A port wheeled electro-hydraulic grabber with adaptive clamp

Abstract

The present invention discloses a port wheeled electro-hydraulic grabber with an adaptive clamp, which relates to the technical field of grabbers and comprises a vehicle frame, an anti-dumping unit, a cleaning unit and a buffer unit, wherein the vehicle frame is used for installing and fixing the anti-dumping unit, the cleaning unit and the buffer unit, the anti-dumping unit is used for preventing the grabber from tipping over and deviating when it is working to grab heavy objects, the cleaning unit is used for self-cleaning of the clamp, and the buffer unit is used for preventing damage to the object caused by excessive impact force when the clamp grabs the object, when the vehicle frame travels to the port to work, in the process of clamping heavy objects, the anti-dumping unit is used to prevent the grabber from deviating and tipping over due to excessive weight of the object, when performing underwater sludge processing, the self-cleaning unit is used to clean the clamp to prevent long-term working sludge from accumulating on the clamp, reducing the clamping volume and affecting the work efficiency, and at the same time, the buffer unit is used to prevent damage to the object caused by excessive clamping force of the clamp during the material picking process.

Description

Technical Field

[0001] The invention relates to the technical field of material grabbers, in particular to a port wheel-type electro-hydraulic material grabber with an adaptive clamp. Background Art

[0002] As global trade is booming, ports, as key hubs for sea and land transportation, bear the heavy responsibility of loading, unloading and transshipping massive amounts of cargo. Among them, grabbers are indispensable equipment for port material handling, and their operating efficiency and quality are directly related to port throughput and operating costs. However, with the diversification of port business, the types of cargo are becoming more and more complex, including loose sludge, heavy metal components, large containers and other heavy objects. The existing grabber technology has exposed many shortcomings and is difficult to meet the stringent requirements of efficient, safe and precise operations.

[0003] The port operation site is complex and changeable, the ground bearing capacity is uneven, the grabber frequently moves, turns and performs grabbing actions, and the center of gravity of the whole machine is always in dynamic change, which is very easy to cause dumping due to loss of control of the center of gravity. Once dumped, not only will the equipment be seriously damaged and the repair cost will be high, but it may also damage the surrounding goods and facilities, and even threaten the lives of operators, leading to the stagnation of port operations, causing huge economic losses and adverse social impacts.

[0004] The material grabber operates at a high intensity for a long time, and the clamps frequently contact various materials, so it is inevitable that they are contaminated with a lot of dirt and debris. Port sludge is rich in sediment, microorganisms and chemical impurities. After adhering to the clamps, it quickly dries and forms stubborn stains. Dust and oil carried by heavy objects will also accumulate layer by layer. Existing material grabbers lack efficient self-cleaning functions. The accumulation of dirt causes the friction of the clamping surface of the clamp to decrease, affecting the grasping effect, and also accelerates the wear of the clamps and shortens their service life. Manual cleaning of the clamps is time-consuming and labor-intensive, which seriously interferes with the normal operation rhythm of the port. In addition, personnel are close to the equipment during cleaning operations, which poses many safety hazards.

[0005] When grabbing fragile goods such as boxes and precision equipment, the existing gripper clamps are stiff and lack buffer protection measures. The clamps are closed instantly and exert a large clamping force, which can easily cause the box to deform and break, and the internal parts to shift. For goods with coated surfaces and high requirements for finish, rigid clamping will scratch the paint surface and damage the product's appearance and protective performance. In addition, the vibration and impact during loading and unloading are directly transmitted to the clamped objects through the clamps, further increasing the risk of damage to the goods, reducing the integrity rate of the goods, and causing disputes between cargo owners and port operators. Summary of the invention

[0006] The object of the present invention is to provide a port wheel type electro-hydraulic material grabber with an adaptive clamp to solve the problems raised in the prior art.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The port wheeled electro-hydraulic grabber with an adaptive clamp includes a frame, an anti-dumping unit, a cleaning unit and a buffer unit. The frame is placed on a horizontal basis, the anti-dumping unit is fixedly mounted on the frame, the cleaning unit is fixedly mounted on the frame, the cleaning unit has a self-cleaning function, the buffer unit is fixedly connected to the cleaning unit, and the buffer unit has the function of buffering the clamping force of the clamped object and self-adjusting the clamping force.

[0009] The frame is used to install and fix the anti-dump unit, the cleaning unit and the buffer unit. The anti-dump unit is used to prevent the grabber from tipping over and deviating when grabbing heavy objects. The cleaning unit is used for self-cleaning of the clamp. The buffer unit is used to avoid damage to the objects caused by excessive impact force when the clamp grabs objects. When the frame drives to the port to work, during the process of clamping heavy objects, the anti-dump unit is used to prevent the grabber from deviating and tipping over due to excessive weight of objects. When performing underwater sludge treatment, the self-cleaning unit is used to clean the clamp to avoid long-term work sludge accumulation on the clamp, reducing the clamping volume and affecting work efficiency. At the same time, the buffer unit is used to prevent damage to the objects caused by excessive clamping force of the clamp during the material picking process.

[0010] Furthermore, a cockpit is provided on the frame, a controller is provided on the frame, a lifting arm is provided on the frame, the lifting arm is fixedly connected to the cleaning unit, a pressure sensor is provided at the contact end of the lifting arm and the cleaning unit, and a driving wheel is provided at the bottom of the frame.

[0011] The cockpit is used for the driver to control the operation of the grabber, the controller is used to provide power and energy, the lifting arm is used for the lifting and lowering of the clamp, and the driving wheel is used to adjust the position of the frame.

[0012] Furthermore, the anti-dumping unit includes an installation box, a balance bar, a rotating plate, a return spring, an electric telescopic rod and a balance block. The installation box is fixedly installed on the surface of one end of the frame close to the horizontal foundation, the balance bar is rotatably installed on the inner walls at both ends of the installation box, the balance bar is fixedly installed in the middle of the rotating plate, one end of the return spring is fixedly connected to the inner surface of one end of the installation box close to the horizontal foundation, and the other end is fixedly connected to one end of the rotating plate, the fixed end of the electric telescopic rod is fixedly connected to the end surface of one end of the frame close to the horizontal foundation, the telescopic end of the electric telescopic rod is fixedly connected to the end surface of one end of the rotating plate away from the horizontal foundation, the electric telescopic rod is located above the return spring, and the balance block is slidably installed on the rotating plate.

[0013] When the gripper is grabbing items, when the pressure sensor detects that it exceeds the preset value, the controller will supply current to the electric telescopic rod, which will then extend, thereby pushing the turntable to tilt and compressing the return spring to contract, causing the balance block to move to the right, so that the left and right sides of the frame are balanced, avoiding the phenomenon of the frame shifting and tipping due to the excessive weight of the clamped items, which would cause a safety hazard.

[0014] Furthermore, the cleaning unit includes a hydraulic rod, a first connecting rod, a second connecting rod, a connecting block, a grab, a scraper, a vibration motor, a straight rod 1, a gear, a paddle, a first conductive plate and a second conductive plate. The fixed end of the hydraulic rod is fixedly mounted on the lifting arm, the telescopic end of the hydraulic rod is fixedly connected to the connecting block, the first connecting rod is fixedly connected to the lifting arm through the connecting plate, the second connecting rod is fixedly mounted on the inner walls on both sides of the grab, the connecting block is fixedly mounted on the middle of the second connecting rod, the grab is rotatably mounted on the first connecting rod, the scraper is rotatably mounted in the grab through a straight rod 1, the vibration motor is fixedly mounted on the scraper, one end of the straight rod 1 located outside the grab is fixedly connected to the gear, one end of the paddle plate is rotatably mounted on the straight rod 2, and the other end is located in the tooth groove of the gear, the first conductive plate is fixedly mounted on one end of the paddle plate close to the horizontal base, the second conductive plate is fixedly connected to the flat plate through a telescopic spring 1, the first conductive plate is electrically connected to the electromagnet, the grab is provided with a rectangular notch, and the grab is fixedly connected to the buffer unit.

[0015] Furthermore, the cleaning unit also includes straight rod two, telescopic spring one, connecting rod, electromagnet, magnetic block, straight cylinder, knocking block, water pipe, telescopic spring two, third connecting rod, quartz block and flat plate, straight rod two is fixedly installed on the outer surface of the grab bucket, one end of the connecting rod is fixedly connected to straight rod one, and the other end is fixedly connected to the electromagnet, the electromagnet is connected to the magnetic block through a spring, the magnetic block is fixedly installed on the bottom of the straight cylinder, the electromagnet is slidably connected to the straight cylinder, the straight cylinder is fixedly connected to the water pipe, the knocking block is evenly fixedly installed on the water pipe, one end of the telescopic spring two is fixedly connected to the outer surface of the straight cylinder, and the other end is fixedly connected to the third connecting rod, the third connecting rod is fixedly installed on the outer surface of the grab bucket, the quartz block is fixedly installed on one end of the grab bucket close to the horizontal foundation, the flat plate is fixedly installed on straight rod two, the quartz block is electrically connected to the vibration motor, and telescopic spring two is a memory deformation spring.

[0016] When cleaning the sludge in the port, the lifting arm drives the grab bucket to descend to the processing area, and the controller controls the hydraulic rod to extend, thereby driving the grab bucket to rotate around the first connecting rod under the action of the second connecting rod, so that the two grab buckets are close to each other and closed, thereby clamping the sludge. In this process, the controller supplies current to the second telescopic spring, and the second telescopic spring expands after receiving the current, thereby driving the water pipe and the knocking block to rotate upward. When the lifting arm drives the grab bucket to the sludge storage area, the controller controls the hydraulic rod to contract, thereby driving the grab bucket to rotate in the opposite direction around the first connecting rod under the transmission action of the connecting block and the second connecting rod, so that the grab bucket opens and removes the sludge. At this time, the controller stops supplying current to the second telescopic spring, and the second telescopic spring gradually shrinks and resets to the initial position, thereby driving the gear to rotate under the action of the connecting rod. On the one hand, the gear rotates the extrusion plate to drive the first conductive plate to periodically contact the second conductive plate. When the first conductive plate contacts the second conductive plate, the current of the controller is transmitted to the first conductive plate through the second conductive plate. The plate is finally delivered to the electromagnet, so that the electromagnet is energized to produce the same polarity as the magnetic block. Under the effect of like charges repelling each other, the magnetic block drives the straight cylinder away from the electromagnet, and at this time the straight cylinder drives the knocking block away from the grab bucket. When the first conductive plate is not in contact with the second conductive plate, the magnetic block drives the straight cylinder close to the electromagnet under the action of the spring. At this time, the knocking block contacts the grab bucket again, thereby knocking the grab bucket to generate vibration, so that the dirt and impurities with strong adhesion inside the grab bucket are shaken off, and at the same time the water pipe sprays water on the outer wall of the grab bucket Cleaning, improving the cleaning effect of sludge, on the other hand, the rotation of the gear drives the straight rod to rotate, so that the scraper scrapes the sludge on the inner wall of the grab bucket to prevent the sludge from adhering to the grab bucket. After the scraper rotates to the limit position, it stops rotating. When the knocking block rotates to the bottom of the grab bucket and contacts the quartz block, the current generated by the knocking block hitting the quartz block is transmitted to the vibration motor, thereby controlling the start of the vibration motor, so that the scraper vibrates, and the sludge attached to the scraper surface is shaken off, thereby improving the next time the scraper cleans the inner wall of the grab bucket.

[0017] Furthermore, the buffer unit includes a buffer spring, a guide rod, a coil, a slide cylinder and a buffer baffle, one end of the buffer spring is fixedly installed at the rectangular notch of the grab bucket, and the other end is fixedly connected to the buffer baffle, one end of the guide rod is fixedly installed at the rectangular notch of the grab bucket, and the other end is slidably connected to the slide cylinder, the coil is evenly wound on the outer surface of the guide rod, the slide cylinder is fixedly connected to the buffer baffle, a conductive ring sheet is arranged in the slide cylinder, and the conductive ring sheet in the slide cylinder is electrically connected to the buffer spring.

[0018] When the grab grabs large sludge blocks or stones with irregular surfaces, the bottom of the grab cannot be completely closed. At this time, under the action of the large and irregular clamped objects, the buffer baffle pushes the slide cylinder on the guide rod to shorten the moving distance. At this time, the effective number of turns of the coil decreases, so the resistance becomes smaller, and the current passed into the buffer spring becomes larger, so that the buffer spring receives the current and expands and elongates, thereby pushing the large baffle to flip, increasing the contact area with the sludge blocks or stones, thereby improving the clamping force of the grab, improving the grasping effect, and avoiding the occurrence of clamping falling off. At the same time, during the clamping process of the grab, the impact force of the grab can be slowly removed under the action of the buffer spring, and will not directly act on the clamped object, thereby avoiding damage to the clamped object and avoiding disputes.

[0019] Furthermore, the buffer spring is a memory spring, and the end of the coil close to the buffer baffle is a current transmission end.

[0020] In order to enable the buffer spring to eliminate the impact clamping force of the grab bucket and protect the clamped object from damage, when clamping objects with irregular surfaces, the effective number of turns of the coil is changed to adjust the contact area between the buffer baffle and the clamped object, thereby improving the clamping efficiency while avoiding the risk of falling and eliminating safety hazards.

[0021] Furthermore, the maximum rotation angle of the knocking block is smaller than the maximum rotation angle of the scraper.

[0022] The knocking block always knocks the grab in front of the scraper to shake off or loosen the dirt with strong adhesion on the inner wall of the grab in advance, thereby improving the scraping effect of the scraper on the dirt.

[0023] Furthermore, the water pipe is provided with a plurality of nozzles, the angle of the nozzles is always 150 degrees with the tangent line of the outer surface of the grab bucket, and the direction is horizontal and downward.

[0024] This angle setting allows the sprayed water to flow along the curved surface, reducing splashing and rebound of the water flow, thereby more effectively immersing the entire curved surface in the water flow, achieving a more comprehensive flushing and avoiding cleaning dead corners. The horizontal downward water spray direction is combined with a specific tangent angle so that the water flow has a certain tangential force when impacting the curved surface, which can better wash away stubborn stains, dust and impurities attached to the curved surface.

[0025] Furthermore, the buffer baffle is composed of a large baffle and a small baffle rotatably connected, the buffer spring is fixedly connected to the large baffle, and the slide cylinder is fixedly connected to the small baffle.

[0026] In order to make the grab bucket adapt to the clamped objects with irregular surfaces, the contact area with the clamped objects is increased, thereby improving the clamping force of the grab bucket, ensuring the grasping ability while avoiding the situation where the clamped objects fall off due to insufficient clamping force.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention gradually shrinks and resets to the initial position through the telescopic spring 2, thereby driving the gear to rotate under the action of the connecting rod. On the one hand, the gear rotates to squeeze the dial plate to drive the first conductive plate to periodically contact the second conductive plate. When the first conductive plate contacts the second conductive plate, the electromagnet is energized to generate the same polarity as the magnetic block, pushing the magnetic block to drive the straight cylinder away from the electromagnet. At this time, the straight cylinder drives the knocking block away from the grab. When the first conductive plate is not in contact with the second conductive plate, the magnetic block drives the straight cylinder close to the electromagnet under the action of the spring, driving the knocking block to contact the grab again, thereby pressing the grab. The knocking generates vibration, which shakes off the dirt and impurities with strong adhesion inside the grab bucket. At the same time, the water pipe sprays water to clean the outer wall of the grab bucket to improve the sludge cleaning effect. On the other hand, the rotation of the gear drives the straight rod to rotate, so that the scraper scrapes the sludge on the inner wall of the grab bucket. When the knocking block rotates to the bottom of the grab bucket and contacts the quartz block, the current generated by the knocking block hitting the quartz block is transmitted to the vibration motor, thereby controlling the vibration motor to start, causing the scraper to vibrate, shaking off the sludge attached to the scraper surface, and improving the next time the scraper cleans the inner wall of the grab bucket.

[0029] 2. When the grab bucket grabs a large-volume sludge block or stone with an irregular surface, the bottom of the grab bucket cannot be completely closed. At this time, under the action of the large-volume irregular clamped object, the buffer baffle pushes the slide tube to move on the guide rod, changing the effective number of turns of the coil, so that the buffer spring expands or shortens, and the large baffle flips over, increasing the contact area with the sludge block or stone, thereby improving the clamping force of the grab bucket, improving the grasping effect, and avoiding the clamping falling off. At the same time, during the clamping process of the grab bucket, the impact force of the grab bucket can be slowly unloaded under the action of the buffer spring, and will not directly act on the clamped object, thereby avoiding damage to the clamped object and avoiding disputes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall appearance structure of a port wheel type electro-hydraulic material grabber with an adaptive clamp according to the present invention;

[0031] Figure 2 It is a side view structural schematic diagram of a port wheel type electro-hydraulic material grabber with an adaptive clamp according to the present invention;

[0032] Figure 3 It is a schematic diagram of the overall appearance structure of a cleaning unit of a port wheel type electro-hydraulic material grabber with an adaptive clamp according to the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of a partial cleaning unit of a port wheel type electro-hydraulic material grabber with an adaptive clamp according to the present invention;

[0034] Figure 5 The invention provides a port wheel type electro-hydraulic material grabber with an adaptive clamp. Figure 4 Another perspective structural diagram of;

[0035] Figure 6 The invention provides a port wheel type electro-hydraulic material grabber with an adaptive clamp. Figure 5 A schematic diagram of the partially enlarged structure at center A;

[0036] Figure 7 It is a schematic diagram of the installation position structure of the paddle plate, the flat plate and the straight rod of a port wheel type electro-hydraulic material grabber with an adaptive clamp according to the present invention;

[0037] Figure 8 It is a schematic diagram of the internal structure of an installation box of a port wheel-type electro-hydraulic material grabber with an adaptive clamp according to the present invention;

[0038] Fig. 9 The present invention is a schematic diagram of the internal structure of a straight barrel of a port wheel type electro-hydraulic material grabber with an adaptive clamp.

[0039] In the figure: 1, frame; 11, cockpit; 12, controller; 13, lifting arm; 14, driving wheel; 2, anti-dumping unit; 21, installation box; 22, balance bar; 23, turn plate; 24, return spring; 25, electric telescopic rod; 26, balance block; 3, cleaning unit; 31, hydraulic rod; 32, first connecting rod; 33, second connecting rod; 34, connecting block; 35, grab bucket; 36, scraper; 37, vibration motor; 38, straight rod 1; 39, gear; 31 0. Paddle; 311. First conductive plate; 312. Second conductive plate; 313. Second straight rod; 314. First telescopic spring; 315. Connecting rod; 316. Electromagnet; 317. Magnetic block; 318. Straight cylinder; 319. Striking block; 320. Water pipe; 321. Second telescopic spring; 322. Third connecting rod; 323. Quartz block; 324. Flat plate; 4. Buffer unit; 41. Buffer spring; 42. Guide rod; 43. Coil; 44. Sliding cylinder; 45. Buffer baffle. DETAILED DESCRIPTION

[0040] 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.

[0041] Example: Figure 1-Figure 9 As shown, the present invention provides a technical solution:

[0042] like Figure 1 , 4 As shown, a port wheeled electro-hydraulic grabber with an adaptive clamp includes a frame 1, an anti-dumping unit 2, a cleaning unit 3 and a buffer unit 4. The frame 1 is placed on a horizontal basis, the anti-dumping unit 2 is fixedly mounted on the frame 1, the cleaning unit 3 is fixedly mounted on the frame 1, the cleaning unit 3 has a self-cleaning function, the buffer unit 4 is fixedly connected to the cleaning unit 3, and the buffer unit 4 has the functions of buffering the clamping force of the clamped object and self-adjusting the clamping force.

[0043] The frame 1 is used to install and fix the anti-dump unit 2, the cleaning unit 3 and the buffer unit 4. The anti-dump unit 2 is used to prevent the grabber from tipping over and deviating when grabbing heavy objects. The cleaning unit 3 is used for self-cleaning of the clamp. The buffer unit 4 is used to prevent the clamp from clamping objects with excessive impact force and causing damage to the objects. When the frame 1 travels to the port to work, during the process of clamping heavy objects, the anti-dump unit 2 is used to prevent the grabber from deviating and tipping over due to excessive weight of the objects. During underwater sludge processing, the clamp is cleaned by the self-cleaning unit 3 to prevent long-term work sludge from accumulating on the clamp, reducing the clamping volume and affecting the work efficiency. At the same time, during the material picking process, the buffer unit 4 is used to prevent the clamp from clamping objects with excessive clamping force and causing damage to the objects.

[0044] like Figure 2 As shown, a cockpit 11 is provided on the frame 1, a controller 12 is provided on the frame 1, a lifting arm 13 is provided on the frame 1, the lifting arm 13 is fixedly connected to the cleaning unit 3, a pressure sensor is provided at the contact end of the lifting arm 13 and the cleaning unit 3, and a driving wheel 14 is provided at the bottom of the frame 1.

[0045] The cockpit 11 is used for the driver to control the operation of the material grabber, the controller 12 is used to provide power and energy, the lifting arm 13 is used for the lifting and lowering action of the clamp, and the driving wheel 14 is used to adjust the position of the frame 1.

[0046] like Figure 2 , 8 As shown, the anti-dumping unit 2 includes an installation box 21, a balancing bar 22, a rotating plate 23, a return spring 24, an electric telescopic rod 25 and a balancing block 26. The installation box 21 is fixedly installed on the surface of one end of the frame 1 close to the horizontal foundation, the balancing bar 22 is rotatably installed on the inner walls at both ends of the installation box 21, the balancing bar 22 is fixedly installed in the middle of the rotating plate 23, one end of the return spring 24 is fixedly connected to the inner surface of one end of the installation box 21 close to the horizontal foundation, and the other end is fixedly connected to one end of the rotating plate 23, the fixed end of the electric telescopic rod 25 is fixedly connected to the end face of one end of the frame 1 close to the horizontal foundation, the telescopic end of the electric telescopic rod 25 is fixedly connected to the end face of one end of the rotating plate 23 away from the horizontal foundation, the electric telescopic rod 25 is located above the return spring 24, and the balancing block 26 is slidably installed on the rotating plate 23.

[0047] When the gripper is grabbing an item, when the pressure sensor detects that the pressure exceeds the preset value, the controller 12 supplies current to the electric telescopic rod 25, which then extends, thereby pushing the rotating plate 23 to tilt and compressing the return spring 24 to contract, causing the balance block 26 to move to the right, so that the left and right sides of the frame 1 are balanced, avoiding the phenomenon that the frame 1 is offset and overturned due to the excessive weight of the clamped item, thereby causing a safety hazard.

[0048] like Figure 3 , 4 As shown in Figure 7, the cleaning unit 3 includes a hydraulic rod 31, a first connecting rod 32, a second connecting rod 33, a connecting block 34, a grab bucket 35, a scraper 36, a vibration motor 37, a straight rod 38, a gear 39, a dial plate 310, a first conductive plate 311 and a second conductive plate 312. The fixed end of the hydraulic rod 31 is fixedly mounted on the lifting arm 13, the telescopic end of the hydraulic rod 31 is fixedly connected to the connecting block 34, the first connecting rod 32 is fixedly connected to the lifting arm 13 through the connecting plate, the second connecting rod 33 is fixedly mounted on the inner walls on both sides of the grab bucket 35, the connecting block 34 is fixedly mounted in the middle of the second connecting rod 33, and the grab bucket 35 is rotatably mounted on the first On the connecting rod 32, the scraper 36 is rotatably installed in the grab 35 through the straight rod 1 38, the vibration motor 37 is fixedly installed on the scraper 36, the end of the straight rod 1 38 located outside the grab 35 is fixedly connected to the gear 39, one end of the dial plate 310 is rotatably installed on the straight rod 2 313, and the other end is located in the tooth groove of the gear 39, the first conductive plate 311 is fixedly installed on the end of the dial plate 310 close to the horizontal foundation, the second conductive plate 312 is fixedly connected to the flat plate 324 through the telescopic spring 1 314, the first conductive plate 311 is electrically connected to the electromagnet 316, the grab 35 is provided with a rectangular notch, and the grab 35 is fixedly connected to the buffer unit 4.

[0049] like Figure 3 , 4As shown in , 5, 7, and 9, the cleaning unit 3 also includes a straight rod 2 313, a telescopic spring 1 314, a connecting rod 315, an electromagnet 316, a magnetic block 317, a straight tube 318, a knocking block 319, a water pipe 320, a telescopic spring 2 321, a third connecting rod 322, a quartz block 323 and a flat plate 324. The straight rod 2 313 is fixedly installed on the outer surface of the grab bucket 35, one end of the connecting rod 315 is fixedly connected to the straight rod 1 38, and the other end is fixedly connected to the electromagnet 316. The electromagnet 316 is connected to the magnetic block 317 through a spring, and the magnetic block 317 is fixedly installed at the bottom of the straight tube 318. The electromagnet 316 is slidably connected to the straight cylinder 318, the straight cylinder 318 is fixedly connected to the water pipe 320, the knocking block 319 is evenly fixedly installed on the water pipe 320, one end of the telescopic spring 321 is fixedly connected to the outer surface of the straight cylinder 318, and the other end is fixedly connected to the third connecting rod 322, the third connecting rod 322 is fixedly installed on the outer surface of the grab bucket 35, the quartz block 323 is fixedly installed on one end of the grab bucket 35 close to the horizontal foundation, the flat plate 324 is fixedly installed on the straight rod 313, the quartz block 323 is electrically connected to the vibration motor 37, and the telescopic spring 321 is a memory deformation spring.

[0050] When cleaning the sludge in the port, the lifting arm 13 drives the grab bucket 35 to descend to the processing area, and the controller 12 controls the hydraulic rod 31 to extend, thereby driving the grab bucket 35 to rotate around the first connecting rod 32 under the action of the second connecting rod 33, so that the two grab buckets 35 are close to each other and closed, thereby clamping the sludge. In this process, the controller 12 supplies current to the telescopic spring 2 321, and the telescopic spring 2 321 expands after receiving the current, thereby driving the water pipe 320 and the knocking block 319 to rotate upward. When the lifting arm 13 drives the grab bucket 35 to the sludge storage area, the controller 12 controls the hydraulic rod 31 to contract, so that the connection block 3 4 and the second connecting rod 33 drive the grab bucket 35 to rotate in the opposite direction around the first connecting rod 32, so that the grab bucket 35 is opened and the sludge is removed. At this time, the controller 12 stops transmitting current to the telescopic spring 2 321, and the telescopic spring 2 321 gradually shrinks and resets to the initial position, thereby driving the gear 39 to rotate under the action of the connecting rod 315. On the one hand, the gear 39 rotates the extrusion plate 310 to drive the first conductive plate 311 to periodically contact with the second conductive plate 312. When the first conductive plate 311 contacts with the second conductive plate 312, the current of the controller 12 is transmitted to the first conductive plate 311 through the second conductive plate 312, and finally The electric current is transmitted to the electromagnet 316, so that the electromagnet 316 is energized to generate the same polarity as the magnetic block 317. Under the effect of like charges repelling each other, the magnetic block 317 drives the straight cylinder 318 away from the electromagnet 316. At this time, the straight cylinder 318 drives the knocking block 319 away from the grab bucket 35. When the first conductive plate 311 and the second conductive plate 312 are not in contact, the magnetic block 317 drives the straight cylinder 318 close to the electromagnet 316 under the action of the spring. At this time, the knocking block 319 contacts the grab bucket 35 again, thereby knocking the grab bucket 35 to generate vibration, so that the dirt and impurities with strong adhesion inside the grab bucket 35 are shaken off. At the same time, the water pipe 320 The outer wall is sprayed with water to clean it, thereby improving the cleaning effect of the sludge. On the other hand, the rotation of the gear 39 drives the straight rod 38 to rotate, so that the scraper 36 scrapes the sludge on the inner wall of the grab bucket 35 to prevent the sludge from adhering to the grab bucket 35. After the scraper 36 rotates to the extreme position, it stops rotating. When the knocking block 319 rotates to the bottom of the grab bucket 35 and contacts the quartz block 323, the current generated by the knocking block 319 hitting the quartz block 323 is transmitted to the vibration motor 37, thereby controlling the vibration motor 37 to start, so that the scraper 36 vibrates, and the sludge attached to the surface of the scraper 36 is shaken off, thereby improving the cleaning effect of the scraper 36 on the inner wall of the grab bucket 35 next time.

[0051] like Figure 6As shown, the buffer unit 4 includes a buffer spring 41, a guide rod 42, a coil 43, a slide 44 and a buffer baffle 45. One end of the buffer spring 41 is fixedly installed at the rectangular notch of the grab bucket 35, and the other end is fixedly connected to the buffer baffle 45. One end of the guide rod 42 is fixedly installed at the rectangular notch of the grab bucket 35, and the other end is slidably connected to the slide 44. The coil 43 is evenly wound on the outer surface of the guide rod 42. The slide 44 is fixedly connected to the buffer baffle 45. A conductive ring sheet is arranged inside the slide 44, and the conductive ring sheet inside the slide 44 is electrically connected to the buffer spring 41.

[0052] When the grab 35 grabs a large sludge block or stone with an irregular surface, the bottom of the grab 35 cannot be completely closed. At this time, under the action of the large and irregular clamped object, the buffer baffle 45 pushes the slide 44 to move a shorter distance on the guide rod 42. At this time, the effective number of turns of the coil 43 decreases, so that the resistance decreases, and the current passed into the buffer spring 41 increases, so that the buffer spring 41 receives the current and expands and stretches, thereby pushing the large baffle to flip, increasing the contact area with the sludge block or stone, thereby improving the clamping force of the grab 35, improving the grasping effect, and avoiding the clamping falling off. At the same time, during the clamping process of the grab 35, under the action of the buffer spring 41, the impact force of the grab 35 can be slowly unloaded, and will not directly act on the clamped object, thereby avoiding damage to the clamped object and avoiding disputes.

[0053] like Figure 6 As shown, the buffer spring 41 is a memory spring, and the end of the coil 43 close to the buffer baffle 45 is a current transmission end.

[0054] In order to enable the buffer spring 41 to eliminate the impact clamping force of the grab bucket 35 and protect the clamped object from damage, when clamping objects with irregular surfaces, the effective number of turns of the coil 43 is changed to adjust the contact area between the buffer baffle 45 and the clamped object, thereby improving the clamping efficiency while avoiding the risk of falling and eliminating safety hazards.

[0055] like Figure 3 As shown, the maximum rotation angle of the knocking block 319 is smaller than the maximum rotation angle of the scraper 36.

[0056] The knocking block 319 always knocks the grab bucket 35 in front of the scraper 36 to shake off or loosen the dirt with strong adhesion on the inner wall of the grab bucket 35 in advance, thereby improving the scraping effect of the scraper 36 on the dirt.

[0057] like Figure 3 As shown, the water pipe 320 is provided with multiple groups of nozzles, the angle of the nozzles is always 150 degrees with the tangent line of the outer surface of the grab bucket 35, and the direction is horizontal and downward.

[0058] This angle setting allows the sprayed water to flow along the curved surface, reducing splashing and rebound of the water flow, thereby more effectively immersing the entire curved surface in the water flow, achieving a more comprehensive flushing and avoiding cleaning dead corners. The horizontal downward water spray direction is combined with a specific tangent angle so that the water flow has a certain tangential force when impacting the curved surface, which can better wash away stubborn stains, dust and impurities attached to the curved surface.

[0059] like Figure 6 As shown, the buffer baffle 45 is composed of a large baffle and a small baffle rotatably connected, the buffer spring 41 is fixedly connected to the large baffle, and the slide cylinder 44 is fixedly connected to the small baffle.

[0060] In order to make the grab bucket 35 adapt to the clamped objects with irregular surfaces, the contact area with the clamped objects is increased, thereby improving the clamping force of the grab bucket 35, ensuring the grasping ability while avoiding the situation where the clamped objects fall off due to insufficient clamping force.

[0061] Working principle of the present invention:

[0062] When the gripper is grabbing an item, when the pressure sensor detects that the pressure exceeds the preset value, the controller 12 supplies current to the electric telescopic rod 25, which then extends, thereby pushing the rotating plate 23 to tilt and compressing the return spring 24 to contract, causing the balance block 26 to move to the right, so that the left and right sides of the frame 1 are balanced, avoiding the phenomenon that the frame 1 is offset and overturned due to the excessive weight of the clamped item, thereby causing a safety hazard.

[0063] When cleaning the sludge in the port, the lifting arm 13 drives the grab bucket 35 to descend to the processing area, and the controller 12 controls the hydraulic rod 31 to extend, thereby driving the grab bucket 35 to rotate around the first connecting rod 32 under the action of the second connecting rod 33, so that the two grab buckets 35 are close to each other and closed, thereby clamping the sludge. In this process, the controller 12 supplies current to the telescopic spring 2 321, and the telescopic spring 2 321 expands after receiving the current, thereby driving the water pipe 320 and the knocking block 319 to rotate upward. When the lifting arm 13 drives the grab bucket 35 to the sludge storage area, the controller 12 controls the hydraulic rod 31 to contract, so that the connection block 3 4 and the second connecting rod 33 drive the grab bucket 35 to rotate in the opposite direction around the first connecting rod 32, so that the grab bucket 35 is opened and the sludge is removed. At this time, the controller 12 stops transmitting current to the telescopic spring 2 321, and the telescopic spring 2 321 gradually shrinks and resets to the initial position, thereby driving the gear 39 to rotate under the action of the connecting rod 315. On the one hand, the gear 39 rotates the extrusion plate 310 to drive the first conductive plate 311 to periodically contact with the second conductive plate 312. When the first conductive plate 311 contacts with the second conductive plate 312, the current of the controller 12 is transmitted to the first conductive plate 311 through the second conductive plate 312, and finally The electric current is transmitted to the electromagnet 316, so that the electromagnet 316 is energized to generate the same polarity as the magnetic block 317. Under the effect of like charges repelling each other, the magnetic block 317 drives the straight cylinder 318 away from the electromagnet 316. At this time, the straight cylinder 318 drives the knocking block 319 away from the grab bucket 35. When the first conductive plate 311 and the second conductive plate 312 are not in contact, the magnetic block 317 drives the straight cylinder 318 close to the electromagnet 316 under the action of the spring. At this time, the knocking block 319 contacts the grab bucket 35 again, thereby knocking the grab bucket 35 to generate vibration, so that the dirt and impurities with strong adhesion inside the grab bucket 35 are shaken off. At the same time, the water pipe 320 The outer wall is sprayed with water to clean it, thereby improving the cleaning effect of the sludge. On the other hand, the rotation of the gear 39 drives the straight rod 38 to rotate, so that the scraper 36 scrapes the sludge on the inner wall of the grab bucket 35 to prevent the sludge from adhering to the grab bucket 35. After the scraper 36 rotates to the extreme position, it stops rotating. When the knocking block 319 rotates to the bottom of the grab bucket 35 and contacts the quartz block 323, the current generated by the knocking block 319 hitting the quartz block 323 is transmitted to the vibration motor 37, thereby controlling the vibration motor 37 to start, so that the scraper 36 vibrates, and the sludge attached to the surface of the scraper 36 is shaken off, thereby improving the cleaning effect of the scraper 36 on the inner wall of the grab bucket 35 next time.

[0064] When the grab 35 grabs a large sludge block or stone with an irregular surface, the bottom of the grab 35 cannot be completely closed. At this time, under the action of the large and irregular clamped object, the buffer baffle 45 pushes the slide 44 to move a shorter distance on the guide rod 42. At this time, the effective number of turns of the coil 43 decreases, so that the resistance decreases, and the current passed into the buffer spring 41 increases, so that the buffer spring 41 receives the current and expands and stretches, thereby pushing the large baffle to flip, increasing the contact area with the sludge block or stone, thereby improving the clamping force of the grab 35, improving the grasping effect, and avoiding the clamping falling off. At the same time, during the clamping process of the grab 35, under the action of the buffer spring 41, the impact force of the grab 35 can be slowly unloaded, and will not directly act on the clamped object, thereby avoiding damage to the clamped object and avoiding disputes.

[0065] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A port wheeled electro-hydraulic grabber with an adaptive clamp, characterized in that: The port wheeled electro-hydraulic material grabber with an adaptive clamp comprises a frame (1), an anti-dumping unit (2), a cleaning unit (3) and a buffer unit (4); the frame (1) is placed on a horizontal foundation; the anti-dumping unit (2) is fixedly mounted on the frame (1); the cleaning unit (3) is fixedly mounted on the frame (1); the cleaning unit (3) has a self-cleaning function; the buffer unit (4) is fixedly connected to the cleaning unit (3); and the buffer unit (4) has the functions of buffering the clamping force of the clamped object and self-adjusting the clamping force; The anti-dumping unit (2) comprises an installation box (21), a balancing rod (22), a rotating plate (23), a return spring (24), an electric telescopic rod (25) and a balancing block (26); the installation box (21) is fixedly mounted on the surface of one end of the frame (1) close to the horizontal foundation; the balancing rod (22) is rotatably mounted on the inner walls at both ends of the installation box (21); the balancing rod (22) is fixedly mounted in the middle of the rotating plate (23); one end of the return spring (24) is fixedly connected to the inner surface of one end of the installation box (21) close to the horizontal foundation, and the other end is fixedly connected to one end of the rotating plate (23); the fixed end of the electric telescopic rod (25) is fixedly connected to the end surface of one end of the frame (1) close to the horizontal foundation; the telescopic end of the electric telescopic rod (25) is fixedly connected to the end surface of one end of the rotating plate (23) away from the horizontal foundation; the electric telescopic rod (25) is located above the return spring (24); and the balancing block (26) is slidably mounted on the rotating plate (23).

2. The port wheeled electro-hydraulic material grabber with an adaptive clamp according to claim 1, characterized in that: The frame (1) is provided with a cockpit (11), the frame (1) is provided with a controller (12), the frame (1) is provided with a lifting arm (13), the lifting arm (13) is fixedly connected to the cleaning unit (3), a pressure sensor is provided at the contact end between the lifting arm (13) and the cleaning unit (3), and a driving wheel (14) is provided at the bottom of the frame (1).

3. The port wheel type electro-hydraulic material grabber with adaptive clamp according to claim 2, characterized in that: The cleaning unit (3) comprises a hydraulic rod (31), a first connecting rod (32), a second connecting rod (33), a connecting block (34), a grab bucket (35), a scraper (36), a vibration motor (37), a straight rod (38), a gear (39), a paddle (310), a first conductive plate (311) and a second conductive plate (312); the fixed end of the hydraulic rod (31) is fixedly mounted on the lifting arm (13); the telescopic end of the hydraulic rod (31) is fixedly connected to the connecting block (34); the first connecting rod (32) is fixedly connected to the lifting arm (13) via the connecting plate; the second connecting rod (33) is fixedly mounted on the inner walls of both sides of the grab bucket (35); the connecting block (34) is fixedly mounted in the middle of the second connecting rod (33); the grab bucket (35) is rotatably mounted on the first connecting rod (33). The scraper (36) is rotatably mounted in the grab bucket (35) via a straight rod (38); the vibration motor (37) is fixedly mounted on the scraper (36); one end of the straight rod (38) located outside the grab bucket (35) is fixedly connected to a gear (39); one end of the paddle (310) is rotatably mounted on a straight rod (313) and the other end is located in a tooth groove of the gear (39); the first conductive plate (311) is fixedly mounted on an end of the paddle (310) close to a horizontal base; the second conductive plate (312) is fixedly connected to a flat plate (324) via a telescopic spring (314); the first conductive plate (311) is electrically connected to an electromagnet (316); a rectangular notch is provided on the grab bucket (35); and the grab bucket (35) is fixedly connected to a buffer unit (4).

4. The port wheel type electro-hydraulic material grabber with adaptive clamp according to claim 3, characterized in that: The cleaning unit (3) further comprises a second straight rod (313), a first telescopic spring (314), a connecting rod (315), an electromagnet (316), a magnetic block (317), a straight cylinder (318), a knocking block (319), a water pipe (320), a second telescopic spring (321), a third connecting rod (322), a quartz block (323) and a flat plate (324); the second straight rod (313) is fixedly mounted on the outer surface of the grab bucket (35); one end of the connecting rod (315) is fixedly connected to the first straight rod (38), and the other end is fixedly connected to the electromagnet (316); the electromagnet (316) is connected to the magnetic block (317) via a spring; the magnetic block (317) is fixedly mounted at the bottom of the straight cylinder (318); the electromagnet (316) is connected to the magnetic block (317) via a spring; the magnetic block (317) is fixedly mounted at the bottom of the straight cylinder (318); The iron (316) is slidably connected to the straight tube (318), the straight tube (318) is fixedly connected to the water pipe (320), the knocking block (319) is evenly fixedly installed on the water pipe (320), one end of the second telescopic spring (321) is fixedly connected to the outer surface of the straight tube (318), and the other end is fixedly connected to the third connecting rod (322), the third connecting rod (322) is fixedly installed on the outer surface of the grab bucket (35), the quartz block (323) is fixedly installed on one end of the grab bucket (35) close to the horizontal foundation, the flat plate (324) is fixedly installed on the second straight rod (313), the quartz block (323) is electrically connected to the vibration motor (37), and the second telescopic spring (321) is a memory deformation spring.

5. The port wheel type electro-hydraulic material grabber with adaptive clamp according to claim 3, characterized in that: The buffer unit (4) comprises a buffer spring (41), a guide rod (42), a coil (43), a slide cylinder (44) and a buffer baffle (45); one end of the buffer spring (41) is fixedly mounted at a rectangular notch of the grab bucket (35), and the other end is fixedly connected to the buffer baffle (45); one end of the guide rod (42) is fixedly mounted at a rectangular notch of the grab bucket (35), and the other end is slidably connected to the slide cylinder (44); the coil (43) is evenly wound around the outer surface of the guide rod (42); the slide cylinder (44) is fixedly connected to the buffer baffle (45); a conductive ring sheet is arranged inside the slide cylinder (44); and the conductive ring sheet inside the slide cylinder (44) is electrically connected to the buffer spring (41).

6. The port wheel type electro-hydraulic material grabber with adaptive clamp according to claim 5, characterized in that: The buffer spring (41) is a memory spring, and the end of the coil (43) close to the buffer baffle (45) is a current transmission end.

7. The port wheeled electro-hydraulic material grabber with an adaptive clamp according to claim 4, characterized in that: The maximum rotation angle of the knocking block (319) is smaller than the maximum rotation angle of the scraper (36).

8. The port wheeled electro-hydraulic material grabber with an adaptive clamp according to claim 4, characterized in that: The water pipe (320) is provided with a plurality of nozzles, the angle of the nozzles being always 150 degrees to the tangent line of the outer surface of the grab bucket (35), and the direction being horizontal and downward.

9. The port wheel type electro-hydraulic material grabber with adaptive clamp according to claim 5, characterized in that: The buffer baffle (45) is composed of a large baffle and a small baffle rotatably connected, the buffer spring (41) is fixedly connected to the large baffle, and the slide cylinder (44) is fixedly connected to the small baffle.

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