Clamping jaw mechanism capable of automatically clamping rod-shaped materials and intelligent loading device

Abstract

The invention relates to a clamping jaw mechanism capable of automatically clamping rod-shaped materials and an intelligent truck loading device, and relates to the technical field of rod-shaped material carrying, and the clamping jaw mechanism capable of automatically clamping the rod-shaped materials comprises a clamping cylinder body; the two or more first clamping plates are symmetrically arranged and connected to the clamping cylinder body; the two or more second clamping plates are hinged to the first clamping plates in a one-to-one correspondence mode; the adsorption assemblies are arranged between the two symmetrical first clamping plates correspondingly, and the adsorption assemblies are used for adsorbing the rod-shaped materials through negative pressure; the lifting assembly is arranged in the clamping cylinder body, and the lifting assembly is used for driving the adsorption assembly to move; the transmission assemblies correspond to the second clamping plates in a one-to-one mode, the transmission assemblies are connected with the lifting assembly and the corresponding second clamping plates correspondingly, and the transmission assemblies are used for driving the second clamping plates to rotate relative to the first clamping plates when the lifting assembly drives the adsorption assembly to move. The rod-shaped material carrying device has the effect of improving the rod-shaped material carrying efficiency.

Description

Technical Field

[0001] This application relates to the technical field of handling rod-shaped materials, and in particular to a jaw mechanism for automatically gripping rod-shaped materials and an intelligent loading device. Background Art

[0002] The handling of rod-shaped materials is the key point in the logistics transportation of rod-shaped materials. Currently, the handling of rod-shaped materials usually adopts a lifting device in cooperation with more than two sling straps. When handling rod-shaped materials, manually pass the sling straps through the rod-shaped materials, hook the sling straps to the hook of the lifting device, and then move the lifted rod-shaped materials by the lifting device to achieve the transfer of the rod-shaped materials.

[0003] The process of handling rod-shaped materials using sling straps requires manual assistance, resulting in low handling efficiency of rod-shaped materials and making it difficult to achieve the purpose of quickly handling rod-shaped materials. Summary of the Invention

[0004] In order to improve the handling efficiency of rod-shaped materials, this application provides a jaw mechanism for automatically gripping rod-shaped materials and an intelligent loading device.

[0005] In a first aspect, this application provides a jaw mechanism for automatically gripping rod-shaped materials, adopting the following technical solution: A jaw mechanism for automatically gripping rod-shaped materials, comprising: A gripping cylinder body; First clamping plates, with more than two symmetrically arranged and all connected to the gripping cylinder body, and two symmetric first clamping plates are inclined in a direction away from each other; Second clamping plates, with more than two arranged and hinged to one end of the first clamping plates away from the gripping cylinder body one by one; Adsorption components, with more than one group arranged and respectively arranged between two symmetric first clamping plates, the adsorption components are connected to the gripping cylinder body, and the adsorption components are used for sucking and holding rod-shaped materials by negative pressure; Lifting components, arranged in the gripping cylinder body and connected to all the adsorption components, the lifting components are used for driving the adsorption components to move; Transmission components, with more than two groups arranged and corresponding to the second clamping plates one by one, the transmission components are respectively connected to the lifting components and the corresponding second clamping plates, and the transmission components are used for driving the second clamping plates to rotate relative to the first clamping plates when the lifting components drive the adsorption components to move; When the lifting components drive the adsorption components to approach the rod-shaped materials, the transmission components can drive the second clamping plates to open and form a clamping channel for the rod-shaped materials. When the lifting components lift the rod-shaped materials, the transmission components can drive the second clamping plates to clamp on the rod-shaped materials. When the lifting components lower the rod-shaped materials, the transmission components can drive the second clamping plates to release the clamping of the rod-shaped materials.

[0006] Optionally, the adsorption assembly includes a negative pressure suction pipe, a flexible suction cup, an electromagnetic ring, and a negative pressure permanent magnet block. The negative pressure suction pipe is slidably inserted through the clamping cylinder body. The flexible suction cup is connected to one end of the negative pressure suction pipe located outside the clamping cylinder body. The flexible suction cup is communicated with the negative pressure suction pipe. The electromagnetic ring is connected inside the negative pressure suction pipe and is arranged close to the flexible suction cup. The negative pressure permanent magnet block is hermetically and slidably arranged inside the negative pressure suction pipe and is located on the side of the electromagnetic ring away from the flexible suction cup. After the flexible suction cup adheres to the rod-shaped material, when the polarities of the mutually approaching sides of the electromagnetic ring and the negative pressure permanent magnet block are the same, the flexible suction cup can adsorb on the rod-shaped material under negative pressure. When the polarities of the mutually approaching sides of the electromagnetic ring and the negative pressure permanent magnet block are opposite, the flexible suction cup releases the adsorption force on the rod-shaped material.

[0007] Optionally, the lifting and moving assembly includes a lifting permanent magnet plate and a lifting electromagnetic plate. The lifting permanent magnet plate is slidably arranged inside the clamping cylinder body. One ends of all the negative pressure suction pipes located inside the clamping cylinder body are inserted through the lifting permanent magnet plate. The lifting electromagnetic plate is connected inside the clamping cylinder body and is located on the side of the lifting permanent magnet plate away from the flexible suction cup. When the polarities of the mutually approaching sides of the lifting electromagnetic plate and the lifting permanent magnet plate are opposite, the lifting permanent magnet plate can slide towards the lifting electromagnetic plate. When the polarities of the mutually approaching sides of the lifting electromagnetic plate and the lifting permanent magnet plate are the same, the lifting permanent magnet plate can slide away from the lifting electromagnetic plate.

[0008] Optionally, the transmission assembly includes a transmission rack, a transmission gear, and a chain drive. The transmission rack is slidably arranged inside a transmission hole opened on the side wall of the clamping cylinder body. The transmission rack is connected to the lifting permanent magnet plate. The transmission gear is rotatably connected to the outer wall of the clamping cylinder body. The transmission gear meshes with the transmission rack. The first clamping plate and the second clamping plate are hinged through a hinge shaft. The hinge shaft is connected to the second clamping plate and is rotatably connected to the first clamping plate. The chain drive is respectively connected to the transmission gear and the hinge shaft. When the lifting permanent magnet plate drives the negative pressure suction pipe to approach the rod-shaped material, the transmission rack can drive the second clamping plate to open and form a clamping channel for the rod-shaped material. When the lifting permanent magnet plate slides close to the lifting electromagnetic plate, the transmission rack can drive the second clamping plate to clamp on the rod-shaped material. When the lifting permanent magnet plate slides away from the lifting electromagnetic plate, the transmission rack can drive the second clamping plate to release the clamping on the rod-shaped material.

[0009] Optionally, a first roller and a second roller are rotatably connected to the second clamping plate. There are multiple first rollers, and the multiple first rollers are arranged along the direction away from the hinged position of the second clamping plate and the first clamping plate. The first rollers are located on the clamping surface of the second clamping plate. The second roller is arranged at the end of the second clamping plate.

[0010] In a second aspect, the present application provides an intelligent loading device, adopting the following technical solution: An intelligent loading device includes a mobile gantry, a lifting and translation mechanism, an adjusting mechanism, and the above-mentioned clamping jaw mechanism for automatically clamping rod-shaped materials; The lifting and translation mechanism is arranged on the mobile gantry, the adjustment mechanism is arranged on the lifting and translation mechanism, there are two jaw mechanisms for automatically gripping rod-shaped materials, and both are arranged on the adjustment mechanism. The mobile gantry is used to move the lifting and translation mechanism, the lifting and translation mechanism is used to lift and translate the adjustment mechanism, the adjustment mechanism is used to connect the two jaw mechanisms for automatically gripping rod-shaped materials, and the adjustment mechanism is used to adjust the loading posture of the rod-shaped materials.

[0011] Optionally, the lifting and translation mechanism includes a translation component and a lifting component. The translation component includes a translation plate and a translation electric cylinder. The translation plate is slidably arranged on the mobile gantry, and the sliding direction of the translation plate is perpendicular to the moving direction of the mobile gantry. The translation electric cylinder is connected to the mobile gantry, and the movable end of the translation electric cylinder is connected to the translation plate. The telescopic direction of the translation electric cylinder is consistent with the sliding direction of the translation plate. The lifting component is connected to the translation plate, and the adjustment mechanism is connected to the lifting component.

[0012] Optionally, the lifting component includes a lifting column, a lifting rack, a lifting gear and a lifting motor. The lifting column is slidably penetrated through the translation plate in the vertical direction. The lifting rack is embedded in the lifting column in the vertical direction. The lifting gear meshes with the lifting rack and is connected to the output shaft of the lifting motor. The lifting motor is installed on the translation plate. The adjustment mechanism is connected to the bottom end of the lifting column.

[0013] Optionally, the adjustment mechanism includes an adjustment column, a connecting plate and an adjustment component. One end of the adjustment column is rotatably connected to the bottom end of the lifting column, and the other end is hinged to the middle of the connecting plate. The clamping cylinders of the two jaw mechanisms for automatically gripping rod-shaped materials are both connected to the connecting plate. The adjustment component is respectively connected to the lifting column, the adjustment column and the connecting plate. The adjustment component is used to drive the adjustment column to rotate relative to the lifting column, and the adjustment component is used to drive the connecting plate to swing relative to the adjustment column.

[0014] Optionally, the adjustment component includes an adjustment electric cylinder, an adjustment rod, an adjustment plate and an adjustment block. The adjustment electric cylinder is connected to the adjustment column. The middle of the adjustment rod is connected to the movable end of the adjustment electric cylinder. The adjustment plate is connected to the lifting column and is provided with a rotation adjustment hole. One end of the adjustment rod is slidably arranged in the rotation adjustment hole. The adjustment block is connected to the connecting plate. The side of the adjustment block away from the connecting plate is trapezoidal in reverse. An inclined adjustment groove is provided on the trapezoidal surface of the adjustment block. The other end of the adjustment rod is slidably arranged in the inclined adjustment groove; The rotation adjustment hole includes a first adjustment hole, a second adjustment hole and a third adjustment hole. The first adjustment hole, the second adjustment hole and the third adjustment hole are arranged in the direction away from the adjustment column. When the adjustment rod slides in the first adjustment hole or the third adjustment hole, the adjustment column is fixed relative to the adjustment plate. When the adjustment rod slides in the second adjustment hole, the adjustment column rotates relative to the adjustment plate; The tilt adjustment groove includes a first adjustment groove, a second adjustment groove, and a third adjustment groove. The first adjustment groove and the second adjustment groove are respectively located on two inclined surfaces of the inverted trapezoidal surface of the adjustment block, and the second adjustment groove is located on the flat surface of the inverted trapezoidal surface of the adjustment block. When the adjustment rod slides in the first adjustment groove or the third adjustment groove, the connecting plate is inclined. When the adjustment rod slides in the second adjustment groove, the connecting plate is horizontally arranged; When the adjustment rod slides in the first adjustment hole, the adjustment rod also slides in the first adjustment groove at the same time. When the adjustment rod slides in the second adjustment hole, the adjustment rod also slides in the second adjustment groove at the same time. When the adjustment rod slides in the third adjustment hole, the adjustment rod also slides in the third adjustment groove at the same time.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. A jaw mechanism for automatically gripping rod-shaped materials in the present application includes a gripping cylinder block, a first clamping plate, a second clamping plate, an adsorption assembly, a lifting assembly, and a transmission assembly. Among them, the flexible suction cup can be adsorbed on the rod-shaped material through the electromagnetic ring and the permanent magnet slider. The rod-shaped material can be moved to the clamping area between the first clamping plate and the second clamping plate by the lifting electromagnetic plate and the lifting permanent magnet plate. At the same time, the lifting permanent magnet plate will synchronously drive the second clamping plate to clamp on the rod-shaped material through the transmission assembly, so that the actions of the negative pressure suction pipe and the second clamping plate are automatically adapted. The rod-shaped material can be fixed by both adsorption and clamping methods, and the two fixing methods can form anti-falling measures for each other, improving the safety of handling the rod-shaped material. Therefore, through the handling method of first adsorbing and then clamping, the handling of the rod-shaped material does not require manual assistance, improving the handling efficiency of the rod-shaped material; 2. An intelligent loading device in the present application includes a mobile gantry, a lifting and translation mechanism, an adjustment mechanism, and the above-mentioned jaw mechanism for automatically gripping rod-shaped materials. Among them, the jaw mechanism for automatically gripping rod-shaped materials can be quickly approached to the rod-shaped material through the mobile gantry and the lifting and translation mechanism. The rod-shaped material can be stably clamped by the jaw mechanism for automatically gripping rod-shaped materials. The adjustment electric cylinder of the adjustment mechanism can perform horizontal rotation and tilting swing on the loading posture of the rod-shaped material, so that the rod-shaped material can be loaded quickly and in multiple postures. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of a jaw mechanism for automatically gripping rod-shaped materials in the present application; Figure 2 is a schematic structural diagram of the adsorption assembly and the lifting assembly of a jaw mechanism for automatically gripping rod-shaped materials in the present application; Figure 3 is Figure 2 the enlarged view of part A in Figure 4It is a schematic structural diagram of an intelligent loading device of the present application; Figure 5 It is Figure 4 The enlarged view of position B in Figure 6 It is a schematic structural diagram of the rotating groove and the rotating block of an intelligent loading device of the present application; Figure 7 It is a schematic structural diagram of the adjusting assembly of an intelligent loading device of the present application.

[0017] Explanation of the reference numerals: 1. Clamping cylinder body; 11. Transmission hole; 2. First clamping plate; 3. Second clamping plate; 31. Hinge shaft; 32. First roller; 33. Second roller; 4. Adsorption assembly; 41. Negative pressure suction pipe; 42. Flexible suction cup; 43. Electromagnetic ring; 44. Negative pressure permanent magnet block; 5. Lifting assembly; 51. Lifting permanent magnet plate; 52. Lifting electromagnetic plate; 6. Transmission assembly; 61. Transmission rack; 62. Transmission gear; 63. Chain drive; 7. Mobile gantry; 8. Lifting and translation mechanism; 81. Translation assembly; 811. Translation plate; 812. Translation electric cylinder; 82. Lifting assembly; 821. Lifting column; 8211. Rotating groove; 822. Lifting rack; 823. Lifting gear; 824. Lifting motor; 9. Adjusting mechanism; 91. Adjusting column; 911. Rotating block; 92. Connecting plate; 93. Adjusting assembly; 931. Adjusting electric cylinder; 932. Adjusting rod; 933. Adjusting plate; 9311. Rotating adjustment hole; 9312. First adjustment hole; 9313. Second adjustment hole; 9314. Third adjustment hole; 934. Adjusting block; 9341. Tilt adjustment groove; 9342. First adjustment groove; 9343. Second adjustment groove; 9344. Third adjustment groove. Detailed implementation manners

[0018] The following will Figure 1-7 make a further detailed description of the present application.

[0019] The embodiment of the present application discloses a jaw mechanism for automatically clamping rod-shaped materials. Refer to Figure 1 and Figure 2 , a jaw mechanism for automatically clamping rod-shaped materials includes a clamping cylinder body 1, a first clamping plate 2, a second clamping plate 3, an adsorption assembly 4, a lifting assembly 5 and a transmission assembly 6.

[0020] Refer to Figure 2 , the clamping cylinder body 1 is vertically arranged and is in the shape of a rectangular box. There are two symmetrically arranged first clamping plates 2, and both are fixedly connected to the bottom end of the clamping cylinder body 1, and the two symmetric first clamping plates 2 are inclined in the direction away from each other. There are two second clamping plates 3, and they are respectively hinged to one end of the first clamping plate 2 away from the clamping cylinder body 1. The first clamping plate 2 and the second clamping plate 3 form a clamping space for the rod-shaped material.

[0021] One set of adsorption components 4 is provided and arranged between two symmetric first clamping plates 2. The adsorption components 4 are connected to the bottom end of the clamping cylinder 1. The adsorption components 4 are used for negative pressure adsorption of rod-shaped materials. The lifting component 5 is arranged in the clamping cylinder 1 and connected to the adsorption components 4. The lifting component 5 is used for driving the adsorption components 4 to move.

[0022] Two sets of transmission components 6 are provided and correspond to the second clamping plates 3 one by one. The transmission components 6 are respectively connected to the lifting component 5 and the corresponding second clamping plates 3. The transmission components 6 are used for driving the second clamping plates 3 to rotate relative to the first clamping plates 2 when the lifting component 5 drives the adsorption components 4 to move.

[0023] When the lifting component 5 drives the adsorption components 4 to approach the rod-shaped material, the transmission components 6 can drive the second clamping plates 3 to open and form a clamping channel for the rod-shaped material. When the lifting component 5 lifts the rod-shaped material, the transmission components 6 can drive the second clamping plates 3 to clamp on the rod-shaped material. When the lifting component 5 lowers the rod-shaped material, the transmission components 6 can drive the second clamping plates 3 to release the clamping of the rod-shaped material.

[0024] During use, the clamping cylinder 1 is brought close to the rod-shaped material. The lifting component 5 first drives the adsorption components 4 to approach the rod-shaped material. At the same time, the lifting component 5 drives the second clamping plates 3 to rotate through the transmission components 6, so that the two second clamping plates 3 open and form a clamping channel for clamping the rod-shaped material. The adsorption components 4 adsorb the rod-shaped material by negative pressure. Then the lifting component 5 drives the adsorption components 4 to move in the reverse direction. At the same time, the lifting component 5 drives the second clamping plates 3 to rotate in the reverse direction through the transmission components 6, so that the second clamping plates 3 clamp on the rod-shaped material, thereby realizing the automatic adsorption and clamping of the rod-shaped material, enabling the rod-shaped material to be transported without manual assistance, quickly realizing the clamping and fixing of the rod-shaped material to be transported, reducing the labor intensity of workers, and reducing the operation procedures for transporting the rod-shaped material, improving the transportation efficiency of the rod-shaped material, and further achieving the purpose of quickly transporting the rod-shaped material.

[0025] The rod-shaped material is fixed by two methods of adsorption and clamping, improving the safety of the rod-shaped material during transportation. And when the adsorption components 4 accidentally release the rod-shaped material, the clamping force applied by the second clamping plates 3 to the rod-shaped material can prevent the rod-shaped material from falling.

[0026] On the premise that the size of the rod-shaped material meets the clamping space formed by the first clamping plates 2 and the second clamping plates 3, the rod-shaped material can be a single piece of material or a bundle of multiple pieces of material.

[0027] Specifically, referring to Figure 2 and Figure 3 , the adsorption components 4 include a negative pressure suction pipe 41, a flexible suction cup 42, an electromagnetic ring 43, and a negative pressure permanent magnet block 44.

[0028] The negative pressure suction pipe 41 is slidably inserted through the bottom end of the clamping cylinder 1. The flexible suction cup 42 is fixedly connected to one end of the negative pressure suction pipe 41 outside the clamping cylinder 1, and the flexible suction cup 42 is communicated with the negative pressure suction pipe 41. The electromagnetic ring 43 is fixedly connected inside the negative pressure suction pipe 41 and is arranged close to the flexible suction cup 42. The negative pressure permanent magnet block 44 is hermetically and slidably arranged inside the negative pressure suction pipe 41 and is located on the side of the electromagnetic ring 43 away from the flexible suction cup 42.

[0029] After the flexible suction cup 42 fits onto the rod-shaped material, when the polarities of the mutually approaching sides of the electromagnetic ring 43 and the negative pressure permanent magnet block 44 are the same, the flexible suction cup 42 can adsorb onto the rod-shaped material under negative pressure. When the polarities of the mutually approaching sides of the electromagnetic ring 43 and the negative pressure permanent magnet block 44 are opposite, the flexible suction cup 42 releases the adsorption force on the rod-shaped material.

[0030] Slide the negative pressure suction pipe 41 to make the flexible suction cup 42 fit onto the rod-shaped material, and then control the polarities between the electromagnetic ring 43 and the negative pressure permanent magnet block 44 to be in the same state. The negative pressure permanent magnet block 44 can slide away from the electromagnetic ring 43 under the action of magnetic thrust, so that the space volume among the rod-shaped material, the flexible suction cup 42, the negative pressure suction pipe 41, and the negative pressure permanent magnet block 44 increases, thereby enabling a negative pressure to be formed inside the negative pressure suction pipe 41, enabling the rod-shaped material to be fixed to the flexible suction cup 42 under the action of negative pressure suction, and enabling the negative pressure suction pipe 41 to drive the rod-shaped material to move.

[0031] When it is necessary to release the negative pressure suction on the rod-shaped material, control the polarities between the electromagnetic ring 43 and the negative pressure permanent magnet block 44 to be in the opposite state, so that the negative pressure permanent magnet block 44 can reset under the action of magnetic suction to restore the space volume among the rod-shaped material, the flexible suction cup 42, the negative pressure suction pipe 41, and the negative pressure permanent magnet block 44, release the negative pressure state inside the negative pressure suction pipe 41, and make the flexible suction cup 42 and the rod-shaped material only in a fitting state to release the fixation between the flexible suction cup 42 and the rod-shaped material.

[0032] Specifically, referring to Figure 2 , the lifting component 5 includes a lifting permanent magnet plate 51 and a lifting electromagnetic plate 52.

[0033] The lifting permanent magnet plate 51 is slidably arranged inside the clamping cylinder 1. One end of the negative pressure suction pipe 41 inside the clamping cylinder 1 is fixedly inserted through the lifting permanent magnet plate 51, and the lifting permanent magnet plate 51 can drive the negative pressure suction pipe 41 to slide. The lifting electromagnetic plate 52 is fixedly connected inside the clamping cylinder 1 and is located on the side of the lifting permanent magnet plate 51 away from the flexible suction cup 42.

[0034] When the polarities of the mutually approaching sides of the lifting electromagnetic plate 52 and the lifting permanent magnet plate 51 are opposite, the lifting permanent magnet plate 51 can slide towards the lifting electromagnetic plate 52. When the polarities of the mutually approaching sides of the lifting electromagnetic plate 52 and the lifting permanent magnet plate 51 are the same, the lifting permanent magnet plate 51 can slide away from the lifting electromagnetic plate 52.

[0035] By controlling the polarity of the lifting electromagnetic plate 52, the lifting permanent magnet plate 51 can be made to approach or move away from the lifting electromagnetic plate 52. Since the negative pressure suction pipe 41 is fixedly connected to the lifting permanent magnet plate 51, the negative pressure suction pipe 41 is facilitated to slide relative to the clamping cylinder block 1.

[0036] Specifically, referring to Figure 2 , the transmission assembly 6 includes a transmission rack 61, a transmission gear 62 and a chain drive 63.

[0037] The transmission rack 61 is slidably arranged in a transmission hole 11 formed in the side wall of the clamping cylinder block 1. The sliding direction of the transmission rack 61 is parallel to the sliding direction of the lifting permanent magnet plate 51, and the transmission rack 61 is fixedly connected to the lifting permanent magnet plate 51. The transmission gear 62 is rotatably connected to the outer wall of the clamping cylinder block 1, and the transmission gear 62 meshes with the transmission rack 61.

[0038] The first clamping plate 2 and the second clamping plate 3 are hinged by a hinge shaft 31. The hinge shaft 31 is fixedly connected to the second clamping plate 3 and rotatably connected to the first clamping plate 2. The chain drive 63 is respectively connected to the transmission gear 62 and the hinge shaft 31 to transmit the driving force of the transmission gear 62 to the hinge shaft 31.

[0039] When the lifting permanent magnet plate 51 drives the negative pressure suction pipe 41 to approach the rod-shaped material, the transmission rack 61 can drive the second clamping plate 3 to open and form a clamping channel for the rod-shaped material. When the lifting permanent magnet plate 51 slides close to the lifting electromagnetic plate 52, the transmission rack 61 can drive the second clamping plate 3 to clamp the rod-shaped material. When the lifting permanent magnet plate 51 slides away from the lifting electromagnetic plate 52, the transmission rack 61 can drive the second clamping plate 3 to release the clamping of the rod-shaped material.

[0040] When the lifting permanent magnet plate 51 slides, it can drive the transmission rack 61 to slide. The transmission rack 61 can drive the transmission gear 62 to rotate. The driving force formed by the rotation of the transmission gear 62 can be transmitted to the hinge shaft 31 through the chain drive 63. The hinge shaft 31 can drive the second clamping plate 3 to rotate, so that the movement of the second clamping plate 3 can be synchronized with the movement of the lifting permanent magnet plate 51. Thus, the second clamping plate 3 is not only easy to drive, but also the clamping condition of the second clamping plate 3 on the rod-shaped material can be automatically adapted to the movement condition of the negative pressure suction pipe 41, without setting additional power components and without the need to cooperate in the research and development and installation of a precise control system.

[0041] When the flexible suction cup 42 is accidentally disengaged from the rod-shaped material, in order to be able to lower the rod-shaped material smoothly, the end of the second clamping plate 3 needs to slide on the ground so that the rod-shaped material can be lowered in a sliding form.

[0042] Referring to Figure 2, in order to reduce the wear between the second clamping plate 3 and the ground as well as the wear between the second clamping plate 3 and the rod-shaped material, a first roller 32 and a second roller 33 are rotatably connected to the second clamping plate 3. A plurality of first rollers 32 are provided, and the plurality of first rollers 32 are arranged along the direction away from the hinge joint of the second clamping plate 3 and the first clamping plate 2. The first rollers 32 are located on the clamping surface of the second clamping plate 3, and the second roller 33 is provided at the end of the second clamping plate 3.

[0043] When the adsorption fixing force between the flexible suction cup 42 and the rod-shaped material is accidentally released, in order to smoothly lower the rod-shaped material, the second roller 33 at the end of the second clamping plate 3 is abutted against the ground, and then the two second clamping plates 3 are slowly opened. The end of the second clamping plate 3 slides on the ground through the second roller 33, and the rod-shaped material slides down along the second clamping plate 3 as the two second clamping plates 3 are opened. The rod-shaped material slides relative to the second clamping plate 3 through the first roller 32. Thus, under the rolling action of the first roller 32 and the second roller 33, the second clamping plate 3 and the rod-shaped material are not easily worn.

[0044] The implementation principle of the jaw mechanism for automatically clamping rod-shaped materials in the embodiment of the present application is as follows: during use, the clamping cylinder body 1 is moved close to the rod-shaped material. The lifting electromagnetic plate 52 drives the lifting permanent magnet plate 51 to slide away from itself, and the lifting permanent magnet plate 51 drives the negative pressure suction pipe 41 and the flexible suction cup 42 close to the rod-shaped material. Moreover, the lifting permanent magnet plate 51 synchronously drives the second clamping plate 3 to open. After the flexible suction cup 42 is attached to the rod-shaped material, the electromagnetic ring 43 drives the negative pressure permanent magnet block 44 to slide away from itself, so that the flexible suction cup 42 is adsorbed and fixed to the rod-shaped material. Then, the lifting electromagnetic plate 52 drives the lifting permanent magnet plate 51 to slide closer to itself, and the lifting electromagnetic plate 52 synchronously drives the second clamping plate 3 to clamp on the rod-shaped material, enabling the handling of the rod-shaped material without manual assistance and improving the handling efficiency of the rod-shaped material.

[0045] The embodiment of the present application also discloses an intelligent loading device.

[0046] Refer to Figure 4 , an intelligent loading device includes a mobile gantry 7, a lifting and translation mechanism 8, an adjusting mechanism 9, and the above-mentioned jaw mechanism for automatically clamping rod-shaped materials.

[0047] The lifting and translation mechanism 8 is arranged on the mobile gantry 7, the adjusting mechanism 9 is arranged on the lifting and translation mechanism 8. Two jaw mechanisms for automatically clamping rod-shaped materials are provided and are both arranged on the adjusting mechanism 9. The mobile gantry 7 is used to move the lifting and translation mechanism 8, the lifting and translation mechanism 8 is used to lift and translate the adjusting mechanism 9, the adjusting mechanism 9 is used to connect the two jaw mechanisms for automatically clamping rod-shaped materials, and the adjusting mechanism 9 is used to adjust the loading posture of the rod-shaped materials.

[0048] When it is necessary to load rod-shaped materials onto a vehicle, the mobile gantry 7 can move the clamping cylinder 1 to the area where the rod-shaped materials are stacked. The lifting and translation mechanism 8 can lift and translate the clamping cylinder 1 close to the rod-shaped materials, so that the first clamping plate 2 and the second clamping plate 3 can clamp the rod-shaped materials. After clamping and fixing the rod-shaped materials, the adjusting mechanism 9 can adjust the posture of the rod-shaped materials so that the rod-shaped materials can be loaded onto the truck in a suitable loading posture, thereby enabling the rod-shaped materials to be loaded quickly and in multiple postures.

[0049] Specifically, referring to Figure 4 , the lifting and translation mechanism 8 includes a translation component 81 and a lifting component 82. The translation component 81 includes a translation plate 811 and a translation electric cylinder 812.

[0050] The translation plate 811 is slidably arranged on the top of the mobile gantry 7, and the sliding direction of the translation plate 811 is perpendicular to the moving direction of the mobile gantry 7. The translation electric cylinder 812 is connected to the mobile gantry 7, the movable end of the translation electric cylinder 812 is connected to the translation plate 811, and the telescopic direction of the translation electric cylinder 812 is consistent with the sliding direction of the translation plate 811. The lifting component 82 is connected to the translation plate 811, and the adjusting mechanism 9 is connected to the lifting component 82.

[0051] By driving the translation plate 811 with the translation electric cylinder 812, the position of the clamping cylinder 1 in the horizontal direction can be adjusted, so that the clamping cylinder 1 can move to directly above the rod-shaped materials at different positions.

[0052] Furthermore, referring to Figure 4 and Figure 5 , the lifting component 82 includes a lifting column 821, a lifting rack 822, a lifting gear 823 and a lifting motor 824.

[0053] The lifting column 821 is slidably inserted through the translation plate 811 in the vertical direction. The lifting rack 822 is fixedly embedded in the lifting column 821 in the vertical direction. The lifting gear 823 meshes with the lifting rack 822 and is fixedly connected to the output shaft of the lifting motor 824. The lifting motor 824 is fixedly connected to the translation plate 811. The adjusting mechanism 9 is connected to the bottom end of the lifting column 821.

[0054] After the clamping cylinder 1 moves to directly above the rod-shaped materials, the lifting motor 824 drives the lifting gear 823 to rotate. The lifting gear 823 drives the lifting rack 822 to move. The lifting rack 822 drives the lifting column 821 to lift, so that the clamping cylinder 1 can approach the rod-shaped materials in the vertical direction.

[0055] Specifically, referring to Figure 4 , the adjusting mechanism 9 includes an adjusting column 91, a connecting plate 92 and an adjusting component 93.

[0056] One end of the adjusting column 91 is rotatably connected to the bottom end of the lifting column 821, and the other end is hinged to the middle of the connecting plate 92. The clamping cylinders 1 of the two gripper mechanisms for automatically gripping rod-shaped materials are both fixedly connected to the connecting plate 92. The adjusting assembly 93 is respectively connected to the lifting column 821, the adjusting column 91, and the connecting plate 92. The adjusting assembly 93 is used to drive the adjusting column 91 to rotate relative to the lifting column 821, and the adjusting assembly 93 is used to drive the connecting plate 92 to swing relative to the adjusting column 91.

[0057] Among them, referring to Figure 6 , a rotating block 911 is fixedly connected to the top end of the adjusting column 91. The rotating block 911 is rotatably arranged in a rotating groove 8211 opened at the bottom end of the lifting column 821. The rotating block 911 and the rotating groove 8211 form the rotational connection relationship between the adjusting column 91 and the lifting column 821.

[0058] Through the rotational connection relationship between the adjusting column 91 and the lifting column 821 and the hinged relationship between the adjusting column 91 and the connecting plate 92, the attitude of the rod-shaped material can be rotationally adjusted and tilted, so that under the drive of the adjusting assembly 93, the loading attitude of the rod-shaped material can be adjusted.

[0059] Furthermore, referring to Figure 7 , the adjusting assembly 93 includes an adjusting electric cylinder 931, an adjusting rod 932, an adjusting plate 933, and an adjusting block 934.

[0060] The adjusting electric cylinder 931 is fixedly connected to the adjusting column 91. The middle of the adjusting rod 932 is fixedly connected to the movable end of the adjusting electric cylinder 931. The adjusting plate 933 is in the shape of a circular plate and is coaxially fixedly connected to the lifting column 821. A rotation adjustment hole 9311 is opened on the adjusting plate 933. The top end of the adjusting rod 932 is slidably arranged in the rotation adjustment hole 9311. The adjusting block 934 is fixedly connected to the connecting plate 92. The side surface of the adjusting block 934 away from the connecting plate 92 is trapezoidal in reverse. An inclination adjustment groove 9341 is opened on the trapezoidal surface of the adjusting block 934. The bottom end of the adjusting rod 932 is slidably arranged in the inclination adjustment groove 9341.

[0061] The rotating adjustment hole 9311 includes a first adjustment hole 9312, a second adjustment hole 9313 and a third adjustment hole 9314. The first adjustment hole 9312, the second adjustment hole 9313 and the third adjustment hole 9314 are arranged in a direction away from the adjustment column 91. The length directions of the first adjustment hole 9312 and the third adjustment hole 9314 are consistent with the diameter direction of the adjustment plate 933. The length direction of the second adjustment hole 9313 is set at an angle to the diameter direction of the adjustment plate 933. When the adjustment rod 932 slides in the first adjustment hole 9312 or the third adjustment hole 9314, the adjustment column 91 is fixed relative to the adjustment plate 933. When the adjustment rod 932 slides in the second adjustment hole 9313, the adjustment column 91 rotates relative to the adjustment plate 933. When the adjustment rod 932 slides from one end of the second adjustment hole 9313 to the other end of the second adjustment hole 9313, the adjustment column 91 can rotate 90° relative to the lifting column 821.

[0062] The tilt adjustment groove 9341 includes a first adjustment groove 9342, a second adjustment groove 9343 and a third adjustment groove 9344. The first adjustment groove 9342 and the second adjustment groove 9343 are respectively located on the two inclined surfaces of the inverted trapezoidal surface of the adjustment block 934, and the second adjustment groove 9343 is located on the straight surface of the inverted trapezoidal surface of the adjustment block 934. When the adjustment rod 932 slides in the first adjustment groove 9342 or the third adjustment groove 9344, the connecting plate 92 is tilted. When the adjustment rod 932 slides in the second adjustment groove 9343, the connecting plate 92 is horizontally set.

[0063] The bottom end of the adjusting rod 932 is T-shaped, and the T-shaped end of the adjusting rod 932 is slidably disposed in the tilt adjusting groove 9341 , so that the end of the adjusting rod 932 is difficult to escape from the tilt adjusting groove 9341 .

[0064] When it is necessary to adjust the horizontal position of the rod-shaped material loading, the adjusting electric cylinder 931 drives the top end of the adjusting rod 932 to slide in the second adjusting hole 9313, and the adjusting electric cylinder 931 drives the bottom end of the adjusting rod 932 to slide in the second adjusting groove 9343. Since the length direction of the second adjusting hole 9313 and the diameter direction of the adjusting plate 933 are arranged at an angle, the adjusting rod 932 can form an interaction force with the side wall of the second adjusting hole 9313. Under the condition that the adjusting plate 933 and the lifting column 821 are fixed, the adjusting rod 932 can drive the adjusting column 91 to rotate relative to the lifting column 821 to adjust the horizontal position of the rod-shaped material.

[0065] When it is necessary to adjust the inclined position and pose of the rod-shaped material during loading, the adjusting electric cylinder 931 drives the top end of the adjusting rod 932 to slide in the first adjusting hole 9312 or the third adjusting hole 9314, and the adjusting electric cylinder 931 drives the bottom end of the adjusting rod 932 to slide in the first adjusting groove 9342 or the third adjusting groove 9344. Since both the first adjusting groove 9342 and the third adjusting groove 9344 are located on the inclined surface of the adjusting block 934, when the end of the adjusting rod 932 slides on the inclined surface of the adjusting block 934, the connection length between the adjusting electric cylinder 931 and the connecting plate 92 can be increased, so that the adjusting rod 932 can push the connecting plate 92 to tilt by means of the adjusting block 934 to adjust the inclined position and pose of the rod-shaped material.

[0066] The above are all the preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A clamping mechanism for automatically clamping rod-shaped materials, characterized in that: include: Clamping cylinder (1); Two or more first clamping plates (2) are symmetrically arranged and are both connected to the clamping cylinder (1), and the two symmetrical first clamping plates (2) are tilted and arranged in a direction away from each other; The second clamping plates (3) are provided with two or more and are hingedly connected one by one to the end of the first clamping plate (2) away from the clamping cylinder body (1); The adsorption components (4) are provided in one or more groups and are respectively arranged between two symmetrical first clamping plates (2). The adsorption components (4) are connected to the clamping cylinder (1). The adsorption components (4) are used for negative pressure adsorption of rod-shaped materials. A lifting assembly (5) is arranged in the clamping cylinder (1) and is connected to all the adsorption assemblies (4). The lifting assembly (5) is used to drive the adsorption assembly (4) to move; The transmission components (6) are provided with two or more groups and correspond to the second clamping plates (3) one by one. The transmission components (6) are respectively connected to the lifting components (5) and the corresponding second clamping plates (3). The transmission components (6) are used to drive the second clamping plates (3) to rotate relative to the first clamping plates (2) when the lifting components (5) drive the adsorption components (4) to move. When the lifting component (5) drives the adsorption component (4) to approach the rod-shaped material, the transmission component (6) can drive the second clamping plate (3) to open and form a clamping channel for the rod-shaped material; when the lifting component (5) lifts the rod-shaped material, the transmission component (6) can drive the second clamping plate (3) to clamp on the rod-shaped material; when the lifting component (5) lowers the rod-shaped material, the transmission component (6) can drive the second clamping plate (3) to release the clamping of the rod-shaped material.

2. The clamping mechanism for automatically clamping rod-shaped materials according to claim 1, characterized in that: The adsorption assembly (4) comprises a negative pressure suction pipe (41), a flexible suction cup (42), an electromagnetic ring (43) and a negative pressure permanent magnet block (44); the negative pressure suction pipe (41) is slidably arranged on the clamping cylinder (1); the flexible suction cup (42) is connected to one end of the negative pressure suction pipe (41) located outside the clamping cylinder (1); the flexible suction cup (42) is communicated with the negative pressure suction pipe (41); the electromagnetic ring (43) is connected inside the negative pressure suction pipe (41) and is arranged close to the flexible suction cup (42); the negative pressure permanent magnet block (44) ) is sealed and slidably arranged in the negative pressure suction tube (41) and is located on the side of the electromagnetic ring (43) away from the flexible suction cup (42). After the flexible suction cup (42) is attached to the rod-shaped material, when the polarity of the electromagnetic ring (43) and the negative pressure permanent magnet block (44) on the side close to each other is the same, the flexible suction cup (42) can be adsorbed on the rod-shaped material under negative pressure. When the polarity of the electromagnetic ring (43) and the negative pressure permanent magnet block (44) on the side close to each other is opposite, the flexible suction cup (42) releases the adsorption force on the rod-shaped material.

3. The clamping mechanism for automatically clamping rod-shaped materials according to claim 2, characterized in that: The lifting assembly (5) comprises a lifting permanent magnet plate (51) and a lifting electromagnetic plate (52). The lifting permanent magnet plate (51) is slidably arranged in the clamping cylinder (1). One end of all negative pressure suction pipes (41) located in the clamping cylinder (1) is penetrated on the lifting permanent magnet plate (51). The lifting electromagnetic plate (52) is connected in the clamping cylinder (1) and is located on the side of the lifting permanent magnet plate (51) away from the flexible suction cup (42). When the polarity of the lifting electromagnetic plate (52) and the lifting permanent magnet plate (51) on the side close to each other is reversed, the lifting permanent magnet plate (51) can slide towards the lifting electromagnetic plate (52). When the polarity of the lifting electromagnetic plate (52) and the lifting permanent magnet plate (51) on the side close to each other is the same, the lifting permanent magnet plate (51) can slide away from the lifting electromagnetic plate (52).

4. The clamping mechanism for automatically clamping rod-shaped materials according to claim 3, characterized in that: The transmission assembly (6) comprises a transmission rack (61), a transmission gear (62) and a chain drive (63); the transmission rack (61) is slidably arranged in a transmission hole (11) provided on the side wall of the clamping cylinder (1); the transmission rack (61) is connected to the lifting permanent magnet plate (51); the transmission gear (62) is rotatably connected to the outer wall of the clamping cylinder (1); the transmission gear (62) is meshed with the transmission rack (61); the first clamping plate (2) and the second clamping plate (3) are hingedly connected via a hinge shaft (31); the hinge shaft (31) is connected to the second clamping plate (3) and is rotatably connected to the first clamping plate (2) The chain drive (63) is respectively connected to the transmission gear (62) and the hinge shaft (31); when the lifting permanent magnetic plate (51) drives the negative pressure suction tube (41) to approach the rod-shaped material, the transmission rack (61) can drive the second clamping plate (3) to open and form a clamping channel for the rod-shaped material; when the lifting permanent magnetic plate (51) slides close to the lifting electromagnetic plate (52), the transmission rack (61) can drive the second clamping plate (3) to clamp on the rod-shaped material; when the lifting permanent magnetic plate (51) slides away from the lifting electromagnetic plate (52), the transmission rack (61) can drive the second clamping plate (3) to release the clamping of the rod-shaped material.

5. The clamping mechanism for automatically clamping rod-shaped materials according to claim 1, characterized in that: The second clamping plate (3) is rotatably connected with a first roller (32) and a second roller (33), and a plurality of first rollers (32) are provided. The plurality of first rollers (32) are arranged in a direction away from a hinge point between the second clamping plate (3) and the first clamping plate (2), and the first roller (32) is located on a clamping surface of the second clamping plate (3), and the second roller (33) is provided on an end portion of the second clamping plate (3).

6. An intelligent loading device, characterized in that: It comprises a movable gantry (7), a lifting and translation mechanism (8), an adjustment mechanism (9), and a clamping mechanism for automatically clamping rod-shaped materials as described in any one of claims 1 to 5; The lifting and translation mechanism (8) is arranged on the mobile gantry (7), the adjustment mechanism (9) is arranged on the lifting and translation mechanism (8), two clamping mechanisms for automatically clamping rod-shaped materials are arranged and both are arranged on the adjustment mechanism (9), the mobile gantry (7) is used to move the lifting and translation mechanism (8), the lifting and translation mechanism (8) is used to lift and translate the adjustment mechanism (9), the adjustment mechanism (9) is used to connect the two clamping mechanisms for automatically clamping rod-shaped materials, and the adjustment mechanism (9) is used to adjust the loading posture of the rod-shaped materials.

7. The intelligent loading device according to claim 6, characterized in that: The lifting and translation mechanism (8) comprises a translation assembly (81) and a lifting assembly (82); the translation assembly (81) comprises a translation plate (811) and a translation electric cylinder (812); the translation plate (811) is slidably arranged on a mobile gantry (7); the sliding direction of the translation plate (811) is perpendicular to the moving direction of the mobile gantry (7); the translation electric cylinder (812) is connected to the mobile gantry (7); the movable end of the translation electric cylinder (812) is connected to the translation plate (811); the extension and retraction direction of the translation electric cylinder (812) is consistent with the sliding direction of the translation plate (811); the lifting assembly (82) is connected to the translation plate (811); and the adjustment mechanism (9) is connected to the lifting assembly (82).

8. The intelligent loading device according to claim 7, characterized in that: The lifting assembly (82) comprises a lifting column (821), a lifting rack (822), a lifting gear (823) and a lifting motor (824); the lifting column (821) is slidably arranged on the translation plate (811) in a vertical direction; the lifting rack (822) is embedded in the lifting column (821) in a vertical direction; the lifting gear (823) is meshed with the lifting rack (822) and connected to the output shaft of the lifting motor (824); the lifting motor (824) is mounted on the translation plate (811); and the adjustment mechanism (9) is connected to the bottom end of the lifting column (821).

9. The intelligent loading device according to claim 8, characterized in that: The adjusting mechanism (9) comprises an adjusting column (91), a connecting plate (92) and an adjusting assembly (93); one end of the adjusting column (91) is rotatably connected to the bottom end of the lifting column (821), and the other end is hinged to the middle part of the connecting plate (92); the clamping cylinders (1) of two clamping mechanisms for automatically clamping rod-shaped materials are both connected to the connecting plate (92); the adjusting assembly (93) is respectively connected to the lifting column (821), the adjusting column (91) and the connecting plate (92); the adjusting assembly (93) is used to drive the adjusting column (91) to rotate relative to the lifting column (821); and the adjusting assembly (93) is used to drive the connecting plate (92) to swing relative to the adjusting column (91).

10. The intelligent loading device according to claim 9, characterized in that: The adjustment assembly (93) comprises an adjustment electric cylinder (931), an adjustment rod (932), an adjustment plate (933) and an adjustment block (934); the adjustment electric cylinder (931) is connected to the adjustment column (91); the middle part of the adjustment rod (932) is connected to the movable end of the adjustment electric cylinder (931); the adjustment plate (933) is connected to the lifting column (821) and is provided with a rotation adjustment hole (9311); one end of the adjustment rod (932) is slidably arranged in the rotation adjustment hole (9311); the adjustment block (934) is connected to the connecting plate (92); the side of the adjustment block (934) away from the connecting plate (92) is in an inverted trapezoidal shape; an inverted trapezoidal surface of the adjustment block (934) is provided with an inclination adjustment groove (9341); the other end of the adjustment rod (932) is slidably arranged in the inclination adjustment groove (9341); The rotating adjustment hole (9311) includes a first adjustment hole (9312), a second adjustment hole (9313) and a third adjustment hole (9314); the first adjustment hole (9312), the second adjustment hole (9313) and the third adjustment hole (9314) are arranged in a direction away from the adjustment column (91); when the adjustment rod (932) slides in the first adjustment hole (9312) or the third adjustment hole (9314), the adjustment column (91) is fixed relative to the adjustment plate (933); when the adjustment rod (932) slides in the second adjustment hole (9313), the adjustment column (91) rotates relative to the adjustment plate (933); The tilt adjustment groove (9341) comprises a first adjustment groove (9342), a second adjustment groove (9343) and a third adjustment groove (9344); the first adjustment groove (9342) and the second adjustment groove (9343) are respectively located on two inclined surfaces of the inverted trapezoidal surface of the adjustment block (934); the second adjustment groove (9343) is located on the straight surface of the inverted trapezoidal surface of the adjustment block (934); when the adjustment rod (932) slides in the first adjustment groove (9342) or the third adjustment groove (9344), the connection plate (92) is tilted; when the adjustment rod (932) slides in the second adjustment groove (9343), the connection plate (92) is horizontally arranged; When the adjusting rod (932) slides in the first adjusting hole (9312), the adjusting rod (932) also slides in the first adjusting groove (9342) at the same time; when the adjusting rod (932) slides in the second adjusting hole (9313), the adjusting rod (932) also slides in the second adjusting groove (9343) at the same time; when the adjusting rod (932) slides in the third adjusting hole (9314), the adjusting rod (932) also slides in the third adjusting groove (9344) at the same time.

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