Novel clamping jaw suitable for grabbing materials in narrow space

Abstract

The novel clamping jaw suitable for material grabbing in the narrow space is provided with a top mounting frame, two lower hanging brackets are arranged at the bottom of the top mounting frame in a bilateral symmetry mode, and the two lower hanging brackets are adjustably arranged on the top mounting frame; a left pneumatic clamping jaw mechanism and a right pneumatic clamping jaw mechanism are respectively arranged below the two lower hanging brackets, have the same structure and respectively comprise a large rotating arm, a large arm driving cylinder, a small rotating arm and a small arm driving cylinder; a cylinder base of the small arm driving air cylinder is hinged to the upper portion of the large rotating arm, and the small rotating arm is used for grabbing and clamping a material bag; the distance between the left pneumatic clamping jaw mechanism and the right pneumatic clamping jaw mechanism can be adjusted according to needs in advance so as to meet the use requirements of narrow spaces; the opening or closing angle of each L-shaped clamping jaw can be completely and flexibly adjusted according to needs, and the loading and unloading requirements of related materials are better met.

Description

Technical Field

[0001] The invention relates to the technical field of automated mechanical equipment, and in particular to a new type of clamping claw suitable for grasping materials in narrow spaces. Background Art

[0002] In the whole bag loading process such as flour bagging and fertilizer bagging, the bag dropping height should be kept as low as possible to reduce the impact and damage risk to the flour bags and fertilizer bags. If the bag dropping height is too high, it may cause the fertilizer bags or flour bags to break, leak, and even cause safety hazards to the surrounding personnel. Usually in actual operation, the bag dropping height should be controlled at a lower level as much as possible according to the specific situation. After a large amount of actual bag dropping data calculation, it is more appropriate to control the bag dropping height within 700mm. At the same time, factors such as the bag dropping method, the hardness of the ground, and the quality of the fertilizer bags should also be considered. However, the height of the high-bar truck compartment can reach 2.4m. For high-bar trucks, ordinary grippers will not be able to reach into the compartment to drop bags.

[0003] At present, the clamps for material bag loading on the market are basically driven by cylinders, but their installation design is not reasonable. At the same time, due to the straight extension and retraction characteristics of the cylinder, when designing the clamps, it is inevitable that a large amount of space on both sides will be occupied when the clamps are opened to grab the material bags. The solution of each manufacturer is to make the clamps higher than the side rails of the carriage to drop the bags. In addition, the clamps need to be fine-tuned according to the width of different material bags. Therefore, a new type of automatic loading and adjustable clamp that can reach into the carriage and open the jaws so that the bag can be close to the edge of the carriage after dropping the bag is needed to normally adapt to the needs of material grabbing operations in narrow spaces. Summary of the invention

[0004] The purpose of the present invention is to provide a new type of clamping jaw suitable for grabbing materials in narrow spaces in view of the above situation. The new type of clamping jaw has a novel structure design and can realize the grabbing and dropping operations of material bags in a relatively narrow space, thereby realizing efficient loading operations.

[0005] The specific scheme of the present invention is: a new type of gripper suitable for grabbing materials in a narrow space, with a top mounting frame, two lower hangers are symmetrically arranged at the bottom of the top mounting frame, and the two lower hangers are adjustably placed on the top mounting frame; a left pneumatic gripper mechanism and a right pneumatic gripper mechanism are respectively arranged below the two lower hangers, and the left pneumatic gripper mechanism and the right pneumatic gripper mechanism have the same structure, and each includes a large rotating arm, a large arm driving cylinder, a small rotating arm and a small arm driving cylinder, and the large arm driving cylinder The cylinder seat is hinged on the bottom of the corresponding lower hanger, the upper part of the large rotating arm is rotatably connected to the lower part of the lower hanger on the corresponding side through a rotating shaft, and the piston rod of the large arm driving cylinder is hinged to the upper end of the large rotating arm; the cylinder seat of the small arm driving cylinder is hingedly arranged on the upper part of the large rotating arm, the middle upper part of the small rotating arm is rotatably connected to the lower end of the large rotating arm through a rotating shaft, the upper end of the small rotating arm is hingedly connected to the piston rod of the small arm driving cylinder, and the small rotating arm is used to grab and clamp material bags.

[0006] Furthermore, the small rotating arm in the present invention is composed of a rotating arm plate, a plurality of L-shaped clamps and two rotating connecting arms. The back of the rotating arm plate is rotatably connected to the large rotating arm on the corresponding side through a rotating shaft. The L-shaped clamps are arranged side by side on the front side wall of the rotating arm plate. The two rotating connecting arms are fixed side by side on the top of the rotating arm plate. The upper end of the rotating connecting arm is hingedly connected to the piston rod of the small arm driving cylinder.

[0007] Furthermore, the front claw head of the L-shaped clamping jaw in the present invention is configured to be wedge-shaped, and each L-shaped clamping jaw is fixedly connected to the corresponding rotating arm plate by a screw.

[0008] Furthermore, the large rotating arm described in the present invention is composed of two large arm plates, which are arranged in parallel at a certain distance, and are connected into one by a connecting plate. The upper part of the two large arm plates is provided with a rotating shaft placement plate protruding to one side, and the two rotating shaft placement plates are connected to the bottom of the lower hanger on the corresponding side through a rotating shaft.

[0009] Furthermore, the lower hanger described in the present invention is composed of two hollow frame side panels, the two hollow frame side panels are arranged front and back, and the two hollow frame side panels are connected as a whole through a hollow top plate, and a plurality of bolt penetration holes are arranged on the hollow top plate.

[0010] Furthermore, the top mounting frame in the present invention is composed of two straight aluminum alloy profiles, which are arranged parallel to each other. Long perforated grooves are opened on the aluminum alloy straight profiles along the length direction, and the two lower hangers are connected to the long perforated grooves by connecting bolts.

[0011] Furthermore, the large arm driving cylinder in the present invention is arranged obliquely on the inner side of the corresponding large rotating arm.

[0012] Furthermore, the left pneumatic gripper mechanism and the right pneumatic gripper mechanism described in the present invention each have two upper arm driving cylinders and two lower arm driving cylinders.

[0013] The present invention has the following beneficial effects: 1. In the left pneumatic gripper mechanism and the right pneumatic gripper mechanism of the present invention, each L-shaped gripper is actually driven by two groups of cylinders, which is equivalent to a two-stage drive, thereby realizing rotational operation in a small space, and further realizing adaptability to narrow spaces. Unlike the traditional single cylinder drive, a relatively large space is required for operation when the stroke is large, which reflects the flexibility of the new gripper of the present invention in grabbing material bags or dropping bags in narrow spaces.

[0014] 2. The distance between the left pneumatic clamp mechanism and the right pneumatic clamp mechanism in the present invention can be adjusted in advance as needed to adapt to the use requirements of narrow spaces; the opening or closing angle of each L-shaped clamp in the present invention can be flexibly adjusted as needed to better meet the loading and unloading requirements of related materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the main viewing direction structure of the present invention; Figure 3 It is a schematic diagram of the structure of the present invention in a top view; Figure 4 It is a schematic diagram of the structure of the left pneumatic clamp mechanism in the present invention; Figure 5 It is a schematic diagram of the structure of the clamping jaws of the present invention when they are opened; Figure 6 This is a schematic diagram of the first state of the bag taking action of the present invention; Figure 7 This is a schematic diagram of the second state of the bag taking action of the present invention; Figure 8 This is a schematic diagram of the first state of the packet loss action of the present invention; Fig. 9 It is a schematic diagram of the second state of the packet loss action of the present invention.

[0016] In the figure: 1—connecting bolts, 2—aluminum alloy straight profile, 3—hollow frame side plate, 4—small arm driving cylinder, 5—large rotating arm, 6—small rotating arm, 7—large arm driving cylinder, 8—rotating shaft, 9—long perforated groove, 10—hollow top plate, 11—bolt penetration hole, 12—connecting plate, 13—large arm plate, 14—rotating connecting arm, 15—rotating arm plate, 16—L-shaped clamping claw, 17—rotating shaft placement plate. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the invented product is usually placed when used, which are only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] See also Figure 1 to Figure 4 The present invention is a new type of gripper suitable for grabbing materials in narrow spaces, and has a top mounting frame, and two lower hangers are symmetrically arranged at the bottom of the top mounting frame, and the two lower hangers are adjustably placed on the top mounting frame; a left pneumatic gripper mechanism and a right pneumatic gripper mechanism are respectively arranged below the two lower hangers, and the left pneumatic gripper mechanism and the right pneumatic gripper mechanism have the same structure, and each includes a large rotating arm 5, a large arm driving cylinder 7, a small rotating arm 6 and a small arm driving cylinder 4, and the cylinder of the large arm driving cylinder The seat is hinged at the bottom of the corresponding lower hanger, the upper part of the large rotating arm is rotatably connected to the lower part of the lower hanger on the corresponding side through the rotating shaft 8, and the piston rod of the large arm driving cylinder is hinged to the upper end of the large rotating arm; the cylinder seat of the small arm driving cylinder is hingedly arranged on the upper part of the large rotating arm, the middle upper part of the small rotating arm is rotatably connected to the lower end of the large rotating arm through the rotating shaft, the upper end of the small rotating arm is hingedly connected to the piston rod of the small arm driving cylinder, and the small rotating arm is used to grab and clamp material bags.

[0020] Further, the small rotating arm in this embodiment is composed of a rotating arm plate 15, a plurality of L-shaped clamps 16 and two rotating connecting arms 14, the back of the rotating arm plate is rotatably connected to the large rotating arm on the corresponding side through a rotating shaft, the L-shaped clamps are arranged side by side on the front side wall of the rotating arm plate, the two rotating connecting arms are fixed side by side on the top of the rotating arm plate, and the upper end of the rotating connecting arm is hingedly connected to the piston rod of the small arm driving cylinder. Further, the front claw head of the L-shaped clamp in the present invention is set in a wedge shape, and each L-shaped clamp is fixedly connected to the corresponding rotating arm plate by a screw. Further, the large rotating arm in the present invention is composed of two large arm plates 13, the two large arm plates are arranged in parallel and spaced a certain distance apart, the two large arm plates are connected to each other by a connecting plate 12, the upper part of the two large arm plates is provided with a rotating shaft placement plate 17 protruding to one side, and the two rotating shaft placement plates are connected to the bottom of the lower hanger on the corresponding side through the rotating shaft. Furthermore, the lower hanger described in the present invention is composed of two hollow frame side panels 3, the two hollow frame side panels are arranged front and back, and the two hollow frame side panels are connected as a whole through a hollow top plate 10, and a plurality of bolt through holes 11 are arranged on the hollow top plate. Further, the top mounting frame described in the present invention is composed of two aluminum alloy straight profiles 2, the two aluminum alloy straight profiles are arranged parallel to each other, and long perforated grooves 9 are opened along the length direction of the aluminum alloy straight profiles, and the two lower hangers are connected to the long perforated grooves by connecting bolts. Further, the upper arm driving cylinder described in the present invention is obliquely arranged on the inner side of the corresponding large rotating arm. Further, the left pneumatic clamping mechanism and the right pneumatic clamping mechanism described in the present invention each have two upper arm driving cylinders and two lower arm driving cylinders.

[0021] like Figure 5 As shown, 2 groups of large arm driving cylinders drive the large rotating arm to open and close, and 2 groups of small arm driving cylinders drive the small rotating arm (fingertip) to rotate.

[0022] See also Figures 6 to 9 When picking up goods, the large rotating arm opens the claws while the small rotating arm does not move, so the goods can be picked up quickly. When dropping a package, the small rotating arm opens the claws while the large rotating arm does not move, so the distance from the clamp to the side of the carriage can be greatly reduced while dropping the package, thereby improving the loading rate of automatic loading.

[0023] The present invention is a clamping jaw. When it is used, the top mounting frame is integrally placed on another manipulator, and the initial mounting distance between the left pneumatic clamping jaw mechanism and the right pneumatic clamping jaw mechanism is adjustable, that is, the relative distance between the two can be adjusted by means of a hollow top plate and a long perforated groove in combination with connecting bolts to achieve the purpose of meeting the use requirements.

[0024] In the present invention, the small rotating arm is arranged inside the large rotating arm, so once the opening position of the large rotating arm is determined, the small rotating arm can be turned over in the inner space thereof.

[0025] In the left pneumatic gripper mechanism and the right pneumatic gripper mechanism of the present invention, each L-shaped gripper is actually driven by two groups of cylinders, which is equivalent to a two-stage drive, realizing rotational operation in a small space, and further realizing adaptability to narrow spaces. Unlike the traditional single cylinder drive, a relatively large space is required for operation when the stroke is large, which reflects the flexibility of the new gripper of the present invention in grabbing material bags or dropping bags in narrow spaces. The spacing between the left pneumatic gripper mechanism and the right pneumatic gripper mechanism of the present invention can be adjusted in advance as needed to adapt to the use requirements of narrow spaces; the opening or closing angle of each L-shaped gripper in the present invention can be flexibly adjusted as needed to better meet the loading and unloading requirements of related materials.

Claims

1. A new type of gripper suitable for grabbing materials in narrow spaces, characterized by: It has a top mounting frame, and two lower hangers are symmetrically arranged at the bottom of the top mounting frame, and the two lower hangers are adjustably placed on the top mounting frame; a left pneumatic clamping mechanism and a right pneumatic clamping mechanism are respectively arranged under the two lower hangers, and the left pneumatic clamping mechanism and the right pneumatic clamping mechanism have the same structure, and each includes a large rotating arm, a large arm driving cylinder, a small rotating arm and a small arm driving cylinder, the cylinder seat of the large arm driving cylinder is hinged at the bottom of the corresponding lower hanger, the upper part of the large rotating arm is rotatably connected to the lower part of the lower hanger on the corresponding side through a rotating shaft, and the piston rod of the large arm driving cylinder is hinged to the upper end of the large rotating arm; the cylinder seat of the small arm driving cylinder is hingedly placed on the upper part of the large rotating arm, and the middle upper part of the small rotating arm is rotatably connected to the lower end of the large rotating arm through a rotating shaft, and the upper end of the small rotating arm is hingedly connected to the piston rod of the small arm driving cylinder, and the small rotating arm is used to grab and clamp material bags.

2. According to claim 1, a new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The small rotating arm is composed of a rotating arm plate, a plurality of L-shaped clamps and two rotating connecting arms. The back of the rotating arm plate is rotatably connected to the large rotating arm on the corresponding side through a rotating shaft. The L-shaped clamps are arranged side by side on the front side wall of the rotating arm plate. The two rotating connecting arms are fixed side by side on the top of the rotating arm plate. The upper end of the rotating connecting arm is hingedly connected to the piston rod of the small arm driving cylinder.

3. According to claim 2, a new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The front claw head of the L-shaped clamping claw is arranged in a wedge shape, and each L-shaped clamping claw is fixedly connected to the corresponding rotating arm plate by means of screws.

4. According to claim 1, a new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The large rotating arm is composed of two large arm plates, which are arranged in parallel at a certain distance, and are connected into one by a connecting plate. A rotating shaft placement plate protruding to one side is arranged on the upper part of the two large arm plates, and a rotating shaft is passed between the two rotating shaft placement plates and the bottom of the lower hanger on the corresponding side.

5. According to claim 1, the new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The lower hanger is composed of two hollow frame side plates, which are arranged front and back respectively, and are connected as a whole through a hollow top plate, and a plurality of bolt penetration holes are arranged on the hollow top plate.

6. According to claim 1, a new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The top mounting frame is composed of two aluminum alloy straight profiles, which are arranged parallel to each other. Long perforated grooves are opened on the aluminum alloy straight profiles along the length direction, and the two lower hangers are connected to the long perforated grooves by connecting bolts.

7. According to claim 1, a new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The large arm driving cylinder is arranged obliquely on the inner side of the corresponding large rotating arm.

8. According to claim 1, the new type of gripper suitable for grabbing materials in narrow spaces is characterized by: The left pneumatic clamping jaw mechanism and the right pneumatic clamping jaw mechanism each have two upper arm driving cylinders and two lower arm driving cylinders.

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