A port wheeled electro-hydraulic grabber with anti-fall function

Abstract

The present invention discloses a port wheeled electro-hydraulic grabber with an anti-falling function, which relates to the technical field of mineral material transportation. The grabber is used for grabbing ore raw materials. The grabber comprises a grabber body, a first clamping mechanism, a second clamping mechanism and a scraping mechanism. The grabber body is connected to the first clamping mechanism, the first clamping mechanism is connected to the second clamping mechanism, the second clamping mechanism is connected to the scraping mechanism, the grabber body comprises a driving device, the driving device comprises wheels, a driving base and a second rotating motor, four wheels are provided, the wheels are connected through a transmission shaft, the driving base is placed on the wheels, a mounting groove is provided on the driving base, the second rotating motor is connected to the driving base, and the fixed end of the second rotating motor is tightly connected to the wall of the mounting groove.

Description

Technical Field

[0001] The invention relates to the technical field of mineral material transportation, in particular to a port wheel-type electro-hydraulic material grabber with an anti-falling function. Background Art

[0002] The port operating environment is complex and changeable, and it is often necessary to use a grabber to grab goods. By grabbing and moving the goods to a designated location, the transfer of goods can be completed more quickly, thereby improving operating efficiency.

[0003] During the operation of traditional grabbers, some mineral materials are directly grabbed by the grabber and transported to the required location. No matter it is grabbing large or small mineral materials, most of them are directly transported after grabbing. Inevitably, some mineral materials will fall during the movement and transportation of the grabber, which may cause serious safety hazards to the operators and the surrounding environment. In addition, the grabbing method cannot be changed in time according to the size of the mineral materials to adapt to mineral materials of different sizes. Summary of the invention

[0004] The purpose of the present invention is to provide a port wheel type electro-hydraulic material grabber with an anti-falling function to solve the problems raised in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The grabber is used to grab ore raw materials. The grabber includes a grabber body, a first clamping mechanism, a second clamping mechanism and a scraping mechanism. The grabber body is connected to the first clamping mechanism, the first clamping mechanism is connected to the second clamping mechanism, and the second clamping mechanism is connected to the scraping mechanism.

[0007] In the grabber, the machine is used to grab the mineral material and transport it to a designated location for the subsequent use of the mineral material. The grabber body is used to control the movement of the grabber, and the first clamping mechanism and the second clamping mechanism assist each other to complete the grabbing of large ores and crushed ores. The first clamping mechanism and the second clamping mechanism are adjusted according to the different ores to be grabbed. The scraping mechanism is used to scrape the mineral material that may fall from the top of the second clamping mechanism back into the mineral material pile when the second clamping mechanism clamps the mineral material, so as to avoid the mineral material falling due to inertia and gravity due to the movement of position during transportation, thereby injuring people.

[0008] Furthermore, the grabber body includes a driving device, which includes wheels, a driving base and a second rotating motor. There are four wheels, which are connected by a transmission shaft. The driving base is placed on the wheels, and a mounting groove is provided on the driving base. The second rotating motor and the driving base are connected by the mounting groove. The grabber body also includes a mounting base and an operating room. The mounting base is connected to the driving device, and the mounting base and the output end of the second rotating motor are tightly connected. The operating room and the mounting base are tightly connected. The grabber body includes a driving device, which includes wheels, a driving base and a second rotating motor. There are four wheels, which are grouped in pairs, and the two groups of wheels are connected by a transmission shaft. The driving base is placed on the wheels, and a mounting groove is provided on the driving base. The second rotating motor is connected to the driving base, and the fixed end of the second rotating motor is tightly connected to the wall of the mounting groove. The output end of the second rotating motor faces outside the mounting groove. The grabber body also includes a mounting base and an operating room. The mounting base It is connected to the driving device, the mounting base plate and the output end of the second rotating motor are fastened together, the operating room and the mounting base plate are fastened together, the grabber body also includes a supporting mechanism, the supporting mechanism is connected to the mounting base plate, the supporting mechanism is connected to the first rotating motor, the supporting mechanism is connected to the inner shroud, the supporting mechanism includes a fixed base, a first mechanical arm, a second mechanical arm, a second driving hydraulic cylinder and a third driving hydraulic cylinder, the fixed base and the mounting base plate are fastened together, the fixed base and one end of the first mechanical arm are hinged, the fixed end of the second driving hydraulic cylinder is fastened together with the mounting base plate, the output end of the second driving hydraulic cylinder is fastened together with the first mechanical arm, the second mechanical arm is hinged to one end of the first mechanical arm away from the fixed base, the fixed end of the third driving hydraulic cylinder is fastened together with the first mechanical arm, the output end of the third driving hydraulic cylinder is fastened together with the second mechanical arm, the second mechanical arm is fastened together with the inner shroud, and one end of the second mechanical arm away from the first mechanical arm is fastened together with the fixed end of the first rotating motor.

[0009] The grabber body serves as the foundation and power mechanism of the grabber, which is used to support the grabbing mechanism and drive the grabber to move forward. The staff enters the operating room to operate the grabber. The driving base is installed on the wheels to provide a supporting foundation. The second rotating motor drives the mounting base plate to rotate to realize the rotation of the grabber, which is convenient for adjusting the position so that the grabbing device can grab the mineral material. The supporting mechanism is used to adjust the grabbing height and position. The second driving hydraulic cylinder and the third driving hydraulic cylinder realize the movement of the first robotic arm and the second robotic arm by extending and shortening.

[0010] Further, the first clamping mechanism includes a first rotating motor, a rotating mounting plate and a driving clamp, the first rotating motor is connected to the grabber body, the output end of the first rotating motor is tightly connected to the rotating mounting plate, four driving clamps are provided, and the four driving clamps are hinged to the rotating mounting plate, the first rotating motor is tightly connected to the grabber body, the first clamping mechanism also includes a control hydraulic cylinder, a driving ring body and an inner covering ring, the control hydraulic cylinder is tightly connected to the rotating mounting plate, four fixing grooves are symmetrically provided at the bottom of the rotating mounting plate, the control hydraulic cylinder is provided with four, the four fixed ends of the four control hydraulic cylinders are tightly connected to the fixing grooves of the rotating mounting plate, the control hydraulic cylinder is tightly connected to the driving clamp, the output ends of the four control hydraulic cylinders are tightly connected to the four driving clamps respectively, the driving ring body is tightly connected to the rotating mounting plate, a protrusion is provided in the driving ring body, a sliding groove is provided on the surface of the inner covering ring, the driving ring body and the inner covering ring are slidably connected through the protrusion, the inner covering ring is tightly connected to the grabber body, and the inner covering ring is connected to the second clamping mechanism.

[0011] In the first clamping mechanism, the mechanism is used to grab ore materials with a larger single grab volume and to cover ore materials with a smaller grab volume, so as to reduce the inertial fall caused by the rotation of the grabber during transportation and avoid the ore materials from falling and injuring other people during transportation. The fixed end of the first rotating motor is tightly connected to the second mechanical arm, and the output end is tightly connected to the rotating mounting plate. A driving clamp is arranged on the rotating mounting plate. Therefore, after the first rotating motor is started, the driving clamp can be rotated to facilitate better grabbing of larger ore materials. The fixed end and the output end of the control hydraulic cylinder are respectively connected to the rotating mounting plate and the driving clamp, which are used to control the opening and closing degree of the driving clamp. The inner covering ring is tightly connected to the second mechanical arm and is sleeved on the outer periphery of the second mechanical arm. At the same time, the driving ring body and the inner covering ring are slidably connected by a protrusion, and the rotating mounting plate and the driving ring body are tightly connected. During the operation of the first rotating motor The rotating mounting plate rotates because of the driving of the first rotating motor. At this time, the driving ring body rotates along the inner shroud rotating groove, which can better support the first clamping mechanism. When grabbing a larger area of ​​ore, due to the large volume of the ore, only one or several can be clamped at a time. When clamping, one driving clamp remains motionless after falling, and the other three continue to clamp. This can make the driving clamp have a greater pressure and is not easy to fall after grabbing the ore. At the same time, such grabbing can make full use of the space of the driving clamp and realize the space utilization rate of the driving clamp; when grabbing a smaller volume of ore, the hydraulic cylinder is controlled to be shortened to the shortest. At this time, the angle between the four driving clamps and the ground is small. After the second clamping mechanism completes grabbing and the scraping mechanism completes scraping, the hydraulic cylinder is controlled to extend so that the driving clamp covers the second clamping mechanism to minimize the falling of ore during transportation.

[0012] Furthermore, the second clamping mechanism includes a clamping hopper and a connecting rod. There are two clamping hoppers and two connecting rods. The two connecting rods are hinged to the two clamping hoppers respectively. One end of the connecting rod away from the clamping hopper is hinged to the surface of the driving ring body. The clamping hopper is connected to the scraping mechanism. The second clamping mechanism also includes a first driving hydraulic cylinder. There are two first driving hydraulic cylinders. The two fixed ends of the first driving hydraulic cylinders are tightly connected to the driving ring body, and the two output ends of the first driving hydraulic cylinders are tightly connected to the clamping hopper.

[0013] In the second clamping mechanism, the mechanism is used to grab smaller ore materials, and to cover the bottom of the first clamping mechanism when grabbing larger ore materials, to prevent the larger ore materials from being mixed with smaller ore materials, and to prevent the inertia from falling due to the rotation of the grabber during transportation. The clamping hopper and the driving ring body are respectively hinged by the connecting rod, and then the clamping hopper is driven to engage by the first driving hydraulic cylinder. The top of the clamping hopper is hollowed out, so that as much as possible can be clamped in the process of grabbing larger ore materials. When grabbing larger ore materials, the first clamping mechanism After the mechanism completes grabbing, the clamping hopper is driven to close. At this time, the clamping hopper is just below the driving gripper, which can isolate the driving gripper from the ground. If the larger volume of ore clamped by the clamping hopper is mixed with smaller volume ore, it can be collected in time when it falls during transportation to prevent it from falling to the ground; when grabbing smaller volume of ore, the first driving hydraulic cylinder drives the clamping hopper to clamp the ore, and then the scraping mechanism scrapes the top. After completion, the driving gripper covers it, which further restricts the ore that may fall during transportation.

[0014] Furthermore, the scraper mechanism includes a driving motor, a rotating shaft and a scraper. The driving motor, the rotating shaft and the scraper are each provided with two. The driving motor is tightly connected to the outer wall of the clamping hopper, one end of the rotating shaft is tightly connected to the output end of the driving motor, and the other end of the rotating shaft is rotatably connected to the extended end of the outer wall of the clamping hopper. The scraper is threadedly connected to the rotating shaft, and the scraper is arranged at an angle. The scraper mechanism also includes a quick connector, which is tightly connected to the two scrapers respectively. The quick connector includes a first connector and a second connector. The first connector is tightly connected to one scraper, and the second connector is tightly connected to another scraper.

[0015] In the scraping mechanism, this mechanism is used to scrape the mineral material from the hollow area above the clamping hopper when the second clamping mechanism clamps a smaller volume of mineral material. After the two clamping hoppers have grabbed the mineral material, the bottoms of the clamping hoppers are attached to each other. At this time, the first joints and the second joints of the two scrapers are engaged, so that the two scrapers are attached. The two drive motors are started synchronously to drive the two scrapers to move synchronously. The two scrapers form a large-angle triangle to scrape the mineral material on the top of the clamping hopper. The scraper moves from one side of the clamping hopper to the other side to complete the scraping.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: after starting, the grabber moves to a suitable position to grab and transport the mineral material, and double clamping of the mineral material is achieved by setting a first clamping mechanism and a second clamping mechanism. When grabbing mineral material with a larger area, due to the large volume of the mineral material, only one or several can be clamped at a time. After starting, one driven clamp remains motionless after falling, and the other three continue to clamp, thereby increasing the clamping pressure, making it less likely to fall after grabbing the mineral material, and making full use of the space of the driven clamp to achieve space utilization of the driven clamp. After clamping is completed, the clamping hopper is driven to close, and at this time the clamping hopper is just below the driven clamp, which can isolate the driven clamp from the ground. If the volume of the clamping hopper is clamped Larger mineral materials are mixed with smaller mineral materials, and they can be collected in time when they fall during transportation to prevent them from falling to the ground. When grabbing smaller mineral materials, the hydraulic cylinder is controlled to be shortened to the shortest. At this time, the angle between the four drive grippers and the ground is small. After the second clamping mechanism completes the grabbing, the bottoms of the two clamping hoppers are fitted together, the first joints and the second joints on the two scrapers are engaged, and the two drive motors are started synchronously to drive the two scrapers to move synchronously. The two scrapers form a large-angle triangle to scrape the mineral materials on the top of the clamping hopper. After scraping, the hydraulic cylinder is controlled to extend so that the drive grippers cover the second clamping mechanism to minimize the falling of mineral materials during transportation, and the mineral materials are transported by the drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a side view of the present invention;

[0019] Figure 3 It is a front view of the present invention;

[0020] Figure 4 is a schematic diagram of the first clamping mechanism of the present invention;

[0021] Figure 5 is a transverse cross-sectional view of the first clamping mechanism;

[0022] Figure 6 is a schematic diagram of a second clamping mechanism of the present invention;

[0023] Figure 7 for Figure 6 Enlarged view of part A;

[0024] Figure 8 It is a schematic diagram of the quick connector of the present invention.

[0025] In the figure: 1. grabber body; 11. driving device; 111. wheels; 112. driving base; 113. second rotating motor; 12. mounting base; 13. operating room; 14. supporting mechanism; 141. fixed base; 142. first mechanical arm; 143. second mechanical arm; 144. second driving hydraulic cylinder; 145. third driving hydraulic cylinder; 2. first clamping mechanism; 21. first rotating motor; 22. rotating mounting plate; 23. driving gripper; 24. control hydraulic cylinder; 25. driving ring body; 26. inner covering ring; 3. second clamping mechanism; 31. clamping hopper; 32. connecting rod; 33. first driving hydraulic cylinder; 4. scraping mechanism; 41. driving motor; 42. rotating shaft; 43. scraper; 44. quick connector; 441. first connector; 442. second connector. DETAILED DESCRIPTION

[0026] 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.

[0027] Example: Figure 1-Figure 8 As shown, the present invention provides a technical solution for a port wheeled electro-hydraulic grabber with an anti-falling function. The grabber is used to grab ore raw materials. The grabber includes a grabber body 1, a first clamping mechanism 2, a second clamping mechanism 3 and a scraping mechanism 4. The grabber body 1 is connected to the first clamping mechanism 2, the first clamping mechanism 2 is connected to the second clamping mechanism 3, and the second clamping mechanism 3 is connected to the scraping mechanism 4.

[0028] In the grabber, the machine is used to grab the mineral material and transport it to a designated location for the subsequent use of the mineral material. The grabber body 1 is used to control the movement of the grabber, and the first clamping mechanism 2 and the second clamping mechanism 3 assist each other to complete the grabbing of large ores and crushed ores. The first clamping mechanism 2 and the second clamping mechanism 3 are adjusted according to the different ores to be grabbed. The scraping mechanism 4 is used to scrape the mineral material that may fall from the top of the second clamping mechanism 3 back into the mineral material pile when the second clamping mechanism 3 clamps the mineral material, so as to avoid the mineral material falling due to inertia and gravity due to the movement of position during transportation, thereby injuring people.

[0029] The material grabber body 1 includes a driving device 11, which includes wheels 111, a driving base 112 and a second rotating motor 113. The wheels 111 are provided with four wheels, which are connected by a transmission shaft, and the driving base 112 is placed on the wheels 111. The driving base 112 is provided with a mounting groove, and the second rotating motor 113 and the driving base 112 are connected by the mounting groove. The material grabber body 1 also includes a mounting base 12 and an operating room 13, the mounting base 12 is connected to the driving device 11, the mounting base 12 and the output end of the second rotating motor 113 are fastened, and the operating room 13 and the mounting base 12 are fastened. The material grabber body 1 includes a driving device 11, which includes wheels 111, a driving base 112 and a second rotating motor 113. The wheels 111 are provided with four wheels, and the wheels 111 are connected through a transmission shaft. The driving base 112 is placed on the wheels 111, and a mounting groove is provided on the driving base 112. The second rotating motor 113 is connected to the driving base 112, and the fixed end of the second rotating motor 113 is fastened to the wall of the mounting groove, and the output end of the second rotating motor 113 faces outside the mounting groove. The material grabber body 1 also includes a mounting base 12 and an operating room 13. The mounting base 12 and the driving device 1 1 is connected, the mounting base plate 12 is fastened to the output end of the second rotating motor 113, the operating room 13 is fastened to the mounting base plate 12, the gripper body 1 also includes a supporting mechanism 14, the supporting mechanism 14 is connected to the mounting base plate 12, the supporting mechanism 14 is connected to the first rotating motor 21, the supporting mechanism 14 is connected to the inner shroud 26, the supporting mechanism 14 includes a fixed base 141, a first mechanical arm 142, a second mechanical arm 143, a second driving hydraulic cylinder 144 and a third driving hydraulic cylinder 145, the fixed base 141 is fastened to the mounting base plate 12, the fixed base 141 and the first mechanical arm 14 2, a fixed end of the second driving hydraulic cylinder 144 is fastened to the mounting base 12, an output end of the second driving hydraulic cylinder 144 is fastened to the first mechanical arm 142, the second mechanical arm 143 is hinged to an end of the first mechanical arm 142 away from the fixed base 141, a fixed end of the third driving hydraulic cylinder 145 is fastened to the first mechanical arm 142, an output end of the third driving hydraulic cylinder 145 is fastened to the second mechanical arm 143, the second mechanical arm 143 is fastened to the inner shroud 26, and an end of the second mechanical arm 143 away from the first mechanical arm 142 is fastened to the fixed end of the first rotating motor 21.

[0030] The grabber body 1 serves as the foundation and power mechanism of the grabber, and is used to support the grabbing mechanism and drive the grabber to move forward. The staff enters the operating room 13 to operate the grabber. The driving base 112 is installed on the wheel 111 to provide a supporting foundation. The second rotating motor 113 drives the mounting base 12 to rotate to realize the rotation of the grabber, which is convenient for adjusting the position so that the grabbing device can grab the mineral material. The supporting mechanism 14 is used to adjust the grabbing height and position. The second driving hydraulic cylinder 144 and the third driving hydraulic cylinder 145 realize the movement of the first mechanical arm 142 and the second mechanical arm 143 by extending and shortening.

[0031] The first clamping mechanism 2 includes a first rotating motor 21, a rotating mounting plate 22 and a driving gripper 23. The first rotating motor 21 is connected to the material grabber body 1. The output end of the first rotating motor 21 is tightly connected to the rotating mounting plate 22. Four driving grippers 23 are provided. The four driving grippers 23 are hinged to the rotating mounting plate 22. The first rotating motor 21 is tightly connected to the material grabber body 1. The first clamping mechanism 2 also includes a control hydraulic cylinder 24, a driving ring body 25 and an inner shroud ring 26. The control hydraulic cylinder 24 is tightly connected to the rotating mounting plate 22. The bottom of the rotating mounting plate 22 is symmetrically provided with There are four fixed grooves, and the control hydraulic cylinder 24 is provided with four. The fixed ends of the four control hydraulic cylinders 24 are fastened to the fixed grooves of the rotating mounting plate 22, the control hydraulic cylinder 24 is fastened to the driving gripper 23, and the output ends of the four control hydraulic cylinders 24 are fastened to the four driving grippers 23 respectively. The driving ring body 25 is fastened to the rotating mounting plate 22, a protrusion is provided inside the driving ring body 25, and a sliding groove is provided on the surface of the inner covering ring 26. The driving ring body 25 and the inner covering ring 26 are slidably connected through the protrusion, the inner covering ring 26 is fastened to the grabber body 1, and the inner covering ring 26 is connected to the second clamping mechanism 3.

[0032] In the first clamping mechanism 2, the mechanism is used to grab ore materials with a larger single grab volume, and to cover the ore materials with a smaller grab volume, so as to reduce the inertial fall caused by the rotation of the grabber during transportation, and to avoid the ore materials from falling and injuring other people during transportation. The fixed end of the first rotating motor 21 is tightly connected to the second mechanical arm 143, and the output end is tightly connected to the rotating mounting plate 22. The rotating mounting plate 22 is provided with a driving gripper 23. Therefore, after the first rotating motor 21 is started, the driving gripper 23 can be rotated to facilitate In order to better grasp the larger volume of mineral materials, the fixed end and the output end of the control hydraulic cylinder 24 are respectively connected to the rotating mounting plate 22 and the driving gripper 23, which are used to control the opening and closing degree of the driving gripper 23. The inner cover ring 26 is tightly connected to the second mechanical arm 143 and is sleeved on the periphery of the second mechanical arm 143. At the same time, the driving ring body 25 and the inner cover ring 26 are slidably connected through the protrusions. The rotating mounting plate 22 and the driving ring body 25 are tightly connected. During the operation of the first rotating motor 21, the rotating mounting plate 22 is driven by the first rotating motor 21 to rotate. At this time The driving ring body 25 rotates along the rotating groove of the inner shroud ring 26, so that the first clamping mechanism 2 can be better supported. When clamping larger mineral materials, the clamping hopper 31 is in a relatively inclined state with the ground. As the second mechanical arm 143 gradually approaches the ground, the clamping hopper 31 will interfere with the descent of the second mechanical arm 143. The output torque of the first rotating motor 21 is required to the rotating mounting plate 22, and the inner shroud ring 26 is driven to rotate by the rotating mounting plate 22, so that the two sets of oppositely arranged clamping hoppers 31 are rotated ninety degrees to drive the gripping clamp 2 3, so that the clamping hopper 31 is no longer located between the driving gripper 23 and the ground, which is convenient for better grasping of larger-volume mineral materials. When grasping mineral materials with a larger area, due to the large volume of the mineral materials, only one or several can be grasped at a time. When grasping, one driving gripper 23 remains motionless after falling, and the other three continue to clamp, so that the driving gripper 23 has a greater pressure, and it is not easy to fall after grasping the mineral materials. At the same time, such grasping can make full use of the space of the driving gripper 23 and realize the space utilization rate of the driving gripper 23;When grabbing smaller mineral materials, the control hydraulic cylinder 24 is retracted to the shortest. At this time, the angle between the four driving grippers 23 and the ground is small. The control hydraulic cylinder 24 and the driving grippers 23 are independently provided with four groups. After one driving gripper 23 falls, it remains motionless. When the control hydraulic cylinder 24 outputs and pushes, one group of driving grippers 23 first generates a force in one direction on the mineral materials. Then, the other three groups of control hydraulic cylinders 24 independently push the three independent driving grippers 23 to squeeze the mineral materials. The four groups of driving grippers 23 generate pressure in four different directions on the mineral materials. The larger mineral materials are subjected to forces in four different directions. The directions of the forces in contact with each other increase, and the contact points between the mineral materials increase, which is very effective for the larger mineral materials. More effective clamping can be performed. After the second clamping mechanism 3 completes the grabbing and the scraping mechanism 4 completes the scraping, the hydraulic cylinder 24 is controlled to extend so that the driving gripper 23 covers the second clamping mechanism 3, minimizing the dropping of the ore during transportation. The inner cover ring 26 is driven to rotate by rotating the mounting plate 22, so that the two sets of oppositely arranged clamping hoppers 31 rotate 90 degrees and move to the bottom of the driving gripper 23. After the second clamping mechanism 3 completes the clamping and closing, the hydraulic cylinder 24 is controlled to output to release the driving gripper 23, and the driving gripper 23 is attached to the inner wall of the clamping hopper 31, ensuring that the driving gripper 23, during the transportation of mixed and large and small ore, falls into the clamping hopper 31 due to the bumping of the small volume of ore falling from the gap of the large ore.

[0033] The second clamping mechanism 3 includes a clamping hopper 31 and a connecting rod 32. There are two clamping hoppers 31 and two connecting rods 32. The two connecting rods 32 are hinged to the two clamping hoppers 31 respectively. One end of the connecting rod 32 away from the clamping hopper 31 is hinged to the surface of the driving ring body 25. The clamping hopper 31 is connected to the scraping mechanism 4. The second clamping mechanism 3 also includes a first driving hydraulic cylinder 33. There are two first driving hydraulic cylinders 33. The fixed ends of the two first driving hydraulic cylinders 33 are tightly connected to the driving ring body 25, and the output ends of the two first driving hydraulic cylinders 33 are tightly connected to the clamping hopper 31.

[0034] In the second clamping mechanism 3, the mechanism is used to grab smaller ore materials, and to cover the bottom of the first clamping mechanism 2 when grabbing larger ore materials, to prevent the larger ore materials from being mixed with smaller ore materials, and to prevent the inertia from falling due to the rotation of the grabber during transportation. The clamping hopper 31 and the driving ring body 25 are respectively hinged by the connecting rod 32, and then the clamping hopper 31 is driven to engage by the first driving hydraulic cylinder 33. The top of the clamping hopper 31 is hollowed out, so that as much as possible can be clamped in the process of grabbing larger ore materials. When grabbing larger ore materials, the first clamping mechanism 2 After the grabbing is completed, the clamping hopper 31 is driven to close. At this time, the clamping hopper 31 is just below the driving gripper 23, and can isolate the driving gripper 23 from the ground. If the larger volume of mineral materials clamped by the clamping hopper 31 are mixed with smaller volume mineral materials, they can be collected in time when they fall during transportation to prevent them from falling to the ground; when grabbing smaller volume of mineral materials, the first driving hydraulic cylinder 33 drives the clamping hopper 31 to clamp the mineral materials, and then the scraping mechanism 4 scrapes the top. After completion, the driving gripper 23 covers it, so as to further limit the mineral materials that may fall during transportation.

[0035] The scraper mechanism 4 includes a drive motor 41, a rotating shaft 42 and a scraper 43. The drive motor 41, the rotating shaft 42 and the scraper 43 are each provided with two. The drive motor 41 is tightly connected to the outer wall of the clamping hopper 31, one end of the rotating shaft 42 is tightly connected to the output end of the drive motor 41, and the other end of the rotating shaft 42 is rotatably connected to the extended end of the outer wall of the clamping hopper 31. The scraper 43 is threadedly connected to the rotating shaft 42, and the scraper 43 is tilted. The scraper mechanism 4 also includes a quick connector 44, which is tightly connected to the two scrapers 43 respectively. The quick connector 44 includes a first connector 441 and a second connector 442. The first connector 441 is tightly connected to one scraper 43, and the second connector 442 is tightly connected to another scraper 43.

[0036] In the scraping mechanism 4, this mechanism is used to scrape the mineral material from the hollow area above the clamping hopper 31 when the second clamping mechanism 3 clamps the mineral material of smaller volume. After the two clamping hoppers 31 grab the mineral material, the bottoms of the clamping hoppers 31 are attached to each other. At this time, the first joints 441 and the second joints 442 of the two scrapers 43 are engaged, so that the two scrapers 43 are attached. The two driving motors 41 are started synchronously to drive the two scrapers 43 to move synchronously. The two scrapers 43 form a large-angle triangle to scrape the mineral material on the top of the clamping hopper 31. The scraper 43 moves from one side of the clamping hopper 31 to the other side to complete the scraping.

[0037] Working principle of the present invention: after starting, the grabber moves to a suitable position to grab and transport the mineral material, and double clamping of the mineral material is achieved by setting the first clamping mechanism 2 and the second clamping mechanism 3. When grabbing mineral material with a larger area, due to the large volume of the mineral material, only one or several can be clamped at a time. After starting, one driving clamp 23 remains motionless after falling, and the other three continue to clamp, thereby increasing the clamping pressure, making it less likely to fall after grabbing the mineral material, and making full use of the space of the driving clamp 23 to achieve space utilization of the driving clamp 23. After clamping is completed, the clamping hopper 31 is driven to close. At this time, the clamping hopper 31 is just below the driving clamp 23, and can isolate the driving clamp 23 from the ground. If the larger volume of mineral material clamped by the clamping hopper 31 is mixed with a volume Smaller mineral materials can be collected in time when they fall during transportation to prevent them from falling to the ground; when grabbing smaller mineral materials, the hydraulic cylinder 24 is controlled to be shortened to the shortest point. At this time, the angle between the four driving grippers 23 and the ground is small. After the second clamping mechanism 3 completes the grabbing, the bottoms of the two clamping hoppers 31 are fitted together, and the first joints 441 and the second joints 442 on the two scrapers 43 are engaged. The two driving motors 41 are started synchronously to drive the two scrapers 43 to move synchronously. The two scrapers 43 form a large-angle triangle to scrape the mineral materials on the top of the clamping hopper 31. After scraping, the hydraulic cylinder 24 is controlled to extend so that the driving grippers 23 cover the second clamping mechanism 3 to minimize the falling of the mineral materials during transportation. The mineral materials are driven and transported by the driving device 11.

[0038] 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 anti-falling function, the grabber is used to grab ore raw materials, characterized in that: The grabber comprises a grabber body (1), a first clamping mechanism (2), a second clamping mechanism (3) and a scraping mechanism (4); the grabber body (1) is connected to the first clamping mechanism (2), the first clamping mechanism (2) is connected to the second clamping mechanism (3), and the second clamping mechanism (3) is connected to the scraping mechanism (4); The first clamping mechanism (2) comprises a first rotating motor (21), a rotating mounting plate (22) and a driving gripper (23); the first rotating motor (21) is connected to the gripper body (1); the output end of the first rotating motor (21) is firmly connected to the rotating mounting plate (22); four driving grippers (23) are provided; the four driving grippers (23) are hinged to the rotating mounting plate (22); and the first rotating motor (21) is firmly connected to the gripper body (1); The first clamping mechanism (2) further comprises a control hydraulic cylinder (24), a drive ring body (25) and an inner shroud ring (26); the control hydraulic cylinder (24) is tightly connected to the rotating mounting plate (22); four fixing grooves are symmetrically arranged at the bottom of the rotating mounting plate (22); the control hydraulic cylinder (24) is provided with four fixing ends of the four control hydraulic cylinders (24) are tightly connected to the fixing grooves of the rotating mounting plate (22); the control hydraulic cylinder (24) is tightly connected to the drive gripper (23); The output ends of the four control hydraulic cylinders (24) are respectively firmly connected to the four driving grippers (23), the driving ring body (25) is firmly connected to the rotating mounting plate (22), a protrusion is provided inside the driving ring body (25), a sliding groove is provided on the surface of the inner shroud ring (26), the driving ring body (25) and the inner shroud ring (26) are slidably connected via the protrusion, the inner shroud ring (26) is firmly connected to the gripper body (1), and the inner shroud ring (26) is connected to the second clamping mechanism (3); The second clamping mechanism (3) comprises a clamping hopper (31) and a connecting rod (32), wherein two clamping hoppers (31) are provided, and two connecting rods (32) are provided, and the two connecting rods (32) are respectively hinged to the two clamping hoppers (31), and one end of the connecting rod (32) away from the clamping hopper (31) is hinged to the surface of the driving ring body (25), and the clamping hopper (31) is connected to the scraping mechanism (4); The second clamping mechanism (3) further comprises a first driving hydraulic cylinder (33), wherein two first driving hydraulic cylinders (33) are provided, wherein the two fixed ends of the first driving hydraulic cylinders (33) are tightly connected to the driving ring body (25), and the two output ends of the first driving hydraulic cylinders (33) are tightly connected to the clamping hopper (31).

2. The port wheeled electro-hydraulic grabber with anti-falling function according to claim 1 is characterized in that: The scraper mechanism (4) comprises a driving motor (41), a rotating shaft (42) and a scraper (43). The driving motor (41), the rotating shaft (42) and the scraper (43) are each provided with two. The driving motor (41) is tightly connected to the outer wall of the clamping hopper (31). One end of the rotating shaft (42) is tightly connected to the output end of the driving motor (41). The other end of the rotating shaft (42) is rotatably connected to the extended end of the outer wall of the clamping hopper (31). The scraper (43) is threadedly connected to the rotating shaft (42). The scraper (43) is arranged obliquely.

3. The port wheeled electro-hydraulic grabber with anti-falling function according to claim 2 is characterized in that: The scraper mechanism (4) further comprises a quick connector (44), wherein the quick connector (44) is respectively fastened to the two scrapers (43), and the quick connector (44) comprises a first connector (441) and a second connector (442), wherein the first connector (441) is fastened to one scraper (43), and the second connector (442) is fastened to the other scraper (43).

4. The port wheeled electro-hydraulic grabber with anti-falling function according to claim 1, characterized in that: The material grabber body (1) comprises a driving device (11), the driving device (11) comprising wheels (111), a driving base (112) and a second rotating motor (113), the wheels (111) being provided with four, the wheels (111) being connected via a transmission shaft, the driving base (112) being placed on the wheels (111), the driving base (112) being provided with a mounting groove, and the second rotating motor (113) and the driving base (112) being connected via the mounting groove.

5. The port wheeled electro-hydraulic grabber with anti-falling function according to claim 4, characterized in that: The gripper body (1) further comprises a mounting base plate (12) and an operating room (13); the mounting base plate (12) is connected to the driving device (11); the mounting base plate (12) is fixedly connected to the output end of the second rotating motor (113); and the operating room (13) is fixedly connected to the mounting base plate (12).

6. The port wheeled electro-hydraulic grabber with anti-falling function according to claim 5, characterized in that: The grabber body (1) further comprises a support mechanism (14), wherein the support mechanism (14) is connected to the mounting base plate (12), the support mechanism (14) is connected to the first rotating motor (21), the support mechanism (14) is connected to the inner shroud ring (26), the support mechanism (14) comprises a fixed base (141), a first mechanical arm (142), a second mechanical arm (143), a second driving hydraulic cylinder (144) and a third driving hydraulic cylinder (145), the fixed base (141) is firmly connected to the mounting base plate (12), the fixed base (141) is hinged to one end of the first mechanical arm (142), and the second driving hydraulic cylinder (144) is fixedly connected to the mounting base plate (12). The fixed end is fastened to the mounting base plate (12); the output end of the second driving hydraulic cylinder (144) is fastened to the first mechanical arm (142); the second mechanical arm (143) is hinged to an end of the first mechanical arm (142) away from the fixed base (141); the fixed end of the third driving hydraulic cylinder (145) is fastened to the first mechanical arm (142); the output end of the third driving hydraulic cylinder (145) is fastened to the second mechanical arm (143); the second mechanical arm (143) is fastened to the inner shroud (26); and an end of the second mechanical arm (143) away from the first mechanical arm (142) is fastened to the fixed end of the first rotating motor (21).

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