Fall-preventing suction cup sling

Abstract

The present invention discloses an anti-falling suction cup sling, which relates to the field of material transfer technology, including a fixed bracket, a suction cup assembly, a cross-connecting frame, four connecting rods and a plurality of claws; the suction cup assembly is arranged on the fixed bracket and sucks the target workpiece under the fixed bracket; the center of the cross-connecting frame rotates around a vertical axis and is connected to the fixed bracket; the first ends of the four connecting rods are connected to the four ends of the cross-connecting frame in a one-to-one correspondence; the middle parts of the plurality of claws are hinged to the four sides of the fixed bracket in a one-to-one correspondence around a horizontal axis, and the upper ends of the plurality of claws are connected to the second ends of the four connecting rods in a one-to-one correspondence; the cross-connecting frame drives the four connecting rods to move radially outward during rotation, so as to drive the lower ends of the plurality of claws to rotate radially inward to below the edge of the target workpiece. This solution can use the claws to receive the workpiece from multiple angles when the adsorption force of the suction cup fails, thereby preventing the workpiece from falling, thereby improving the safety of the workpiece during transportation and transfer.

Description

Technical Field

[0001] The present invention relates to the technical field of material transfer, and in particular to an anti-falling suction cup sling. Background Art

[0002] The transport and transfer of large workpieces is a common operation in industrial production. In industries such as automotive manufacturing, shipbuilding, and heavy machining, these workpieces are often large and irregularly shaped, making them difficult to secure effectively using traditional lifting methods such as wire ropes and hooks. Therefore, suction cup lifters are widely used due to their ability to provide stable suction. Using the principle of vacuum suction, suction cup lifters securely grasp the workpiece surface, ensuring smooth lifting.

[0003] However, existing suction cup lifters present a significant safety risk: if suction is lost during the lifting process due to a gas outage, equipment failure, or other unexpected circumstances, the workpiece may suddenly fall, causing serious property damage and personal injury. Therefore, developing a safety lift that can prevent the workpiece from falling when suction fails is crucial for improving industrial safety. Summary of the Invention

[0004] The main purpose of the present invention is to provide an anti-falling suction cup sling, which can prevent the workpiece from falling when the adsorption force of the suction cup fails, thereby improving the safety of the workpiece during transportation and transfer.

[0005] To achieve the above-mentioned purpose, the anti-falling suction cup sling proposed by the present invention comprises:

[0006] Fixed bracket;

[0007] A suction cup assembly, the suction cup assembly being disposed on the fixing bracket and being used to suck the target workpiece under the fixing bracket;

[0008] A cross connecting frame, the center of which is rotatably connected to the fixed bracket around a vertical axis; the cross connecting frame includes a first strip structure and a second strip structure arranged crosswise, the second strip structure being superimposed below the first strip structure, a first connecting through hole being defined in the center of the first strip structure, a second connecting through hole being defined in the center of the second strip structure, the first connecting through hole and the second connecting through hole being concentrically disposed, and the aperture of the first connecting through hole being smaller than the aperture of the second connecting through hole;

[0009] Four connecting rods, wherein the first ends of the four connecting rods are connected to the four ends of the cross connecting frame in a one-to-one correspondence;

[0010] a plurality of claws, wherein the middle portions of the plurality of claws are hinged to the front side, the rear side, the left side and the right side of the fixing bracket in a one-to-one correspondence around a horizontal axis, and the upper ends of the plurality of claws are connected to the second ends of the four connecting rods in a one-to-one correspondence;

[0011] The cross connecting frame is used to drive the four connecting rods to move radially outward during the rotation process, so as to drive the lower ends of the multiple clamping claws to rotate radially inward to below the edge of the target workpiece.

[0012] The anti-fall suction cup sling also includes a drive shaft, a first expansion sleeve and a second expansion sleeve; the inner ring of the first expansion sleeve is used to be sleeved on the drive shaft, and the outer ring of the first expansion sleeve is used to be snap-fitted with the first connecting through hole; the inner ring of the second expansion sleeve is used to be sleeved on the drive shaft, and the outer ring of the second expansion sleeve is used to be snap-fitted with the second connecting through hole.

[0013] In one embodiment, the anti-fall suction cup hanger also includes a driving arm, an actuating rod and a holding assembly; the first end of the driving arm is fixedly connected to the cross connecting frame, the second end of the driving arm is hinged to the first end of the actuating rod around a vertical axis, the second end of the actuating rod is hinged to the holding assembly around a vertical axis, and the holding assembly slides horizontally on the fixed bracket.

[0014] In one embodiment, the holding assembly includes a connecting seat, a driving rod and a holding handle; the connecting seat extends along a first direction, and the first end of the connecting seat is hinged to the fixed bracket around a first horizontal axis; the holding handle is L-shaped, the first rod segment of the holding handle constitutes the handle portion, the second rod segment of the holding handle constitutes the driving portion, the turning portion of the holding handle is hinged to the second end of the connecting seat around a second horizontal axis, the driving portion is hinged to the first end of the driving rod around a third horizontal axis, the driving rod slides along the first horizontal direction on the fixed bracket, and the second end of the driving rod is hinged to the second end of the actuating rod around a vertical axis; the first horizontal direction is perpendicular to the first horizontal axis, the second horizontal axis, and the third horizontal axis.

[0015] In one embodiment, a limiting plate body is provided in the middle portion of the connecting seat; when the gripping handle drives the first end portion of the driving rod to slide in a direction away from the cross connecting frame, the handle portion is used to abut and cooperate with the edge of the side of the limiting plate body facing away from the cross connecting frame; when the gripping handle drives the first end portion of the driving rod to slide in a direction close to the cross connecting frame, the driving portion is used to abut and cooperate with the lower side surface of the limiting plate body.

[0016] In one embodiment, the middle part of the clamping claw is hinged to the fixed bracket around a fourth horizontal axis, the upper end of the clamping claw is provided with a first sliding groove, the second end of the connecting rod is rotatably connected to the upper end of the clamping claw around a fifth horizontal axis, and the second end of the connecting rod slides in the first sliding groove along the second direction, and the connecting rod slides on the fixed bracket along the second horizontal direction; the second horizontal direction is perpendicular to the fourth horizontal axis and the fifth horizontal axis, and the second direction is perpendicular to the fourth horizontal axis and the fifth horizontal axis.

[0017] In one embodiment, the connecting rod includes a first rod body, a second rod body and a fisheye joint; the first end of the first rod body is rotatably connected to at least one end of the cross connecting frame through the fisheye joint, the second end of the first rod body is hinged to the first end of the second rod body around a vertical axis, the second rod body is slidably fitted on the fixed bracket along the second horizontal direction, the second end of the second rod body is rotatably connected to the upper end of the claw around the fifth horizontal axis, and the second end of the second rod body is slidably fitted in the first sliding groove along the second direction.

[0018] In one embodiment, the anti-fall suction cup sling further includes an adjusting rod extending in a vertical direction, the lower end of the adjusting rod being connected to at least one end of the cross connecting frame, and the upper end of the adjusting rod being connected to the first end of the connecting rod.

[0019] In one embodiment, the anti-fall suction cup sling also includes a first transfer rod and two second transfer rods, the first transfer rod extends along the third horizontal direction, the middle part of the first transfer rod is fixedly connected to the second end of the connecting rod, the first ends of the two second transfer rods are fixedly connected to the two ends of the first transfer rod one by one, the second end of each second transfer rod is rotatably connected to the upper end of one of the claws around the fifth horizontal axis, and the second end of each second transfer rod is slidably fitted in one of the first sliding grooves along the second direction, and the second transfer rod is slidably fitted on the fixed bracket along the fourth horizontal direction; the second horizontal direction is perpendicular to the third horizontal direction, and the second horizontal direction is parallel to the fourth horizontal direction.

[0020] In one embodiment, the anti-fall suction cup sling further comprises a pressure sensing device and a drive assembly, wherein the pressure sensing device is electrically connected to the drive assembly, and the drive assembly is connected to the cross connecting frame;

[0021] The pressure sensing device is used to obtain the air pressure parameters of the suction cup assembly, and the pressure sensing device is used to send an anti-fall signal to the driving assembly when the air pressure parameter is lower than a preset pressure threshold; the driving assembly is used to drive the cross connecting frame to rotate when receiving the anti-fall signal, so as to drive the lower ends of the multiple claws to rotate radially inward to below the edge of the target workpiece through the four connecting rods.

[0022] The anti-falling suction cup sling provided by the present invention has a structure that, when the target workpiece is sucked by the suction cup assembly, the cross connecting frame can be rotated in a preset direction, and the linkage between the cross connecting frame and the four connecting rods can be utilized to simultaneously drive the lower ends of the multiple claws to rotate inward and contract, so that the claw body parts of the lower ends of the multiple claws are respectively rotated inward to below the four side edges of the target workpiece; when the adsorption force of the suction cup assembly fails and causes the target workpiece to fall off the suction cup assembly, the claw body parts of the multiple claws can simultaneously undertake the target workpiece from four angles, which can prevent the target workpiece from falling directly and also prevent the target workpiece from falling. The workpiece flips over due to insufficient number of fulcrums when being supported by the clamping claws, thereby effectively avoiding the occurrence of safety accidents and improving the safety of the target workpiece during transportation and transfer; in addition, through the cooperation between the first expansion sleeve, the second expansion sleeve and the first strip structure and the second strip structure of the cross connecting frame, a part of the clamping claws can be controlled to rotate with the rotation of the cross connecting frame, while ensuring that the other part of the clamping claws do not rotate with the rotation of the cross connecting frame, thereby improving the driving flexibility of the cross connecting frame, so that the anti-fall suction cup hoist can be better suitable for the hoisting operation of target workpieces of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in a retracted state;

[0025] Figure 2 A schematic diagram of a first partial structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in a retracted state;

[0026] Figure 3 A schematic diagram of a second partial structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in a retracted state;

[0027] Figure 4A schematic diagram of a third partial structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in a retracted state;

[0028] Figure 5 This is a schematic diagram of the overall structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in an open state;

[0029] Figure 6 A schematic diagram of a first partial structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in an open state;

[0030] Figure 7 A schematic diagram of a second partial structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in an open state;

[0031] Figure 8 A schematic diagram of a third partial structure of an embodiment of the anti-falling suction cup sling provided by the present invention when the claws are in an open state;

[0032] Figure 9 This is a schematic diagram of the matching structure of the cross connecting frame and the drive shaft in another embodiment of the anti-falling suction cup hanger provided by the present invention.

[0033] Description of Figure Numbers:

[0034] 100, first horizontal axis; 200, second horizontal axis; 300, third horizontal axis; 400, fourth horizontal axis; 500, fifth horizontal axis;

[0035] 1. Fixed bracket; 2. Suction cup assembly;

[0036] 3. Cross connecting frame; 301. First strip structure; 302. Second strip structure; 3011. First connecting through hole; 3021. Second connecting through hole;

[0037] 4. Connecting rod; 401. First rod; 402. Second rod; 403. Fisheye joint;

[0038] 5. Clamping claw; 501. First chute;

[0039] 6. Driving arm; 7. Actuating rod;

[0040] 8. Grip assembly; 801. Connecting seat; 802. Driving rod; 803. Grip handle; 8011. Limiting plate; 8031. Handle; 8032. Driving unit;

[0041] 9. Adjusting rod; 10. First transfer rod; 11. Second transfer rod; 12. Drive shaft; 13. First expansion sleeve; 14. Second expansion sleeve.

[0042] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0044] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0045] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] The transport and transfer of large workpieces is a common operation in industrial production. In industries such as automotive manufacturing, shipbuilding, and heavy machining, these workpieces are often large and irregularly shaped, making them difficult to secure effectively using traditional lifting methods such as wire ropes and hooks. Therefore, suction cup lifters are widely used due to their ability to provide stable suction. Using the principle of vacuum suction, suction cup lifters securely grasp the workpiece surface, ensuring smooth lifting.

[0047] However, existing suction cup lifters present a significant safety risk: if suction is lost during the lifting process due to a gas outage, equipment failure, or other unexpected circumstances, the workpiece may suddenly fall, causing serious property damage and personal injury. Therefore, developing a safety lift that can prevent the workpiece from falling when suction fails is crucial for improving industrial safety.

[0048] In order to solve the above problems, an embodiment of the present invention provides an anti-fall suction cup hanger, which can simultaneously drive multiple claws to move to the bottom of multiple side edges of the workpiece. In this way, when the adsorption force of the suction cup fails, the claws can be used to support the workpiece from multiple angles to prevent the workpiece from falling, thereby improving the safety of the workpiece during transportation and transfer.

[0049] See also Figures 1 to 9 The anti-falling suction cup sling provided by the embodiment of the present invention includes:

[0050] Fixed bracket 1;

[0051] The suction cup assembly 2 is arranged on the fixed bracket 1 and is used to suck the target workpiece under the fixed bracket 1;

[0052] A cross-connecting frame 3, the center of which is rotatably connected to the fixed bracket 1 around a vertical axis; the cross-connecting frame 3 includes a first strip structure 301 and a second strip structure 302 arranged crosswise, the second strip structure 302 being superimposed below the first strip structure 301, a first connecting through-hole 3011 being defined in the center of the first strip structure 301, and a second connecting through-hole 3021 being defined in the center of the second strip structure 302. The first connecting through-hole 3011 and the second connecting through-hole 3021 are concentrically arranged, and the aperture of the first connecting through-hole 3011 is smaller than the aperture of the second connecting through-hole 3021;

[0053] Four connecting rods 4, wherein the first ends of the four connecting rods 4 are connected to the four ends of the cross connecting frame 3 in a one-to-one correspondence;

[0054] A plurality of claws 5, wherein the middle portions of the plurality of claws 5 are hinged to the front side, the rear side, the left side, and the right side of the fixed bracket 1 in a one-to-one correspondence around a horizontal axis, and the upper ends of the plurality of claws 5 are connected to the second ends of the four connecting rods 4 in a one-to-one correspondence;

[0055] The cross connecting frame 3 is used to drive the four connecting rods 4 to move radially outward during the rotation process, so as to drive the lower ends of the multiple claws 5 to rotate radially inward to below the edge of the target workpiece.

[0056] The anti-fall suction cup sling also includes a drive shaft 12, a first expansion sleeve 13 and a second expansion sleeve 14; the inner ring of the first expansion sleeve 13 is used to be sleeved on the drive shaft 12, and the outer ring of the first expansion sleeve 13 is used to snap-fit with the first connecting through hole 3011; the inner ring of the second expansion sleeve 14 is used to be sleeved on the drive shaft 12, and the outer ring of the second expansion sleeve 14 is used to snap-fit with the second connecting through hole 3021.

[0057] In this embodiment, the suction cup assembly 2 can secure the target workpiece by suction using a corresponding negative pressure device based on the principle of vacuum adsorption. The fixed bracket 1 can be connected to a transfer drive assembly, which can then drive the fixed bracket 1 to move and transport and transfer the target workpiece adsorbed on the suction cup assembly 2.

[0058] The center of the cross connector 3 is the intersection. Four connecting rods 4 are spaced apart circumferentially around the cross connector 3 and extend radially outward (based on the rotation axis of the cross connector 3). The first ends of the connecting rods 4 can be connected to the respective ends of the cross connector 3 via adapter joints with a certain degree of freedom of movement, ensuring that the rotation of the cross connector 3 can drive a certain amount of radial movement of the connecting rods 4.

[0059] The lower ends of the multiple claws 5 are claw bodies, which are all arranged inward (ie, toward the cross connecting frame 3), and the multiple claws 5 are distributed at the four sides of the target workpiece; Figure 1 and Figure 2 As shown, when the cross-connecting frame 3 rotates in a preset direction under the driving force applied by the driving device or the operator and simultaneously drives the four connecting rods 4 to move radially outward, the second ends of the four connecting rods 4 will simultaneously drive the upper ends of the multiple claws 5 to move radially outward (that is, move in a direction away from the cross-connecting frame 3), causing the multiple claws 5 to rotate relative to the fixed bracket 1, so that the lower ends of the multiple claws 5 are respectively rotated inward to below the four side edges of the target workpiece; in this way, the claw body parts of the multiple claws 5 can play a safe supporting role below the target workpiece, and when the adsorption force of the suction cup assembly 2 fails and causes the target workpiece to fall off the suction cup assembly 2, the claw body parts of the multiple claws 5 can simultaneously support the target workpiece from four angles, which can prevent the target workpiece from falling directly, and can also prevent the target workpiece from flipping due to insufficient number of fulcrums (that is, contact points between the claw body parts of the claws 5 and the target workpiece) when being supported by the claws 5.

[0060] Likewise, if Figure 5 and Figure 6 As shown, after the target workpiece is transported to the target workstation, the cross-connecting frame 3 can be driven to rotate in the opposite direction of the preset direction and at the same time drive the four connecting rods 4 to move radially inward, and the second ends of the four connecting rods 4 will simultaneously drive the upper ends of the multiple claws 5 to move radially inward (that is, move in the direction close to the cross-connecting frame 3), so that the multiple claws 5 rotate relative to the fixed bracket 1, so that the claws 5 at the lower ends of the multiple claws 5 are partially opened outward and leave the bottom of the four side edges of the target workpiece, and then the suction cup assembly 2 can stop adsorbing the target workpiece, so that the target workpiece is separated from the suction cup assembly 2 and placed normally at the target workstation.

[0061] In addition, in actual applications, when the lower ends of all the claws 5 are rotated inward to a retracted state, some side edges of some target workpieces may interfere with the corresponding claws 5; based on this problem, when lifting this part of the target workpiece, it is necessary to control a part of the claws 5 to rotate with the rotation of the cross-connecting frame 3, while ensuring that the other part of the claws 5 do not rotate with the rotation of the cross-connecting frame 3.

[0062] Corresponding to the above problem, such as Figure 9As shown, in this embodiment, the cross-connecting frame 3 is configured as a split structure. The cross-connecting frame 3 is divided into a first strip structure 301 and a second strip structure 302 that overlap each other. The first strip structure 301 and the second strip structure 302 can rotate relative to each other; the drive shaft 12 is used to connect the external drive mechanism. When it is necessary to realize that the claw 5 corresponding to the first strip structure 301 can rotate with the rotation of the drive shaft 12, while ensuring that the claw 5 corresponding to the second strip structure 302 does not rotate with the rotation of the drive shaft 12, the first expansion sleeve 13 can be passed from bottom to top through the second connecting through hole 3021 and then clamped between the first connecting through hole 3011 and the drive shaft 12, and then the first expansion sleeve 13 can be locked to achieve a fixed connection between the first strip structure 301 and the drive shaft 12, so that the drive shaft 12 can transmit torque to the first strip structure 301 alone. The first strip structure 301 is driven to rotate, thereby driving the claw 5 corresponding to the first strip structure 301 to rotate; when it is necessary to realize that the claw 5 corresponding to the second strip structure 302 can rotate with the rotation of the drive shaft 12, while ensuring that the claw 5 corresponding to the first strip structure 301 does not rotate with the rotation of the drive shaft 12, the second expansion sleeve 14 can be clamped from bottom to top between the second connecting through hole 3021 and the drive shaft 12, and then the second expansion sleeve 14 is locked to achieve a fixed connection between the second strip structure 302 and the drive shaft 12, so that The driving shaft 12 can transmit torque to the second strip structure 302 alone to drive the second strip structure 302 to rotate, thereby driving the claw 5 corresponding to the second strip structure 302 to rotate; when it is necessary to realize that the claw 5 corresponding to the first strip structure 301 and the claw 5 corresponding to the second strip structure 302 can both rotate with the rotation of the driving shaft 12, the first expansion sleeve 13 can be first passed through the second connecting through hole 3021 from bottom to top and then clamped between the first connecting through hole 3011 and the driving shaft 12, and then the first expansion sleeve 13 can be locked, and then The second expansion sleeve 14 is clamped between the second connecting through hole 3021 and the drive shaft 12 from bottom to top, and then the second expansion sleeve 14 is locked to achieve a fixed connection between the first strip structure 301, the second strip structure 302 and the drive shaft 12, so that the drive shaft 12 can simultaneously transmit torque to the first strip structure 301 and the second strip structure 302 and simultaneously drive the first strip structure 301 and the second strip structure 302 to rotate, thereby driving the claws 5 corresponding to the first strip structure 301 and the claws 5 corresponding to the second strip structure 302 to rotate.

[0063] The above arrangement improves the driving flexibility of the cross-connecting frame 3, making the anti-fall suction cup hoist more suitable for hoisting target workpieces of varying sizes. The first and second expansion sleeves 13, 14 can be radially expanded by the force generated by tightening the bolts. This allows the first expansion sleeve 13 to expand within the gap between the first connecting hole 3011 and the drive shaft 12, while the second expansion sleeve 14 to expand within the gap between the second connecting hole 3021 and the drive shaft 12. For details, please refer to existing expansion sleeves and will not be described in detail here.

[0064] Thus, it can be seen that the anti-falling suction cup sling provided in this embodiment, when the target workpiece is sucked by the suction cup assembly 2, by rotating the cross connecting frame 3 along the preset direction, the linkage between the cross connecting frame 3 and the four connecting rods 4 can be used to simultaneously drive the lower ends of the multiple claws 5 to rotate inward and shrink, so that the claw parts of the lower ends of the multiple claws 5 are respectively rotated inward to below the four side edges of the target workpiece; when the adsorption force of the suction cup assembly 2 fails and causes the target workpiece to fall off the suction cup assembly 2, the claw parts of the multiple claws 5 can simultaneously undertake the target workpiece from four angles, which can prevent the target workpiece from falling directly and also prevent the target workpiece from falling. When being supported by the clamping claw 5, it flips over due to insufficient number of fulcrums, which can effectively avoid the occurrence of safety accidents and improve the safety of the target workpiece during transportation and transfer; in addition, through the cooperation between the first expansion sleeve 13, the second expansion sleeve 14 and the first strip structure 301 and the second strip structure 302 of the cross connecting frame 3, a part of the clamping claw 5 can be controlled to rotate with the rotation of the cross connecting frame 3, while ensuring that the other part of the clamping claw 5 does not rotate with the rotation of the cross connecting frame 3, thereby improving the driving flexibility of the cross connecting frame 3, so that the anti-fall suction cup hoist can be better suitable for the hoisting operation of target workpieces of different specifications.

[0065] In one embodiment, reference Figures 1 to 8 The anti-fall suction cup sling also includes a driving arm 6, an actuating rod 7 and a holding assembly 8; the first end of the driving arm 6 is fixedly connected to the cross connecting frame 3, the second end of the driving arm 6 is hinged to the first end of the actuating rod 7 around the vertical axis, the second end of the actuating rod 7 is hinged to the holding assembly 8 around the vertical axis, and the holding assembly 8 slides horizontally on the fixed bracket 1.

[0066] Specifically, the gripping assembly 8, the actuating rod 7 and the driving arm 6 constitute a crank slider mechanism. When the gripping assembly 8 moves in the horizontal direction under the driving force applied by the driving device or the operator, the crank slider mechanism can be used to convert the linear motion of the gripping assembly 8 into the rotational motion of the driving arm 6, so that the cross-connecting frame 3 can be driven to rotate by the rotation of the driving arm 6, thereby realizing the inward contraction and outward expansion of the claw 5.

[0067] In this embodiment, the cross connecting frame 3 can be driven to rotate by driving the gripping assembly 8 to move linearly along a single path, without directly driving the cross connecting frame 3 to rotate, thereby improving operational convenience and controllability.

[0068] In one embodiment, reference Figures 1 to 8 The holding assembly 8 includes a connecting seat 801, a driving rod 802 and a holding handle 803; the connecting seat 801 is extended along the first direction, and the first end of the connecting seat 801 is hinged to the fixed bracket 1 around the first horizontal axis 100; the holding handle 803 is L-shaped, the first rod segment of the holding handle 803 constitutes the handle portion 8031, and the second rod segment of the holding handle 803 constitutes the driving portion 8032. The turning part of the holding handle 803 is hinged to the second end of the connecting seat 801 around the second horizontal axis 200, and the driving portion 8032 is hinged to the first end of the driving rod 802 around the third horizontal axis 300. The driving rod 802 slides on the fixed bracket 1 along the first horizontal direction, and the second end of the driving rod 802 is hinged to the second end of the actuating rod 7 around the vertical axis; the first horizontal direction is perpendicular to the first horizontal axis 100, the second horizontal axis 200, and the third horizontal axis 300.

[0069] Specifically, if Figure 3 and Figure 7 As shown, the gripping handle 803 includes a first rod segment and a second rod segment that are perpendicular to each other. One end of the first rod segment is connected to one end of the second rod segment, forming an L-shaped structure. The turning portion of the gripping handle 803 is also the connection point between the first and second rod segments. As shown, because the connecting base 801 has rotational freedom relative to the fixed bracket 1, the gripping handle 803 has rotational freedom relative to the connecting base 801, and the gripping handle 803 has rotational freedom relative to the driving rod 802. Therefore, when the operator drives the handle portion 8031 of the gripping handle 803 to rotate relative to the connecting base 801, the driving rod 802 can be driven to move linearly in a horizontal direction relative to the fixed bracket 1. The crank slider mechanism formed by the driving rod 802, the actuating rod 7, and the driving arm 6 can convert the linear movement of the driving rod 802 into rotation of the cross connecting bracket 3. The driving rod 802 can be slidably engaged with the fixed bracket 1 via a linear bearing to maintain the motion stability of the driving rod 802.

[0070] In addition, since the driving rod 802 and the actuating rod 7 have rotational freedom around the vertical axis, during the linear movement of the driving rod 802, the actuating rod 7 can deflect to a certain extent in the horizontal direction relative to the driving rod 802, thereby driving the driving arm 6 to rotate more smoothly and avoiding the problem of jamming.

[0071] In one embodiment, reference Figures 1 to 8A limiting plate body 8011 is provided in the middle of the connecting seat 801; when the gripping handle 803 drives the first end portion of the driving rod 802 to slide in a direction away from the cross connecting frame 3, the handle portion 8031 is used to abut and cooperate with the edge of the side of the limiting plate body 8011 facing away from the cross connecting frame 3; when the gripping handle 803 drives the first end portion of the driving rod 802 to slide in a direction close to the cross connecting frame 3, the driving portion 8032 is used to abut and cooperate with the lower side surface of the limiting plate body 8011.

[0072] Specifically, the connecting seat 801 may include two left and right plates, one end of the two plates is hinged to the fixed bracket 1 around the first horizontal axis 100, and the other end of the two plates is hinged to the turning part of the holding handle 803 around the second horizontal axis 200. The limiting plate 8011 is arranged in the middle and connects the left and right plates so that the connecting seat 801 as a whole has an H-shaped structure.

[0073] As shown in the figure, when the gripping handle 803 rotates downward and drives the first end of the driving rod 802 to slide in the direction close to the cross connecting frame 3, the cross connecting frame 3 will be driven to rotate in a preset direction, thereby driving the lower end of the claw 5 to gradually rotate inward, as shown in FIG. Figures 1 to 4 As shown, when the claw portion of the lower end of the clamping claw 5 is completely rotated to below the side edge of the target workpiece, the driving portion 8032 of the gripping handle 803 also abuts against the lower side of the limiting plate 8011, so that the limiting plate 8011 will limit the gripping handle 803 from further downward rotation. In the process of the gripping handle 803 rotating upward and driving the first end of the driving rod 802 to slide in a direction away from the cross connecting frame 3, the cross connecting frame 3 will be driven to rotate in the opposite direction of the preset direction, thereby driving the lower end of the clamping claw 5 to gradually rotate outward, as shown in FIG. Figures 5 to 8 As shown, when the claw part at the lower end of the clamping claw 5 rotates to completely leave the bottom of the side edge of the target workpiece, the handle part 8031 of the holding handle 803 also abuts against the side edge of the limiting plate body 8011 facing away from the cross connecting frame 3, so that the limiting plate body 8011 will limit the holding handle 803 from continuing to rotate upward.

[0074] Based on the above arrangement, the limiting plate 8011 can be used to limit the gripping handle 803 in two rotation directions to ensure that the claw 5 can accurately retract inward to a preset position and open outward to a preset position.

[0075] In one embodiment, reference Figures 1 to 8The middle part of the claw 5 is hinged to the fixed bracket 1 around the fourth horizontal axis 400, and the upper end of the claw 5 is provided with a first sliding groove 501. The second end of the connecting rod 4 is rotatably connected to the upper end of the claw 5 around the fifth horizontal axis 500, and the second end of the connecting rod 4 slides in the first sliding groove 501 along the second direction, and the connecting rod 4 slides on the fixed bracket 1 along the second horizontal direction; the second horizontal direction is perpendicular to the fourth horizontal axis 400 and the fifth horizontal axis 500, and the second direction is perpendicular to the fourth horizontal axis 400 and the fifth horizontal axis 500.

[0076] like Figure 4 As shown, when the connecting rod 4 moves radially outward under the drive of the cross connecting frame 3, the second end of the connecting rod 4 facing outward slides in the first sliding groove 501, thereby driving the claw 5 to rotate forward relative to the fixed bracket 1, so that the lower end of the claw 5 gradually rotates inward to below the side edge of the target workpiece; Figure 8 As shown, when the connecting rod 4 moves radially inward under the drive of the cross connecting frame 3, the second end of the connecting rod 4 toward the outside slides in the first sliding groove 501 to drive the claw 5 to rotate in the opposite direction relative to the fixed bracket 1, so that the lower end of the claw 5 gradually rotates outward and leaves below the side edge of the target workpiece.

[0077] Based on the above arrangement, the linear movement of the connecting rod 4 along a single horizontal path can be converted into the rotational movement of the claw 5 around the horizontal axis, and the jamming problem during the rotation process is avoided by the cooperation between the second end of the connecting rod 4 and the first slide groove 501, thereby improving the operational convenience and controllability.

[0078] In one embodiment, reference Figures 1 to 8 The connecting rod 4 includes a first rod body 401, a second rod body 402 and a fisheye joint 403; the first end of the first rod body 401 is rotatably connected to at least one end of the cross connecting frame 3 through the fisheye joint 403, the second end of the first rod body 401 is hinged to the first end of the second rod body 402 around a vertical axis, the second rod body 402 is slidably fitted on the fixed bracket 1 along the second horizontal direction, the second end of the second rod body 402 is rotatably connected to the upper end of the claw 5 around the fifth horizontal axis 500, and the second end of the second rod body 402 is slidably fitted in the first sliding groove 501 along the second direction.

[0079] In this embodiment, the first rod 401 and the cross-connecting frame 3 are connected by the fisheye joint 403, so that a certain degree of rotational freedom can be provided between the first rod 401 and the cross-connecting frame 3; at the same time, the first rod 401 and the second rod 402 also have a degree of rotational freedom around the vertical axis. In this way, when the claw 5 is driven to rotate around the horizontal axis by the rotation of the cross-connecting frame 3 around the vertical axis, the first rod 401 can be deflected to a certain extent relative to the cross-connecting frame 3 and the second rod 402, so that the second rod 402 can be driven to move linearly along the second direction more smoothly through the linkage between the cross-connecting frame 3, the first rod 401, and the second rod 402, thereby driving the claw 5 to rotate more smoothly and avoiding the problem of sticking.

[0080] In one embodiment, reference Figures 1 to 8 The anti-fall suction cup sling also includes an adjusting rod 9, which extends in the vertical direction. The lower end of the adjusting rod 9 is connected to at least one end of the cross connecting frame 3, and the upper end of the adjusting rod 9 is connected to the first end of the connecting rod 4.

[0081] By setting the adjusting rod 9, the height difference between the first end of the connecting rod 4 and the end of the cross connecting frame 3 can be compensated, so that part of the claw 5 can be Figure 4 and Figure 8 As shown, the clamping jaws 5 are arranged at a position higher than the horizontal plane of the cross-connecting frame 3, so that the clamping jaws 5 can better adapt to the height of the corresponding side of the target workpiece. Preferably, the adjusting rod 9 can be configured to be telescopically adjustable so that the length of the adjusting rod 9 can be flexibly adjusted in real time according to the actual height difference between the first end of the connecting rod 4 and the end of the cross-connecting frame 3.

[0082] In one embodiment, reference Figures 1 to 8 The anti-fall suction cup sling also includes a first transfer rod 10 and two second transfer rods 11. The first transfer rod 10 extends along the third horizontal direction. The middle part of the first transfer rod 10 is fixedly connected to the second end of the connecting rod 4. The first ends of the two second transfer rods 11 are fixedly connected to the two ends of the first transfer rod 10 one by one. The second end of each second transfer rod 11 is rotatably connected to the upper end of a claw 5 around the fifth horizontal axis 500, and the second end of each second transfer rod 11 is slidably fitted in a first slide groove 501 along the second direction, and the second transfer rod 11 is slidably fitted on the fixed bracket 1 along the fourth horizontal direction; the second horizontal direction is perpendicular to the third horizontal direction, and the second horizontal direction is parallel to the fourth horizontal direction.

[0083] Specifically, for some side edges of the target workpiece with a larger span, it is difficult to provide stable support for the edge of the side edge with only one clamping claw 5. Therefore, two clamping claws 5 arranged at intervals are required to be provided on the side edge. The two clamping claws 5 are provided one by one on the two second transfer rods 11. Through the transmission between the connecting rod 4, the first transfer rod 10, and the second transfer rod 11, when the cross connecting frame 3 rotates, the two clamping claws 5 can be driven to rotate around the vertical axis at the same time to achieve inward contraction or outward expansion, and there is no need to increase the number of ends of the cross connecting frame 3.

[0084] In one embodiment, reference Figures 1 to 8 , the anti-fall suction cup sling further includes a pressure sensing device (not shown in the figure) and a drive assembly (not shown in the figure), the pressure sensing device is electrically connected to the drive assembly, and the drive assembly is connected to the cross connecting frame 3;

[0085] The pressure sensing device is used to obtain the air pressure parameters of the suction cup assembly 2, and the pressure sensing device is used to send an anti-fall signal to the driving assembly when the air pressure parameters are lower than a preset pressure threshold; the driving assembly is used to drive the cross connecting frame 3 to rotate when receiving the anti-fall signal, so as to drive the lower ends of the multiple claws 5 to rotate radially inward to below the edge of the target workpiece through the four connecting rods 4.

[0086] By setting up a pressure sensing device, the driving component can be automatically triggered when it is detected that the air pressure parameter of the suction cup assembly 2 is lower than the preset pressure threshold and there is a risk of adsorption failure, so that the driving component can autonomously drive the cross connecting frame 3 to rotate, thereby driving the multiple claws 5 to rotate into place and safely support the target workpiece that is at risk of falling, thereby improving the automation and intelligence of the anti-fall suction cup sling.

[0087] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An anti-fall suction cup sling, characterized in that: The anti-falling suction cup sling comprises: Fixed bracket; A suction cup assembly, the suction cup assembly being disposed on the fixing bracket and being used to suck the target workpiece under the fixing bracket; A cross connecting frame, the center of which is rotatably connected to the fixed bracket around a vertical axis; the cross connecting frame includes a first strip structure and a second strip structure arranged crosswise, the second strip structure being superimposed below the first strip structure, a first connecting through hole being defined in the center of the first strip structure, a second connecting through hole being defined in the center of the second strip structure, the first connecting through hole and the second connecting through hole being concentrically disposed, and the aperture of the first connecting through hole being smaller than the aperture of the second connecting through hole; Four connecting rods, wherein the first ends of the four connecting rods are connected to the four ends of the cross connecting frame in a one-to-one correspondence; a plurality of claws, wherein the middle portions of the plurality of claws are hinged to the front side, the rear side, the left side and the right side of the fixing bracket in a one-to-one correspondence around a horizontal axis, and the upper ends of the plurality of claws are connected to the second ends of the four connecting rods in a one-to-one correspondence; The cross connecting frame is used to drive the four connecting rods to move radially outward during the rotation process, so as to drive the lower ends of the plurality of claws to rotate radially inward to below the edge of the target workpiece; The anti-fall suction cup sling further includes a drive shaft, a first expansion sleeve, and a second expansion sleeve; the inner ring of the first expansion sleeve is used to be sleeved on the drive shaft, and the outer ring of the first expansion sleeve is used to be snap-fitted with the first connecting through hole; the inner ring of the second expansion sleeve is used to be sleeved on the drive shaft, and the outer ring of the second expansion sleeve is used to be snap-fitted with the second connecting through hole; The anti-falling suction cup hanger also includes a driving arm, an actuating rod and a holding assembly; the holding assembly includes a connecting seat, a driving rod and a holding handle; a limit plate is provided in the middle of the connecting seat; the connecting rod includes a first rod body, a second rod body and a fisheye joint; the anti-falling suction cup hanger also includes an adjusting rod, the lower end of the adjusting rod is connected to at least one end of the cross connecting frame; the anti-falling suction cup hanger also includes a first transfer rod and two second transfer rods, the middle part of the first transfer rod is fixedly connected to the second end of the connecting rod, and the first ends of the two second transfer rods are fixedly connected to the two ends of the first transfer rod in a one-to-one correspondence.

2. The anti-falling suction cup sling according to claim 1, characterized in that: The first end of the driving arm is fixedly connected to the cross-connecting frame, the second end of the driving arm is hinged to the first end of the actuating rod around a vertical axis, the second end of the actuating rod is hinged to the holding assembly around a vertical axis, and the holding assembly slides horizontally on the fixed bracket.

3. The anti-falling suction cup sling according to claim 2, characterized in that: The connecting seat is extended along the first direction, and the first end of the connecting seat is hinged to the fixed bracket around a first horizontal axis; the holding handle is L-shaped, the first rod segment of the holding handle constitutes the handle portion, and the second rod segment of the holding handle constitutes the driving portion. The turning part of the holding handle is hinged to the second end of the connecting seat around the second horizontal axis, and the driving portion is hinged to the first end of the driving rod around the third horizontal axis. The driving rod slides along the first horizontal direction on the fixed bracket, and the second end of the driving rod is hinged to the second end of the actuating rod around a vertical axis; the first horizontal direction is perpendicular to the first horizontal axis, the second horizontal axis, and the third horizontal axis.

4. The anti-falling suction cup sling according to claim 3, characterized in that: When the holding handle drives the first end portion of the driving rod to slide in a direction away from the cross-connecting frame, the handle portion is used to abut and cooperate with the edge of the side of the limiting plate body facing away from the cross-connecting frame; when the holding handle drives the first end portion of the driving rod to slide in a direction close to the cross-connecting frame, the driving portion is used to abut and cooperate with the lower side surface of the limiting plate body.

5. The anti-falling suction cup sling according to claim 1, characterized in that: The middle part of the clamping claw is hinged to the fixed bracket around a fourth horizontal axis, the upper end of the clamping claw is provided with a first sliding groove, the second end of the connecting rod is rotatably connected to the upper end of the clamping claw around a fifth horizontal axis, and the second end of the connecting rod slides in the first sliding groove along the second direction, and the connecting rod slides on the fixed bracket along the second horizontal direction; the second horizontal direction is perpendicular to the fourth horizontal axis and the fifth horizontal axis, and the second direction is perpendicular to the fourth horizontal axis and the fifth horizontal axis.

6. The anti-falling suction cup sling according to claim 5, characterized in that: The first end of the first rod body is rotatably connected to at least one end of the cross connecting frame through the fisheye joint, the second end of the first rod body is hinged to the first end of the second rod body around a vertical axis, the second rod body is slidably fitted on the fixed bracket along the second horizontal direction, the second end of the second rod body is rotatably connected to the upper end of the claw around the fifth horizontal axis, and the second end of the second rod body is slidably fitted in the first sliding groove along the second direction.

7. The anti-falling suction cup sling according to claim 5, characterized in that: The adjusting rod extends in a vertical direction, and the upper end portion of the adjusting rod is connected to the first end portion of the connecting rod.

8. The anti-falling suction cup sling according to claim 5, characterized in that: The first transfer rod extends along the third horizontal direction, the second end of each second transfer rod is rotatably connected to the upper end of one of the claws around the fifth horizontal axis, and the second end of each second transfer rod is slidably engaged in one of the first sliding grooves along the second direction, and the second transfer rod is slidably engaged on the fixed bracket along the fourth horizontal direction; the second horizontal direction is perpendicular to the third horizontal direction, and the second horizontal direction is parallel to the fourth horizontal direction.

9. The anti-falling suction cup sling according to claim 1, characterized in that: The anti-falling suction cup sling further includes a pressure sensing device and a drive assembly, wherein the pressure sensing device is electrically connected to the drive assembly, and the drive assembly is connected to the cross connecting frame; The pressure sensing device is used to obtain the air pressure parameters of the suction cup assembly, and the pressure sensing device is used to send an anti-fall signal to the driving assembly when the air pressure parameter is lower than a preset pressure threshold; the driving assembly is used to drive the cross connecting frame to rotate when receiving the anti-fall signal, so as to drive the lower ends of the multiple claws to rotate radially inward to below the edge of the target workpiece through the four connecting rods.

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