Material grabbing machine with telescopic movable arm

Abstract

The invention relates to the technical field of transportation equipment, and discloses a material grabbing machine with a telescopic movable arm, which comprises a material grabbing machine main body, a cab is fixedly mounted on the upper surface of the material grabbing machine main body, a first mechanical arm is arranged in an inner cavity of the material grabbing machine main body, and an inner cavity of the first mechanical arm is rotatably connected with a second mechanical arm; a first hydraulic cylinder is arranged between the material grabbing machine body and the first mechanical arm, the telescopic arm assembly can stretch out and draw back on the original rotating mechanical arm, the material grabbing range is widened, the grabbing error-tolerant rate is increased, then the material transferring efficiency is improved, the clamping jaw can be adjusted through the material grabbing assembly, and the material grabbing efficiency is improved. According to the material grabbing device, materials of various specifications can be grabbed conveniently, stress is more uniform when the materials are grabbed by adjusting the clamping jaws, the stability of the materials is improved, in addition, when the materials and the clamping jaws have deviation, the clamping jaws can move and position, and the stability of material clamping is improved conveniently.

Description

Technical Field

[0001] The present application relates to the technical field of transportation equipment, and in particular to a material grabber with a retractable movable arm. Background Art

[0002] A grabber is a machine for grabbing materials, which is generally evolved from a hydraulic excavator. The biggest difference between a grabber and an ordinary excavator is the difference in the front-end working device. The large and small arms of a grabber are commonly known as "grabbing arms", which are generally longer and have a different shape and structure from ordinary excavators. The front end is a grabber, and its main function is to load, unload and carry wood, timber, reeds, straw and various strip materials. In the field of modern industrial production and logistics and transportation, grabbers are an important material handling equipment, and their performance and efficiency directly affect the smoothness of the production line and the overall production efficiency. With the advancement of science and technology and the improvement of automation, traditional grabbers have been unable to meet the needs of modern industry in terms of flexibility, operating range and operating efficiency.

[0003] The existing technology still has the following problems:

[0004] 1. Most traditional grabbers use fixed or simple mechanical arms. Fixed or simple mechanical arms cannot flexibly adjust the operating range according to the material stacking position, which limits the use scenarios of the grabber. The grabber can only rely on the rotation of the mechanical arm to adjust the operating range to grab the material. When there is a slight gap between the material and the grabbing range of the grabber, it can only rely on the mobile grabber to grab the material, and the fault tolerance rate is low, thereby reducing the efficiency of material transfer.

[0005] 2. The existing grippers have a single type of jaws. Materials of different shapes, sizes and materials require jaws of different designs to effectively clamp. If the jaws are of a single type, the gripper may encounter difficulties in handling diverse materials and cannot adapt to the clamping needs of all materials. For example, when grabbing wood, the thickness of the wood is uneven at the front and back, resulting in uneven force during the clamping process and poor stability. In addition, the existing jaws do not have a positioning function. When there is a deviation between the material and the jaws, the clamping force may be uneven or too large, causing damage to the material during the clamping process. Summary of the invention

[0006] The present application solves the problem that fixed or simple mechanical arms in the prior art cannot flexibly adjust the operating range according to the material stacking position by providing a grabber with a retractable arm. The gripper has a single jaw model, and the telescopic arm assembly can be retracted on the original rotating mechanical arm, thereby improving the material grabbing range and the grabbing fault tolerance rate, and the gripper can be adjusted to facilitate grabbing of materials of various specifications.

[0007] The present application provides a grabber with a retractable arm, comprising a grabber body, a cab fixedly installed on the upper surface of the grabber body, a first mechanical arm provided in the inner cavity of the grabber body, a second mechanical arm rotatably connected to the inner cavity of the first mechanical arm, a first hydraulic cylinder provided between the grabber body and the first mechanical arm, a first hydraulic cylinder provided between the first mechanical arm and the second mechanical arm, and a first piston rod slidably connected to the inner cavity of the first hydraulic cylinder, a telescopic arm assembly provided in the inner cavity of the second mechanical arm, a grabber assembly provided at one end of the telescopic arm assembly away from the second mechanical arm, the telescopic arm assembly comprising a telescopic mechanism, a limiting rod fixedly installed at one end of the telescopic mechanism, a connecting seat fixedly installed at one end of the telescopic mechanism away from the limiting rod, a buffer mechanism fixedly installed on the inner wall of the second mechanical arm, the limiting rod and the second mechanical arm are slidably connected, and the connecting seat and the second mechanical arm are slidably connected.

[0008] Furthermore, the telescopic mechanism includes a fixed plate, a second hydraulic cylinder is fixedly installed on the outer surface of the fixed plate, a second piston rod is slidably connected to the inner cavity of the second hydraulic cylinder, the outer surface of the fixed plate is slidably connected to the first slide plate, the outer surface of the first slide plate is rotatably connected to a swivel, there are two swivels, which are respectively located at two ends of the first slide plate, a first belt is sleeved on the outer surface of the swivel, the upper surface of the first slide plate is slidably connected to the second slide plate, the outer surface of the first belt is fixedly connected to the first connecting block, the outer surface of the first belt is fixedly installed with the second connecting block, and the outer surface of the fixed plate is fixedly installed with the first fixed block.

[0009] Furthermore, the fixed plate is fixedly connected to the inner wall of the second mechanical arm, the limit rod is fixedly connected to the first slide plate, the first slide plate and the second slide plate are both slidably connected in the inner cavity of the second mechanical arm, the first connecting block and the second slide plate are fixedly connected, the second connecting block and the first fixed block are fixedly connected, the first connecting block and the second connecting block are distributed on both sides of the first belt, and the end of the second piston rod away from the second hydraulic cylinder is fixedly connected to the first slide plate.

[0010] Furthermore, the buffer mechanism includes a buffer frame, a fixing rod is fixedly installed on the inner wall of the buffer frame, a sliding seat is slidably connected to the outer surface of the fixing rod, a first spring is sleeved on the outer surface of the fixing rod, a connecting strip is rotatably connected to the inner cavity of the sliding seat, a buffer plate is rotatably connected to the end of the connecting strip away from the sliding seat, a connecting sleeve is fixedly installed on the outer surface of the buffer plate close to the buffer frame, a bolt is rotatably connected to the inner cavity of the connecting sleeve through a thread, a button is arranged on the outer surface of the buffer frame, and a horn is arranged on the outer surface of the buffer frame.

[0011] Furthermore, there are two slides, and the first spring is located between the two slides, the bolt and the button are aligned, there is a gap between the bolt and the button, the button and the buffer frame are electrically connected, pressing the button controls the buffer frame to sound an alarm, the buffer frame is fixedly connected to the inner wall of the second robotic arm, and the buffer plate is in contact with the second slide plate.

[0012] Furthermore, the material grabbing assembly includes a material grabbing frame, which is fixedly connected to a connecting seat, an outer surface of the material grabbing frame is provided with an adjustment mechanism, the lower surfaces at both ends of the material grabbing frame are slidably connected with the material grabbing mechanism, the lower surfaces at both ends of the material grabbing mechanism are slidably connected with the material grabbing arm, and the outer surface of the material grabbing arm is provided with a positioning mechanism.

[0013] Furthermore, the adjustment mechanism includes a second fixed block, the second fixed block is fixedly connected to the grab frame, a motor is arranged on the outer surface of the second fixed block, a first threaded rod is rotatably connected to the inner wall of the grab frame, a second belt is sleeved on the outer surface of the first threaded rod, the second belt is sleeved on the output end of the motor, both ends of the first threaded rod are threadedly connected to moving blocks, the threads at both ends of the first threaded rod are in opposite directions, the moving block is slidably connected to the grab frame, and the first threaded rod is rotatably connected to the connecting seat.

[0014] Furthermore, the grabbing mechanism includes a moving frame, the moving frame and the moving block are fixedly connected, the moving frame and the grabbing frame are slidably connected, the inner cavity of the moving frame is fixedly installed with a third hydraulic cylinder, the inner cavity of the third hydraulic cylinder is slidably connected with a third piston rod, the middle part of the inner wall of the moving frame is rotatably connected with a gear, racks are provided on both sides of the gear, the gear and the rack are meshed, and the gear and the inner wall of the moving frame are in close contact and slidably connected, the outer surface of the rack is fixedly installed with a third connecting block, the lower surface of the third connecting block is fixedly connected with a grabbing arm, the grabbing arm and the moving frame are slidably connected, and there are two grabbing arms on one moving frame, and the grabbing arms are symmetrically distributed about the middle part of the moving frame.

[0015] Furthermore, the positioning mechanism includes a clamping arm, the inner cavity of the clamping arm is rotatably connected to the second threaded rod, the inner cavity of the clamping arm is slidably connected to the clamping block, the outer surface of the clamping arm is fixedly mounted with a slider, the outer surface of the slider is fixedly mounted with a sliding rod, the outer surface of the sliding rod is sleeved with a second spring, and the outer surface of the grabbing arm is fixedly mounted with a third fixed block.

[0016] Furthermore, the clamping block and the second threaded rod are connected by threads, and the threads at both ends of the second threaded rod are in opposite directions. A sliding groove is provided at the bottom end of the grabbing arm, the slider and the sliding groove are slidably connected, the third fixed block is located at both ends of the sliding groove, the second spring is located between the slider and the third fixed block, the sliding rod and the third fixed block are slidably connected, and the clamping arm and the grabbing arm are slidably connected.

[0017] The technical solution provided by this application has at least the following technical effects or advantages:

[0018] 1. The use of the telescopic arm assembly effectively solves the problem that most traditional grabbers use fixed or simple mechanical arms. Fixed or simple mechanical arms cannot flexibly adjust the operating range according to the material stacking position, which limits the use scenarios of the grabber, and can only rely on the rotation of the mechanical arm to adjust the operating range to grab the material. When there is a slight gap between the material and the grabbing range of the grabber, the grabber can only rely on the mobile grabber to grab the material, and the fault tolerance rate is low, thereby reducing the efficiency of material transfer. The present invention can be telescoped on the original rotating mechanical arm through the telescopic arm assembly, which increases the material grabbing range and the grabbing fault tolerance rate, thereby improving the efficiency of material transfer, and has buffering efficiency when contracted. When the buffering structure exceeds the load, it can promptly issue an alarm, which is convenient for maintenance of the equipment and increases the service life of the equipment.

[0019] 2. The use of the material grabbing component effectively solves the problem of the existing material grabber having a single jaw model. Materials of different shapes, sizes and materials require jaws of different designs to effectively clamp. If the jaw model is single, the material grabber may encounter difficulties in processing diversified materials and may not be able to adapt to the clamping requirements of all materials. For example, when grabbing wood, the thickness of the wood is uneven front and back, which leads to uneven force during the clamping process and poor stability. In addition, the existing jaws do not have a positioning function. When there is a deviation between the material and the jaws, the clamping force may be uneven or too large, causing damage to the material during the clamping process. The present invention can adjust the jaws through the material grabbing component, which is convenient for grabbing materials of various specifications. By adjusting the jaws, the force on the material is more uniform during grabbing, which increases the stability of the material. In addition, when there is a deviation between the material and the jaws, the jaws can be moved and positioned, which is convenient for improving the stability of material clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of the structure of the second mechanical arm in an embodiment of the present application;

[0022] Figure 3 This is a schematic cross-sectional view of the second mechanical arm structure in an embodiment of the present application;

[0023] Figure 4 This is a schematic diagram of the structure of the telescopic arm assembly in an embodiment of the present application;

[0024] Figure 5 This is a schematic diagram of the telescopic mechanism structure in an embodiment of the present application;

[0025] Figure 6 This is a schematic cross-sectional view of the second slide structure in the embodiment of the present application;

[0026] Figure 7 Schematic diagram of the buffer mechanism structure in the embodiment of the present application;

[0027] Figure 8 This is a schematic diagram of the structure of the material grabbing assembly in the embodiment of the present application;

[0028] Fig. 9 It is a schematic diagram of the structure of the adjustment mechanism in the embodiment of the present application;

[0029] Fig.10 This is a schematic diagram of the structure of the grabbing arm in the embodiment of the present application;

[0030] Fig.11 This is a schematic diagram of the structure of the material grabbing mechanism in the embodiment of the present application;

[0031] Fig.12 This is a schematic diagram of the structure of the mobile rack in the embodiment of the present application;

[0032] Fig.13 For the embodiment of this application Fig.12 A schematic diagram of the structure enlargement at the center A;

[0033] Fig.14 It is a schematic diagram of the positioning mechanism structure in an embodiment of the present application.

[0034] In the figure: 1. material grabber body; 2. cab; 3. first mechanical arm; 4. second mechanical arm; 5. first hydraulic cylinder; 6. telescopic arm assembly; 61. telescopic mechanism; 611. fixed plate; 612. second hydraulic cylinder; 613. second piston rod; 614. first slide plate; 615. swivel; 616. first belt; 617. second slide plate; 618. first connecting block; 619. second connecting block; 6110. first fixed block; 62. limit rod; 63. connecting seat; 64. buffer mechanism; 641. buffer frame; 642. fixed rod; 643. slide seat; 644. first spring; 645. connecting strip; 646. buffer plate; 647. Connecting sleeve; 648, bolt; 649, button; 6410, horn; 7, material grabbing assembly; 71, material grabbing frame; 72, adjusting mechanism; 721, second fixed block; 722, motor; 723, first threaded rod; 724, second belt; 725, moving block; 73, material grabbing mechanism; 731, moving frame; 732, third hydraulic cylinder; 733, third piston rod; 734, gear; 735, rack; 736, third connecting block; 74, material grabbing arm; 75, positioning mechanism; 751, clamping arm; 752, second threaded rod; 753, clamping block; 754, slider; 755, slide rod; 756, second spring; 757, third fixed block. DETAILED DESCRIPTION

[0035] For fixed or simple mechanical booms that cannot flexibly adjust the operating range according to the material stacking position, the present invention can telescope on the original rotating mechanical arm through a telescopic arm assembly, thereby improving the material grabbing range and the grabbing fault tolerance rate; for the grabber's claw model is single, the present invention can adjust the claw through the grabbing assembly to facilitate grabbing of materials of various specifications.

[0036] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0037] Example:

[0038] See also Figure 1 As shown, a grabber with a retractable boom comprises a grabber body 1, a cab 2 is fixedly mounted on the upper surface of the grabber body 1, a first mechanical arm 3 is arranged in the inner cavity of the grabber body 1, a second mechanical arm 4 is rotatably connected to the inner cavity of the first mechanical arm 3, a first hydraulic cylinder 5 is arranged between the grabber body 1 and the first mechanical arm 3, a first hydraulic cylinder 5 is arranged between the first mechanical arm 3 and the second mechanical arm 4, and a first piston rod is slidably connected to the inner cavity of the first hydraulic cylinder 5, a telescopic arm assembly 6 is arranged in the inner cavity of the second mechanical arm 4, a grabber assembly 7 is arranged at one end of the telescopic arm assembly 6 away from the second mechanical arm 4, the cab 2 is used to control the movement of the grabber body 1, the first hydraulic cylinder 5 is used to drive the first mechanical arm 3 and the second mechanical arm 4 to rotate, so as to facilitate the preliminary adjustment of the working range, the telescopic arm assembly 6 can be telescoped in the inner cavity of the second mechanical arm 4, thereby driving the grabber assembly 7 to move, further increasing the working range of the grabber assembly 7, and the grabber assembly 7 can be used to grab materials of various specifications with uniform grabbing force.

[0039] See also Figure 2 , Figure 3 and Figure 4 As shown, the telescopic arm assembly 6 includes a telescopic mechanism 61, one end of the telescopic mechanism 61 is fixedly installed with a limit rod 62, the end of the telescopic mechanism 61 away from the limit rod 62 is fixedly installed with a connecting seat 63, the inner wall of the second mechanical arm 4 is fixedly installed with a buffer mechanism 64, the limit rod 62 and the second mechanical arm 4 are slidably connected, the connecting seat 63 and the second mechanical arm 4 are slidably connected, and the limit rod 62 is driven by the telescopic mechanism 61 to slide in the inner cavity of the second mechanical arm 4, that is, the telescopic mechanism 61 is telescopically driven to drive the connecting seat 63 to move, and the movement of the connecting seat 63 drives the grabbing range of the grabbing assembly 7 to increase, thereby improving the fault tolerance rate of grabbing materials, and the buffer mechanism 64 is used to maintain the buffering effect when the telescopic mechanism 61 is reset to prevent damage to the equipment.

[0040] See also Figure 5 and Figure 6As shown, the telescopic mechanism 61 includes a fixed plate 611, a second hydraulic cylinder 612 is fixedly installed on the outer surface of the fixed plate 611, a second piston rod 613 is slidably connected to the inner cavity of the second hydraulic cylinder 612, a first slide plate 614 is slidably connected to the outer surface of the fixed plate 611, a swivel 615 is rotatably connected to the outer surface of the first slide plate 614, there are two swivels 615, which are respectively located at both ends of the first slide plate 614, a first belt 616 is sleeved on the outer surface of the swivel 615, a second slide plate 617 is slidably connected to the upper surface of the first slide plate 614, a first connecting block 618 is fixedly connected to the outer surface of the first belt 616, a second connecting block 619 is fixedly installed on the outer surface of the first belt 616, and the fixed plate 611 The outer surface of the first fixed block 6110 is fixedly installed, the fixed plate 611 is fixedly connected to the inner wall of the second mechanical arm 4, the limit rod 62 is fixedly connected to the first slide plate 614, the first slide plate 614 and the second slide plate 617 are both slidably connected in the inner cavity of the second mechanical arm 4, the first connecting block 618 and the second slide plate 617 are fixedly connected, the second connecting block 619 and the first fixed block 6110 are fixedly connected, the first connecting block 618 and the second connecting block 619 are distributed on both sides of the first belt 616, and the end of the second piston rod 613 away from the second hydraulic cylinder 612 is fixedly connected to the first slide plate 614. When the telescopic mechanism 61 is telescoped, the second piston rod 613 is driven by the work of the second hydraulic cylinder 612 to move in the second The inner cavity of the hydraulic cylinder 612 moves, and the movement of the second piston rod 613 drives the first slide plate 614 to slide on the fixed plate 611. The sliding of the first slide plate 614 drives the swivel 615 to move, and the first fixed block 6110 is fixedly connected to the fixed plate 611, and the second connecting block 619 on the first fixed block 6110 is fixedly connected to the first belt 616, so that the first belt 616 is driven to rotate on the swivel 615 during the movement of the swivel 615, that is, the second connecting block 619 and the first connecting block 618 move toward each other, and then move back to back after meeting, so that the first belt 616 drives the first connecting block 618 to move to the first fixed block 6110. At this time, the first connecting block 618 drives the second slide plate 617 to move, and the second connecting block 619 and the first belt 616 are driven to move. The movement of the second slide plate 617 drives the connecting seat 63 to move, which increases the arm length of the grabber and expands the grabbing range of materials. When the second piston rod 613 moves, it first drives the first slide plate 614 to move, and drives the second slide plate 617 to move through the transmission of the first belt 616, so that the moving distance of the connecting seat 63 is twice the moving distance of the second piston rod 613, achieving the effect of secondary telescopic adjustment. The grabber has a wider range of telescopic adjustment of the mechanical arm. When the working space may be limited or there are obstacles, the secondary telescopic structure can be telescopically adjusted according to the on-site environment to avoid obstacles and ensure the smooth transfer of materials. It can bring many benefits such as improved flexibility, efficiency and accuracy during material transfer.

[0041] See also Figure 4 and Figure 7As shown, the buffer mechanism 64 includes a buffer frame 641, a fixing rod 642 is fixedly installed on the inner wall of the buffer frame 641, a sliding seat 643 is slidably connected to the outer surface of the fixing rod 642, a first spring 644 is sleeved on the outer surface of the fixing rod 642, a connecting strip 645 is rotatably connected to the inner cavity of the sliding seat 643, a buffer plate 646 is rotatably connected to the end of the connecting strip 645 away from the sliding seat 643, a connecting sleeve 647 is fixedly installed on the outer surface of the buffer plate 646 close to the buffer frame 641, and a bolt 647 is rotatably connected to the inner cavity of the connecting sleeve 647 through a thread. 48, a button 649 is provided on the outer surface of the buffer frame 641, a speaker 6410 is provided on the outer surface of the buffer frame 641, there are two slide seats 643, and the first spring 644 is located between the two slide seats 643, the bolt 648 and the button 649 are aligned, there is a gap between the bolt 648 and the button 649, the button 649 and the buffer frame 641 are electrically connected, the pressing of the button 649 controls the buffer frame 641 to send out an alarm, the buffer frame 641 is fixedly connected to the inner wall of the second robot arm 4, the buffer plate 646 contacts the second slide plate 617, and when the telescopic mechanism 6 When the second slide plate 617 is retracted during resetting, the second slide plate 617 will squeeze the buffer plate 646. The squeezing of the buffer plate 646 drives the connecting strip 645 to rotate in the inner cavity of the slide seat 643. The rotation of the connecting strip 645 drives the slide seat 643 to a point on the fixed rod 642, so that the slide seat 643 squeezes the first spring 644. The elastic force of the first spring 644 makes the second slide plate 617 have a buffering effect during resetting to prevent the internal parts from colliding. When the equipment is overloaded, that is, the squeezing force of the second slide plate 617 on the buffer plate 646 is too large. When the second slide 617 is in normal reset, the bolt 648 and the button 649 are out of contact, and the button 649 is pressed. The pressing of the button 649 triggers the buffer frame 641 to sound an alarm, reminding the staff to facilitate maintenance of the equipment and increase the service life of the equipment. Before installing the buffer mechanism 64, the distance between the bolt 648 and the connecting sleeve 647 can be adjusted by rotating the bolt 648, which is convenient for adjustment according to the operating conditions of the equipment, so that the bolt 648 and the button 649 cannot touch each other when the second slide 617 is normally reset, preventing the alarm from being sounded under normal use.

[0042] See also Figure 8As shown, the grabbing assembly 7 includes a grabbing frame 71, which is fixedly connected to the connecting seat 63, and an adjusting mechanism 72 is provided on the outer surface of the grabbing frame 71. The lower surfaces of both ends of the grabbing frame 71 are slidably connected with grabbing mechanisms 73, and the lower surfaces of both ends of the grabbing mechanisms 73 are slidably connected with grabbing arms 74, and a positioning mechanism 75 is provided on the outer surface of the grabbing arm 74. The spacing of the grabbing mechanisms 73 is adjusted by the adjusting mechanism 72, and the grabbing arms 74 are driven to approach each other by the grabbing mechanisms 73, so that the positioning mechanism 75 clamps the material, and the spacing of the grabbing mechanisms 73 can be adjusted according to the length of the material. The positioning mechanism 75 is flexibly fixed on the grabbing arm 74, so that the positioning mechanism 75 can move when grabbing the material, and the material is subjected to more uniform force during the grabbing process, thereby increasing the stability of the material.

[0043] See also Figure 8 , Fig. 9 , Fig.10 and Fig.11As shown, the adjusting mechanism 72 includes a second fixed block 721, the second fixed block 721 and the material grabbing frame 71 are fixedly connected, the outer surface of the second fixed block 721 is provided with a motor 722, the inner wall of the material grabbing frame 71 is rotatably connected with a first threaded rod 723, the outer surface of the first threaded rod 723 is sleeved with a second belt 724, the second belt 724 and the output end of the motor 722 are sleeved, the two ends of the first threaded rod 723 are threadedly connected with a moving block 725, the thread directions of the two ends of the first threaded rod 723 are opposite, the moving block 725 and the material grabbing frame 71 are slidably connected, the first threaded rod 723 and the connecting seat 63 are rotatably connected, and the material grabbing mechanism 73 includes a moving frame 731, the moving frame 731 and the moving block 725 are fixedly connected, and the moving frame 731 and the material grabbing frame The third hydraulic cylinder 732 is fixedly installed in the inner cavity of the mobile frame 731, and the third piston rod 733 is slidably connected in the inner cavity of the third hydraulic cylinder 732. The middle part of the inner wall of the mobile frame 731 is rotatably connected with a gear 734. Racks 735 are provided on both sides of the gear 734. The gear 734 and the rack 735 are meshed, and the gear 734 and the inner wall of the mobile frame 731 are in close contact and slidably connected. The outer surface of the rack 735 is fixedly installed with a third connecting block 736. The lower surface of the third connecting block 736 is fixedly connected with a grabbing arm 74. The grabbing arm 74 and the mobile frame 731 are slidably connected, and there are two grabbing arms 74 on one mobile frame 731. The grabbing arms 74 are symmetrically distributed about the middle part of the mobile frame 731. When the spacing of the grabbing mechanisms 73 is adjusted, the second belt 724 is driven to rotate by the operation of the motor 722, and the rotation of the second belt 724 drives the first threaded rod 723 to rotate on the grabbing frame 71. At this time, the moving block 725 is threaded on the first threaded rod 723, so that the spacing between the two moving blocks 725 changes, and then the spacing between the two grabbing mechanisms 73 changes. When grabbing materials, the spacing of the grabbing mechanisms 73 can be adjusted according to the length of the materials, so that the center of gravity of the materials is located between the two grabbing mechanisms 73, that is, the center of gravity of the materials is as close as possible to the middle of the two grabbing mechanisms 73, which can increase the stability of the materials, and adjust the spacing of the grabbing mechanisms 73 according to the length of the materials, thereby improving the stability of the materials. The third hydraulic cylinder 732 in the inner cavity of the movable frame 731 works to drive the third piston rod 733 to telescopically move during the grabbing process. The movement of the third piston rod 733 drives one of the racks 735 to move. The movement of the rack 735 drives the gear 734 to rotate. The rotation of the gear 734 causes the other rack 735 to move synchronously, thereby moving the third connecting block 736. The movement of the third connecting block 736 drives the grabbing arm 74 to move. The movement of the grabbing arm 74 drives the positioning mechanism 75 to move, thereby making the positioning mechanisms 75 on the grabbing mechanism 73 approach each other to clamp the material. Since there are two third hydraulic cylinders 732 on the two grabbing mechanisms 73 to control them separately, when grabbing materials of different specifications,By controlling the movement of the third piston rod 733 to be different, the two ends of the material are clamped by the positioning mechanisms 75 on the two material grabbing mechanisms 73 respectively, so that both ends of the material can receive a relatively uniform clamping force, thereby improving the stability of material transportation.

[0044] See also Fig.12 , Fig.13 and Fig.14 As shown, the positioning mechanism 75 includes a clamping arm 751, the inner cavity of the clamping arm 751 is rotatably connected to the second threaded rod 752, the inner cavity of the clamping arm 751 is slidably connected to a clamping block 753, the outer surface of the clamping arm 751 is fixedly installed with a slider 754, the outer surface of the slider 754 is fixedly installed with a slide rod 755, the outer surface of the slide rod 755 is sleeved with a second spring 756, the outer surface of the grabbing arm 74 is fixedly installed with a third fixed block 757, the clamping block 753 and the second threaded rod 752 are threadedly connected, and the threads at both ends of the second threaded rod 752 are in opposite directions, the bottom end of the grabbing arm 74 is provided with a slide groove, the slider 754 is slidably connected to the slide groove, and the third fixed block 757 is fixedly installed on the outer surface of the grabbing arm 74. The third fixing block 757 is located at both ends of the slide groove, the second spring 756 is located between the slider 754 and the third fixing block 757, the slide rod 755 and the third fixing block 757 are slidably connected, the clamping arm 751 and the grabbing arm 74 are slidably connected, and when the positioning mechanism 75 is clamping, since the cab 2 and the grabbing assembly 7 usually have a certain distance, the positioning mechanism 75 may not be very accurate when grabbing the material, that is, when the material is grabbed, when the clamping arm 751 is close to the material, the clamping block 753 and the material are in contact, and when the clamping block 753 on the clamping arm 751 and the material are slightly offset, the clamping arm 751 can slide on the grabbing arm 74 When the clamping arm 751 is moved on the material grabbing arm 74, the slider 754 drives the slide bar 755 to slide on the third fixed block 757. At this time, the second spring 756 is squeezed and deformed. When the material is lifted by the material grabbing assembly 7, the clamping arm 751 moves downward as a whole under the gravity of the material, and then the material is transported stably. When the material is released, the slider 754 returns to its original position under the elastic force of the second spring 756, so that the clamping The arm 751 remains in the initial position of the grabbing arm 74, and the elastic force of the second spring 756 can make the clamping arm 751 flexibly fixed on the grabbing arm 74, so that the clamping arm 751 can move within a certain range when clamping the material, so that the positioning mechanism 75 has a positioning effect when clamping, thereby improving the stability of material clamping and making the material evenly stressed. Before batch transfer, the spacing of the clamping blocks 753 can be adjusted according to the size of the material, and the spacing of the clamping blocks 753 can be changed by rotating the second threaded rod 752, so that the movement of the spacing of the grabbing mechanism 73 can be coordinated to clamp materials of various specifications, thereby improving the fault tolerance and stability of transfer.

[0045] In summary, the cab 2 is used to control the movement of the grabber body 1, the first hydraulic cylinder 5 is used to drive the first mechanical arm 3 and the second mechanical arm 4 to rotate, so as to facilitate the preliminary adjustment of the working range, and the telescopic arm assembly 6 can be telescoped in the inner cavity of the second mechanical arm 4, thereby driving the grabbing assembly 7 to move, further increasing the working range of the grabbing assembly 7, and the grabbing assembly 7 can be used to grab materials of various specifications, and the grabbing force is uniform, and the limiting rod 62 is driven to slide in the inner cavity of the second mechanical arm 4 through the telescopic mechanism 61, that is, the telescopic mechanism 61 is telescoped to drive the connecting seat 63 to move, and the movement of the connecting seat 63 drives the grabber The grabbing range of component 7 is increased, and the fault tolerance rate of grabbing materials is improved. The buffer mechanism 64 is used to maintain the buffer effect when the telescopic mechanism 61 is reset to prevent damage to the equipment. The spacing of the grabbing mechanism 73 is adjusted by the adjustment mechanism 72, and the grabbing arm 74 is driven to approach each other by the grabbing mechanism 73, so that the positioning mechanism 75 clamps the material. The spacing of the grabbing mechanism 73 can be adjusted according to the length of the material. The positioning mechanism 75 is flexibly fixed on the grabbing arm 74, so that the positioning mechanism 75 can move when grabbing the material. The material is subjected to more uniform force during the grabbing process, which increases the stability of the material.

[0046] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0047] What has been described above is only a preferred specific implementation manner of the embodiments of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical scheme and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A material grabber with a retractable arm, comprising a material grabber body (1), characterized in that: A cab (2) is fixedly mounted on the upper surface of the grabber body (1); a first mechanical arm (3) is arranged in the inner cavity of the grabber body (1); a second mechanical arm (4) is rotatably connected to the inner cavity of the first mechanical arm (3); a first hydraulic cylinder (5) is arranged between the grabber body (1) and the first mechanical arm (3); a first hydraulic cylinder (5) is arranged between the first mechanical arm (3) and the second mechanical arm (4); a first piston rod is slidably connected to the inner cavity of the first hydraulic cylinder (5); a telescopic arm assembly (6) is arranged in the inner cavity of the second mechanical arm (4); a grabber assembly (7) is arranged at one end of the telescopic arm assembly (6) away from the second mechanical arm (4); The telescopic arm assembly (6) comprises a telescopic mechanism (61), a limiting rod (62) is fixedly mounted on one end of the telescopic mechanism (61), a connecting seat (63) is fixedly mounted on one end of the telescopic mechanism (61) away from the limiting rod (62), a buffer mechanism (64) is fixedly mounted on the inner wall of the second mechanical arm (4), the limiting rod (62) and the second mechanical arm (4) are slidably connected, and the connecting seat (63) and the second mechanical arm (4) are slidably connected.

2. A material grabber with a retractable arm as claimed in claim 1, characterized in that: The telescopic mechanism (61) comprises a fixed plate (611), a second hydraulic cylinder (612) is fixedly mounted on the outer surface of the fixed plate (611), a second piston rod (613) is slidably connected to the inner cavity of the second hydraulic cylinder (612), a first slide plate (614) is slidably connected to the outer surface of the fixed plate (611), a swivel (615) is rotatably connected to the outer surface of the first slide plate (614), two swivels (615) are provided, which are respectively located at two ends of the first slide plate (614), a first belt (616) is sleeved on the outer surface of the swivel (615), a second slide plate (617) is slidably connected to the upper surface of the first slide plate (614), a first connecting block (618) is fixedly connected to the outer surface of the first belt (616), a second connecting block (619) is fixedly mounted on the outer surface of the first belt (616), and a first fixed block (6110) is fixedly mounted on the outer surface of the fixed plate (611).

3. A material grabber with a retractable arm as claimed in claim 2, characterized in that: The fixed plate (611) is fixedly connected to the inner wall of the second mechanical arm (4), the limit rod (62) is fixedly connected to the first slide plate (614), the first slide plate (614) and the second slide plate (617) are both slidably connected in the inner cavity of the second mechanical arm (4), the first connecting block (618) and the second slide plate (617) are fixedly connected, the second connecting block (619) and the first fixed block (6110) are fixedly connected, the first connecting block (618) and the second connecting block (619) are distributed on both sides of the first belt (616), and the end of the second piston rod (613) away from the second hydraulic cylinder (612) is fixedly connected to the first slide plate (614).

4. A material grabber with a retractable arm as claimed in claim 2, characterized in that: The buffer mechanism (64) comprises a buffer frame (641), a fixing rod (642) is fixedly installed on the inner wall of the buffer frame (641), the outer surface of the fixing rod (642) is slidably connected to a sliding seat (643), the outer surface of the fixing rod (642) is sleeved with a first spring (644), the inner cavity of the sliding seat (643) is rotatably connected to a connecting strip (645), the end of the connecting strip (645) away from the sliding seat (643) is rotatably connected to a buffer plate (646), the buffer plate (646) is fixedly installed with a connecting sleeve (647) on the outer surface close to the buffer frame (641), the inner cavity of the connecting sleeve (647) is rotatably connected to a bolt (648) through a thread, the outer surface of the buffer frame (641) is provided with a button (649), and the outer surface of the buffer frame (641) is provided with a horn (6410).

5. A material grabber with a retractable arm as claimed in claim 4, characterized in that: There are two slide seats (643), and the first spring (644) is located between the two slide seats (643). The bolt (648) and the button (649) are aligned, and there is a gap between the bolt (648) and the button (649). The button (649) and the buffer frame (641) are electrically connected. Pressing the button (649) controls the buffer frame (641) to sound an alarm. The buffer frame (641) is fixedly connected to the inner wall of the second robot arm (4), and the buffer plate (646) is in contact with the second slide plate (617).

6. A material grabber with a retractable arm as claimed in claim 1, characterized in that: The material grabbing assembly (7) comprises a material grabbing frame (71), the material grabbing frame (71) is fixedly connected to the connecting seat (63), an adjusting mechanism (72) is provided on the outer surface of the material grabbing frame (71), the lower surfaces at both ends of the material grabbing frame (71) are slidably connected to the material grabbing mechanisms (73), the lower surfaces at both ends of the material grabbing mechanisms (73) are slidably connected to the material grabbing arms (74), and the outer surface of the material grabbing arms (74) is provided with a positioning mechanism (75).

7. A material grabber with a retractable arm as claimed in claim 6, characterized in that: The adjusting mechanism (72) comprises a second fixed block (721), the second fixed block (721) is fixedly connected to the material grabbing frame (71), the outer surface of the second fixed block (721) is provided with a motor (722), the inner wall of the material grabbing frame (71) is rotatably connected with a first threaded rod (723), the outer surface of the first threaded rod (723) is sleeved with a second belt (724), the second belt (724) is sleeved with the output end of the motor (722), the two ends of the first threaded rod (723) are threadedly connected with moving blocks (725), the threads at the two ends of the first threaded rod (723) are in opposite directions, the moving block (725) is slidably connected to the material grabbing frame (71), and the first threaded rod (723) is rotatably connected to the connecting seat (63).

8. A material grabber with a retractable arm as claimed in claim 7, characterized in that: The material grabbing mechanism (73) comprises a moving frame (731), the moving frame (731) and the moving block (725) are fixedly connected, the moving frame (731) and the material grabbing frame (71) are slidably connected, a third hydraulic cylinder (732) is fixedly installed in the inner cavity of the moving frame (731), a third piston rod (733) is slidably connected in the inner cavity of the third hydraulic cylinder (732), a gear (734) is rotatably connected in the middle part of the inner wall of the moving frame (731), racks (735) are arranged on both sides of the gear (734), and the moving frame (731) is fixedly connected to the moving block (725), and the moving frame (731) is fixedly connected to the moving block (725). The gear (734) and the rack (735) are meshed, and the gear (734) and the inner wall of the movable frame (731) are in close contact and slidably connected. A third connecting block (736) is fixedly mounted on the outer surface of the rack (735). A grabbing arm (74) is fixedly connected to the lower surface of the third connecting block (736). The grabbing arm (74) and the movable frame (731) are slidably connected. There are two grabbing arms (74) on one movable frame (731), and the grabbing arms (74) are symmetrically distributed about the middle part of the movable frame (731).

9. A material grabber with a retractable arm as claimed in claim 6, characterized in that: The positioning mechanism (75) comprises a clamping arm (751), the inner cavity of the clamping arm (751) is rotatably connected to a second threaded rod (752), the inner cavity of the clamping arm (751) is slidably connected to a clamping block (753), a slider (754) is fixedly mounted on the outer surface of the clamping arm (751), a slide rod (755) is fixedly mounted on the outer surface of the slide rod (754), a second spring (756) is sleeved on the outer surface of the slide rod (755), and a third fixed block (757) is fixedly mounted on the outer surface of the grabbing arm (74).

10. A material grabber with a retractable arm as claimed in claim 9, characterized in that: The clamping block (753) and the second threaded rod (752) are connected by threads, and the threads at both ends of the second threaded rod (752) are in opposite directions. A sliding groove is provided at the bottom end of the grabbing arm (74). The slider (754) and the sliding groove are slidably connected. The third fixed block (757) is located at both ends of the sliding groove. The second spring (756) is located between the slider (754) and the third fixed block (757). The sliding rod (755) and the third fixed block (757) are slidably connected. The clamping arm (751) and the grabbing arm (74) are slidably connected.

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