Automatically adjustable clamping claw device and method for grasping materials in an airtight manner

Abstract

The present invention discloses an automatically adjustable clamping device and a method for anti-air grabbing of materials. The clamping device comprises a clamping device support, a material grabbing mechanism, and a clamping device adjusting mechanism; the material grabbing mechanism comprises at least one material grabbing module, an anti-air grabbing module arranged between the material grabbing module and the output end of the clamping device adjusting mechanism, and an anti-dropping claw module; the anti-air grabbing module comprises a first sensor component, a second sensor component, and at least one lifting and sliding component; the lifting and sliding component is connected to the output end of the clamping device adjusting mechanism via a connecting plate; before the material grabbing module grabs the material, the material grabbing module can be lowered via the lifting and sliding component, and the first sensor component is used to detect whether the material grabbing module is lowered into place; after the material grabbing module contacts the material, the material grabbing module can be raised via the lifting and sliding component, and the second sensor component is used to detect whether the material grabbing module is raised into place. The present invention can realize fully automatic material grabbing without manual assistance in material lifting, lowering, fixing, etc., and has high safety.

Description

Technical Field

[0001] The invention relates to the technical field of material handling devices, and in particular to an automatically adjustable clamping claw device and a method for preventing the material from being caught in the air. Background Art

[0002] At present, the construction of large-scale automated smart factories is becoming more and more perfect. Automated production lines connect production equipment to each other through workpiece transmission systems and control systems, thereby realizing unmanned operation of all or part of the production process, including large-scale material handling processes, which will gradually realize unmanned automated handling.

[0003] In the prior art, the pole frame of hydrogen production from alkaline water is a large material. The pole frame is usually transported by a crane or gantry crane in the workshop for grabbing and transporting. During this period, manual assistance is required for material lifting, lowering, fixing, etc. However, the range of movement of the crane in the workshop is large, and the distance of material movement is long. Manual assistance is slow and unsafe, and the handling efficiency is low and the handling position accuracy is low. In addition, when changing the material specifications and dimensions, the size of the clamping jaws needs to be manually adjusted, which is time-consuming and has low accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide an automatically adjustable clamping claw device and a method for grasping materials in an air-proof manner, which can realize fully automatic grasping of materials without manual assistance in lifting, lowering, fixing, etc. of materials, and has high safety.

[0005] In order to achieve the above purpose, the following technical solutions are adopted:

[0006] A clamping device which can be adjusted automatically comprises a clamping bracket with multiple ends, a material grasping mechanism arranged at each end of the clamping bracket, and a clamping adjusting mechanism arranged on the clamping bracket and used for driving all the material grasping mechanisms to synchronously perform centripetal or centrifugal motion; the material grasping mechanism comprises at least one material grasping module, an anti-air grabbing module arranged between the material grasping module and the output end of the clamping adjusting mechanism, and an anti-drop hook claw module extending from one side of the material grasping module to the bottom thereof; the anti-air grabbing module comprises a first sensor component, a second sensor component, and at least one lifting and sliding component; the lifting and sliding component is connected to the output end of the clamping adjusting mechanism via a connecting plate; before the material grasping module grasps the material, the material grasping module can be lowered via the lifting and sliding component, and the first sensor component is used to detect whether the material grasping module has been lowered into place; after the material grasping module contacts the material, the material grasping module can be raised via the lifting and sliding component, and the second sensor component is used to detect whether the material grasping module has been raised into place; when the material grasping module grasps the material, the anti-drop hook claw module is used to hook the material from below.

[0007] Preferably, the lifting and sliding assembly includes a lifting slide rail fixed to the top of the grabbing module, and a lifting slider slidably connected to the lifting slide rail; the lifting slider is fixedly connected to the connecting plate; the upper part of the lifting slide rail is movably arranged through the connecting plate, and the upper part of the lifting slide rail is connected to a slide rail fixing block; a buffer is provided on the slide rail fixing block for abutting against the top of the connecting plate.

[0008] Preferably, the first sensor assembly and the second sensor assembly both include a sensor sheet fixedly mounted relative to the lifting rail, and a distance sensor fixedly mounted relative to the connecting plate.

[0009] Preferably, the jaw adjustment mechanism includes an adjustment drive member arranged in the middle of the jaw bracket, a gear commutator connected to the output end of the adjustment drive member, a screw assembly arranged along the length direction of each end of the jaw bracket, and a connecting shaft connected between the screw assembly and the gear commutator; the screw assembly is connected to the connecting plate.

[0010] Preferably, the material grabbing module comprises a mounting plate and at least one electromagnet disposed at the bottom of the mounting plate.

[0011] Preferably, the anti-drop hook claw module includes at least one hook claw arranged on the outside of the material grabbing module and extending to the bottom of the material grabbing module, a rotating shaft connected to the upper part of the hook claw, a pushing claw driving member arranged along the length direction of the end of the clamping claw bracket, and a transmission swing arm connected between the pushing claw driving member and the rotating shaft; the first end of the transmission swing arm is hinged to the power output end of the pushing claw driving member, and the second end of the transmission swing arm is fixedly connected to the rotating shaft.

[0012] Preferably, the clamping jaw bracket is in a cross-shaped structure; the clamping jaw bracket includes a first profile frame, two second profile frames perpendicular to the first profile frame and arranged in a straight line, an upper fixing plate arranged at the top of the connection between the first profile frame and the second profile frame, and a lower fixing plate arranged at the bottom of the connection between the first profile frame and the second profile frame; the upper fixing plate and the lower fixing plate are connected by a plurality of connecting strips.

[0013] In addition, a method for preventing the jaw device from grasping materials in the air is also provided, which is applied to the automatically adjustable jaw device and comprises the following steps:

[0014] Step S1: According to the size of the material, the background controls the clamp adjustment mechanism to drive all the gripping mechanisms to perform centripetal or centrifugal movement synchronously to adjust the size of the clamp;

[0015] Step S2: externally drive the entire gripper device to descend, and at the same time, use the first sensor component to detect whether the gripper module has descended to the correct position; if it has descended to the correct position, proceed to step S3; if it has not descended to the correct position, the background reports a fault and handles it;

[0016] Step S3: After the material grabbing module contacts the material, the second sensor assembly detects whether the material grabbing module has risen to the right position; if it is detected that all the material grabbing modules have risen to the right position, the external device stops driving the gripper device to descend, and enters step S4; if it is detected that any of the material grabbing modules has not risen to the right position, the external device continues to drive the gripper device to descend;

[0017] Step S4: the background controls the material grabbing module to grab the material from the top of the material, and then controls the anti-drop hook claw module to hook the material from the bottom of the material;

[0018] Step S5: The entire clamping device is externally driven to drive the material to rise. During the process of the clamping device rising, the material grabbing module descends through the lifting and sliding assembly.

[0019] Preferably, in step S2, the first sensor component is used to detect a first distance value between a certain part that follows the descent of the grabbing module and the connecting plate; when the first sensor component detects that the first distance value is less than or equal to a first preset value, it is determined that the grabbing module has descended into place.

[0020] Preferably, in step S3, the second sensor component is used to detect a second distance value between a certain part that rises with the grabbing module and the connecting plate; when the second sensor component detects that the second distance value is less than or equal to the second preset value, it is judged that the grabbing module has risen into place; when the second sensor component on any grabbing mechanism detects that the second distance value is less than the third preset value, and the second sensor component on any other grabbing mechanism still detects that the second distance value is greater than the second preset value, it is judged that a fault occurs, and the background reports the fault for processing.

[0021] By adopting the above scheme, the beneficial effects of the present invention are:

[0022] The present invention provides an automatically adjustable clamping device and an anti-air grabbing method for materials, which can realize fully automatic material grabbing without manual assistance in lifting, lowering, fixing, etc. of materials, and has high safety. In addition, 1) by setting a lifting and sliding assembly and a second sensor assembly, it can effectively prevent the material from being deformed or unevenly placed, which causes the grabbing module to grab materials in vain; 2) by setting a first sensor assembly, it can detect whether the grabbing module has been lowered into place before grabbing the material, to prevent the grabbing module from being stuck and unable to grab the material; 3) by setting a clamping jaw adjustment mechanism, all grabbing mechanisms can be driven to perform centripetal or centrifugal motion synchronously, and the size of the clamping jaw can be automatically and quickly adjusted, with high efficiency and high position accuracy; 4) by setting an anti-dropping claw module, the firmness of the material grabbing is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional diagram of the clamping jaw device of the present invention;

[0024] Figure 2A three-dimensional diagram of the clamping jaw support and the clamping jaw adjustment mechanism of the present invention;

[0025] Figure 3 It is a three-dimensional diagram of the material grabbing mechanism of the present invention;

[0026] Figure 4 A three-dimensional diagram of the air defense grab module of the present invention;

[0027] Figure 5 A three-dimensional diagram of the anti-drop hook claw module of the present invention;

[0028] Figure 6 A flow chart of the method for grabbing materials in the air provided by the present invention;

[0029] The accompanying drawings illustrate:

[0030] 1-grip bracket, 2-grasping mechanism,

[0031] 3—clamping jaw adjustment mechanism, 4—connecting plate,

[0032] 11 - first profile frame, 12 - second profile frame,

[0033] 13—upper fixing plate, 14—lower fixing plate,

[0034] 15—connecting strip, 21—grabbing module,

[0035] 22 - Anti-drop claw module, 23 - First sensor assembly,

[0036] 24 - second sensor assembly, 25 - lifting and sliding assembly,

[0037] 31 - adjusting drive, 32 - gear commutator,

[0038] 33 - screw rod assembly, 34 - connecting shaft,

[0039] 211 - mounting plate, 212 - electromagnet,

[0040] 213 - suction cup, 221 - hook,

[0041] 222 - rotating shaft, 223 - pushing claw driving member,

[0042] 224—transmission swing arm, 225—push claw mounting frame,

[0043] 251 - lifting rail, 252 - lifting slider,

[0044] 253—slide rail fixing block, 254—buffer. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0047] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0048] Reference Figures 1 to 5 As shown, the present invention provides an automatically adjustable clamping device, comprising a clamping bracket 1 with multiple ends, a material grasping mechanism 2 arranged at each end of the clamping bracket 1, and a clamping adjustment mechanism 3 arranged on the clamping bracket 1 and used to drive all the material grasping mechanisms 2 to synchronously perform centripetal or centrifugal motion; the material grasping mechanism 2 comprises at least one material grasping module 21, an anti-aircraft grasping module set between the material grasping module 21 and the output end of the clamping adjustment mechanism 3, and an anti-drop hook module 22 extending from one side of the material grasping module 21 to the bottom thereof; the anti-aircraft grasping module comprises a first sensor component 23, a second sensor component 24, and a second sensor component 25. The device assembly 24 and at least one lifting and sliding assembly 25; the lifting and sliding assembly 25 is connected to the output end of the clamp adjustment mechanism 3 via the connecting plate 4; before the material grabbing module 21 grabs the material, the material grabbing module 21 can be lowered via the lifting and sliding assembly 25, and the first sensor assembly 23 is used to detect whether the material grabbing module 21 is lowered into place; after the material grabbing module 21 contacts the material, the material grabbing module 21 can be raised via the lifting and sliding assembly 25, and the second sensor assembly 24 is used to detect whether the material grabbing module 21 is raised into place; when the material grabbing module 21 grabs the material, the anti-dropping claw module 22 is used to hook the material from below.

[0049] The lifting and sliding assembly 25 includes a lifting and sliding rail 251 fixed to the top of the material grabbing module 21, and a lifting and sliding block 252 slidably connected to the lifting and sliding rail 251; the lifting and sliding block 252 is fixedly connected to the connecting plate 4; the upper part of the lifting and sliding rail 251 is movably arranged through the connecting plate 4, and the upper part of the lifting and sliding rail 251 is connected to a sliding rail fixing block 253; a buffer 254 is arranged on the sliding rail fixing block 253, which is used to abut against the top of the connecting plate 4. Further, a sliding rail fixing plate is also arranged at the top of the material grabbing module 21, and the lifting and sliding rail 251 is installed on the top of the material grabbing module 21 through the sliding rail fixing plate, and the lifting and sliding rail 251 is arranged on the inner side wall of the sliding rail fixing plate. The lifting and sliding block 252 is fixed to the sliding block fixing plate, and the sliding block fixing plate is fixed to the bottom of the connecting plate 4, so that the lifting and sliding rail 251, the sliding rail fixing block 253, the sliding rail fixing plate, and the material grabbing module 21 can move vertically along the lifting and sliding block 252. In a specific embodiment, two lifting and sliding assemblies 25 are provided and arranged in parallel on the top of the material grabbing module 21. The push claw driving member 223 is installed on the outer side wall of the slide rail fixing plate corresponding to one of the lifting and sliding assemblies 25 through the push claw mounting frame 225.

[0050] The clamping jaw adjusting mechanism 3 includes an adjusting driving member 31 disposed in the middle of the clamping jaw bracket 1, a gear commutator 32 connected to the output end of the adjusting driving member 31, a screw assembly 33 arranged along the length direction of each end of the clamping jaw bracket 1, and a connecting shaft 34 connected between the screw assembly 33 and the gear commutator 32; the screw assembly 33 is connected to the connecting plate 4. Specifically, the adjusting driving member 31 is a driving motor, and a reducer is also provided on the output shaft of the driving motor. The gear commutator 32 is a five-axis helical gear commutator, the driving motor drives the upper input shaft, and the four output shafts of the front, back, left and right rotate synchronously, driving the four screw assemblies 33 of the front, back, left and right to rotate the same number of circles, outputting the same torque in four directions, and the material grabbing mechanism 2 in four directions synchronously moving the same distance, which is more efficient and more accurate in position accuracy than the traditional manual adjustment of the position of the material grabbing mechanism 2 of the clamping jaw. The screw assembly 33 includes a screw and a screw nut threadedly connected to the screw, and the connecting plate 4 is fixed to the screw nut, so that the material grabbing mechanism 2 can move with the screw nut on the screw. By setting the clamping jaw adjustment mechanism 3, the size of the clamping jaw can be automatically and quickly adjusted, and the size of the clamping jaw can be changed without human intervention, which greatly improves the work efficiency and ensures the position accuracy of the clamping jaw. The structure is simple and light, and the safety is high.

[0051] The material grabbing module 21 includes a mounting plate 211 and at least one electromagnet 212 disposed at the bottom of the mounting plate 211. The gripping force of the material grabbing module 21 is provided by the magnetic force of the electromagnet. Specifically, the electromagnet 212 is an electropermanent magnet, which is fixed to the bottom of the mounting plate 211. The electropermanent magnet has magnetic force when not powered on, and the magnetic force dissipates when powered on. Each material grabbing module 21 is provided with one or two electropermanent magnets. Using the electromagnet 212 instead of the previous mechanical gripper makes the structure simpler and more reliable, and the material will not be damaged during the gripping process. It can be expanded that a suction cup 213 is also provided at the bottom of the mounting plate 211. According to actual needs, the combination of the suction cup 213 and the electromagnet 212 can be selected, or the suction cup 213 and the electromagnet 212 can be used separately.

[0052] The anti-drop hook claw module 22 includes at least one hook claw 221 arranged outside the material grabbing module 21 and extending to the bottom of the material grabbing module 21, a rotating shaft 222 connected to the upper part of the hook claw 221, a push claw driving member 223 arranged along the length direction of the end of the clamping claw bracket 1, and a transmission swing arm 224 connected between the push claw driving member 223 and the rotating shaft 222; the first end of the transmission swing arm 224 is hinged to the power output end of the push claw driving member 223, and the second end of the transmission swing arm 224 is fixedly connected to the rotating shaft 222. Specifically, two hook claws 221 are arranged in each anti-drop hook claw module 22, and the push claw driving member 223 is a push claw cylinder. The middle parts of the two hook claws 221 are connected and fixed by a reinforcing rod, and the rotating shaft 222 is connected between the upper parts of the two hook claws 221. When the cylinder shaft of the push claw cylinder is extended and pulled to pull the transmission swing arm 224 to drive the rotating shaft 222 to rotate, the hook claw 221 rotates with the rotating shaft 222. After the material grabbing module 21 grabs the material, the claw push cylinder drives the two claws 221 to extend to the bottom of the material to hook the material, preventing the material grabbing module 21 from suddenly failing and the material from falling. Adding the anti-drop claw module 22 can act as a safety lock, effectively ensuring the safety of the material grabbing and moving process.

[0053] The clamping jaw bracket 1 is in a cross-shaped structure; the clamping jaw bracket 1 includes a first profile frame 11, two second profile frames 12 arranged perpendicular to the first profile frame 11 and forming a straight line, an upper fixing plate 13 arranged at the top of the connection between the first profile frame 11 and the second profile frame 12, and a lower fixing plate 14 arranged at the bottom of the connection between the first profile frame 11 and the second profile frame 12; the upper fixing plate 13 and the lower fixing plate 14 are connected via a plurality of connecting strips 15. The adjusting drive member 31 and the gear commutator 32 are fixed to the top of the upper fixing plate 13. In addition, a driving guide assembly is also provided at the top of the first profile frame 11 and the second profile frame 12 corresponding to each screw assembly 33. The driving guide assembly includes a driving guide rail arranged at the top of the first profile frame 11 or the second profile frame 12 along the length direction thereof, and a driving slider slidably connected to the driving guide rail, and the driving slider is fixed to the bottom of the connecting plate 4.

[0054] In a specific embodiment, the grabbing mechanism 2 is arranged at the bottom of the free end of the clamping claw bracket 1, the first profile frame 11 and the grabbing mechanisms 2 at both ends thereof form a gantry structure, the two second profile frames 12 and the grabbing mechanisms 2 at their ends form another gantry structure, the upper fixing plate 13 and the lower fixing plate 14 clamp the connection between the first profile frame 11 and the second profile frame 12 in the middle, and the upper fixing plate 13 and the lower fixing plate 14 are connected and fixed by a connecting strip 15 to prevent the first profile frame 11 and the second profile frame 12 from moving.

[0055] Furthermore, the first profile frame 11 and the second profile frame 12 are made of aluminum profiles, and the aluminum profiles with lighter density are used to replace the traditional steel tube square tube as the main structure, which not only reduces the overall weight, but also does not require welding, is simple to process, is more convenient to disassemble and assemble, and has a wider range of usage scenarios. At the same time, the connecting strip 15 plays the role of a reinforcing rib, and the overall strength is not reduced compared to the use of steel tube square tubes.

[0056] In addition, refer to Figure 6 As shown, a method for anti-air grabbing of materials by a clamping device is also provided, which is applied to the automatically adjustable clamping device and includes the following steps:

[0057] Step S1: According to the size of the material, the background controls the clamping jaw adjustment mechanism 3 to drive all the material grabbing mechanisms 2 to perform centripetal or centrifugal movement synchronously to adjust the size of the clamping jaws;

[0058] Step S2: The entire gripper device is driven externally to descend, and at the same time, the first sensor assembly 23 is used to detect whether the gripper module 21 has descended to the proper position; if it has descended to the proper position, the process proceeds to step S3; if it has not descended to the proper position, the background reports a fault and performs processing;

[0059] Furthermore, the first sensor component 23 is used to detect a first distance value between a certain part following the descent of the grabbing module 21 and the connecting plate 4; when the first sensor component 23 detects that the first distance value is less than or equal to the first preset value, it is determined that the grabbing module 21 has descended into place.

[0060] In addition, the first sensor assembly 23 and the second sensor assembly 24 both include a sensor sheet fixedly installed relative to the lifting rail 251 , and a distance sensor fixedly installed relative to the connecting plate 4 .

[0061] In a specific embodiment, the distance sensor in the first sensor assembly 23 is installed on the connecting plate 4, and its sensor sheet is fixed on the slide rail fixing block 253, that is, a certain part that follows the material grabbing module 21 to descend is the part of the slide rail fixing block 253 where the sensor sheet is installed, and the distance sensor of the first sensor assembly 23 detects that the distance to the sensor sheet is a first distance value. When the material grabbing module 21 descends to the bottom through the lifting and sliding assembly 25, it is assumed that the first preset value is 4mm. Before grabbing the material, if the first sensor assembly 23 detects that the first distance value is less than or equal to the first preset value (4mm), it is judged that the material grabbing module 21 has descended into place; if the first sensor assembly 23 detects that the first distance value is greater than the first preset value (4mm), it is judged that the material grabbing module 21 has not descended into place, and the background fault reporting and processing are required to prevent the material grabbing module 21 from getting stuck and unable to grab the material.

[0062] Step S3: After the material grabbing module 21 contacts the material, the second sensor assembly 24 detects whether the material grabbing module has risen to the right position; if it is detected that all the material grabbing modules 21 have risen to the right position, the external device stops driving the gripper device to descend, and enters step S4; if it is detected that any of the material grabbing modules 21 has not risen to the right position, the external device continues to drive the gripper device to descend;

[0063] Furthermore, the second sensor component 24 is used to detect a second distance value between a certain part that rises with the grabbing module 21 and the connecting plate 4; when the second sensor component 24 detects that the second distance value is less than or equal to the second preset value, it is judged that the grabbing module 21 has risen to the position; when the second sensor component 24 on any grabbing mechanism 2 detects that the second distance value is less than the third preset value, and the second sensor component 24 on any other grabbing mechanism 2 still detects that the second distance value is greater than the second preset value, it is judged that a fault has occurred, and the background reports the fault for processing.

[0064] In a specific embodiment, the distance sensor in the second sensor assembly 24 is installed on the connecting plate 4, and its induction sheet is fixed on the claw mounting frame 225, that is, a certain part that follows the rise of the material grabbing module 21 is the part of the claw mounting frame 225 where the induction sheet is installed, and the distance sensor of the second sensor assembly 24 detects that the distance from the induction sheet is the second distance value. Assuming that the maximum distance between the distance sensor of the second sensor assembly 24 and the induction sheet is 25mm, that is, the maximum stroke of the external driving clamping device to descend is 25mm, that is, the maximum distance allowed for the material grabbing module 21 to rise is 25mm, the second preset value is 10mm, and the third preset value is 3mm. Here, when the material grabbing module 21 contacts the material, the material grabbing module 21 rises through the lifting and sliding assembly 25 due to the material abutment limit. When the second sensor assembly 24 detects that the second distance value is less than or equal to the second preset value (10mm), it proves that the material grabbing module 21 is in contact with the material.

[0065] When the material grabbing module 21 just contacts the material, the external device will continue to drive the clamping device down because the second sensor component 24 detects that the second distance value is greater than the second preset value (10mm). The material grabbing module 21 first rises a short distance (15mm) through the lifting and sliding component 25 under the action of the material abutment, until the second sensor component 24 of the material grabbing mechanism 2 detects that the second distance value is equal to the second preset value (10mm), and it is determined that the material grabbing module 21 has risen to the right position. However, due to material deformation or unequal material placement, not all material grabbing modules 21 may rise to the right position at this time. As long as there is still one material grabbing module 21 that has not risen to the right position, the external device will continue to drive the clamping device down to prevent some material grabbing modules 21 from not contacting the material, thereby causing an empty grab. The external device will not stop driving the clamping device down until all the second sensor components 24 detect that the second distance value is less than or equal to the second preset value (10mm), thereby ensuring that all material grabbing mechanisms 2 grab the material. However, if during this process, any second sensor assembly 24 detects that the second distance value is less than the third preset value (3mm), and any other second sensor assembly 24 still detects that the second distance value is greater than the second preset value (10mm), that is, when some gripping modules 21 have risen close to the maximum stroke, there are still other gripping modules 21 that have not attached to the material. At this time, the descending distance of the clamping device is close to the maximum stroke, and it is judged that a fault has occurred, and the background reports the fault processing. The use of an anti-air gripping module can ensure that the gripping module 21 of each gripping mechanism 2 is completely attached to the material to prevent empty gripping.

[0066] It is worth pointing out that the automatically adjustable clamping device provided by the present invention is for large materials such as alkaline water hydrogen production electrode frames. When the gripping module 21 contacts the material, the clamping device continues to descend a short distance and will not crush or damage the material.

[0067] Step S4: the background controls the material grabbing module 21 to grab the material from the top of the material, and then controls the anti-drop hook module 22 to hook the material from the bottom of the material;

[0068] Step S5: The entire clamping device is externally driven to drive the material to rise. During the process of the clamping device rising, the material grabbing module 21 descends through the lifting sliding assembly 25.

[0069] During the material grabbing process, after detecting that all the material grabbing modules 21 have contacted the material, the permanent magnet is powered off, generating suction to grab the material. At this time, the hook 221 of the anti-drop hook module 22 is lowered to hook the material. Then, the entire clamping device is driven externally to drive the material to rise slowly. Under the action of gravity, the material grabbing module 21 slides down through the lifting and sliding assembly 25, and the buffer 254 on the slide rail fixing block 253 takes effect. The buffer 254 reduces the impact force caused by the rise of the clamping device by buffering the top of the connecting plate 4 until the slide rail fixing block 253 and the top of the connecting plate 4 are in contact and limited, and then the material grabbing mechanism 2 rises together with the clamping bracket 1.

[0070] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatically adjustable clamping jaw device, characterized in that: It includes a clamping jaw bracket with multiple ends, a material grabbing mechanism arranged at each end of the clamping jaw bracket, and a clamping jaw adjusting mechanism arranged on the clamping jaw bracket and used to drive all the material grabbing mechanisms to synchronously perform centripetal or centrifugal movement; the material grabbing mechanism includes at least one material grabbing module, an anti-air grabbing module arranged between the material grabbing module and the output end of the clamping jaw adjusting mechanism, and an anti-drop hook claw module extending from one side of the material grabbing module to the bottom thereof; the anti-air grabbing module includes a first sensor component, a second sensor component, and at least one lifting and sliding component; the lifting and sliding component is connected to the output end of the clamping jaw adjusting mechanism via a connecting plate; before the material grabbing module grabs the material, the material grabbing module can be lowered via the lifting and sliding component, and the first sensor component is used to detect whether the material grabbing module has been lowered into place; after the material grabbing module contacts the material, the material grabbing module can be raised via the lifting and sliding component, and the second sensor component is used to detect whether the material grabbing module has been raised into place; when the material grabbing module grabs the material, the anti-drop hook claw module is used to hook the material from below; The lifting and sliding assembly includes a lifting slide rail fixed to the top of the grabbing module, and a lifting slider slidably connected to the lifting slide rail; the lifting slider is fixedly connected to the connecting plate; the upper part of the lifting slide rail movably passes through the connecting plate, and the upper part of the lifting slide rail is connected to a slide rail fixing block; a buffer is provided on the slide rail fixing block for abutting against the top of the connecting plate.

2. The automatically adjustable clamping jaw device according to claim 1, characterized in that: The first sensor assembly and the second sensor assembly both include a sensor sheet fixedly installed relative to the lifting slide rail, and a distance sensor fixedly installed relative to the connecting plate.

3. The automatically adjustable clamping jaw device according to claim 1, characterized in that: The clamping jaw adjustment mechanism includes an adjustment drive member arranged in the middle of the clamping jaw bracket, a gear commutator connected to the output end of the adjustment drive member, a screw assembly arranged along the length direction of each end of the clamping jaw bracket, and a connecting shaft connected between the screw assembly and the gear commutator; the screw assembly is connected to the connecting plate.

4. The automatically adjustable clamping jaw device according to claim 1, characterized in that: The material grabbing module comprises a mounting plate and at least one electromagnet arranged at the bottom of the mounting plate.

5. The automatically adjustable clamping jaw device according to claim 1, characterized in that: The anti-drop hook claw module includes at least one hook claw arranged on the outside of the material grabbing module and extending to the bottom of the material grabbing module, a rotating shaft connected to the upper part of the hook claw, a pushing claw driving member arranged along the length direction of the end of the clamping claw bracket, and a transmission swing arm connected between the pushing claw driving member and the rotating shaft; the first end of the transmission swing arm is hinged to the power output end of the pushing claw driving member, and the second end of the transmission swing arm is fixedly connected to the rotating shaft.

6. The automatically adjustable clamping jaw device according to claim 1, characterized in that: The clamping jaw bracket is in a cross-shaped structure; the clamping jaw bracket includes a first profile frame, two second profile frames perpendicular to the first profile frame and arranged in a straight line, an upper fixing plate arranged at the top of the connection between the first profile frame and the second profile frame, and a lower fixing plate arranged at the bottom of the connection between the first profile frame and the second profile frame; the upper fixing plate and the lower fixing plate are connected by a plurality of connecting strips.

7. A method for gripping materials with a gripper device in an air-proof manner, applied to the automatically adjustable gripper device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step S1: According to the size of the material, the background controls the clamp adjustment mechanism to drive all the gripping mechanisms to perform centripetal or centrifugal movement synchronously to adjust the size of the clamp; Step S2: externally driving the entire gripper device to descend, and at the same time detecting whether the gripper module has descended into place through the first sensor component; if it has descended into place, proceeding to step S3; If it fails to drop into place, the background will report the fault and handle it; Step S3: After the material grabbing module contacts the material, the second sensor assembly detects whether the material grabbing module has risen to the right position; if it is detected that all the material grabbing modules have risen to the right position, the external device stops driving the gripper device to descend, and enters step S4; if it is detected that any of the material grabbing modules has not risen to the right position, the external device continues to drive the gripper device to descend; The second sensor component is used to detect a second distance value between a certain part that follows the rise of the material grabbing module and the connecting plate; when the second sensor component detects that the second distance value is less than or equal to the second preset value, it is determined that the material grabbing module has risen to the right position; when the second sensor component on any material grabbing mechanism detects that the second distance value is less than the third preset value, and the second sensor component on any other material grabbing mechanism still detects that the second distance value is greater than the second preset value, it is determined that a fault occurs, and the background reports the fault for processing; Step S4: the background controls the material grabbing module to grab the material from the top of the material, and then controls the anti-drop hook claw module to hook the material from the bottom of the material; Step S5: The entire clamping device is externally driven to drive the material to rise. During the process of the clamping device rising, the material grabbing module descends through the lifting and sliding assembly.

8. The method for gripping materials with a gripper device in an air-proof manner according to claim 7, characterized in that: In step S2, the first sensor component is used to detect a first distance value between a certain part that follows the descent of the grabbing module and the connecting plate; when the first sensor component detects that the first distance value is less than or equal to a first preset value, it is determined that the grabbing module has descended into place.

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