A mounting structure for a material grabbing device and a material grabbing device

Abstract

The present invention relates to the technical field of automation equipment, and in particular to an installation structure of a material grabbing device and a material grabbing device. The installation structure of the material grabbing device includes a moving part, a swinging part and a limiting mechanism, wherein the moving part is movably arranged; the swinging part is swingably arranged relative to the moving part; the limiting mechanism is connected between the moving part and the swinging part, and the limiting mechanism has a limiting state and a releasing state for limiting the swinging of the swinging part relative to the moving part. When the moving part moves, the limiting mechanism is in a releasing state, and the swinging part can swing relative to the moving part, thus avoiding the problem of large structural stress between the moving part and the swinging part; when the moving part moves to a preset position and the corresponding operation task is to be performed by an actuator arranged on the swinging part, the limiting mechanism is in a limiting state, and the swinging part cannot swing relative to the moving part, thus achieving the positioning of the swinging part.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an installation structure of a material grabbing device and the material grabbing device. Background Art

[0002] At present, in the large-scale liquor preparation process, after the process of spreading and spreading the koji, there is a process of entering the cellar, which mainly includes the processes of spreading the koji, filling the cellar, scraping and stepping on the cellar. After the mash enters the cellar, it ferments in the cellar. After the fermentation is completed, the mash is taken out of the cellar. Traditional cellar mash is taken out of the cellar by manual labor, with a low degree of automation and high labor intensity. At the same time, the oxygen at the bottom of the cellar is thin and the working environment is relatively poor.

[0003] In view of this, the applicant designed a material grabbing device to automatically grab the mash in the cellar and take it out of the cellar. The material grabbing device includes a frame, a mobile platform, a telescopic arm and a grab bucket. The mobile platform is mounted on the frame so that it can move horizontally. The upper end of the telescopic arm is fixed on the mobile platform. The grab bucket is mounted on the lower end of the telescopic arm. The mobile platform can drive the telescopic arm and the grab bucket to move horizontally. During the design process of the material grabbing device, the applicant found that due to the rigid connection between the upper end of the telescopic arm and the mobile platform, the connection between the two is prone to generate large structural stress, which causes the connection between the two to be prone to the problem of connector breakage. Summary of the invention

[0004] The embodiment of the present invention provides an installation structure of a material grabbing device and a material grabbing device, which are used to solve or partially solve the problem that a rigid connection is adopted between the telescopic arm and the moving platform of the existing material grabbing device, and a large structural stress is easily generated at the connection between the two, thereby causing the connection between the two to be prone to breakage of the connecting parts.

[0005] An embodiment of the present invention provides an installation structure of a material grabbing device, comprising:

[0006] Moving parts are arranged to be movable;

[0007] a swinging member connected to the moving member, the swinging member being swingably arranged relative to the moving member; and

[0008] The limiting mechanism is connected between the moving member and the swinging member, and has a limiting state for limiting the swinging of the swinging member relative to the moving member, and a releasing state opposite to the limiting state.

[0009] According to one embodiment of the present invention, the limiting mechanism comprises:

[0010] a limiting member connected to one of the moving member and the swinging member so as to be movable along the swing axis of the swinging member;

[0011] a limiting hole, corresponding to the limiting member, provided on the other of the moving member and the swinging member, wherein when the limiting mechanism is in the limiting state, a portion of the limiting member extends into the limiting hole to limit the swinging member from swinging relative to the moving member; and

[0012] The driving member is used to drive the limiting member to move on one of the moving member and the swinging member along the direction of the swing axis.

[0013] According to one embodiment of the present invention, the limiting member is a columnar setting extending in the direction of the swing axis, and the movable member and the swing member are respectively provided with a first through hole and a second through hole corresponding to the limiting member, and the first through hole and the second through hole respectively penetrate the movable member and the swing member in the direction of the swing axis, and one of the first through hole and the second through hole constitutes the limiting hole.

[0014] According to one embodiment of the present invention, a first guide sleeve and a second guide sleeve are respectively provided at the first through hole and the second through hole, and the first guide sleeve and the second guide sleeve respectively form a guiding fit with both ends of the limit member in the direction of the swing axis.

[0015] According to an embodiment of the present invention, the limiting hole is provided on the swinging member, the moving member has a mounting surface away from the swinging member, and the first through hole penetrates the mounting surface; the limiting mechanism further comprises:

[0016] A guide rod is extended along the direction of the swing axis, a guide hole is opened on the mounting surface, and the guide rod and the guide hole form a guiding fit in the direction of the swing axis; and,

[0017] A pusher, which is movable along the direction of the swing axis, and is respectively connected to a portion of the stopper protruding from the mounting surface and a portion of the guide rod protruding from the mounting surface;

[0018] Wherein, the driving member is connected to the mounting surface to drive the pushing member to move along the direction of the swing axis to drive the limiting member and the guide rod.

[0019] According to one embodiment of the present invention, the pushing member is provided with a rack extending in the direction of the swing axis, the driving member is a driving motor, and a gear meshing with the rack is provided on the transmission shaft of the driving motor; and / or a third guide sleeve is provided at the guide hole to form a guiding cooperation with the guide rod through the third guide sleeve.

[0020] According to an embodiment of the present invention, a plurality of the guide rods and / or the limiting members are provided.

[0021] According to one embodiment of the present invention, the swinging member comprises:

[0022] A swing arm is arranged to extend along a straight line, one end of which is rotatably connected to the moving member; and

[0023] A connecting frame is connected to one end of the swing arm close to the moving part, and the limiting mechanism is connected between the moving part and the connecting frame.

[0024] According to one embodiment of the present invention, the swing arm is a telescopic arm, and the mounting structure of the material grabbing device further includes a telescopic driving mechanism for driving the telescopic arm to extend and retract.

[0025] According to an embodiment of the present invention, the moving member and the swinging member are connected via a universal joint coupling.

[0026] According to one embodiment of the present invention, the movable member is arranged to be horizontally movable, the swinging member is located below the movable member, and the upper end of the swinging member is rotatably connected to the movable member so that the swinging member can swing around an up-and-down axis relative to the movable member.

[0027] According to one embodiment of the present invention, the mounting structure of the material grabbing device further includes:

[0028] A crossbeam, wherein two crossbeams are arranged to extend in the transverse direction and are arranged in parallel;

[0029] The longitudinal beam is extended in the longitudinal direction and has two ends connected to the two cross beams movably in the transverse direction, and the moving member is connected to the longitudinal beam movably in the longitudinal direction;

[0030] A transverse driving mechanism, used for driving the longitudinal beam to move transversely on the transverse beam; and

[0031] The longitudinal driving mechanism is used to drive the moving member to move longitudinally on the longitudinal beam.

[0032] An embodiment of the present invention further provides a material grabbing device, comprising the mounting structure of the material grabbing device as described above.

[0033] According to one embodiment of the present invention, the material grabbing device further comprises a frame and a grab bucket, the moving part of the mounting structure of the material grabbing device is movably connected to the frame, and the grab bucket is connected to an end of the swinging part of the mounting structure of the material grabbing device away from the moving part.

[0034] A limiting mechanism is connected between the moving part and the swinging part provided in the embodiment of the present invention. When the moving part moves, the limiting mechanism is in a released state, the swinging part can swing relative to the moving part, and a flexible connection is formed between the moving part and the swinging part, thereby avoiding the problem of large structural stress between the moving part and the swinging part; when the moving part moves to a preset position and a corresponding operation task is to be performed by an actuator arranged on the swinging part, the limiting mechanism is in a restricted state, the swinging part cannot swing relative to the moving part, and a rigid connection is formed between the moving part and the swinging part, thereby achieving positioning of the swinging part, which is conducive to accurately performing the operation task through the actuator on the swinging part. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is a structural schematic diagram of an embodiment of a material grabbing device of the present invention;

[0037] Figure 2 for Figure 1 The structural diagram of the middle part;

[0038] Figure 3 for Figure 2 The structural diagram of the moving parts;

[0039] Figure 4 for Figure 2 A partial enlarged view of the middle A;

[0040] Explanation of the accompanying drawings: material grabbing device 100, moving part 1, first guide sleeve 11, mounting surface 12, third guide sleeve 13, swinging part 2, second guide sleeve 21, swing arm 22, connecting frame 23, limiting mechanism 3, limiting part 31, limiting hole 32, driving part 33, guide rod 34, pushing part 35, rack 36, gear 37, telescopic driving mechanism 4, universal joint coupling 5, crossbeam 6, transverse driving mechanism 61, longitudinal beam 7, longitudinal driving mechanism 71, grab 8. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The embodiment of the present invention provides a material grabbing device, Figures 1 to 4 This is an embodiment of the material grabbing device provided by the present invention.

[0044] like Figures 1 to 3 As shown, in this embodiment, the material grabbing device 100 includes a mounting structure of the material grabbing device, and the mounting structure of the material grabbing device includes a moving part 1, a swinging part 2 and a limiting mechanism 3.

[0045] The moving part 1 is movably arranged, that is, the moving part 1 is movable relative to the carrier on the material grabbing device 100 for mounting the moving part 1. For example, the material grabbing device 100 generally also includes a frame, and the moving part 1 is movably connected to the frame (not shown in the figure, the frame is the carrier of the moving part 1).

[0046] The specific movement mode of the moving member 1 can be set according to actual needs. For example, the moving member 1 can move up and down; or the moving member 1 can be set to move horizontally, that is, the moving member 1 can move in one or more directions on the horizontal plane. Specifically, Figure 1As shown, in the present embodiment, the installation structure of the material grabbing device further comprises a crossbeam 6, a longitudinal beam 7, a transverse driving mechanism 61 and a longitudinal driving mechanism 71, wherein the crossbeam 6 is arranged to extend in the transverse direction and two of them are arranged in parallel; the longitudinal beam 7 is arranged to extend in the longitudinal direction and the two ends are respectively connected to the two crossbeams 6 so as to be movable in the transverse direction, and the moving member 1 is respectively connected to the longitudinal beam 7 so as to be movable in the longitudinal direction; the transverse driving mechanism 61 is used to drive the longitudinal beam 7 to move in the transverse direction on the crossbeam 6; and the longitudinal driving mechanism 71 is used to drive the moving member 1 to move in the longitudinal direction on the longitudinal beam 7. The moving member 1 can move in the transverse direction and in the longitudinal direction, so that the moving control direction of the moving member 1 is relatively simple. Among them, one or more longitudinal beams 7 can be arranged, for example, in the present embodiment, two longitudinal beams 7 are arranged in parallel, and the two ends of the moving member 1 in the transverse direction are respectively connected to the two longitudinal beams 7 so as to be movable in the longitudinal direction.

[0047] The swing member 2 is connected to the moving member 1, and the swing member 2 is swingably arranged relative to the moving member 1. One end of the swing member 2 is rotatably connected to the moving member 1, for example, Figure 4 As shown, in this embodiment, the moving member 1 and the swinging member 2 are connected by a universal joint coupling 5, so that the setting mode of the rotational connection between the moving member 1 and the swinging member 2 is relatively simple, and the swinging member 2 can swing in any direction perpendicular to the swing axis of the swinging member 2. The end of the swinging member 2 away from the moving member 1 is usually provided with an actuator of the material grabbing device 100, and the material grabbing device 100 can perform corresponding operation tasks through the actuator, for example, Figure 1 As shown, in this embodiment, the material grabbing device 100 also includes a grab bucket 8, which is connected to an end of the swing member 2 of the mounting structure of the material grabbing device away from the moving member 1, and the material grabbing device 100 can grab materials through the grab bucket 8.

[0048] The specific swinging mode of the swinging member 2 is related to the moving mode of the moving member 1. For example, Figure 1 and Figure 2 As shown, in this embodiment, the moving member 1 is arranged to be horizontally movable, the swinging member 2 is located below the moving member 1, and the upper end of the swinging member 2 is rotatably connected to the moving member 1 so that the swinging member 2 can swing around the vertical axis relative to the moving member 1.

[0049] The specific shape of the swing member 2 can be set according to actual needs, for example, Figure 1 and Figure 2As shown, in this embodiment, the swing member 2 includes a swing arm 22, which is extended along a straight line, and one end of the swing arm 22 is rotatably connected to the moving member 1. Further, in this embodiment, the swing arm 22 is a telescopic arm, and the mounting structure of the material grabbing device also includes a telescopic drive mechanism 4 for driving the telescopic arm to extend and retract. The swing arm 22 is set as a telescopic arm, which facilitates the execution of corresponding operation tasks by the actuator set on the swing arm 22. Among them, the telescopic drive mechanism 4 can be a wire rope lifting mechanism, etc.

[0050] The limiting mechanism 3 is connected between the moving member 1 and the swinging member 2. The limiting mechanism 3 has a limiting state for limiting the swinging member 2 from swinging relative to the moving member 1, and a releasing state opposite to the limiting state. When the limiting mechanism 3 is in the releasing state, the swinging member 2 can swing relative to the moving member 1; when the limiting mechanism 3 is in the limiting state, the swinging member 2 cannot swing relative to the moving member 1.

[0051] A limiting mechanism 3 is connected between the moving part 1 and the swinging part 2 provided in the embodiment of the present invention. When the moving part 1 moves, the limiting mechanism 3 is in a released state, the swinging part 2 can swing relative to the moving part 1, and a flexible connection is formed between the moving part 1 and the swinging part 2, thereby avoiding the problem of large structural stress between the moving part 1 and the swinging part 2; when the moving part 1 moves to a preset position and the corresponding operation task is to be performed by the actuator arranged on the swinging part 2, the limiting mechanism 3 is in a restricted state, the swinging part 2 cannot swing relative to the moving part 1, and a rigid connection is formed between the moving part 1 and the swinging part 2, thereby realizing the positioning of the swinging part 2, which is conducive to the precise execution of the operation task by the actuator on the swinging part 2.

[0052] The limiting mechanism 3 is used to limit the swinging of the swinging member 2 relative to the moving member 1. The setting method of the limiting mechanism 3 can be as follows: Figure 3 and Figure 4 As shown, in this embodiment, the limiting mechanism 3 includes a limiting member 31, a limiting hole 32 and a driving member 33. The limiting member 31 is connected to one of the moving member 1 and the swinging member 2 so as to be movable along the direction of the swing axis of the swinging member 2; the limiting hole 32 is arranged on the other of the moving member 1 and the swinging member 2 corresponding to the limiting member 31. When the limiting mechanism 3 is in a restricted state, part of the limiting member 31 extends into the limiting hole 32 to restrict the swinging member 2 from swinging relative to the moving member 1; the driving member 33 is used to drive the limiting member 31 to move along the direction of the swing axis on one of the moving member 1 and the swinging member 2. When the limiting mechanism 3 is in a released state, the entirety of the limiting member 31 is located outside the limiting hole 32, and the swinging member 2 can swing relative to the moving member 1; when the limiting mechanism 3 is in a restricted state, part of the swing limiting member 31 extends into the limiting hole 32, and the swinging member 2 cannot swing relative to the moving member 1. In this way, the setting method of the limiting mechanism 3 is relatively simple.

[0053] like Figure 3 and Figure 4 As shown, in the present embodiment, the limiting member 31 is a columnar arrangement extending in the direction of the swing axis, and the movable member 1 and the swing member 2 are respectively provided with a first through hole (not shown in the figure) and a second through hole (not shown in the figure) corresponding to the limiting member 31, and the first through hole and the second through hole respectively penetrate the movable member 1 and the swing member 2 in the direction of the swing axis, and one of the first through hole and the second through hole constitutes the limiting hole 32. The first through hole and the second through hole are provided, so that the movable member 1 and the swing member 2 are not easy to interfere with the movement of the limiting member 31.

[0054] Further, if Figure 3 and Figure 4 As shown, in this embodiment, the first through hole and the second through hole are respectively provided with a first guide sleeve 11 and a second guide sleeve 21, and the first guide sleeve 11 and the second guide sleeve 21 respectively form a guide match with both ends of the limiter 31 in the direction of the swing axis. The first guide sleeve 11 and the second guide sleeve 21 can play a role in guiding the movement of the limiter 31.

[0055] The limiting hole 32 is provided on one of the moving member 1 and the swinging member 2. Specifically, Figure 3 and Figure 4 As shown, in this embodiment, the limiting hole 32 is arranged on the swinging member 2, the moving member 1 has a mounting surface 12 away from the swinging member 2, and the first through hole penetrates the mounting surface 12; the limiting mechanism 3 also includes a guide rod 34 and a pusher 35, the guide rod 34 is extended along the direction of the swing axis, and a guide hole (not shown in the figure) is provided on the mounting surface 12, and the guide rod 34 and the guide hole form a guiding match in the direction of the swing axis; the pusher 35 can move along the direction of the swing axis, and the pusher 35 is respectively connected to the part of the limiting member 31 protruding from the mounting surface 12 and the part of the guide rod 34 protruding from the mounting surface 12; wherein the driving member 33 is connected to the mounting surface 12, and is used to drive the pusher 35 to move along the direction of the swing axis to drive the limiting member 31 and the guide rod 34. The limiting member 31 and the guide rod 34 can be driven synchronously by the pusher 35, and the limiting member 31 can be guided to move by the guiding match between the guide rod 34 and the guide hole.

[0056] Further, if Figure 3 and Figure 4 As shown, in this embodiment, a third guide sleeve 13 is provided at the guide hole to form a guide fit with the guide rod 34 through the third guide sleeve 13. By providing the third guide sleeve 13, not only the accuracy of the guide fit can be improved, but also the direct contact between the guide rod 34 and the inner wall of the guide hole can be avoided, thereby causing the problem of wear of the inner wall of the guide hole.

[0057] like Figure 3and Figure 4 As shown, in this embodiment, a plurality of guide rods 34 are provided, which can enhance the guiding effect on the limiting member 31 , and the plurality of guide rods 34 are arranged on the periphery of the universal joint coupling 5 .

[0058] Similarly, if Figure 3 and Figure 4 As shown, in this embodiment, a plurality of limit members 31 are provided, so that the limiting effect of the limit members 31 on the swing member 2 can be improved, and a plurality of limit members 31 are arranged on the periphery of the universal joint coupling 5. For example, in this embodiment, two guide rods 34 and two limit members 31 are provided, and the two guide rods 34 and the two limit members 31 are symmetrically arranged on both sides of the swing axis of the swing member 2, and the two guide rods 34 are arranged close to the swing axis of the swing member 2 relative to the two limit members 31. Correspondingly, the pusher 35 includes a longitudinal connecting block extending in the longitudinal direction and two transverse connecting blocks extending in the transverse direction, and the two transverse connecting blocks are respectively connected to the two ends of the longitudinal connecting block, and the two transverse connecting blocks are located on one side of the longitudinal connecting block close to the swing axis of the swing member 2, and the two limit members 31 are respectively connected to the two transverse connecting blocks, and the two guide rods 34 are arranged at intervals in the longitudinal direction and are both connected to the longitudinal connecting block.

[0059] The driving member 33 can drive the pushing member 35 to move along the direction of the swing axis. The specific arrangement of the driving member 33 can be as follows: Figure 3 and Figure 4 As shown, in this embodiment, a rack 36 extending along the swing axis is provided on the push member 35, and the driving member 33 is a driving motor. A gear 37 meshing with the rack 36 is provided on the transmission shaft of the driving motor. In this way, the self-locking effect between the rack 36 and the gear 37 can be utilized to maintain the limiting mechanism 3 in the restricted state and the released state.

[0060] Further, if Figure 3 and Figure 4 As shown, in this embodiment, a through hole (not shown in the figure) is provided through the moving member 1 corresponding to the rack 36 , so that interference between the moving member 1 and the rack 36 is not easy to occur.

[0061] The limiting mechanism 3 is connected between the moving member 1 and the swinging member 2. Specifically, Figure 2 and Figure 4 As shown, in this embodiment, the swing member 2 includes a swing arm 22 and a connecting frame 23. The swing arm 22 is arranged to extend along a straight line, and one end of the swing arm 22 is rotatably connected to the moving member 1; the connecting frame 23 is connected to one end of the swing arm 22 close to the moving member 1, and the limiting mechanism 3 is connected between the moving member 1 and the connecting frame 23. Through the arrangement of the connecting frame 23, it is convenient to arrange a structure on the swing member 2 for connecting with the limiting mechanism 3.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mounting structure for a material grabbing device, characterized in that: include: Moving parts are arranged to be movable; a swinging member connected to the moving member via a universal joint coupling, the swinging member being swingably arranged relative to the moving member; and a limiting mechanism connected between the moving member and the swinging member, the limiting mechanism having a limiting state for limiting the swinging member relative to the moving member, and a releasing state opposite to the limiting state, wherein when the limiting mechanism is in the limiting state, the swinging member and the moving member form a rigid connection, and when the limiting mechanism is in the releasing state, the swinging member and the moving member form a flexible connection; The limiting mechanism comprises: A limiting member connected to one of the moving member and the swinging member so as to be movable along the vertical swing axis of the swinging member; a limiting hole, corresponding to the limiting member, provided on the other of the moving member and the swinging member, wherein when the limiting mechanism is in the limiting state, a portion of the limiting member extends into the limiting hole to limit the swinging member from swinging relative to the moving member; and The driving member is used to drive the limiting member to move on one of the moving member and the swinging member along the direction of the swing axis.

2. The mounting structure of the material grabbing device according to claim 1, characterized in that: The limiting member is a columnar arrangement extending in the direction of the swing axis, and the movable member and the swing member are respectively provided with a first through hole and a second through hole corresponding to the limiting member, and the first through hole and the second through hole respectively penetrate the movable member and the swing member in the direction of the swing axis, and one of the first through hole and the second through hole constitutes the limiting hole.

3. The mounting structure of the material grabbing device according to claim 2, characterized in that: A first guide sleeve and a second guide sleeve are respectively provided at the first through hole and the second through hole, and the first guide sleeve and the second guide sleeve respectively form a guiding fit with two ends of the limiting member in the direction of the swing axis.

4. The mounting structure of the material grabbing device according to claim 2, characterized in that: The limiting hole is arranged on the swinging member, the moving member has a mounting surface away from the swinging member, and the first through hole penetrates the mounting surface; the limiting mechanism further includes: A guide rod is extended along the direction of the swing axis, a guide hole is opened on the mounting surface, and the guide rod and the guide hole form a guiding fit in the direction of the swing axis; and, A pusher, which is movable along the direction of the swing axis, and is respectively connected to a portion of the stopper protruding from the mounting surface and a portion of the guide rod protruding from the mounting surface; Wherein, the driving member is connected to the mounting surface to drive the pushing member to move along the direction of the swing axis to drive the limiting member and the guide rod.

5. The mounting structure of the material grabbing device according to claim 4, characterized in that: The pushing member is provided with a rack extending in the direction of the swing axis, the driving member is a driving motor, and a gear meshing with the rack is provided on the transmission shaft of the driving motor.

6. The mounting structure of the material grabbing device according to any one of claims 1 to 5, characterized in that: The swing member comprises: A swing arm is arranged to extend along a straight line, one end of which is rotatably connected to the moving member; and A connecting frame connected to one end of the swing arm close to the moving member, and the limiting mechanism is connected between the moving member and the connecting frame; Wherein, the swing arm is a telescopic arm, and the installation structure of the material grabbing device also includes a telescopic driving mechanism for driving the telescopic arm to extend and retract.

7. The mounting structure of the material grabbing device according to any one of claims 1 to 5, characterized in that: The moving member is arranged to be horizontally movable, the swinging member is located below the moving member, and the upper end of the swinging member is rotatably connected to the moving member so that the swinging member can swing around an up-and-down axis relative to the moving member.

8. The mounting structure of the material grabbing device according to claim 7, characterized in that: The mounting structure of the material grabbing device also includes: A crossbeam, wherein two crossbeams are arranged to extend in the transverse direction and are arranged in parallel; The longitudinal beam is extended in the longitudinal direction and its two ends are connected to the two transverse beams in a manner that they can be moved in the transverse direction, and the moving member is connected to the longitudinal beam in a manner that they can be moved in the longitudinal direction; A transverse driving mechanism, used for driving the longitudinal beam to move transversely on the transverse beam; and The longitudinal driving mechanism is used to drive the moving member to move longitudinally on the longitudinal beam.

9. A material grabbing device, characterized in that: It comprises a frame, a grab and a mounting structure of a material grabbing device as described in any one of claims 1 to 8, wherein a moving part of the mounting structure of the material grabbing device is movably connected to the frame, and the grab is connected to an end of a swinging part of the mounting structure of the material grabbing device away from the moving part.

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