Self-clamping clamp, loading and unloading device and method for using the self-clamping clamp

Abstract

The present invention discloses a self-clamping jaw, a loading and unloading device, and a method for using the self-clamping jaw, wherein the self-clamping jaw includes a carrier plate, on which two fixed jaw bodies and a movable jaw body are distributed in a triangular shape, the upper end of the movable jaw body is pivotally connected to one end of a connecting rod, and the other end of the connecting rod is pivotally connected to a seat block located at the top of the carrier plate, the movable jaw body is connected to a self-locking mechanism that drives it to remain closed under normal conditions, and a self-resetting limiting mechanism that limits the movement of the sliding plate from the inner end to the outer end of the guide rod is also provided on the carrier. The jaw device of the present invention has low cost and operating cost, is easy to install, adopts manual clamping, and does not require a complex workpiece positioning structure. When in use, the movable jaw can be automatically closed to achieve clamping by simply opening the movable jaw with one hand, so that the workpiece is engaged with the two fixed jaws and then the movable jaw is released, and the operation is simple; combined with the self-resetting limiting mechanism, the movable jaw can be effectively prevented from opening, thereby ensuring the stability of clamping and improving the safety of handling.

Description

Technical Field

[0001] The invention relates to the field of automation equipment, in particular to a self-clamping clamping claw, a loading and unloading device and a method for using the self-clamping clamping claw. Background Art

[0002] A gripper is a device used to clamp various objects and cooperate with various mobile equipment to achieve material handling. Usually, the gripper is a self-powered gripper, such as various pneumatic grippers, hydraulic grippers, electric grippers, etc.

[0003] Although these automatic grippers can effectively meet the needs of automated material handling, they all need to be equipped with cylinders, hydraulic cylinders or motors as power sources. For the handling of heavy-weight materials, the corresponding equipment cost will be greatly increased; at the same time, hydraulic, air pressure or power supply is required during operation, and the operating cost of the equipment is high; in addition, when one gripper is used to load and unload materials for multiple workstations, a complex pipeline structure is also required; more importantly, when the pipeline is too long, the stability of the hydraulic and air pressure will greatly affect the stability of the pneumatic grippers and hydraulic grippers.

[0004] In addition, the use of automatic grippers also requires a high-precision workpiece positioning structure to ensure the position accuracy of the grippers and the workpiece. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a self-clamping clamping jaw, a loading and unloading device and a method for using the self-clamping clamping jaw.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The self-clamping clamping claw comprises a carrier plate, on which two fixed claw bodies and a movable claw body are distributed in a triangular shape, and the characteristics are as follows: the upper end of the movable claw body is pivotally connected to one end of the connecting rod, and the other end of the connecting rod is pivotally connected to a seat block located at the top of the carrier plate, and the movable claw body is connected to a self-locking mechanism that drives it to remain closed under normal conditions, and the self-locking mechanism comprises a connecting protrusion pivotally connected to the movable claw body and located below the carrier plate, the connecting protrusion is arranged on a sliding plate, and the sliding plate is slidably arranged on two guide rods fixed to the bottom of the carrier plate, the axis of the guide rod is parallel to the carrier plate and perpendicular to the axis connecting the connecting rod and the seat block, and the sliding plate is connected to a spring, and the spring normally causes the sliding plate to be located at the inner end of the guide rod and to deform and store force when the movable claw body is opened.

[0008] Preferably, in the self-clamping jaws, the fixed jaw body includes a bending portion connected to the carrier plate and a jaw body perpendicular to the bending portion, the bottom of the jaw body includes a plane parallel to the carrier plate and an L-shaped claw hook is formed at the lower top angle of the outer side, and the L-shaped claw hook forms a slot with the notch facing inward with the horizontal plane.

[0009] The L-shaped hook portion is detachably provided with an L-shaped clamp matched therewith, and the transverse portion of the L-shaped clamp is provided with an L-shaped pad.

[0010] Preferably, in the self-clamping jaws, the lower top corner of the inner side of the jaw body is rounded.

[0011] Preferably, in the self-clamping jaws, a self-resetting limiting mechanism for limiting the movement of the sliding plate from the inner end to the outer end of the guide rod is further provided on the carrier.

[0012] Preferably, in the self-clamping jaws, the self-resetting limiting mechanism includes a locking member, which is pivotally connected to a connecting seat above the carrier plate, and the rotating shaft connecting them is parallel to the carrier plate and perpendicular to the guide rail. Under normal conditions, the blocking portion of the locking member extends from above the carrier plate to below the carrier plate, and the lowest point of its lower end is lower than the top surface of the sliding plate. The locking member is also connected to an elastic member that drives it to return to normal from an open state.

[0013] Preferably, in the self-clamping jaws, the connecting seat is movably arranged on the carrier plate in a direction parallel to the axis of the guide rod, and an escape hole for the locking member to move is formed on the carrier plate.

[0014] Preferably, in the self-clamping jaws, the operating portion of the locking member extends to the outside of the carrier plate, and a fixed handle fixed above the carrier plate is provided next to it, and the fixed handle extends to the outside of the carrier plate and the axis is parallel to the axis of the guide rod.

[0015] Preferably, in the self-clamping jaws, an opening handle is provided on the movable jaws.

[0016] The loading and unloading device comprises any one of the above-mentioned self-clamping jaws and a mechanism for driving the self-clamping jaw to move.

[0017] The method for using the self-gripping jaws comprises the following steps:

[0018] S1, holding the fixed handle with one hand, and pressing the outer end of the locking member at the same time, so that the locking member releases the restriction on the movement of the sliding plate;

[0019] S2, open the movable jaw with the other hand;

[0020] S3, embedding the edge area of ​​the disc into the slots of the two fixed claws;

[0021] S4, releasing the movable claw body, and the movable claw body closes and cooperates with the two fixed claw bodies to hold the disk;

[0022] S5, stop applying downward pressure to the outer end of the locking member, and the locking member is reset to limit the movement of the sliding plate.

[0023] The advantages of the technical solution of the present invention are mainly reflected in:

[0024] The self-clamping jaws of the present invention do not require power sources such as cylinders, motors and hydraulic cylinders, and have low equipment and operating costs and are easy to install. When manual clamping is adopted, no complicated workpiece positioning structure is required, and two jaws are fixed and one jaw is movable. Under normal circumstances, the movable jaw is kept in a closed state by a self-locking mechanism. When in use, only one hand is needed to open the movable jaws, so that the workpiece is engaged with the two fixed jaws and then the movable jaws are released to automatically close and clamp. The operation is simple. Combined with the self-resetting limiting mechanism, the movable jaws can be effectively prevented from opening, thereby ensuring the stability of clamping and improving the safety of transportation.

[0025] The structure of the fixed clamping jaws of the present invention can effectively limit the end face of the I-shaped wheel, preventing the I-shaped wheel from moving on the clamping jaws during transportation. At the same time, it can make the extraction of the I-shaped wheel more labor-saving. When lifting, the clamping jaws can be naturally tightened, the tightening force is increased, and the heavy object can be clamped.

[0026] The arc top angle of the fixed claw body can guide the workpiece, making it easier for the workpiece to enter the clamping groove of the fixed claw body and facilitate the clamping operation.

[0027] The positional relationship between the fixed handle and the locking member of the self-resetting limiting mechanism of the present invention enables the operator to operate the locking member while holding the fixed handle, thereby facilitating the clamping operation of the entire self-clamping clamping jaw.

[0028] The moving mechanism of the self-clamping device of the present invention sets the balancing crane on the self-propelled trolley, and the self-propelled trolley can automatically move along the guide rail to realize the movement of the balancing crane without manual drive, which greatly reduces the labor intensity. At the same time, the driving mechanism on the self-propelled trolley adopts an electromagnetic clutch to connect the transmission shaft and the motor. When manual dragging is required or in the power-off or fault state, the electromagnetic clutch can disconnect the connection between the motor and the transmission shaft, so that the self-propelled trolley can be freely dragged, ensuring the convenience of using the self-propelled trolley, and the application methods are flexible and diverse, which can effectively meet the needs of different application scenarios.

[0029] The wheel surface of the traveling wheel of this solution and the contact surface between the guide rail and the wheel surface are in the shape of a matching inclined surface, which can effectively limit the self-propelled trolley to a certain extent, reduce the risk of the self-propelled trolley moving along the axial direction of the traveling wheel, and further combined with the guide wheel can effectively prevent the trolley from jumping and deflecting during operation, thereby ensuring the stability of transportation.

[0030] The balance crane of the present invention is arranged on the hanging rail, and the hanging rail can swing slightly relative to the frame, so that the balance crane can be effectively buffered when the trolley starts or stops, reducing safety hazards and realizing flexible unloading.

[0031] The balancing crane of the present invention is movably set on the hanging rail through a movable frame, and the position of the balancing crane can be fine-tuned, thereby effectively reducing the requirements for the moving position accuracy of the self-propelled vehicle, and when the moving position of the self-propelled vehicle is not in place, the deviation can be effectively corrected by the translation of the balancing crane relative to the hanging rail, thereby ensuring the reliability of the application.

[0032] This solution uses a pneumatic balance crane, and controls the rope of the pneumatic balance crane to automatically fall by pressure, reducing manual operation. At the same time, the start of the motor is controlled by a sensor, which can effectively ensure the safety of the trolley and reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG1 is a perspective view of the self-propelled loading and unloading device of the present invention (only one section of the guide rail and one section of the suspension rope of the balance crane are shown in the figure)

[0034] Figure 2 1. It is an end view of the self-propelled loading and unloading device of the present invention (the rope of the balance crane is hidden in the figure);

[0035] Figure 3 2. It is a cross-sectional view of the self-propelled loading and unloading device of the present invention (the rope of the balance crane is hidden in the figure);

[0036] Figure 4 It is a top view of the driving mechanism of the automatic walking vehicle of the present invention;

[0037] Figure 5 is a three-dimensional diagram of the driving mechanism of the automatic walking vehicle of the present invention (the vertical plate is hidden in the figure);

[0038] Figure 6 yes Figure 2 A magnified image of area A;

[0039] Figure 7 1 is a front view of the self-propelled loading and unloading device of the present invention (only one section of the guide rail is shown in the figure);

[0040] Figure 8 is a first perspective stereogram of the self-gripping jaw of the present invention;

[0041] Fig. 9 is a second perspective stereogram of the self-gripping jaw of the present invention;

[0042] Fig.10 is a top view of the self-gripping jaw of the present invention;

[0043] Fig.11 is a side view of the self-gripping jaw of the present invention;

[0044] Fig.12 It is a schematic diagram of the self-clamping jaws holding the I-shaped wheel of the present invention;

[0045] Fig.13 yes Figure 8 Magnified view of area B. DETAILED DESCRIPTION

[0046] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0047] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0048] The self-propelled transport device disclosed by the present invention is described below in conjunction with the accompanying drawings. Figure 1As shown, it includes a horizontally extending guide rail 100 and a self-propelled trolley 200 movably arranged on the guide rail 100, a balance crane 300 is arranged on the self-propelled trolley, and the self-propelled trolley 200 includes a frame 201, and the frame 201 is provided with running wheels 202 that can roll on the guide rail 100, at least one of the running wheels 202 is connected to a driving mechanism that drives its rotation, and the driving mechanism includes a transmission shaft 203 that is rotatably arranged on the frame and has an axis parallel to the axis of the running wheel, the transmission shaft 203 is connected to at least one of the running wheels through a first transmission mechanism, and the transmission shaft 203 is connected to a motor 204 arranged on the frame through a second transmission mechanism, and the second transmission mechanism includes an electromagnetic clutch 205 that controls the torque transmission connection between the transmission shaft and the motor 204.

[0049] During normal operation, the electromagnetic clutch 205 enables the motor 204 to be connected to the transmission shaft 203 for torque transmission, and the motor 204 drives the running wheel 202 to rotate when working, so that the self-propelled trolley can automatically travel along the track 100 without manual intervention. In addition, the electromagnetic clutch 205 is used to realize the torque transmission connection between the transmission shaft 203 and the motor 204. In the event of a fault or power outage, the electromagnetic clutch 205 disconnects the transmission shaft 203 from the motor 204, so that it can be conveniently operated manually, and the application is flexible.

[0050] Specifically, as shown in the attached Figure 2 As shown, the guide rail 100 is I-shaped, preferably an I-steel, which is fixed in position by a column (not shown in the figure) and is used to provide support and guidance for the self-propelled vehicle.

[0051] The frame 201 of the self-propelled vehicle 200 can be of various feasible structures, such as the following Figure 1 , Attachment Figure 2 As shown, in the preferred structure, the frame 201 includes two mounting frames 2011 symmetrically arranged at both sides of the guide rail 100 with a gap, and connecting members (screws and nuts) connecting them. The mounting frames 2011 are assembled from multiple components, and their specific shapes can be adjusted as needed.

[0052] As attached Figure 2 As shown, a group of running wheels 202 with parallel axes and equal heights are rotatably provided on the inner side (the side facing the other supporting frame) of each supporting frame 2011, and the axes of the running wheels 202 are horizontal and perpendicular to the extension direction of the track 100.

[0053] As attached Figure 3As shown, the number of a group of running wheels of each support frame 2011 can be designed as needed, preferably 3, two of the three running wheels are arranged adjacent to each other on a vertical plate 2012, and the other one is kept at a certain distance from the adjacent two, and the two groups of running wheels on the two support frames 2011 are respectively located in the two U-shaped grooves 101 of the I-beam.

[0054] As attached Figure 2 As shown, two adjacent walking wheels 202 on the right side of the support frame 2011 are connected to a driving mechanism that drives them to rotate, thereby increasing the driving force and ensuring the effective movement of the trolley.

[0055] As attached Figure 4 , Attachment Figure 5 As shown, the transmission shaft 203 extends from the outer side of the support frame 2011 on the right side to the inner side thereof, and a third gear 207 is coaxially arranged on the inner end of the transmission shaft 203, and the third gear 207 is meshed with two fourth gears 208, and the two fourth gears 208 are coaxially mounted on two adjacent walking wheels 202, respectively, and the third gear 207 and the fourth gear 208 constitute the first transmission mechanism. The electromagnetic clutch 205 arranged on the transmission shaft 203 is located on the outer side of the support frame 2011, and the electromagnetic clutch 205 is connected to the second gear 209, and the second gear 209 is meshed with the first gear 211, and the first gear 211 is coaxially arranged on the motor shaft of the motor 204, and the first gear 211, the second gear 209 and the electromagnetic clutch constitute the second transmission mechanism. And the motor 204 is located on the inner side of the support frame 2011. Of course, in other embodiments, the transmission structure formed by the gears can also adopt a transmission structure formed by a chain and a sprocket or a synchronous belt and a synchronous wheel.

[0056] As attached Figure 2 As shown, in order to reduce the risk of axial deviation during the movement of the walking wheel, the surface 102 of the I-beam in contact with the walking wheel is an inclined surface that slopes downward from the inside to the outside, and the corresponding walking wheel 202 has a frustum surface 2021 that matches the surface 102. Figure 2 As shown, side guide wheels 206 can also be rotatably provided on the two mounting frames 2011, and the axes of the side guide wheels 206 are perpendicular to the axes of the walking wheels 202 and the extension direction of the track 100. The spacing between the side guide wheels 206 of the two mounting frames 2011 is equivalent to the width of the guide rail 100, and the side guide wheels 206 on the two mounting frames 2011 are in contact with the two side edges of the lower wing plate 103 of the I-beam.

[0057] As attached Figure 2In order to prevent the frame 201 from jumping during movement, the frame 201 can also be provided with a lower guide wheel that can rotate and abuts the bottom surface of the lower wing plate. There are two lower guide wheels and they are located at both ends of the frame 201. One of the lower guide wheels 212 has a larger diameter and is located in the middle of the two mounting frames 2011. It is located at one end away from the two walking wheels connected to the driving mechanism. The other lower guide wheel 214 has a smaller diameter and is located on one of the mounting frames 2011, and the driving mechanism is not installed on the mounting frame 2011.

[0058] As attached Figure 2 As shown, an electric control cabinet 225 is also provided on the frame 201. The electric control cabinet 225 and the driving mechanism are located on two different mounting frames 2011 of the frame 201, so as to balance the center of gravity of the self-propelled vehicle and avoid the difference in loads on the running wheels 202 on different sides caused by the eccentric center of gravity of the vehicle, which affects the stable use of the running wheels 202.

[0059] As attached Figure 2 , Attachment Figure 6 As shown, a hanging rail 500 is suspended below the frame 201 through two hanging rods 213, and a pivot connection block 215 is provided at the upper end of each hanging rod 213. The pivot connection block 215 is pivotally connected to a support shaft 217 at the end of the frame 201, and the axis of the support shaft 217 is parallel to the axis of the walking wheel 202, so that the upper end of the hanging rod 213 can rotate relative to the support shaft 217.

[0060] As attached Figure 1 , Attachment Figure 3 As shown, the lower ends of the two suspension rods 213 are provided with suspension rails 500 and they can move relative to each other. Figure 6 As shown, the hanging rail 500 is a profile with a cross-section that is approximately in the shape of a Chinese scorpion. The top plate 510 and the bottom plate 520 of the profile are formed with notches 530 and 540 extending in a straight line from one end to the other end. The hanging rod 213 extends from the top of the top plate 510 through the notch 530 into the upper through groove 550 of the profile.

[0061] As attached Figure 3As shown, a stop plate 219 perpendicular to the end of the suspension rod 213 located in the profile is provided, and the stop plate 219 is located in a space enclosed by two L-shaped stop members 221, and the two L-shaped stop members 221 are fixed in the upper through groove 550 of the suspension rail 500, for example, the L-shaped stop members 221 can be fixed in the suspension rail 500 by conventional connection methods such as welding. The two L-shaped members 221 and the plate parallel to the top plate 510 of the suspension rail are combined to form a through hole 223, and the diameter of the through hole 223 is larger than the diameter of the suspension rod 213 and smaller than the size of the stop plate 219, so that the suspension rod 213 can move slightly in the through hole 223, so that the entire suspension rail 500 and the frame 201 are floating structures, so that when the self-propelled trolley stops or starts, the balance crane is prevented from swinging greatly due to inertia, and can unload flexibly. Of course, the lower end of the suspension rod 213 can also be connected to the suspension rail via a ball joint, or can be pivotally connected to the suspension rail.

[0062] As attached Figure 3 , Attachment Figure 6 As shown, the balancing hanger 300 is arranged on the hanging rail 500. In order to facilitate the fine adjustment of the balancing hanger 300 so as to facilitate the coordination with the machine tool, the balancing hanger 300 is arranged on the hanging rail 500 through a moving frame 600 that can move along the hanging rail. The moving frame 600 includes two pairs of rollers 610 that are rollingly arranged in the lower through groove 560 of the hanging rail 500. The axis of the roller 610 is parallel to the axis of the walking wheel, and each pair of the pulleys 610 are coaxially and rotatably arranged on both sides of a moving member 620. The moving member 620 extends from the lower through groove 560 through the notch on the bottom plate to the bottom of the hanging rail 500. The moving member 620 is approximately Y-shaped. The moving member 620 is connected to the balancing hanger 300 through a connecting plate 630, and the balancing hanger 300 is connected to the connecting plate 630 through bolts and nuts. In addition, the hanging rail 500 is provided with a limiting structure for limiting the roller 610 from rolling out of the hanging rail 500 . For example, stoppers for closing the ends of the hanging rail 500 are respectively provided at both ends of the hanging rail 500 .

[0063] In addition, the balance crane 300 can be an electric hoist, a pneumatic hoist, etc., preferably a pneumatic balance crane, and the balance crane 300 can automatically descend by controlling the hanging rope through air pressure. Specifically, as shown in the attached Figure 1As shown, the sensor 700 is used to determine whether the position to which the balance crane 300 moves is the set machine tool. The sensors 700 are multiple and installed on the track 100. The frame of the self-propelled trolley is provided with a triggering member (not marked in the figure) for triggering the sensor 700. If the balance crane is determined to be in place, the suspension rope of the balance crane automatically descends. The automatic descent of the suspension rope of the balance crane by air pressure control is a known technology and will not be described in detail here. The rise of the suspension rope of the balance crane can be triggered by a button, etc., which is a known technology and will not be described in detail here.

[0064] As attached Figure 7 , Attachment Figure 8 As shown, a self-clamping jaw 400 is provided at the lower end of the lifting rope of the balancing crane 300, and the self-clamping jaw 400 is hung on the lifting rope of the balancing crane 300 through a lifting ring 401 thereon. The self-clamping jaw 400 can be various known pneumatic or electric jaws. Preferably, the self-clamping jaw 400 is a manual jaw and is used to grab the I-shaped wheel.

[0065] As attached Figure 8 As shown, the self-clamping jaw 400 includes a carrier plate 403, two fixed claw bodies 405 and a movable claw body 407. The two fixed claw bodies 405 and the movable claw body 407 are distributed in a triangular shape on the carrier plate 403. Preferably, they evenly divide the circumference. The movable claw body 407 can be opened and closed, and is connected to a self-locking mechanism that keeps it in a closed state under normal circumstances.

[0066] As attached Figure 8 As shown, each of the fixed claw bodies 405 is fixed to the bottom of the carrier plate 403, and the fixed claw body 405 includes a bending portion 4051 parallel to the carrier plate 403 and a claw body 4052 perpendicular to the bending portion 4051, and the bottom of the claw body 4052 is a plane 4054 parallel to the carrier plate 403, which is used to abut against the outer end surface of the wheel disc 1100 of the I-shaped wheel 1000 when the fixed clamp holds the I-shaped wheel to prevent the axial movement of the I-shaped wheel 1000, and an L-shaped claw hook 4053 is formed at the lower top angle position of the outer side of the claw body 452, and the transverse portion of the L-shaped claw hook 4053 extends inwardly, and the L-shaped claw hook 4053 and the plane 4054 form a slot with a notch facing inward, and the extension length of the plane 4054 is approximately 2-4 times the length of the transverse portion of the L-shaped claw hook 4053.

[0067] As attached Figure 8As shown, in order to increase the contact area between the fixed claw body and the wheel disc, the L-shaped claw hook 4053 is provided with an L-shaped clamp 402 matched therewith, and the L-shaped clamp 402 is detachably provided at the L-shaped claw hook 4053 by bolts, so that it can be replaced according to different I-shaped wheel models. The transverse part of the L-shaped clamp 402 is provided with an L-shaped pad 404, and the distance between the top surface of the L-shaped pad 404 and the plane 4054 is equivalent to the thickness of the wheel disc 1100 of the I-shaped wheel 1000.

[0068] As attached Figure 8 As shown, the lower top corner located on the inner side of the claw body 4052 is a rounded corner 4055, so as to facilitate the wheel disc of the I-shaped wheel to enter the L-shaped claw hook 4053.

[0069] As attached Figure 8 , Attachment Fig. 9 As shown, the movable claw body 407 includes a first portion 4071, a second portion 4072 and a hook portion 4073 arranged in sequence. The upper end of the first portion 4071 is pivotally connected to a connecting rod 409, and the connecting rod 409 is horizontal or approximately horizontal under normal conditions. The connecting rod 409 is provided with the lifting ring 401, and the other end of the connecting rod 409 is pivotally connected to a seat block 411, and the seat block 411 is fixed to the top of the carrier plate 403.

[0070] As attached Fig. 9 , Attachment Fig.10 As shown, the first part 4071 passes through the through hole 4031 formed on the carrier plate 403, and the lower end thereof is connected with one end of the second part 4072. The first part 4071 and the second part 4072 are set at an obtuse angle, and the second part 4072 is bent outward, and the hook part 4073 is set at the other end of the second part 4072. The hook part 4073 is L-shaped, and it forms a nearly V-shaped slot with an opening facing inward with the second part 4072. Under normal circumstances, the hook part 4073 is equivalent to the height of the L-shaped claw hook 4053 on the fixed claw body, and an L-shaped pad is set on it.

[0071] As attached Figure 8 , Attachment Fig. 9As shown, a waist-shaped hole 4074 extending along its length direction is formed on the first part 4071, and the self-locking mechanism includes a connecting protrusion 413 pivotally connected to the waist-shaped hole 4074 and located below the carrier 403, and the connecting protrusion 413 is fixed on a sliding plate 415, and the sliding plate 415 is perpendicular to the carrier 403, and its length direction is perpendicular to the extension direction of the connecting rod 409. The sliding plate 415 is movably arranged on two guide rods 419 through two shaft sleeves 417. The guide rods 419 are perpendicular to the sliding plate 415, that is, the axis of the guide rod is parallel to the carrier plate 403 and perpendicular to the shaft 421 connected to the connecting rod 409 and the seat block 411. The two ends of the guide rod 419 are fixed on two mounting blocks 423 at the bottom of the carrier plate 403, and one of the mounting blocks 423 is located at the edge of the carrier plate 403, and the other mounting block 423 is located in the middle area of ​​the carrier plate. In addition, a spring (not shown in the figure) is sleeved on the guide rod 419, and the spring keeps the movable claw body 407 in a closed state, that is, one end of the spring abuts or is fixed to the inner wall of the outer mounting block 423, and the other end abuts or is fixed to the shaft sleeve 417 or the sliding plate 415, so that the sliding plate 415 is normally located at the inner end 4191 of the guide rod 419, as shown in the attached figure. Fig.11 shown.

[0072] As attached Figure 8 As shown, the top surface of the second part 4072 is provided with an opening handle 425 extending outward in a nearly L-shape, and the carrier plate 403 is provided with a fixed handle 427, the axis of the fixed handle 427 is parallel to the axis of the guide rod 419 and extends to the outside of the carrier plate 403 and is located directly above the fixed handle 427.

[0073] When it is necessary to open the movable claw body 407, one hand grasps the fixed handle 427, and the other hand grasps the opening handle 425 to lift the movable claw body 407 upward, and the movable claw body 407 rotates around the end connected to the connecting rod 409, and at the same time, the sliding plate 415 is moved from the inner end of the two guide rods 419 to the outer end to compress the spring, so that the movable claw body 407 opens, and the wheel disc 1100 of the I-shaped wheel 1000 can be placed into the concave part of the L-shaped clamp 4053 of the two fixed claw bodies, and then the opening handle 425 is released, and the reaction force of the spring causes the movable claw body 407 to close automatically, so that the movable claw body 407 cooperates with the two fixed claw bodies 405 to hold the upper wheel disc of the I-shaped wheel, as shown in the attached figure. Fig.12 shown.

[0074] As attached Fig.13As shown, in order to prevent the movable claw body 407 from opening abnormally due to spring failure when the load is large, a self-resetting limiting mechanism is also provided on the carrier 403, and the self-resetting limiting mechanism includes a pistol-shaped locking piece 429, and the protrusion 4291 at the bent position of the locking piece 429 is pivotally connected to the connecting seat 431, and the axis of the rotating shaft 433 connecting them is perpendicular to the axis of the guide rod 419 and parallel to the carrier 403, and the connecting seat 431 is adjustably arranged on the top of the carrier 403 and is located at the top angle of the carrier 403, and an adjusting screw 435 is provided on the side of the carrier 403, and the axis of the adjusting screw 435 is parallel to the axis of the guide rod 419, and it can adjust the position of the connecting seat 431.

[0075] As attached Fig.10 , Attachment Fig.13 As shown, the blocking portion 4292 of the locking member 429 passes from the top of the carrier plate 403 through the avoidance hole 4032 formed on the carrier plate 403 to the bottom of the carrier plate 403, and the lower end 4294 of the blocking portion 4292 is close to the inner end 4191 of the guide rod 419 and the lowest position of its lower end 4294 is lower than the top of the sliding plate 415, so that the sliding plate 415 is blocked by the lower end of the blocking portion 4292 to prevent the sliding plate 415 from moving from the inner end 4191 of the guide rod 419 to the outer end 4192, thereby preventing the movable claw body from opening.

[0076] As attached Fig.10 , Attachment Fig.13 As shown, the operating portion 4293 of the locking member 429 extends straight to the outside of the carrier plate 403 and is located adjacent to the fixed handle 427. The top height of the outer end of the locking member 429 is equivalent to the top height of the fixed handle 427. At the same time, the length of the locking member 429 extending outside the carrier plate is about half the length of the fixed handle. Thus, when the fixed handle 427 is grasped by hand, the outer end of the operating portion 4293 can be pressed downward by the thumb at the same time, so that the locking member 429 is rotated around the rotating shaft 433 to open, thereby releasing the restriction on the movement of the sliding plate 415. When the downward pressure applied to the outer end of the operating portion 4293 is released, the locking member 429 automatically returns to the locked position through the torsion spring (not shown in the figure) sleeved on the rotating shaft 433, thereby limiting the movement of the sliding plate 415 again. Of course, the torsion spring can also be other elastic members that can automatically reset the locking member 429.

[0077] As attached Figure 7As shown, after the self-gripping jaw 400 grasps the workpiece, in order to prevent the self-propelled vehicle 200 from being accidentally started before the workpiece is lifted to a safe height, the pneumatic balancing crane 300 is provided with a safety sensor 800 located on the side of its main body. The safety sensor 800 can be a proximity switch or other feasible inventive device. The safety sensor 800 cooperates with the trigger plate 900 provided on the lifting rope to generate a corresponding conditional signal, that is, the self-propelled vehicle 200 can move only when the safety sensor 800 senses the trigger plate 900.

[0078] The self-clamping jaws of this solution do not require a power source, have low equipment operating costs, do not require complicated wiring, are easy to operate, are stable in fixation, can effectively meet the requirements for handling heavy I-shaped wheels, and are highly safe. When combined with a self-propelled trolley, only simple manual clamping operations of the self-clamping jaws are required at the machine tool, which greatly improves the feasibility of the operation.

[0079] Example 2

[0080] The present embodiment further discloses a production line (not shown in the figure), including a row of machine tools, wherein the machine tools are preferably winding machines, which generally include known structures such as a pay-off machine, a tensioning mechanism, and a winding machine. These are known technologies and will not be described in detail. The production line also includes the self-propelled transport device of the above-mentioned embodiment, so that the I-shaped wheel parts can be effectively transported.

[0081] In addition, a call button (not shown in the figure) is arranged next to each of the machine tools. When multiple machine tools need to be loaded and unloaded at the same time, the call button can be used to make the PLC control the self-moving trolley to move to the machine tool corresponding to the call button for loading and unloading operations. Controlling the entire production line through PLC is a known technology and is not the innovation of this solution, which will not be elaborated here.

[0082] During normal operation, the PLC reads the signal indicating that the machine tool has completed the finished product, controls the self-moving trolley to move to the top of the corresponding machine tool and stop, and the self-clamping jaws on the pneumatic balance crane automatically descend to the set height, waiting for the operator to take the self-clamping jaws for unloading operations. After completing the wheel replacement action, the self-moving trolley goes to the next machine tool to unload according to the signal.

[0083] When the operator operates the self-clamping jaws, follow the following process:

[0084] S1, holding the fixed handle with one hand, and pressing the outer end of the locking member at the same time, so that the locking member releases the restriction on the movement of the sliding plate;

[0085] S2, open the movable jaw with the other hand;

[0086] S3, embedding the edge area of ​​the disc into the slots of the two fixed claws;

[0087] S4, releasing the movable claw body, and the movable claw body closes and cooperates with the two fixed claw bodies to hold the disk;

[0088] S5, stop applying downward pressure to the outer end of the locking member, and the locking member is reset to limit the movement of the sliding plate.

[0089] When the workpiece is moved onto the machine tool or removed from the machine tool and the self-clamping jaws need to be separated from the workpiece, the above S1-S2 process can be followed.

[0090] There are many embodiments of the present invention. For example, the self-clamping claw of this solution can also be directly set on a conventional balance crane or a device such as a six-axis robot that can drive it to move. All technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A self-holding clamping jaw, comprising a carrier plate, on which two fixed claw bodies and a movable claw body are distributed in a triangular shape, characterized in that: The upper end of the movable claw body is pivotally connected to one end of the connecting rod, and the other end of the connecting rod is pivotally connected to a seat block located at the top of the carrier plate. The movable claw body is connected to a self-locking mechanism that drives it to remain closed under normal conditions. The self-locking mechanism includes a connecting protrusion pivotally connected to the movable claw body and located below the carrier plate. The connecting protrusion is arranged on a sliding plate. The sliding plate is slidably arranged on two guide rods fixed to the bottom of the carrier plate. The axis of the guide rod is parallel to the carrier plate and perpendicular to the axis connected to the connecting rod and the seat block. The sliding plate is connected to a spring, and the spring normally makes the sliding The plate is located at the inner end of the guide rod and deforms and accumulates force when the movable claw body is opened. A self-resetting limiting mechanism is also provided on the carrier plate to limit the sliding plate from the inner end to the outer end of the guide rod; the self-resetting limiting mechanism includes a locking piece, which is pivotally connected to a connecting seat above the carrier plate, and the rotating shaft connecting them is parallel to the carrier plate and perpendicular to the guide rod. Under normal conditions, the blocking portion of the locking piece extends from the top of the carrier plate to the bottom of the carrier plate, and the lowest point of its lower end is lower than the top surface of the sliding plate. The locking piece is also connected to an elastic piece that drives it to return to normal from an open state.

2. The self-holding clamping jaw according to claim 1, characterized in that: The fixed claw body includes a bending portion connected to the carrier plate and a claw body perpendicular to the bending portion, the bottom of the claw body includes a plane parallel to the carrier plate and an L-shaped claw hook is formed at the lower top corner of the outer side, and the L-shaped claw hook forms a slot with an inward notch with the horizontal plane.

3. The self-holding clamping jaw according to claim 2, characterized in that: The lower vertex angle on the inner side of the claw body is rounded.

4. The self-holding clamping jaw according to claim 2, characterized in that: The L-shaped claw hook portion is detachably provided with an L-shaped clamp matched therewith, and the transverse portion of the L-shaped clamp is provided with an L-shaped pad.

5. The self-holding clamping jaw according to claim 1, characterized in that: The connecting seat can be movably arranged on the carrier plate along an axial direction parallel to the guide rod, and an escape hole for the locking member to move is formed on the carrier plate.

6. The self-holding clamping jaw according to claim 1, characterized in that: The operating portion of the locking member extends to the outside of the carrier plate, and a fixed handle fixed above the carrier plate is arranged next to the operating portion of the locking member. The fixed handle extends to the outside of the carrier plate and its axis is parallel to the axis of the guide rod.

7. The self-holding clamping jaw according to claim 5, characterized in that: An opening handle is arranged on the movable claw body.

8. Loading and unloading device, characterized in that: It comprises the self-clamping clamping jaw described in any one of claims 1 to 7 and a mechanism for driving the self-clamping clamping jaw to move.

9. A method for using a self-clamping jaw, applied to the self-clamping jaw according to claim 6, characterized in that: The steps include: S1, holding the fixed handle with one hand, and pressing the outer end of the locking member at the same time, so that the locking member releases the restriction on the movement of the sliding plate; S2, open the movable claw with the other hand; S3, embedding the edge area of ​​the disc into the slots of the two fixed claws; S4, releasing the movable claw body, and the movable claw body closes and cooperates with the two fixed claw bodies to hold the disk; S5, stop applying downward pressure to the outer end of the locking member, and the locking member is reset to limit the movement of the sliding plate.

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