamp column through hole, and its limit position is located on the sliding path of the sliding block, which is used to prevent the movement of the sliding block and keep the clamping claw seat in the retracted position. When the ratchet clamp column is retracted to the launching position, its front end leaves the sliding path of the sliding block, that is, it no longer prevents the movement of the sliding block, thereby achieving the effect of releasing the extension of the clamping claw seat.

[0019] In the above-mentioned ejection type clamp mechanism, a second spring is provided between the ejection frame and the ratchet clamp column for causing the ratchet clamp column to have a tendency to move toward the restricted position, and the second spring is in a compressed state, with its two ends respectively abutting against the bottom of the ratchet clamp column and the L-shaped abutment on the outer wall of the ejection frame;

[0020] The ejection frame is provided with a first shift fork motor, and the first shift fork rod of the first shift fork motor cooperates with the control section of the ratchet clamping column to press down the control section to make the ratchet clamping column enter the launching position.

[0021] The second spring makes the ratchet clamp column have a tendency to extend, and the first fork motor presses down the control section of the ratchet clamp column through its first fork rod to achieve the effect of switching the ratchet clamp column from the limit position to the launch position, wherein the limit section and the control end are perpendicular to each other, that is, the ratchet clamp column is L-shaped. The cooperation of the first fork motor, the first fork rod and the control section is common knowledge and will not be elaborated in detail.

[0022] As an optimization, an anti-slip groove is provided on the side of the L-shaped abutment platform, and an anti-slip bolt is provided on the side of the ratchet clamping column, and the anti-slip bolt slides in the anti-slip groove.

[0023] The anti-slip bolt of the ratchet clamp column passes through the anti-slip sliding groove of the L-shaped abutment platform, which is used to limit the sliding path of the ratchet clamp column and prevent it from slipping out horizontally.

[0024] As an optimization, the ratchet clamping column includes at least a first clamping column and a second clamping column, the second clamping column is located in front of the first clamping column, and the limiting section length of the second clamping column is greater than that of the first clamping column, the control sections of the first clamping column and the second clamping column are connected by a linkage rod, and the first fork rod and the linkage rod are used to simultaneously press down the first clamping column and the second clamping column.

[0025] Multiple ratchet columns can be set, and the linkage rod connects the control sections of multiple ratchet columns at the same time to achieve synchronous extension and retraction. The first fork rod can realize the extension and retraction control of all ratchet columns by pressing the linkage rod. The limit section of the ratchet column located at the front end of the movement direction of the sliding block is longer, that is, the limit section of the second column is higher. When the linkage rod is pressed to a height at which the first column is exposed, the first column is released from the limit of the sliding block, but the second column is still partially extended and can continue to be limited at the second column position. When the linkage rod is further pressed, the second column can be completely retracted to release the limit. In this way, the effect of multi-stroke extension is achieved, which is more practical.

[0026] In the above-mentioned ejection type clamping claw mechanism, a reset structure for moving the clamping claw seat to the retracted position is provided between the ejection frame and the sliding block, and the reset structure includes a second fork motor fixed on the ejection frame, and the moving path of the sliding block is within the rotation range of the second fork rod of the second fork motor, and the second fork rod and the sliding block are used to pull the clamping claw seat to the retracted position.

[0027] The second fork motor pushes the sliding block back through the second fork rod to make the clamping claw seat return to the retracted position, thereby achieving the effect of controlling the retraction of the clamping claw seat. The extension and retraction control of the clamping claw seat can be achieved through the cooperation of the second fork motor and the first fork motor. The specific details of the cooperation between the second fork motor, the second fork rod and the sliding block are common knowledge and will not be elaborated in detail.

[0028] In the above-mentioned ejection-type clamp mechanism, the grabbing assembly includes at least two hooks whose middle parts are rotatably connected to the clamp seat, the inner ends of the hooks are rotatably connected to the linkage block, and a grabbing position is formed between the hooks. An elastic structure is provided between the linkage block and the clamp seat, which enables the linkage block to have a tendency to move away from the clamp seat to open the hooks, and a locking structure is provided to limit the linkage block from moving away from the clamp seat when it is pressed toward the clamp seat so that the hooks remain in the current retracted state.

[0029] The grabbing assembly uses a hook to grab the object. The hook is similar to a C-shape, and a grabbing position is formed between the hooks. The middle part of the hook is rotatably connected to the clamping claw seat, and the inner end is rotatably connected to the linkage block, and the connection position is located between the middle part of the hook and the clamping claw seat. The retraction and opening of the hook is controlled by the linkage block approaching or moving away from the clamping claw seat. When approaching, the inner end of the hook is pulled down to make the outer end close inward, and when moving away, the outer end is opened outward in the same way. When in use, the retraction operation of the hook can be achieved by pressing the linkage block through the object. The locking structure is used to maintain the retracted state of the hook, that is, it is used to make the linkage block only move close to the clamping claw seat but not move away, so as to ensure stable grasping of objects.

[0030] In the above-mentioned ejection type clamping mechanism, the clamping jaw seat is provided with a through hole connected to the inner sleeve, the inner wall of the inner sleeve is provided with an annular limit platform, the elastic structure includes a third spring in a compressed state, the two ends of the third spring are respectively against the bottom of the linkage block and the upper end surface of the annular limit platform, a linkage bolt is inserted into the linkage block, the linkage bolt passes through the through hole and the annular limit platform, and an anti-slip nut is engaged on the threaded section at the front end, and the anti-slip nut is against the lower end surface of the annular limit platform.

[0031] The third spring is located between the annular limit platform and the linkage block, pushing the linkage block outward to keep the clamping claws in an open state before grasping. The linkage bolt passes through the linkage block, the through hole and the annular limit platform in sequence, and engages with the anti-dropout nut at the inner end. The anti-dropout nut is supported by the annular limit platform, limiting the linkage bolt from continuing to extend, thereby achieving anti-dropout.

[0032] In the above-mentioned ejection-type clamping mechanism, the locking structure includes at least two L-shaped locking rods arranged on the upper end surface of the clamping jaw seat and evenly distributed on the side of the linkage block in the circumferential direction. The L-shaped locking rod includes a fixed section vertically fixed on the clamping jaw seat and a hook body located at the front end of the fixed section and extending toward the linkage block. The side surface of the linkage block is provided with a plurality of convex teeth evenly arranged along the length direction. The hook body and the convex teeth cooperate to limit the linkage block from moving away from the clamping jaw seat. A guide slope is provided on the upper side of the hook body and / or the lower side of the convex teeth.

[0033] The locking structure specifically realizes the limit by hooking the hook body of the L-shaped locking rod and the convex teeth on the linkage block, wherein the L-shaped locking rod is fixed on the clamping claw seat through a fixed section, and the fixed section has a certain elastic force, which can bend toward the outer shape and rebound to restore. When the linkage block moves close to the clamping claw seat, the convex teeth push the hook body outward into the inner side of the hook body, and a guiding inclined surface is provided to guide the outward push. After the convex teeth pass, the fixed section can immediately rebound to ensure that the hook body hooks the convex teeth. There are multiple convex teeth arranged, which can be used to limit the linkage blocks with different degrees of pressing, so as to achieve the effect of grabbing objects of different volumes and meeting different folding requirements. Convex teeth and L-shaped locking rods are provided in multiple groups to ensure a stable limit effect. In specific use, the object can be removed by prying open the hook body, and the operation is relatively simple. As an optimization, the inner side of the hook body and the upper side of the convex teeth are provided with inclined surfaces to ensure stable hooking.

[0034] Compared with the prior art, the utility model mainly has the following advantages:

[0035] 1. The clamping claw seat slides on the ejection frame, the position away from the ejection frame is the extended position, and the position close to the ejection frame is the retracted position. The ejection structure is used to provide a driving force for ejecting to the extended position. The limit release structure is used to keep the clamping claw seat in the retracted position in a state of readiness, and is also used to release the limit to release the clamping claw seat to extend it. The clamping claw mechanism has a simple structure and can realize the function of grasping objects at close and long distances.

[0036] 2. The connecting rod connects the sliding block and the clamping claw seat so that the two move synchronously. The blocking structure is used to limit the movement of the sliding block, especially to prevent the movement of the sliding block when the clamping claw seat is in the retracted position, so as to achieve the effect of giving the clamping claw seat a state of being ready to go. In order to make the movement of the clamping claw seat and the linkage of the connecting rod more stable, and to prevent the relative rotation of the clamping claw seat and the ejection frame, an anti-rotation guide part is provided on the side of the ejection frame, and the anti-rotation bolt on the anti-rotation guide part slides in the guide groove of the connecting rod.

[0037] 3. The limiting position of the ratchet column is located on the sliding path of the sliding block, which is used to prevent the movement of the sliding block and keep the clamping claw seat in the retracted position. When the ratchet column retracts to the launching position, its front end leaves the sliding path of the sliding block, that is, it no longer prevents the movement of the sliding block, thereby achieving the effect of releasing the clamping claw seat from extending.

[0038] 4. Multiple ratchet columns are arranged, and the linkage rod connects the control sections of multiple ratchet columns at the same time to realize synchronous extension and retraction. The first fork rod can realize the extension and retraction control of all ratchet columns by pressing the linkage rod. The limit section of the ratchet column located at the front end of the movement direction of the sliding block is longer. When the linkage rod is pressed to a height at which the first column is exposed, the first column is released from the limit of the sliding block, but the second column is still partially extended and can continue to be limited at the second column position. When the linkage rod is further pressed, the second column can be completely retracted to release the limit, thereby realizing the effect of multi-stroke extension, which is more practical.

[0039] 5. The second fork motor pushes the sliding block back through the second fork rod to return the clamping claw seat to the retracted position, thereby achieving the effect of controlling the retraction of the clamping claw seat. The extension and retraction control of the clamping claw seat can be achieved through the cooperation of the second fork motor and the first fork motor.

[0040] 6. The grabbing assembly uses hooks to grab objects. The hooks are C-shaped, and a grabbing position is formed between the hooks. The middle part of the hook is rotatably connected to the clamping claw seat, and the inner end is rotatably connected to the linkage block, and the connection position is located between the middle part of the hook and the clamping claw seat. The hook is retracted and opened by the linkage block approaching or moving away from the clamping claw seat. When approaching, the inner end of the hook is pulled down to close the outer end inward, and when moving away, the outer end is opened outward in the same way.

[0041] 7. The locking structure specifically realizes limiting by hooking the hook body of the L-shaped locking rod and the convex teeth on the linkage block, wherein the L-shaped locking rod is fixed on the clamping claw seat, and when the linkage block moves close to the clamping claw seat, the convex teeth push the hook body outward into the inner side of the hook body, and after the convex teeth pass, the fixed section can immediately rebound and restore to ensure that the hook body hooks the convex teeth. There are multiple convex teeth arranged, which can be used to limit the linkage blocks with different degrees of pressing, so as to achieve the effect of grabbing objects of different volumes and meeting different retraction requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure provided by the utility model;

[0043] Figure 2 It is a top view schematic diagram provided by the utility model;

[0044] Figure 3 yes Figure 2 Schematic diagram of the cross section at AA in the middle;

[0045] Figure 4 It is a partial enlarged schematic diagram of the limit release structure provided by the utility model;

[0046] Figure 5 It is a partially enlarged schematic diagram of the grabbing assembly provided by the utility model.

[0047] In the figure, the ejection frame 1, the limiting slide groove 11, the anti-rotation guide part 12, the guide through groove 13, the clamping column through hole 14, the L-shaped abutment platform 15, the anti-slip slide groove 16, the clamping claw seat 2, the through hole 21, the grab assembly 3, the hook claw 31, the linkage block 32, the third spring 33, the linkage bolt 34, the anti-slip nut 35, the L-shaped locking rod 36, the fixing section 37, the hook body 38, the convex tooth 39, the guide inclined surface 40, the sliding structure 4, the outer sleeve 41, the inner sleeve 42, the outer Cylinder section 43, inner cylinder section 44, annular limit platform 45, ejection structure 5, first spring 51, limit release structure 6, sliding block 61, connecting rod 62, limit portion 63, blocking structure 64, ratchet clamping column 65, limit section 66, control section 67, first clamping column 68, second clamping column 69, linkage rod 70, second spring 71, first shift fork motor 72, first shift fork rod 73, reset structure 8, second shift fork motor 81, second shift fork rod 82. DETAILED DESCRIPTION

[0048] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0049] Specific implementation examples Figure 1-5 As shown, the ejection type clamp mechanism comprises an ejection frame 1 and a clamp seat 2, a gripping assembly 3 is provided on the clamp seat 2, the clamp seat 2 is slidably connected to the ejection frame 1 through a sliding structure 4, and has an extended position and a retracted position, an ejection structure 5 is provided between the clamp seat 2 and the ejection frame 1, which makes the clamp seat 2 have a tendency to move toward the extended position, and a limit release structure 6 for limiting or allowing the movement of the clamp seat 2 in the retracted position.

[0050] Specifically, the main body of the utility model is an ejection frame 1 and a clamping claw seat 2. The grabbing assembly 3 on the clamping claw seat 2 is used to grab specific objects. The clamping claw seat 2 slides on the ejection frame 1. The position of the clamping claw seat 2 away from the ejection frame 1 is the extended position, and the position close to the ejection frame 1 is the retracted position. The ejection structure 5 is used to provide a driving force for ejecting to the extended position. The limit release structure 6 is used to keep the clamping claw seat 2 in the retracted position in a state ready to go, and is also used to release the limit to release the clamping claw seat 2 to extend it. The structure of this mechanism is simple and can realize the function of grabbing objects at close range and long distance.

[0051] like Figure 3 As shown, the sliding structure 4 includes an outer sleeve 41 arranged on the ejection frame 1 and an inner sleeve 42 arranged on the clamping claw seat 2, the inner sleeve 42 is slidably inserted in the outer sleeve 41, and an ejection structure 5 is arranged between the outer sleeve 41 and the inner sleeve 42. The inner sleeve 42 includes an outer cylinder section 43 and an inner cylinder section 44, the inner cylinder section 44 is fixed to the bottom surface of the clamping claw seat 2, the outer cylinder section 43 is sleeved on the inner cylinder section 44 and is detachably fixed by a bolt structure; the ejection structure 5 includes a first spring 51 in a compressed state, and the two ends of the first spring 51 are respectively in contact with the inner bottom surface of the outer sleeve 41 and the lower end surface of the inner cylinder section 44.

[0052] Specifically, an inner sleeve 42 is provided on the inner end surface of the clamping claw seat 2, an outer sleeve 41 is provided at one end of the ejection frame 1, the inner sleeve 42 is inserted into the outer sleeve 41 to achieve sliding connection, and the ejection structure 5 is provided between the inner sleeve 42 and the outer sleeve 41 to push out the inner sleeve 42 to provide ejection force. The outer cylinder section 43 is detachably fixed to the inner cylinder section 44, which is convenient for disassembly and assembly. The outer cylinder section 43 is relatively long and is mainly used for plugging with the outer sleeve 41 to achieve sliding connection. The inner cylinder section 44 is relatively short. The first spring 51 and the lower end surface of the inner cylinder section 44 are abutted to provide an elastic force output outward to the inner sleeve 42. The outer diameter of the first spring 51 is adapted to the inner diameter of the outer cylinder section 43 to ensure stable abutment between the first spring 51 and the inner cylinder section 44.

[0053] like Figure 1-4 As shown, the limit release structure 6 includes a sliding block 61 slidably connected to the limit slide groove 11 and a connecting rod 62 for connecting the sliding block 61 and the clamping claw seat 2. The limit slide groove 11 is axially arranged on the ejection frame 1, and a blocking structure 64 is arranged on the moving path of the sliding block 61. A radially extending anti-rotation guide portion 12 is fixed to the side of the ejection frame 1, and a guide groove 13 is arranged on the connecting rod 62 along the length direction. An anti-rotation bolt is arranged on the anti-rotation guide portion 12, and the anti-rotation bolt slides in the guide groove 13. A limit portion 63 adapted to the shape of the limit slide groove 11 is arranged on the sliding block, and the limit portion 63 slides in the limit slide groove 11 but is restricted from leaving the limit slide groove 11.

[0054] Specifically, the sliding block 61 slides in the limiting slide groove 11 but cannot be separated, the connecting rod 62 connects the sliding block 61 and the clamping claw seat 2, so that the two move synchronously, and the blocking structure 64 is used to limit the movement of the sliding block 61, especially to prevent the movement of the sliding block 61 when the clamping claw seat 2 is in the retracted position, so as to achieve the effect of giving the clamping claw seat 2 a state of being ready to go. In order to make the movement of the clamping claw seat 2 and the linkage of the connecting rod 62 more stable, and also to prevent the relative rotation of the clamping claw seat 2 and the ejection frame 1, an anti-rotation guide part 12 is provided on the side of the ejection frame 1, and the anti-rotation bolt on the anti-rotation guide part 12 slides in the guide groove 13 of the connecting rod 62, without affecting the normal telescopic movement of the connecting rod 62. The number of the anti-rotation guide part 12 is adapted to that of the connecting rod 62, and two groups are provided, which are evenly distributed on the outer side of the ejection frame 1 in the circumferential direction, so that the structure is more stable. The cross-sectional shape of the limiting part 63 is adapted to that of the limiting slide groove 11, so as to prevent the sliding block 61 from being separated from the limiting slide groove 11, but without affecting the sliding effect.

[0055] like Figure 4 As shown, the blocking structure 64 includes a ratchet column 65, and the limiting section 66 of the ratchet column 65 is radially inserted into the limiting slide groove 11 through the column through hole 14 on the ejection frame 1, and has a limiting position in an extended state for preventing the sliding block 61 from moving, and a launching position in a retracted state for releasing the sliding block 61. A second spring 71 is provided between the ejection frame 1 and the ratchet column 65 to make the ratchet column 65 have a tendency to move toward the limiting position. The second spring 71 is in a compressed state, and its two ends are respectively abutted against the bottom of the ratchet column 65 and the L-shaped abutment platform 15 on the outer wall of the ejection frame 1; the ejection frame 1 is provided with a first fork motor 72, and the first fork rod 73 of the first fork motor 72 cooperates with the control section 67 of the ratchet column 65 to press down the control section 67 to make the ratchet column 65 enter the launching position. An anti-slip groove 16 is disposed on the side of the L-shaped abutment platform 15 , and an anti-slip bolt is disposed on the side of the ratchet clamping column 65 , and the anti-slip bolt slides in the anti-slip groove 16 .

[0056] Specifically, the ratchet clamp 65 is inserted into the limiting slide groove 11 through the clamp hole 14, and its limiting position is located on the sliding path of the sliding block 61, which is used to prevent the movement of the sliding block 61 and keep the clamping claw seat 2 in the retracted position. When the ratchet clamp 65 is retracted to the firing position, its front end leaves the sliding path of the sliding block 61, that is, it no longer prevents the movement of the sliding block 61, and achieves the effect of releasing the extension of the clamping claw seat 2. The second spring 71 makes the ratchet clamp 65 have a tendency to extend, and the first fork motor 72 presses down the control section 67 of the ratchet clamp 65 through its first fork rod 73 to achieve the effect of switching the ratchet clamp 65 from the limiting position to the firing position, wherein the limiting section 66 and the control end are perpendicular to each other, that is, the ratchet clamp 65 is L-shaped. The anti-slip bolt of the ratchet clamp 65 passes through the anti-slip slide groove 16 of the L-shaped abutment platform 15, which is used to limit the sliding path of the ratchet clamp 65 and prevent lateral slipping.

[0057] As an optimization of this embodiment, the ratchet column 65 includes a first column 68 and a second column 69. The second column 69 is located in front of the first column 68, and the limiting section 66 of the second column 69 is longer than the first column 68. The first column 68 and the control section 67 of the second column 69 are connected by a linkage rod 70. The first fork rod 73 and the linkage rod 70 cooperate to press down the first column 68 and the second column 69 at the same time.

[0058] Specifically, multiple ratchet columns 65 are provided, and the linkage rod 70 connects the control sections 67 of multiple ratchet columns 65 at the same time to achieve synchronous extension and retraction. The first fork rod 73 can realize the extension and retraction control of all ratchet columns 65 by pressing the linkage rod 70. The limiting section 66 of the ratchet column 65 located at the front end of the movement direction of the sliding block 61 is longer, that is, the limiting section 66 of the second column 69 is higher. When the linkage rod 70 is pressed to a distance equal to the height at which the first column 68 is exposed, the first column 68 is released from the limit of the sliding block 61, but the second column 69 is still partially extended and can continue to be limited at the second column 69 position. When the linkage rod 70 is continued to be pressed down, the second column 69 can be completely retracted to release the limit, thereby achieving the effect of multi-stroke extension, which is more practical.

[0059] As an optimization of this embodiment, a reset structure 8 for moving the clamping claw seat 2 to the retracted position is provided between the ejection frame 1 and the sliding block 61. The reset structure 8 includes a second fork motor 81 fixed on the ejection frame 1. The moving path of the sliding block 61 is within the rotation range of the second fork rod 82 of the second fork motor 81. The second fork rod 82 and the sliding block 61 are used to pull the clamping claw seat 2 to the retracted position.

[0060] Specifically, the second fork motor 81 pushes the sliding block 61 back through the second fork rod 82 to return the clamping claw seat 2 to the retracted position, thereby achieving the effect of controlling the retraction of the clamping claw seat 2. The extension and retraction control of the clamping claw seat 2 can be achieved through the cooperation of the second fork motor 81 and the first fork motor 72.

[0061] like Figure 5As shown, the grabbing assembly 3 includes four hooks 31 which are rotatably connected to the clamping claw seat 2 in the middle, and the inner ends of the hooks 31 are rotatably connected to the linkage block 32, and a grabbing position is formed between the hooks 31. An elastic structure is provided between the linkage block 32 and the clamping claw seat 2, which enables the linkage block 32 to have a tendency to move away from the clamping claw seat 2 to open the hooks 31, and a locking structure is provided to limit the linkage block 32 from moving away from the clamping claw seat 2 when it is pressed toward the clamping claw seat 2 so as to keep the hooks 31 in the current retracted state. A through hole 21 communicating with the inner sleeve 42 is provided on the clamping jaw seat 2, an annular limit platform 45 is provided on the inner wall of the inner sleeve 42, the elastic structure includes a third spring 33 in a compressed state, the two ends of the third spring 33 are respectively against the bottom of the linkage block 32 and the upper end surface of the annular limit platform 45, a linkage bolt 34 is inserted into the linkage block 32, the linkage bolt 34 passes through the through hole 21 and the annular limit platform 45, and an anti-slip nut 35 is meshed on the threaded section at the front end, and the anti-slip nut 35 is against the lower end surface of the annular limit platform 45. The locking structure includes four L-shaped locking rods 36 arranged on the upper end surface of the clamping jaw seat 2 and evenly distributed on the side of the linkage block 32 in the circumferential direction. The L-shaped locking rod 36 includes a fixed section 37 vertically fixed on the clamping jaw seat 2 and a hook body 38 located at the front end of the fixed section 37 and extending toward the linkage block 32. A plurality of convex teeth 39 are evenly arranged on the side surface of the linkage block 32 along the length direction. The hook body 38 and the convex teeth 39 cooperate to limit the linkage block 32 from moving away from the clamping jaw seat 2. A guide slope 40 is provided on the upper side of the hook body 38 and the lower side of the convex teeth 39.

[0062] Specifically, the grasping component 3 grasps the object through the hook claw 31. The hook claw 31 is similar to a C-shape, and a grasping position is formed between each hook claw 31. The middle part of the hook claw 31 is rotatably connected to the clamping claw seat 2, and the inner end is rotatably connected to the linkage block 32, and the connection position is located between the middle part of the hook claw 31 and the clamping claw seat 2. The retraction and opening control of the hook claw is achieved by the linkage block 32 approaching or moving away from the clamping claw seat 2. When approaching, the inner end of the hook claw 31 is pulled down to make the outer end close inward, and when moving away, the outer end is opened outward in the same way. When used specifically, the retraction operation of the hook claw 31 can be achieved by pressing the linkage block 32 through an object. The locking structure is used to maintain the retracted state of the hook claw 31, that is, it is used to make the linkage block 32 only move close to the clamping claw seat 2 but not move away, so as to ensure stable grasping of objects. The third spring 33 is located between the annular limit platform 45 and the linkage block 32, pushing the linkage block 32 outward to keep the clamping claws in an open state before grasping. The linkage bolt 34 passes through the linkage block 32, the through hole 21 and the annular limit platform 45 in sequence, and engages with the anti-slip nut 35 at the inner end. The anti-slip nut 35 is resisted by the annular limit platform 45, limiting the linkage bolt 34 from continuing to extend, thereby achieving anti-slip. The locking structure is specifically limited by hooking the hook body 38 of the L-shaped locking rod 36 and the convex teeth 39 on the linkage block 32, wherein the L-shaped locking rod 36 is fixed on the clamping claw seat 2 through the fixed section 37, and the fixed section 37 has a certain elastic force, which can bend toward the outer shape and rebound to restore. When the linkage block 32 moves close to the clamping claw seat 2, the convex teeth 39 push the hook body 38 outward to enter the inner side of the hook body 38, and the guide slope 40 is provided to guide the outward push. After the convex teeth 39 pass, the fixed section 37 can immediately rebound to ensure that the hook body 38 hooks the convex teeth 39. There are multiple convex teeth 39 arranged, which can be used to limit the linkage blocks 32 with different degrees of pressing, so as to achieve the effect of grabbing objects of different volumes and meeting different collection requirements. The convex teeth 39 and the L-shaped locking rod 36 are arranged in four groups to ensure a stable limiting effect. In specific use, the object can be removed by breaking the hook body 38, and the operation is also relatively simple. As an optimization, the inner side of the hook body 38 and the upper side of the protruding teeth 39 are provided with inclined surfaces to ensure stable hooking.

[0063] For illustration, the bolt structure, anti-rotation bolt and anti-dropping bolt are not specifically shown in the drawings.

[0064] Specific working principle: before use, when the clamping jaw seat 2 needs to be retracted to the retracted position, the first fork motor 72 keeps the linkage rod 70 fully pressed down, and the second fork motor 81 is actuated to push back the sliding block 61, and the sliding block 61 pulls the clamping jaw seat 2 back to the retracted position through the connecting rod 62, and then the first fork motor 72 reverses to release the pressing, and the sliding block 61 is lower than the first clamping column 68, and keeps the state of being ready to go. When a short-distance ejection is required, the first fork motor 72 is actuated to press the linkage rod 70 down until the first clamping column 68 releases the limit of the sliding block 61, and the clamping jaw seat 2 moves toward the extended position under the action of the first spring 51 until the sliding block 61 abuts against the second clamping column 69 and stops moving and extends. When further extension is required, that is, long-distance ejection, the first fork motor 72 continues to press, the second clamping column 69 releases the limit of the sliding block 61, and the clamping jaw seat 2 continues to extend and move. When it is necessary to grab an object, the linkage block 32 is aligned with the object and pressed down. The linkage block 32 is pressed toward the clamping claw seat 2, and the linkage block 32 pulls the inner end of the hook claw 31 to close. When it is retracted to an appropriate degree, the further pressing is stopped. At this time, the third spring 33 pushes the linkage block 32 outward, but the convex tooth 39 of the linkage block 32 is hooked with the hook body 38 of the L-shaped locking rod 36, which limits the linkage block 32 from being pushed out, and the hook claw 31 remains in the retracted state. When it is necessary to remove the object, the L-shaped locking rod 36 is pushed open to move the linkage block 32 outward.

[0065] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A ejection type clamping claw mechanism, characterized in that: The invention comprises an ejection frame (1) and a clamping claw seat (2), wherein the clamping claw seat (2) is provided with a grabbing assembly (3), the clamping claw seat (2) is slidably connected to the ejection frame (1) via a sliding structure (4), and has an extended position and a retracted position, and an ejection structure (5) is provided between the clamping claw seat (2) and the ejection frame (1) for causing the clamping claw seat (2) to have a tendency to move toward the extended position, and a limit release structure (6) for limiting or allowing the clamping claw seat (2) to move in the retracted position.

2. The ejection type clamp mechanism according to claim 1, characterized in that: The sliding structure (4) comprises an outer sleeve (41) arranged on the ejection frame (1) and an inner sleeve (42) arranged on the clamping claw seat (2); the inner sleeve (42) is slidably inserted in the outer sleeve (41); and the ejection structure (5) is arranged between the outer sleeve (41) and the inner sleeve (42).

3. The ejection type clamp mechanism according to claim 2, characterized in that: The inner sleeve (42) comprises an outer sleeve section (43) and an inner sleeve section (44), wherein the inner sleeve section (44) is fixed to the bottom surface of the clamping jaw seat (2), and the outer sleeve section (43) is sleeved on the inner sleeve section (44) and is detachably fixed by a bolt structure; The ejection structure (5) comprises a first spring (51) in a compressed state, and two ends of the first spring (51) are respectively in contact with the inner bottom surface of the outer sleeve (41) and the lower end surface of the inner sleeve section (44).

4. The ejection type clamp mechanism according to claim 1, characterized in that: The limit release structure (6) comprises a sliding block (61) slidably connected to the limit slide groove (11) and a connecting rod (62) for connecting the sliding block (61) and the clamping claw seat (2); the limit slide groove (11) is axially arranged on the ejection frame (1), and a blocking structure (64) is provided on the moving path of the sliding block (61); A radially extending anti-rotation guide portion (12) is fixed to the side of the ejection frame (1), a guide slot (13) is provided on the connecting rod (62) along the length direction, an anti-rotation bolt is provided on the anti-rotation guide portion (12), and the anti-rotation bolt slides in the guide slot (13).

5. The ejection type clamp mechanism according to claim 4, characterized in that: The blocking structure (64) comprises a ratchet clamping column (65), a limiting section (66) of the ratchet clamping column (65) is radially inserted into the limiting sliding groove (11) through the clamping column through hole (14) on the ejection frame (1), and has a limiting position in an extended state for preventing the sliding block (61) from moving, and a launching position in a retracted state for releasing the sliding block (61); The ratchet clamping column (65) is provided with one, or the ratchet clamping column (65) is provided with two, including a first clamping column (68) and a second clamping column (69), the second clamping column (69) is located in front of the first clamping column (68), and the limiting section (66) of the second clamping column (69) is longer than the first clamping column (68), and the control sections (67) of the first clamping column (68) and the second clamping column (69) are connected by a linkage rod (70).

6. The ejection type clamp mechanism according to claim 5, characterized in that: A second spring (71) is provided between the ejection frame (1) and the ratchet clamping column (65) for causing the ratchet clamping column (65) to have a tendency to move toward the restricted position. The second spring (71) is in a compressed state, and its two ends respectively abut against the bottom of the ratchet clamping column (65) and an L-shaped abutment platform (15) on the outer wall of the ejection frame (1); The ejection frame (1) is provided with a first shift fork motor (72), and a first shift fork rod (73) of the first shift fork motor (72) cooperates with a control section (67) or a linkage rod (70) of a ratchet clamping column (65) to press the ratchet clamping column (65) into a launching position.

7. The ejection type clamp mechanism according to claim 4, characterized in that: A reset structure (8) for moving the clamping claw seat (2) to a retracted position is provided between the ejection frame (1) and the sliding block (61). The reset structure (8) comprises a second shift fork motor (81) fixed to the ejection frame (1). The moving path of the sliding block (61) is within the rotation range of a second shift fork rod (82) of the second shift fork motor (81). The second shift fork rod (82) and the sliding block (61) are used to pull the clamping claw seat (2) to the retracted position by means of a shifting motion.

8. The ejection type clamp mechanism according to any one of claims 1 to 7, characterized in that: The gripping assembly (3) comprises at least two hooks (31) whose middle parts are rotatably connected to the clamping claw seat (2); the inner ends of the hooks (31) are rotatably connected to the linkage block (32); a gripping position is formed between the hooks (31); an elastic structure is provided between the linkage block (32) and the clamping claw seat (2) so that the linkage block (32) has a tendency to move away from the clamping claw seat (2) to open the hooks (31); and a locking structure is provided so that when the linkage block (32) is pressed toward the clamping claw seat (2), it is limited to move away so that the hooks (31) remain in the current retracted state.

9. The ejection type clamp mechanism according to claim 8, characterized in that: The clamping jaw seat (2) is provided with a through hole (21) connected to the inner sleeve (42), and an annular limit platform (45) is provided on the inner wall of the inner sleeve (42). The elastic structure includes a third spring (33) in a compressed state, and the two ends of the third spring (33) are respectively against the bottom of the linkage block (32) and the upper end surface of the annular limit platform (45). The linkage block (32) is inserted with a linkage bolt (34), which passes through the through hole (21) and the annular limit platform (45), and an anti-slip nut (35) is engaged on the threaded section at the front end, and the anti-slip nut (35) is against the lower end surface of the annular limit platform (45).

10. The ejection type clamp mechanism according to claim 8, characterized in that: The locking structure comprises at least two L-shaped locking rods (36) arranged on the upper end surface of the clamping jaw seat (2) and evenly distributed on the side of the linkage block (32) in the circumferential direction. The L-shaped locking rod (36) comprises a fixing section (37) fixed vertically on the clamping jaw seat (2) and a hook body (38) located at the front end of the fixing section (37) and extending toward the linkage block (32). The side surface of the linkage block (32) is evenly arranged with a plurality of convex teeth (39) along the length direction. The hook body (38) and the convex teeth (39) cooperate to limit the linkage block (32) from moving away from the clamping jaw seat (2). A guiding inclined surface (40) is provided on the upper side of the hook body (38) and / or the lower side of the convex teeth (39).

Images