A material clamping structure and a material retrieving manipulator device including the same

Abstract

The present invention discloses a material clamping structure, comprising two clamping members arranged opposite to each other, each of the clamping members comprising a connecting plate and an inclined guide plate; the lower end of the connecting plate is connected to one end of the inclined guide plate; the inclined guide plates of the two clamping members arranged opposite to each other are both inclined inward; a material clamping drive mechanism is respectively connected to the upper ends of the two connecting plates, and the material clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to switch between a closed state and an open state; in the closed state, the inclined guide plates of the two clamping members abut against each other to jointly define a material clamping space, and the two inclined guide plates guide material into the material clamping space during the process of moving toward each other to clamp the material; in the open state, the inclined guide plates of the two clamping members separate from each other to release the material. The present invention also discloses a material retrieving robot device including the above-mentioned material clamping structure. The present invention is suitable for clamping strips of meat or slices of meat, avoiding damage to the strips of meat or slices of meat during the clamping process.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing, and in particular to a material clamping structure and a material taking manipulator device comprising the same. Background Art

[0002] Currently, fish fillets are mostly cut manually by chefs. This method is not only inefficient but also difficult to control the thickness of the cuts, making it difficult to ensure uniformity. With the continuous maturity of food machinery and the rapid development of the market, fish filleting machines have been widely used in large and medium-sized restaurants, hotels, hotels, and fish food processing factories, improving processing efficiency and saving costs for the food industry.

[0003] In the prior art, the invention patent with application number CN202011158293.8 discloses a feeding device and an oblique meat slicer. The feeding device includes a feeding mounting plate and a flip feeding mechanism installed on the feeding mounting plate; the flip feeding mechanism includes a flip structure and a feeding drive structure; the flip structure includes a feeding slide, a supporting mechanism installed on the feeding slide for supporting materials, a trigger structure installed on the feeding slide, and a trigger limiter installed on the feeding mounting plate; the feeding drive mechanism drives the feeding slide to reciprocate linearly along the length direction of the feeding mounting plate, and the feeding slide drives the trigger structure to collide or separate with the trigger limiter, so that the supporting mechanism switches between an open state and a closed state. The device has the characteristics of convenient feeding operation, good feeding stability, and no accumulation or stacking of materials; at the same time, it realizes linear motion and flipping action through a motor, making the overall structure more compact, running smoothly and stably, low cost, and taking up less space. However, existing oblique meat slicers have the following drawbacks: both the feeding and discharging of the device require manual grasping and transfer, resulting in high labor intensity, high production costs, low production efficiency, and poor food hygiene and safety. In addition, the prior art lacks a clamping device specifically for meat blocks and slices, so it is necessary to provide a clamping device. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a clamping structure and a material-retrieving robot device including the same, which is suitable for clamping strips of meat or slices of meat to avoid damage to the strips of meat or slices of meat during the clamping process.

[0005] A first aspect of the present invention provides a material clamping structure, comprising:

[0006] Two clamping members are arranged opposite to each other, each of the clamping members includes a connecting plate and an inclined guide plate; the lower end of the connecting plate is connected to one end of the inclined guide plate; the inclined guide plates of the two clamping members are both inclined toward the inside;

[0007] A material clamping drive mechanism; the material clamping drive mechanism is respectively connected to the upper ends of the two connecting plates, and the material clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to switch between a closed state and an open state; in the closed state, the inclined guide plates of the two clamping members abut against each other to jointly define a material clamping space, and the two inclined guide plates guide the material into the material clamping space during the process of moving toward each other to clamp the material; in the open state, the inclined guide plates of the two clamping members separate from each other to release the material.

[0008] In the first aspect of the present invention, as a preferred embodiment, the connecting plate includes a first connecting plate and a second connecting plate connected in sequence from top to bottom, the upper end of the first connecting plate is connected to the clamping drive mechanism, and the lower end of the second connecting plate is connected to the upper end of the inclined guide plate; the second connecting plates of the two relatively arranged clamping members are both inclined toward the outside.

[0009] In the first aspect of the present invention, as a preferred embodiment, the material clamping drive mechanism is a pneumatic clamp, which includes a clamp cylinder and two claw fingers, wherein the lower end of one of the claw fingers is fixedly connected to the upper end of a clamping member, and the lower end of the other claw finger is fixedly connected to the upper end of another clamping member, and the clamp cylinder is used to drive the two claw fingers to close or open to drive the two clamping members to move toward or away from each other.

[0010] In the first aspect of the present invention, as a preferred embodiment, an angle is formed between the two claw fingers.

[0011] In the first aspect of the present invention, as a preferred embodiment, the clamping structure includes at least two groups of pneumatic jaws, and the at least two groups of pneumatic jaws jointly drive the two clamping members to move toward or away from each other to clamp or release the material.

[0012] A second aspect of the present invention provides a material retrieving manipulator device, comprising:

[0013] Fixed bracket;

[0014] The material clamping structure provided by the first aspect of the present invention is provided on the fixing bracket;

[0015] A lifting drive mechanism drives the fixed bracket to move up and down, thereby driving the clamping structure to move up and down.

[0016] In the second aspect of the present invention, as a preferred embodiment, it further includes:

[0017] Support frame;

[0018] a first slide rail, the first slide rail being arranged on the support frame;

[0019] a sliding seat, the sliding seat being slidably connected to the supporting frame via the first sliding rail;

[0020] The fixing bracket is slidably arranged on the sliding seat along the vertical direction;

[0021] A horizontal driving mechanism drives the sliding seat to slide along the first slide rail, thereby driving the fixed bracket and the material clamping structure to slide along the first slide rail.

[0022] In the second aspect of the present invention, as a preferred embodiment,

[0023] The support frame includes a vertical mounting plate arranged vertically and a horizontal fixed base plate arranged horizontally to fix the top of the vertical mounting plate;

[0024] There are two first slide rails, and the two first slide rails are arranged in parallel on the top surface of the horizontal fixed base plate;

[0025] The sliding seat comprises a sliding seat body having a mounting cavity and four first sliding blocks arranged at the bottom of the sliding seat body, wherein every two first sliding blocks are slidably connected to a first sliding rail;

[0026] The horizontal driving mechanism includes a first motor, a first transmission gear, two first pressure wheels, a first toothed belt and two first toothed belt fixing seats; the first motor is installed in the mounting cavity of the sliding seat body, the output shaft of the first motor extends outward from one side of the sliding seat body, the first transmission gear is arranged on the output shaft of the first motor, the two first pressure wheels are fixedly installed on the sliding seat body and are respectively located on the left and right sides of the first transmission gear, the two first toothed belt fixing seats are respectively fixedly installed on the top surface of the horizontal fixed substrate and are located on the same side of the output shaft of the first motor, the two ends of the first toothed belt are respectively fixedly connected to the two first toothed belt fixing seats, and the bottom surface of the first toothed belt is provided with meshing teeth; the first transmission gear is located below the first toothed belt and meshes with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressure wheels respectively press the top surface of the first toothed belt;

[0027] The two gears are connected with each other through the two guide wheels, and the two guide wheels are connected with each other through the two guide wheels, and the two guide wheels are connected with each other through the two guide wheels.

[0028] The first motor is located below the second motor, and their output shafts are respectively located on both sides of the sliding seat.

[0029] In the second aspect of the present invention, as a preferred embodiment, the clamping structure is composed of at least two groups, and at least two groups of the clamping structures are arranged side by side on the fixed bracket; in any two adjacent groups of the clamping structures, two adjacent clamping members are respectively provided with avoidance structures, so that the clamping members of one group of the clamping structures and the clamping members of the other group of the clamping structures do not interfere with each other when they move toward each other; the avoidance structure is a plurality of avoidance holes arranged side by side at intervals on the clamping members, and the avoidance holes on the two adjacent clamping members are staggered.

[0030] In the first aspect of the present invention, as a preferred embodiment, the fixed bracket includes a vertical sliding member arranged along the vertical direction and an I-shaped fixing frame arranged along the horizontal direction; the middle part of the I-shaped fixing frame is fixed to the bottom end of the vertical sliding member; at least two groups of clamping structures are fixedly installed on the I-shaped fixing frame.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The material clamping structure of the present invention includes two clamping members arranged opposite to each other, each of which includes a connecting plate and an inclined guide plate. The inclined guide plates of the two clamping members arranged opposite to each other are both inclined inward. A material clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to switch between a closed state and an open state. In the closed state, the inclined guide plates of the two clamping members abut against each other to jointly define a material clamping space. During the process of moving toward each other, the two inclined guide plates guide material into the material clamping space to clamp the material. In the open state, the inclined guide plates of the two clamping members separate from each other to release the material. With this design, during the process of the two inclined guide plates moving toward each other, the two inclined guide plates guide the material from the bottom of the material into the material clamping space, without the need to clamp the material. The clamping structure is suitable for clamping strips of meat or slices, thus avoiding damage to the meat or slices during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the material clamping structure of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the material reclaiming manipulator device of the present invention;

[0035] Figure 3 This is a schematic structural diagram of the reclaiming manipulator device from another angle of the present invention;

[0036] Figure 4 It is a structural schematic diagram of the material clamping structure and the fixing bracket of the present invention;

[0037] Figure 5 This is a schematic structural diagram of the clamping structure and the fixing bracket of the present invention from another angle;

[0038] Figure 6 It is a structural schematic diagram of the fixing bracket of the present invention.

[0039] In the figure: 10, fixed bracket; 11, vertical sliding member; 12, I-shaped fixing frame; 121, longitudinal fixing rod; 122, transverse fixing rod; 20, material clamping structure; 21, clamping member; 211, connecting plate; 2111, first connecting plate; 2112, second connecting plate; 212, inclined guide plate; 22, pneumatic clamping jaw; 221, clamping jaw cylinder; 222, claw finger; 31, avoidance hole; 32, spacer bar; 40, support frame; 41, Vertical mounting plate; 42, horizontal fixed base plate; 50, first slide rail; 60, slide seat; 61, slide seat body; 62, first slider; 71, first motor; 72, first transmission gear; 73, first pressure wheel; 74, first toothed belt; 75, first toothed belt fixing seat; 81, second motor; 82, second transmission gear; 83, second pressure wheel; 84, second toothed belt; 85, second toothed belt fixing seat; 86, second slide rail; 87, second slider. DETAILED DESCRIPTION

[0040] Below, the invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0041] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0043] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0044] Example 1

[0045] Please refer to Figure 1-6 As shown, this embodiment provides a material clamping structure 20, comprising two clamping members 21 arranged opposite to each other and a material clamping driving mechanism;

[0046] Specifically, the clamping member 21 includes a connecting plate 211 and an inclined guide plate 212; the lower end of the connecting plate 211 is connected to one end of the inclined guide plate 212; the inclined guide plates 212 of the two oppositely arranged clamping members 21 are both inclined toward the inside;

[0047] Specifically, the material clamping drive mechanism is respectively connected to the upper ends of the two connecting plates 211, and the material clamping drive mechanism is used to drive the two clamping members 21 to move toward or away from each other to switch between a closed state and an open state; in the closed state, the inclined guide plates 212 of the two clamping members 21 abut against each other to jointly define a material clamping space, and the two inclined guide plates 212 guide the material into the material clamping space to clamp the material during the movement toward each other; in the open state, the inclined guide plates 212 of the two clamping members 21 separate from each other to release the material.

[0048] On the basis of the above structure, when the two inclined guide plates 212 move toward each other, the two inclined guide plates 212 guide the material from the bottom of the material into the clamping space, and do not need to clamp the material. They are suitable for clamping strips of meat or meat slices, avoiding damage to the meat blocks or meat slices during the clamping process.

[0049] In a preferred embodiment of the present invention, the connecting plates 211 include a first connecting plate 2111 and a second connecting plate 2112, connected sequentially from top to bottom. The upper end of the first connecting plate 2111 is connected to the clamping drive mechanism, and the lower end of the second connecting plate 2112 is connected to the upper end of the inclined guide plate 212. The second connecting plates 2112 of the two opposing clamping members 21 are both inclined outward. This design increases the clamping space and is suitable for clamping meat strips of various sizes.

[0050] In a preferred embodiment of the present invention, the material clamping drive mechanism is a pneumatic clamp 22, which includes a clamp cylinder 221 and two claw fingers 222 mounted on a fixed bracket 10, wherein the lower end of one claw finger 222 is fixedly connected to the upper end of one clamping member 21, and the lower end of the other claw finger 222 is fixedly connected to the upper end of the other clamping member 21, and the clamp cylinder 221 is used to drive the two claw fingers 222 to close or open to drive the two clamping members 21 to move toward or away from each other. Specifically, the pneumatic clamp 22 can adopt a conventional structure. Preferably, an angle is formed between the two claw fingers 222, and the angle is preferably an acute angle. The specific angle can be adjusted accordingly according to actual conditions.

[0051] In a preferred embodiment of the present invention, the upper end of the first connecting plate 2111 is detachably connected to the lower end of the claw finger 222. Specifically, the detachable connection may be a screw connection, a snap connection, or the like.

[0052] In a preferred embodiment of the present invention, the material clamping structure 20 includes at least two sets of pneumatic grippers 22. These two sets of pneumatic grippers 22 jointly drive the two gripping members 21 to move toward or away from each other to grip or release the material. This ensures smoother movement of the two gripping members 21 and prevents one end of the gripping member 21 from tilting.

[0053] Example 2

[0054] The second embodiment is an improvement based on the first embodiment.

[0055] Please refer to Figure 1-6 As shown, embodiment 2 provides a material retrieving manipulator device, comprising:

[0056] Fixed bracket 10;

[0057] The material clamping structure 20 of the first embodiment is provided on the fixing bracket 10;

[0058] The lifting drive mechanism drives the fixed bracket 10 to move up and down, thereby driving the clamping structure 20 to move up and down.

[0059] In a preferred embodiment of the present invention, the reclaiming manipulator device further comprises:

[0060] Support frame 40;

[0061] A first slide rail 50 is provided on the support frame 40;

[0062] A sliding seat, the sliding seat is slidably connected to the support frame 40 through a first slide rail 50;

[0063] The fixing bracket 10 is slidably arranged on the sliding seat along the vertical direction;

[0064] The horizontal driving mechanism drives the sliding seat to slide along the first slide rail 50 , thereby driving the fixed bracket 10 and the material clamping structure 20 to slide along the first slide rail 50 .

[0065] Specifically, the support frame 40 includes a vertical mounting plate 41 and a horizontal fixed base plate 42 fixedly mounted on the top of the vertical mounting plate 41;

[0066] Specifically, there are two first slide rails 50 , and the two first slide rails 50 are arranged in parallel on the top surface of the horizontal fixed base plate 42 .

[0067] Specifically, the sliding seat 60 includes a sliding seat body 61 having a mounting cavity and four first sliding blocks 62 disposed at the bottom of the sliding seat body 61 . Every two first sliding blocks 62 are slidably connected to one first slide rail 50 .

[0068] Specifically, the horizontal drive mechanism includes a first motor 71, a first transmission gear 72, two first pressure wheels 73, a first toothed belt 74 and two first toothed belt fixing seats 75; the first motor 71 is installed in the mounting cavity of the sliding seat body 61, and the output shaft of the first motor 71 extends outward from one side of the sliding seat body 61; the first transmission gear 72 is arranged on the output shaft of the first motor 71; the two first pressure wheels 73 are respectively fixedly mounted on the sliding seat body 61 and are respectively located on the left and right sides of the first transmission gear 72; the two first toothed belt fixing seats 75 are respectively fixedly mounted on the top surface of the horizontal fixed base plate 42 and are located on the same side as the output shaft of the first motor 71; the two ends of the first toothed belt 74 are respectively fixedly connected to the two first toothed belt fixing seats 75, and the bottom surface of the first toothed belt is provided with meshing teeth; the first transmission gear 72 is located below the first toothed belt and meshes with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressure wheels 73 respectively press the top surface of the first toothed belt.

[0069] During operation, the first motor 71 drives the first transmission gear 72 to rotate, and the first transmission gear 72 engages with the meshing teeth on the bottom surface of the first toothed belt. Since the two ends of the first toothed belt are fixed, the first motor 71 drives the sliding seat 60 to slide along the first slide rail 50 under the action of the reaction force of the first toothed belt.

[0070] Specifically, the lifting drive mechanism includes a second motor 81, a second transmission gear 82, two second pressure wheels 83, a second toothed belt 84, two second toothed belt fixing seats 85, two second slide rails 86, and four second sliders 87; the second motor 81 is installed in the installation cavity of the sliding seat body 61, and the output shaft of the second motor 81 extends outward from one side of the sliding seat body 61. The second transmission gear 82 is arranged on the output shaft of the second motor 81. The two second pressure wheels 83 are respectively fixedly installed on the sliding seat body 61 and are respectively located on the upper and lower sides of the second transmission gear 82. The two second toothed belt fixing seats 85 are respectively fixed The upper and lower ends of the fixed bracket 10 are fixedly installed and are located on the same side as the output shaft of the second motor 81. The two ends of the second toothed belt are respectively fixedly connected to the two second toothed belt fixing seats 85, and the inner side of the second toothed belt is provided with meshing teeth; the second transmission gear 82 is located below the second toothed belt and meshes with the meshing teeth of the second toothed belt, and the two second pressure wheels 83 respectively press the outer side surfaces of the second toothed belt; the two second slide rails 86 are arranged parallel to each other in the vertical direction on the fixed bracket 10, and the four first sliders 62 are respectively fixedly installed on the side walls of the sliding seat body 61, and every two second sliders 87 are slidably matched with a second slide rail 86.

[0071] During operation, the second motor 81 drives the second transmission gear 82 to rotate, and the second transmission gear 82 engages with the meshing teeth on the bottom surface of the second toothed belt. Since the second motor 81 is fixed in the vertical direction, the second toothed belt drives the fixed bracket 10 to move up and down along the second slide rail 86 under the action of the second motor 81, thereby driving the clamping structure 20 to move up and down.

[0072] Preferably, the first motor 71 is located below the second motor 81, and their output shafts are respectively located on both sides of the sliding seat. This has the advantages of compact structure and convenient control.

[0073] In a preferred embodiment of the present invention, there are at least two groups of clamping structures 20, and at least two groups of clamping structures 20 are arranged side by side on the fixed bracket 10; in any two adjacent groups of clamping structures 20, two adjacent clamping members 21 are respectively provided with avoidance structures, so that the clamping members 21 of one group of clamping structures 20 and the clamping members 21 of the other group of clamping structures 20 do not interfere with each other when they move toward each other.

[0074] In a preferred embodiment of the present invention, the avoidance structure is a plurality of avoidance holes 31 spaced apart and arranged side by side on the clamping member 21 , and the avoidance holes 31 on two adjacent clamping members 21 are staggered.

[0075] In a preferred embodiment of the present invention, a plurality of avoidance holes 31 are spaced and arranged side by side along the width of the clamping member 21. The avoidance holes 31 are distributed on the second connecting plate 2112 and the inclined guide plate 212. On each clamping member 21, a spacer bar 32 is formed between each adjacent avoidance hole 31. The width of the avoidance hole 31 is greater than the width of the spacer bar 32. This allows the spacer bar 32 on each clamping member 21 to more smoothly pass through the corresponding avoidance hole 31 during the movement of the two clamping members 21 toward each other, making the operation of the clamping device more stable and smooth.

[0076] In a preferred embodiment of the present invention, the fixed bracket 10 includes a vertical sliding member 11 arranged in the vertical direction and an I-shaped fixing frame 12 arranged in the horizontal direction; the middle portion of the I-shaped fixing frame 12 is fixed to the bottom end of the vertical sliding member 11; and at least two sets of clamping structures 20 are fixedly mounted on the I-shaped fixing frame 12. Specifically, the I-shaped fixing frame 12 includes a longitudinal fixing rod 121 and transverse fixing rods 122 symmetrically fixed to the ends of the longitudinal fixing rod 121. Preferably, two pneumatic clamps 22 are symmetrically mounted at both ends of each transverse fixing rod 122, and the two pneumatic clamps 22 located on the same side are respectively connected to a pair of clamping members 21. This has the advantages of a more compact structure and better stability.

[0077] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.

[0078] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A reclaiming manipulator device, characterized in that: include: Fixed bracket; A material clamping structure, the material clamping structure being arranged on the fixing bracket; The material clamping structure comprises: Two clamping members are arranged opposite to each other, and the clamping members include a connecting plate and an inclined guide plate; the lower end of the connecting plate is connected to one end of the inclined guide plate; the inclined guide plates of the two clamping members arranged opposite to each other are both inclined inwardly; the connecting plate includes a first connecting plate and a second connecting plate connected in sequence from top to bottom, the upper end of the first connecting plate is connected to the clamping drive mechanism, and the lower end of the second connecting plate is connected to the upper end of the inclined guide plate; the second connecting plates of the two clamping members arranged opposite to each other are both inclined outwardly; a material clamping drive mechanism; the material clamping drive mechanism is respectively connected to the upper ends of the two connecting plates, and the material clamping drive mechanism is used to drive the two clamping members to move toward or away from each other to switch between a closed state and an open state; in the closed state, the inclined guide plates of the two clamping members abut against each other to jointly define a material clamping space, and the two inclined guide plates guide the material into the material clamping space during the process of moving toward each other to clamp the material; in the open state, the inclined guide plates of the two clamping members separate from each other to release the material; The clamping structures are provided in at least two groups, and at least two groups of the clamping structures are arranged side by side on the fixed bracket; in any two adjacent groups of the clamping structures, two adjacent clamping members are respectively provided with avoidance structures, so that the clamping members of one group of the clamping structures and the clamping members of the other group of the clamping structures do not interfere with each other when they move toward each other; the avoidance structure is a plurality of avoidance holes arranged side by side at intervals on the clamping members, and the avoidance holes on two adjacent clamping members are staggered; a plurality of avoidance holes are arranged side by side at intervals along the width direction of the clamping members, and the avoidance holes are distributed on the second connecting plate and the inclined guide plate; on the same clamping member, a spacer bar is formed between each two adjacent avoidance holes, and the width of the avoidance hole is greater than the width of the spacer bar; A lifting drive mechanism drives the fixed bracket to move up and down, thereby driving the clamping structure to move up and down.

2. The reclaiming manipulator device according to claim 1, characterized in that: The material clamping drive mechanism is a pneumatic clamp, which includes a clamp cylinder and two claw fingers, wherein the lower end of one of the claw fingers is fixedly connected to the upper end of a clamping member, and the lower end of the other claw finger is fixedly connected to the upper end of another clamping member, and the clamp cylinder is used to drive the two claw fingers to close or open to drive the two clamping members to move toward or away from each other.

3. The reclaiming manipulator device according to claim 2, characterized in that: An angle is formed between the two claw fingers.

4. The reclaiming manipulator device according to claim 1, characterized in that: The material clamping structure comprises at least two groups of pneumatic clamping jaws, which jointly drive two clamping members to move toward or away from each other to clamp or release the material.

5. The reclaiming manipulator device according to claim 1, characterized in that: Also includes: Support frame; a first slide rail, the first slide rail being arranged on the support frame; a sliding seat, the sliding seat being slidably connected to the supporting frame via the first sliding rail; The fixing bracket is slidably arranged on the sliding seat along the vertical direction; A horizontal driving mechanism drives the sliding seat to slide along the first slide rail, thereby driving the fixed bracket and the material clamping structure to slide along the first slide rail.

6. The reclaiming manipulator device according to claim 5, characterized in that: The support frame includes a vertical mounting plate arranged vertically and a horizontal fixed base plate arranged horizontally to fix the top of the vertical mounting plate; There are two first slide rails, and the two first slide rails are arranged in parallel on the top surface of the horizontal fixed base plate; The sliding seat comprises a sliding seat body having a mounting cavity and four first sliding blocks arranged at the bottom of the sliding seat body, wherein every two first sliding blocks are slidably connected to a first sliding rail; The horizontal driving mechanism includes a first motor, a first transmission gear, two first pressure wheels, a first toothed belt and two first toothed belt fixing seats; the first motor is installed in the mounting cavity of the sliding seat body, the output shaft of the first motor extends outward from one side of the sliding seat body, the first transmission gear is arranged on the output shaft of the first motor, the two first pressure wheels are fixedly installed on the sliding seat body and are respectively located on the left and right sides of the first transmission gear, the two first toothed belt fixing seats are respectively fixedly installed on the top surface of the horizontal fixed substrate and are located on the same side of the output shaft of the first motor, the two ends of the first toothed belt are respectively fixedly connected to the two first toothed belt fixing seats, and the bottom surface of the first toothed belt is provided with meshing teeth; the first transmission gear is located below the first toothed belt and meshes with the meshing teeth on the bottom surface of the first toothed belt, and the two first pressure wheels respectively press the top surface of the first toothed belt; The two gears are connected with each other through the two guide wheels, and the two guide wheels are connected with each other through the two guide wheels, and the two guide wheels are connected with each other through the two guide wheels. The first motor is located below the second motor, and their output shafts are respectively located on both sides of the sliding seat.

7. The reclaiming manipulator device according to claim 1, characterized in that: The fixing bracket includes a vertical sliding member arranged in the vertical direction and an I-shaped fixing bracket arranged in the horizontal direction; the middle part of the I-shaped fixing bracket is fixed to the bottom end of the vertical sliding member; at least two sets of clamping structures are fixedly installed on the I-shaped fixing bracket.

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