A manipulator type material handling device

Abstract

The present invention relates to the technical field of material handling. The present invention discloses a manipulator-type material handling device, including a support frame, a telescopic shaft is installed on the support frame, a clamping component for grabbing materials is installed at the lower end of the telescopic shaft, and the clamping component includes a box body, a box cover, a cylinder 1 and a variable claw; the cylinder 1 is provided with four, and the four cylinders 1 are used to control the opening and closing of the variable claw; the variable claw includes a cylinder 2, four groups of U-shaped frames, four groups of U-shaped tubes and multiple groups of transverse belts, and the cylinder 2 is used to control the hardness and softness changes of the four groups of U-shaped frames, and is used to clamp rectangular or non-rectangular materials. The present invention clamps non-rectangular materials, bends the hinged part and also bends the U-shaped tube, so that the U-shaped tube and the transverse belt can fit the non-rectangular materials more closely, and flexibly bundles the non-rectangular materials. Based on this, it can realize the clamping of rectangular materials and non-rectangular materials, and the operation is simple while the material clamping is more stable.

Description

Technical Field

[0001] The invention relates to the technical field of material handling, in particular to a manipulator-type material handling device. Background Art

[0002] Mechanical claw-like material handling equipment plays a vital role in modern industrial automation. This type of equipment achieves accurate and efficient material handling by simulating or enhancing the functions of human hands. The working principle of mechanical claw-like material handling equipment usually involves the following steps: the shape, size and position of the material to be handled are identified through sensors or visual systems. According to the recognition results, the mechanical claw adjusts its shape and strength to adapt to the material and grasp the material. The mechanical arm drives the mechanical claw to move the material to the specified location. At the target location, the mechanical claw releases the material to complete the handling task.

[0003] However, non-rectangular materials often have irregular shapes, which makes them difficult to be gripped or fixed by standardized handling equipment. This may cause the material to slide, roll or tilt during handling, increasing the difficulty and risk of handling. Non-rectangular materials often have uneven weight distribution and may have excessive weight in some areas. This will lead to uneven force during handling, increase the burden on handling equipment, and may even cause damage to equipment or materials.

[0004] In the above-mentioned handling process, flexible handling tools such as flexible mechanical claws, flexible ropes, etc. can be used to adapt to materials of different shapes and sizes. They can clamp and fix materials by adjusting their own shape and strength, thereby realizing the effective handling of non-rectangular materials. However, in some cases, flexible mechanical claws, flexible ropes, etc. can be used to carry non-rectangular materials, but it is difficult to carry rectangular materials. For rectangular materials, it is easier to effectively grab them directly with mechanical claws. Based on this, when there are rectangular materials and non-rectangular materials on the conveyor belt, two methods of handling are required. In a limited environment, the handling equipment needs to occupy a larger range. In addition, the grabbing mechanical claw can be replaced to reduce the volume of the handling equipment, but replacing the grabbing equipment is not convenient for continuous transmission of the conveyor belt. Summary of the invention

[0005] The object of the present invention is to provide a manipulator type material handling device to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a manipulator type material handling device, comprising a support frame, a telescopic shaft is installed on the support frame, a gripping component for grabbing materials is installed at the lower end of the telescopic shaft, and the gripping component comprises a box body, a box cover, a cylinder and a variable claw;

[0007] The cylinders are provided with four, and the four cylinders are used to control the opening and closing of the variable claws;

[0008] The variable claw includes two cylinders, four groups of U-shaped frames, four groups of U-shaped tubes and multiple groups of transverse belts. The two cylinders are used to control the softness and hardness changes of the four groups of U-shaped frames, and are used to clamp rectangular or non-rectangular materials. The multiple groups of transverse belts are used to control the four groups of U-shaped frames to fit the rectangular or non-rectangular materials when clamping.

[0009] Furthermore, the box body and the box cover are fixedly installed, and the box cover is fixed to the lower end of the telescopic shaft;

[0010] Four slide grooves are provided inside the box body, all of which point to the axis of the box body and are in a cross shape. A clamping block is slidably provided in the slide groove of the box body, and a support column 1 and a support column 2 are respectively fixed in the box body and on the clamping block. The cylinder 1 is provided between the support column 1 and the support column 2 to change the distance between the support column 1 and the support column 2. The lower end of the clamping block is fixed to the U-shaped tube to change the position of the U-shaped tube.

[0011] Furthermore, the support column 1 and the support column 2 are both provided with longitudinal sliding openings, and sliders are fixed to both ends of the cylinder 1, respectively, and the sliders at both ends cooperate with the sliding openings on the support column 1 and the support column 2, respectively.

[0012] Furthermore, the plurality of groups of the transverse belts are transversely fixed between the four groups of U-shaped tubes, the U-shaped tubes are flexible, the transverse belts are elastic, the interior of the U-shaped tubes is fixed with a plurality of sections of longitudinally distributed inner support tubes, and the transverse belts are located between two sections of the inner support tubes;

[0013] An inner operating shaft extending upward is sleeved in the inner support tube of the multiple sections, a clamping block extends upward from the inner operating shaft, and the inner operating shaft is slidably clamped with a U-shaped frame, and the U-shaped frame is used to control the upward and downward telescopic movement of the inner operating shaft, and the four groups of U-shaped frames are fixed to each other in an integrated shape, the cylinder 2 is fixed in the box cover, and the output end of the cylinder 2 is fixed to the U-shaped frame;

[0014] The inner operating shaft is provided with a plurality of hinged parts. When the hinged parts move upward, they are located on the horizontal extension line of the transverse belt. When resetting, the hinged parts are sleeved in the inner supporting tube.

[0015] Furthermore, the transverse belts are respectively fixed on two branches of the U-shaped tube, and the U-shaped tube is used to cooperate with the corners of the material.

[0016] Furthermore, the hinged portion includes a circular end, and the inner operating shaft is divided into multiple sections by multiple hinged portions. A circular end is fixed at one end of one section of the inner operating shaft, and the other end thereof has a circular opening. The circular ends of two adjacent sections of the inner operating shaft cooperate with the circular openings. When the entire inner operating shaft moves upward, the hinged portion is located between the two sections of the inner support tubes.

[0017] Furthermore, the end portions of the multiple sections of the inner operating shaft have chamfers, and the inner edges of both ends of the inner support tube have chamfers, so as to facilitate the movement of the inner operating shaft in the inner support tube.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0019] 1. Four groups of U-shaped tubes are clamped on the four sides of the rectangular material. Under the action of the cylinder, the horizontal belt is stretched and then reset, which can also cover the rectangular material and improve the firmness of the clamping.

[0020] 2. Clamp the non-rectangular material, bend the hinge part and the U-shaped tube, so that the U-shaped tube and the horizontal belt can fit the non-rectangular material better, and flexibly bundle the non-rectangular material. Based on this, it can clamp the rectangular material and the non-rectangular material, and the operation is simple while the material clamping is more stable.

[0021] 3. The U-shaped tube is not elastic, and the ends of the multi-section inner operating shaft are chamfered. The inner edges of both ends of the inner support tube are chamfered, which facilitates the upward-moving hinged part to move back into the inner support tube, so that the U-shaped tube can be vertical again, which is convenient for changing the shape. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the clamping component of the present invention;

[0025] Figure 3 It is a structural schematic diagram of a cylinder of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of cylinder 2 of the present invention;

[0027] Figure 5 is a schematic diagram of the top view of the variable claw structure of the present invention;

[0028] Figure 6 It is a schematic diagram of the variable claw structure of the present invention;

[0029] Figure 7 The present invention Figure 6 A is a schematic diagram of the partially enlarged structure of the middle part;

[0030] Figure 8 It is a schematic diagram of the U-shaped tube structure of the present invention;

[0031] Fig. 9 The present invention Figure 8 Schematic diagram of the partially enlarged structure of B.

[0032] In the figure: 1. support frame; 2. telescopic shaft; 3. clamping component; 31. box body; 311. slide groove; 32. cylinder 1; 321. slider; 322. support column 1; 323. support column 2; 324. slide mouth; 325. clamping block; 33. box cover; 34. variable claw; 341. cylinder 2; 342. U-shaped frame; 343. U-shaped tube; 344. horizontal belt; 345. inner support tube; 346. inner operating shaft; 4. hinged part; 41. round end; 42. round mouth. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1-Figure 9 The present invention provides a technical solution: flexible mechanical claws, flexible ropes, etc. can carry non-rectangular materials. Some smooth rectangular materials will be difficult to carry. When there are rectangular materials and non-rectangular materials on the conveyor belt, they need to be carried. The best way is to use two methods to carry them. In order to reduce the volume of the handling equipment and improve the handling efficiency, a manipulator-type material handling device is proposed based on this, such as Figure 1 As shown, it includes a support frame 1, on which a telescopic shaft 2 is installed. The support frame 1 and the telescopic shaft 2 can be changed in multiple directions to achieve the function of transportation. The lower end of the telescopic shaft 2 is installed with a clamping component 3 for grabbing materials, such as Figure 3 The clamping component 3 includes a box body 31, a box cover 33, a cylinder 32 and a variable claw 34;

[0035] like Figure 2 As shown, during the clamping process, it is necessary to realize the clamping movement, and four cylinders 1 32 are provided, and the four cylinders 1 32 are used to control the opening and closing of the variable claws 34;

[0036] like Figure 4As shown, the variable claw 34 includes a second cylinder 341, four groups of U-shaped frames 342, four groups of U-shaped tubes 343 and multiple groups of transverse belts 344. The second cylinder 341 is used to control the hardness and softness of the four groups of U-shaped frames 342 to clamp rectangular or non-rectangular materials. The multiple groups of transverse belts 344 are used to control the four groups of U-shaped frames 342 to fit the rectangular or non-rectangular materials when clamping. The variable claw 34 can change its hardness and softness to maintain a flexible or rigid state. When the part is far away from the cylinder 1 32 during flexible clamping, the gripping force of the variable claw 34 will be reduced. Therefore, the multiple groups of transverse belts 344 have elastic properties. During the resetting process, the materials can be bundled and the grip can be maintained even in a flexible state. In addition, the variable claw 34 needs to expand and then merge during the clamping movement. Based on this expansion, the variable claw 34 can be in a rigid state, and the variable claw 34 can be expanded to the required degree. During the gripping, it can be in a flexible state and can fit relatively well with the material to limit the material. It can also make the cross belt 344 generate a force, making the gripping more convenient and the operation simpler. It can grip materials of corresponding sizes, and the structure is simpler than other clamping devices, with a low probability of damage.

[0037] like Figure 2 As shown, in order to shield the force-applying component and avoid the influence of dust and impurities, the box body 31 and the box cover 33 are fixedly installed, and the box cover 33 is fixed to the lower end of the telescopic shaft 2;

[0038] like Figure 3 As shown, in order to enable the cylinder 1 32 to perform a clamping movement, four slide grooves 311 are provided inside the box body 31, and the four slide grooves 311 all point to the axis of the box body 31, and the four slide grooves 311 are cross-shaped, and a clamping block 325 is slidably provided in the slide groove 311 of the box body 31, and a support column 1 322 and a support column 2 323 are fixed in the box body 31 and on the clamping block 325, respectively. The cylinder 1 32 is arranged between the support column 1 322 and the support column 2 323, and is used to change the distance between the support column 1 322 and the support column 2 323. The lower end of the clamping block 325 is fixed to the U-shaped tube 343, and is used to change the position of the U-shaped tube 343. The sliding of the clamping block 325 realizes the opening and closing movement of multiple groups of U-shaped tubes 343.

[0039] like Figure 3 As shown, in order to facilitate subsequent maintenance and installation and disassembly, cylinder 1 32 is the main driving element and is easily damaged, so it can be directly separated. Support column 1 322 and support column 2 323 are both provided with longitudinal sliding openings 324, and sliders 321 are respectively fixed at both ends of cylinder 1 32, and the sliders 321 at both ends cooperate with the sliding openings 324 on support column 1 322 and support column 2 323 respectively.

[0040] like Figure 4As shown, multiple groups of transverse belts 344 are transversely fixed between four groups of U-shaped tubes 343, respectively. The U-shaped tubes 343 are flexible, and the transverse belts 344 are elastic. Multiple sections of longitudinally distributed inner support tubes 345 are fixed inside the U-shaped tubes 343. The transverse belts 344 are located between two sections of inner support tubes 345. The transverse belts 344 are elastic belts. When the multiple groups of U-shaped tubes 343 expand, they also expand. When the multiple groups of U-shaped tubes 343 approach each other, they reset. When clamping the material, the clamping force is applied to the material, and the clamping force of the U-shaped tube 343 is also increased. Even if the part of the U-shaped tube 343 far away from the cylinder 1 32 has a strong clamping force;

[0041] like Figure 7 and Fig. 9 As shown, an inner operating shaft 346 extending upward is sleeved in the multi-section inner support tube 345, and the inner operating shaft 346 extends upward out of the clamping block 325, and the inner operating shaft 346 is slidably clamped with the U-shaped frame 342, and the U-shaped frame 342 is used to control the inner operating shaft 346 to move up and down. The four groups of U-shaped frames 342 are fixed to each other in an integrated shape, and the second cylinder 341 is fixed in the box cover 33. The output end of the second cylinder 341 is fixed to the U-shaped frame 342, and the second cylinder 341 is used to control the U-shaped frame 342 to move up and down, so that the inner operating shaft 346 also moves up and down, which is used to change the position of the hinge 4, so that the hinge 4 is sleeved in the inner support tube 345 or located between the two sections of the inner support tube 345, and the softness and hardness of the U-shaped tube 343 are also changed;

[0042] like Fig. 9 As shown, the inner operating shaft 346 has a multi-section hinge part 4. When the hinge part 4 moves upward, it is located on the horizontal extension line of the transverse belt 344. When resetting, the hinge part 4 is sleeved in the inner support tube 345.

[0043] The transverse belt 344 is fixed on the two branches of the U-shaped tube 343 respectively. The U-shaped tube 343 is used to cooperate with the corners of the material. The U-shaped tube 343 can expand and deform under the action of the transverse belt 344. The two branches of the U-shaped tube 343 are pulled toward both sides respectively to increase the clamping surface.

[0044] The hinged portion 4 includes a circular end 41, and the inner operating shaft 346 is divided into multiple sections by the multiple hinged portions 4. A circular end 41 is fixed at one end of one section of the inner operating shaft 346, and a circular opening 42 is provided at the other end thereof. The circular ends 41 of two adjacent sections of the inner operating shaft 346 cooperate with the circular opening 42. When the entire inner operating shaft 346 moves upward, the hinged portion 4 is located between the two sections of the inner supporting tubes 345. The position change of the hinged portion 4 directly controls the softness or hardness of the U-shaped tube 343.

[0045] like Fig. 9As shown, the ends of the multi-section inner operating shaft 346 have chamfers, and the inner edges of both ends of the inner support tube 345 have chamfers to facilitate the movement of the inner operating shaft 346 in the inner support tube 345. When the hinge 4 is located between the two sections of the inner support tube 345, the hinge 4 is in a bent state, and the inner operating shaft 346 extends downward to move into the inner support tube 345. The chamfers can make the movement smoother and avoid jamming of the hinge 4.

[0046] The working principle of the present invention is as follows: the clamping component 3 can move in multiple dimensions through the support frame 1 and the telescopic shaft 2 to transport the material. In the process of clamping the material, the clamping component 3 changes the variable claw 34 at the lower end by telescoping the cylinder 1 32 to clamp the material.

[0047] It should be noted that the four groups of U-shaped tubes 343 are clamped on the four sides of the rectangular material, and the horizontal belt 344 is stretched and then reset, which can also cover the rectangular material and improve the firmness of the clamping.

[0048] Secondly, when encountering a non-rectangular material, it first expands outwards under the action of the cylinder 1 32, and clamps the non-rectangular material, so that the U-shaped tube 343 and the non-rectangular material produce an extrusion effect, and the horizontal belt 344 achieves a bundling effect. Then, the U-shaped frame 342 moves upward under the action of the cylinder 2 341, so that the inner operating shaft 346 moves upward, and the U-shaped tube 343 is limited by the horizontal belt 344 to avoid movement. The hinged part 4 moves upward and moves to between the two sections of the inner support tube 345. Under the action of the horizontal belt 344, the hinged part 4 is bent and the U The U-shaped tube 343 is also bent, so that the U-shaped tube 343 and the horizontal belt 344 can better fit the non-rectangular material, flexibly bundle the non-rectangular material, and ensure movement. After transportation, the non-rectangular material is placed, and then the U-shaped frame 342 is restored downward, and the hinge part 4 of the inner operating shaft 346 is also moved back into the U-shaped tube 343 to make the U-shaped tube 343 vertical. Then the U-shaped tube 343 expands to put down the non-rectangular material. Based on this, rectangular materials and non-rectangular materials can be clamped, the operation is simple, and the material clamping is more stable.

[0049] By setting the U-shaped tube 343 to be non-elastic and the ends of the multi-section inner operating shaft 346 to be chamfered, the inner edges of both ends of the inner support tube 345 are chamfered, so that the upwardly moving hinged part 4 can be moved back into the inner support tube 345, so that the U-shaped tube 343 can be restored to a vertical state, which is convenient for changing the shape.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0051] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A manipulator-type material handling device, comprising a support frame (1), a telescopic shaft (2) being mounted on the support frame (1), a gripping component (3) for gripping materials being mounted at the lower end of the telescopic shaft (2), characterized in that: The gripping component (3) comprises a box body (31), a box cover (33), a cylinder 1 (32) and a variable claw (34); There are four cylinders one (32), and the four cylinders one (32) are used to control the opening and closing of the variable claw (34); The variable claw (34) comprises a second cylinder (341), four groups of U-shaped frames (342), four groups of U-shaped tubes (343) and a plurality of groups of transverse belts (344); the second cylinder (341) is used to control the change in the hardness and softness of the four groups of U-shaped frames (342) for clamping rectangular or non-rectangular materials; the plurality of groups of transverse belts (344) are used to control the four groups of U-shaped frames (342) to fit the rectangular or non-rectangular materials when clamping; The plurality of groups of transverse bands (344) are respectively transversely fixed between the four groups of U-shaped tubes (343); the U-shaped tubes (343) are flexible, the transverse bands (344) are elastic, and the interior of the U-shaped tubes (343) is fixed with a plurality of sections of longitudinally distributed inner support tubes (345); the transverse bands (344) are located between two sections of inner support tubes (345); An inner operating shaft (346) extending upward is sleeved inside the multiple sections of the inner support tube (345); The inner operating shaft (346) has a plurality of hinged portions (4). When the hinged portion (4) moves upward, it is located on the horizontal extension line of the transverse belt (344). When resetting, the hinged portion (4) is sleeved in the inner supporting tube (345). The second cylinder (341) is used to control the up and down movement of the U-shaped frame (342), so that the inner operating shaft (346) also moves up and down, and is used to change the position of the hinge part (4), so that the hinge part (4) is located in the inner support tube (345) or between two sections of the inner support tube (345), and also realizes the change of the hardness and softness of the U-shaped tube (343).

2. The manipulator type material handling device according to claim 1, characterized in that: The box body (31) and the box cover (33) are fixedly mounted, and the box cover (33) is fixed to the lower end of the telescopic shaft (2); Four slide grooves (311) are provided inside the box body (31), the four slide grooves (311) all point to the axis of the box body (31), and the four slide grooves (311) are in a cross shape. A clamping block (325) is slidably provided inside the slide groove (311) of the box body (31), a support column 1 (322) and a support column 2 (323) are fixed inside the box body (31) and on the clamping block (325), respectively, the cylinder 1 (32) is arranged between the support column 1 (322) and the support column 2 (323), and is used to change the distance between the support column 1 (322) and the support column 2 (323), and the lower end of the clamping block (325) is fixed to the U-shaped tube (343), and is used to change the position of the U-shaped tube (343).

3. The manipulator type material handling device according to claim 2, characterized in that: The support column 1 (322) and the support column 2 (323) are both provided with longitudinal sliding openings (324), and sliding blocks (321) are respectively fixed at both ends of the cylinder 1 (32), and the sliding blocks (321) at both ends respectively cooperate with the sliding openings (324) on the support column 1 (322) and the support column 2 (323).

4. The manipulator type material handling device according to claim 2, characterized in that: The inner operating shaft (346) extends upward out of the clamping block (325), and the inner operating shaft (346) is slidably clamped with the U-shaped frame (342). The U-shaped frame (342) is used to control the upward and downward telescopic movement of the inner operating shaft (346). Four groups of the U-shaped frames (342) are fixed to each other in an integrated form. The second cylinder (341) is fixed in the box cover (33), and the output end of the second cylinder (341) is fixed to the U-shaped frame (342).

5. The manipulator type material handling device according to claim 4, characterized in that: The transverse belts (344) are respectively fixed on two branches of the U-shaped tube (343), and the U-shaped tube (343) is used to cooperate with the corners of the material.

6. The manipulator type material handling device according to claim 4, characterized in that: The hinged portion (4) comprises a circular end (41), and the inner operating shaft (346) is divided into multiple sections by the multiple sections of the hinged portion (4). A circular end (41) is fixed at one end of one section of the inner operating shaft (346), and a circular opening (42) is provided at the other end thereof. The circular ends (41) of two adjacent sections of the inner operating shaft (346) cooperate with the circular opening (42), and when the entire inner operating shaft (346) moves upward, the hinged portion (4) is located between the two sections of the inner support tube (345).

7. The manipulator type material handling device according to claim 6, characterized in that: The ends of the multiple sections of the inner operating shaft (346) are chamfered, and the inner edges of both ends of the inner support tube (345) are chamfered, so that the inner operating shaft (346) can be easily moved inside the inner support tube (345).

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