Mechanical grippers for secure grasping in automated material warehouses

Abstract

This invention relates to the field of mechanical grippers, specifically disclosing a secure gripper for automated material warehouses. The gripper includes a hydraulic mounting base and a clamping claw mounting base. One end of a connecting rod is connected to the clamping claw, and the outer end of the clamping claw is connected to a mechanical swing arm via a rotating shaft. An auxiliary gripper includes a side support plate and a side clamping claw. A rotating gear is mounted on the side support plate near the side sealing plate. An anti-slip plate is mounted on the inner side of the side clamping claw, and a connecting ear plate is mounted on the outer side of the side sealing plate. A transmission gear is arrayed inside the side support plate, and a drive gear is positioned above the transmission gear. A clamping motor is positioned on one side of the drive gear. The clamping motor drives the drive gear to rotate, and the drive gear, located outside the connecting guide block, controls the overall direction adjustment of the auxiliary gripper. The side support plate, in conjunction with the clamping claw, forms a cage to limit the object's movement, thus completing the transport of the object without applying excessive pressure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical claws, in particular to a firm mechanical claw for automatic material warehouse. BACKGROUND

[0002] The stored objects in the warehouse of the ship are mostly large mass articles, so when loading and unloading, a mechanical claw is used to realize automatic loading and unloading. The mechanical claw is also called a mechanical hand, which refers to an automatic operating device that can imitate the functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. It mainly consists of an execution mechanism, a driving mechanism and a control system. It can replace people to do heavy work to realize the mechanization and automation of production, and is widely used in mechanical manufacturing, light industry and atomic energy departments. The biggest difference between a mechanical hand and a human hand is flexibility and endurance, that is, the biggest advantage of a mechanical hand is that it can repeatedly do the same action and never feel tired under normal circumstances.

[0003] However, the mechanical claw for warehouse storage on the market currently mostly uses a double-claw mechanical hand to handle some large-size objects, which is not convenient for carrying some small-size large mass objects (spheres, rectangular blocks, etc.). SUMMARY

[0004] In view of the existing problems, the present application provides a firm mechanical claw for automatic material warehouse, which can effectively solve the problems raised in the background art when used in combination.

[0005] To solve the above problems, the present application adopts the following technical solutions:

[0006] The firm mechanical claw for automatic material warehouse comprises a mechanical claw, which comprises a hydraulic mounting seat and a clamping claw mounting seat. A connecting rod mounting groove is formed in the outer side end of the clamping claw mounting seat. A connecting rod is connected to the connecting rod mounting groove through a rotating shaft. A clamping claw is connected to one end of the connecting rod. A mechanical swing arm is connected to the outer side end of the clamping claw through a rotating shaft. A side sealing plate is arranged on the outer side of the mechanical claw. An auxiliary claw is arranged on the outer side of the side sealing plate. The auxiliary claw comprises a side support plate and a side clamping claw. A rotating gear is installed at one end of the side support plate close to the side sealing plate. An anti-skid plate is installed on the inner side of the side clamping claw. A connecting lug is installed on the outer side of the side sealing plate. A connecting guide block is connected between the connecting lug and the rotating gear. A direction adjusting motor is installed on the outer side of the connecting guide block. Transmission gears are arrayed in the inner side of the side support plate. A driving gear is arranged above the transmission gears. A clamping motor is arranged on one side of the driving gear.

[0007] As a further further scheme of the present application: the upper end of the mechanical claw is provided with a hydraulic cylinder, the inside of the clamping claw mounting seat is provided with a connecting rod through hole, the lower end of the hydraulic mounting seat is connected with a push rod, and the lower end of the push rod is located in the inside of the connecting rod through hole and connected with a limiting pin.

[0008] As a further further scheme of the present application: the front surface of the clamping claw mounting seat is provided with a limiting guide block, and the outside of the limiting guide block is provided with a guide groove on the front surface of the side sealing plate.

[0009] As a further further scheme of the present application: the inside of the clamping claw is provided with an anti-skid tooth, and the outside of the upper and lower ends of the push rod is provided with a replacement thread groove.

[0010] As a further further scheme of the present application: the rotating gear is engaged with the transmission gear to rotate, and the side clamping claw is fixedly connected with the transmission gear through a connecting rod.

[0011] As a further further scheme of the present application: the driving gear is engaged with the transmission gear to rotate, the clamping motor is fixedly connected with the side support plate, and the direction adjusting motor drives the connecting guide block to rotate through a rotating shaft.

[0012] As a further further scheme of the present application: the limiting pin is limitedly connected with the connecting rod through hole.

[0013] As a further further scheme of the present application: the push rod is engaged and fixed with the limiting pin and the lifting rod of the hydraulic cylinder through the replacement thread groove.

[0014] As a further further scheme of the present application: the clamping claw mounting seat is slidingly connected with the guide groove through the limiting guide block.

[0015] As a further further scheme of the present application: the connecting rod is movably connected with the clamping claw, the mechanical swing arm is movably connected with the clamping claw, and the connecting rod is movably connected with the clamping claw mounting seat.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] 1. The clamping motor drives the driving gear to rotate, the driving gear drives the transmission gear to rotate when rotating, the driving gear drives the rotating gear to rotate on the outside of the connecting guide block to control the auxiliary claw as a whole to adjust the direction, the anti-skid plate at the lower end of the side clamping claw can support and limit the position below the movable object, and the side support plate can form a cage with the clamping claw to limit the object, so that the object can be transported without applying excessive pressure.

[0018] 2, the push rod can be selected by replacing the threaded groove and the hydraulic rod and the installation and removal of the limit pin, and the expansion and closure degree of the whole clamping jaw can be realized by replacing the push rod of different lengths, and the carrying of objects of different outer diameters can be realized.

[0019] 3, when the hydraulic cylinder controls the hydraulic rod to move upward, the clamping jaw mounting seat is pulled to the inside of the mechanical jaw, and the two clamping jaws are closed as a whole under the rotation of the mechanical swing arm and the connecting rod, so as to clamp and fix the object and realize the purpose of carrying. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Structure diagram of the firm mechanical jaw for automatic material warehouse;

[0021] Figure 2 Structure diagram of the auxiliary jaw of the firm mechanical jaw for automatic material warehouse;

[0022] Figure 3 Structure diagram of the auxiliary jaw of the firm mechanical jaw for automatic material warehouse;

[0023] Figure 4 Structure diagram of the internal structure of the mechanical jaw of the firm mechanical jaw for automatic material warehouse;

[0024] Figure 5 Structure diagram of the firm mechanical jaw for automatic material warehouse;

[0025] Figure 6 Structure diagram of the firm mechanical jaw for automatic material warehouse;

[0026] Figure 7 Structure diagram of the firm mechanical jaw for automatic material warehouse.

[0027] In the figure: 1, mechanical jaw; 2, hydraulic cylinder; 3, mechanical swing arm; 4, connecting rod; 5, clamping jaw; 6, auxiliary jaw; 7, side sealing plate; 8, guide groove; 101, hydraulic mounting seat; 102, clamping jaw mounting seat; 103, connecting rod mounting groove; 104, limit guide block; 105, connecting rod through hole; 106, push rod; 107, limit pin; 108, replace threaded groove; 501, anti-skid teeth; 601, side support plate; 602, steering motor; 603, connecting lug plate; 604, clamping motor; 605, side clamping jaw; 606, driving gear; 607, rotating gear; 608, transmission gear; 609, anti-skid plate; 610, connecting guide block. DETAILED DESCRIPTION

[0028] The application will be further described below with reference to the specific embodiments. The technical solutions in the embodiments of the application are clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the application.

[0029] In the description of the specification, the description of the terms "this embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example, and the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0030] As shown in Figures 1-7 The present embodiment provides a firm mechanical claw for an automated material warehouse, which comprises a mechanical claw 1, the mechanical claw 1 comprising: a hydraulic mounting seat 101, a clamping claw mounting seat 102, a connecting rod mounting groove 103 being formed at the outer side end of the clamping claw mounting seat 102, a connecting rod 4 being connected to the inside of the connecting rod mounting groove 103 through a rotating shaft, the connecting rod 4 being movably connected to the clamping claw mounting seat 102, one end of the connecting rod 4 being connected to a clamping claw 5, the connecting rod 4 being movably connected to the clamping claw 5, the outer side end of the clamping claw 5 being connected to a mechanical swing arm 3 through a rotating shaft, the mechanical swing arm 3 being movably connected to the clamping claw 5, the outer side of the mechanical claw 1 being provided with a side sealing plate 7, the outer side of the side sealing plate 7 being provided with an auxiliary claw 6, the auxiliary claw 6 comprising: a side supporting plate 601, a side clamping claw 605, the side supporting plate 601 being provided with a rotating gear 607 at one end close to the side sealing plate 7, the inside of the side clamping claw 605 being provided with an anti-skid plate 609, the outer side of the side sealing plate 7 being provided with a connecting lug plate 603, the connecting lug plate 603 and the rotating gear 607 being connected through a connecting guide block 610, one side end of the connecting guide block 610 being provided with a direction adjusting motor 602 at the outer side of the connecting lug plate 603, the inside of the side supporting plate 601 being provided with a transmission gear 608 in an array, the rotating gear 607 being meshed and rotated with the transmission gear 608, the side clamping claw 605 being fixedly connected to the transmission gear 608 through a connecting rod, the transmission gear 608 being provided with a driving gear 606 above, the driving gear 606 being meshed and rotated with the transmission gear 608, one side of the driving gear 606 being provided with a clamping motor 604, the clamping motor 604 being fixedly connected to the side supporting plate 601, the direction adjusting motor 602 driving the connecting guide block 610 to rotate through a rotating shaft.

[0031] As shown in Figures 1-5As shown, in the embodiment, the upper end of the mechanical claw 1 is provided with a hydraulic cylinder 2, the inside of the clamping claw mounting seat 102 is provided with a connecting rod through hole 105, the lower end of the hydraulic mounting seat 101 is connected with a push rod 106, the lower end of the push rod 106 is located in the inside of the connecting rod through hole 105 and is connected with a limiting pin 107, the limiting pin 107 is limitedly connected with the connecting rod through hole 105, the front surface of the clamping claw mounting seat 102 is provided with a limiting guide block 104, the clamping claw mounting seat 102 is slidably connected with the guide groove 8 through the limiting guide block 104, the outside of the limiting guide block 104 is located on the front surface of the side sealing plate 7 and is provided with the guide groove 8, the inside of the clamping claw 5 is provided with an anti-skid tooth 501, the outside of the upper and lower ends of the push rod 106 is provided with a replacement thread groove 108, and the push rod 106 is fixedly engaged with the limiting pin 107 and the lifting rod of the hydraulic cylinder 2 through the replacement thread groove 108.

[0032] The working principle of the present application is: when handling large mass objects (such as steel pipes) in the warehouse of the ship, only the clamping jaw 5 is used for handling to ensure the tightness of the handling, the hydraulic rod is driven to move by the hydraulic cylinder 2, the hydraulic rod drives the push rod 106 as a whole to drive the limit pin 107 to drive the clamping jaw mounting seat 102 to move downward, the limit guide block 104 outside the clamping jaw mounting seat 102 will be limited to move in the guide groove 8 inside the side sealing plate 7, when the clamping jaw mounting seat 102 moves, the connecting rod 4 installed in the connecting rod installation groove 103 inside will drive the mechanical swing arm 3 and the clamping jaw 5 to rotate, so as to realize the unfolding of the clamping jaw 5 as a whole, after controlling the whole movement of the mechanical jaw 1 to the outside of the object, when the hydraulic rod moves upward controlled by the hydraulic cylinder 2, the clamping jaw mounting seat 102 as a whole is pulled to the inside of the mechanical jaw 1, then the two clamping jaws 5 are closed as a whole under the rotating action of the mechanical swing arm 3 and the connecting rod 4 to clamp and fix the object, so as to achieve the purpose of handling, the push rod 106 can be installed and removed with the hydraulic rod and the limit pin 107 by replacing the threaded groove 108, and the unfolding and closing degree of the whole clamping jaw 5 can be controlled by replacing the push rod 106 of different lengths, so as to control the handling of objects of different outer diameters, when handling smaller outer diameter or lighter objects, the two clamping jaws 5 can be arranged on the outside of the object as a whole, the control steering motor 602 is used to drive the connecting guide block 610 as a whole to drive the auxiliary jaw 6 to swing to the position below the clamping jaw 5 inside the connecting lug plate 603, after swinging to the maximum extent, the control clamping motor 604 is used to work, the clamping motor 604 drives the driving gear 606 to rotate, the driving gear 606 rotates to drive the transmission gear 608 to rotate, the rotating transmission gear 608 drives the rotating gear 607 to rotate as a whole outside the connecting guide block 610 to control the auxiliary jaw 6 as a whole to adjust the direction, and the end position of the transmission gear 608 drives the side clamping jaw 605 to rotate, the anti-skid plate 609 at the lower end of the side clamping jaw 605 can support and limit the position below the moving object, and the side supporting plate 601 can form a cage with the clamping jaw 5 to limit the object, so that the transportation of the object can be completed without applying excessive pressure.

[0033] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0034] In the description of the application, it should be noted that unless otherwise expressly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0035] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A mechanical gripper for automated material storage, which is firm in gripping, comprising a mechanical gripper (1), characterized in that, The mechanical claw (1) comprises a hydraulic mounting seat (101), a clamping claw mounting seat (102), an outer side end of the clamping claw mounting seat (102) is provided with a connecting rod mounting slot (103), an inner side of the connecting rod mounting slot (103) is connected with a connecting rod (4) through a rotating shaft, one end of the connecting rod (4) is connected with a clamping claw (5), an outer side end of the clamping claw (5) is connected with a mechanical swing arm (3) through a rotating shaft, an outer side of the mechanical claw (1) is provided with a side sealing plate (7), an outer side of the side sealing plate (7) is provided with an auxiliary claw (6), the auxiliary claw (6) comprises a side supporting plate (601) and a side clamping claw (605), a rotating gear (607) is mounted at one end of the side supporting plate (601) close to the side sealing plate (7), an anti-skid plate (609) is mounted at an inner side of the side clamping claw (605), a connecting lug plate (603) is mounted at an outer side of the side sealing plate (7), a connecting guide block (610) is connected between the connecting lug plate (603) and the rotating gear (607), a direction adjusting motor (602) is mounted at one side end of the connecting guide block (610) at an outer side of the connecting lug plate (603), a transmission gear (608) is arrayed at an inner side of the side supporting plate (601), a driving gear (606) is arranged above the transmission gear (608), and a clamping motor (604) is arranged at one side of the driving gear (606). An upper end of the mechanical claw (1) is mounted with a hydraulic cylinder (2), an inner side of the clamping claw mounting seat (102) is provided with a connecting rod through hole (105), a lower end of the hydraulic mounting seat (101) is connected with a pushing rod (106), and a limit pin (107) is connected at an inner side of the connecting rod through hole (105) at a lower end of the pushing rod (106). The rotating gear (607) and the transmission gear (608) are meshed and rotated, the side clamping claw (605) is fixedly connected with the transmission gear (608) through a connecting rod. The driving gear (606) and the transmission gear (608) are meshed and rotated, the clamping motor (604) is fixedly connected with the side supporting plate (601), and the direction adjusting motor (602) drives the connecting guide block (610) to rotate through a rotating shaft.

2. The automated material warehouse gripping secure mechanical gripper according to claim 1, characterized in that, A front surface of the clamping claw mounting seat (102) is mounted with a limit guide block (104), and a guide groove (8) is arranged at a front surface of the side sealing plate (7) at an outer side of the limit guide block (104).

3. The automated material warehouse gripping secure mechanical gripper according to claim 1, characterized in that, An inner side of the clamping claw (5) is provided with an anti-skid tooth (501), and outer sides of upper and lower ends of the pushing rod (106) are both provided with a replacement thread groove (108).

4. The secure gripping mechanical gripper for automated material warehouse according to claim 1, wherein, The limit pin (107) is limitingly connected with the connecting rod through hole (105).

5. The secure gripping mechanical gripper for automated material warehouse according to claim 3, wherein, The pushing rod (106) is meshingly fixed with the limit pin (107) and a lifting rod of the hydraulic cylinder (2) through the replacement thread groove (108).

6. The secure gripping mechanical gripper for automated material warehouse according to claim 2, wherein, The clamping claw mounting seat (102) is slidingly connected with the guide groove (8) through the limit guide block (104).

7. The secure gripping mechanical gripper for automated material warehouse according to claim 1, wherein, The connecting rod (4) is movably connected with the clamping jaw (5), the mechanical swing arm (3) is movably connected with the clamping jaw (5), and the connecting rod (4) is movably connected with the clamping jaw mounting seat (102).

Images