Transfer structure with composite gripper and method of transferring

Abstract

The application provides a transfer structure with composite claws and a transfer method thereof, and relates to the technical field of transfer structures. The transfer structure is suitable for the scene of transferring materials between material frames with different claw channel spacings and / or numbers, and comprises claw mechanism one and claw mechanism two. Claw mechanism one and claw mechanism two are respectively adapted to two material frames with different claw channel spacings and / or numbers. In the application, claw mechanism one and claw mechanism two can be respectively opened, respectively closed, simultaneously opened and simultaneously closed. That is, the two claw mechanisms can be adapted to two material frames with different structures by being respectively closed / opened, and the transfer of materials between the two claw mechanisms can be realized by being simultaneously closed. Therefore, the transfer structure can be compatible with material frames with different structures, thereby solving the problem that the existing transfer structure cannot simultaneously adapt to two material frames with inconsistent structures, resulting in the need to replace both material frames, and thus the problem of high labor and material costs.

Description

Technical Field

[0001] This invention relates to the field of transfer structure technology, specifically to a transfer structure with composite claws and its transfer method. Background Technology

[0002] In glove manufacturing, the transfer structure is an essential component, its core function being the transfer of materials between two material frames. To achieve this, the transfer structure needs to be compatible with both the pick-up and unload material frames; therefore, existing technologies typically set the pick-up and unload material frames to be identical. In this industry, with the continuous improvement of actual production demands, modifications to the material frame structure are frequently necessary. To save costs, manufacturers often tend to modify only one of the necessary material frames. However, this modification strategy disrupts the original structural consistency between the two material frames, causing the transfer structure to malfunction and ultimately forcing the abandonment of this optimal strategy. For example:

[0003] The fully automatic glove picking and stacking machine (referred to as the counting machine) picks up and stacks gloves from the hand mold line, placing them into a collection box at the bottom of the counting machine (equivalent to a picking box). A transfer structure then removes the gloves from the collection box and transfers them to various conveyor boxes (equivalent to placing boxes). These conveyor boxes then circulate on a conveyor line, transporting the gloves to various packaging stations for packaging. To accommodate the gloves being picked up, the transfer structure typically includes a mechanical arm, a frame, and cylinders and grippers mounted on the frame. The mechanical arm adjusts the transfer structure to the appropriate position, and the cylinders drive the grippers on both sides to move closer or further apart to pick up and release the gloves.

[0004] Currently, to improve the stability of glove retrieval in the transfer structure, the number of claw channels on the collection frame is increased (for example, the original number is usually 5, but it can be increased to 6 or more). This allows for a simultaneous increase in the number of claws in the transfer structure, resulting in a denser glove retrieval point. In this case, the inherent technical approach in this field is that to ensure the normal operation of the transfer, the number of claw channels on the conveyor frame needs to be improved simultaneously; however, a conveyor line or production line typically has a large number of conveyor frames (ranging from dozens to hundreds), and replacing them all would be very costly.

[0005] Based on the above technical background, the present invention creatively provides a transfer structure with composite claws and a transfer method thereof. By optimizing the transfer structure, it can simultaneously adapt to two material frames with inconsistent structures, thereby eliminating the need to spend more manpower and resources to replace all material frames. Summary of the Invention

[0006] The purpose of this invention is to provide a transfer structure with composite claws and a transfer method thereof, in order to solve the problem mentioned in the background art that the existing transfer structure cannot simultaneously adapt to two material frames with inconsistent structures, resulting in the need to replace both material frames, which leads to excessively high manpower and material costs.

[0007] This invention is achieved using the following technical solution:

[0008] A transfer structure with composite claws is suitable for material transfer between material frames with different claw channel spacing and / or numbers. The structure includes a mechanical power arm and a frame. A composite claw mechanism is mounted on the frame, comprising a first claw mechanism and a second claw mechanism. The first and second claw mechanisms are configured to adapt to two material frames with different claw channel spacing and / or numbers. The first claw mechanism includes a first claw assembly, a rotating shaft, and a first drive assembly; the second claw mechanism includes a second claw assembly, a rotating shaft, and a second drive assembly. The transfer structure has two rotating shafts, located on opposite sides of the frame. The first claw assembly includes several first claws arranged side-by-side on both sides of the frame, and the second claw assembly includes several second claws arranged side-by-side on both sides of the frame. The first and second claws, located on the same side of the frame, are rotatably connected to the same rotating shaft in a cross-avoiding manner; the first drive assembly is configured to drive several first claws to rotate along the rotating shaft on both sides of the frame to open or close the first claw assembly; the second drive assembly is configured to drive several second claws to rotate along the rotating shaft on both sides of the frame to open or close the second claw assembly; the first claw assembly and the second claw assembly are configured to open / close separately / simultaneously.

[0009] The above-mentioned transfer structure provided by the present invention includes a composite claw mechanism comprising a claw mechanism one and a claw mechanism two. Claw mechanism one and claw mechanism two can open / close separately / simultaneously, meaning that the two claw mechanisms can adapt to two material frames with different structures by closing / opening separately, and the material can be transferred between the two claw mechanisms by closing simultaneously. Thus, the transfer structure can be compatible with material frames of different structures.

[0010] Furthermore, when the first and second claw-feeding mechanisms are configured to adapt to two material frames with different claw-feeding channel spacings, the minimum distance between adjacent first claws is d1, and the minimum distance between adjacent second claws is d2, and d1 and d2 are not equal.

[0011] Furthermore, during material retrieval and transfer, the composite claw mechanism is configured as follows: at the material retrieval position (i.e., the position where materials can be retrieved), claw component one changes from open to closed to retrieve materials, while claw component two remains open; during the transfer process, claw component two changes from open to closed, and claw component one changes from closed to open, with a possibility that claw component one and claw component two may close simultaneously to retrieve materials together; at the material release position (i.e., the position where materials can be released), claw component two changes from closed to open to release materials, while claw component one remains open.

[0012] Furthermore, several claws 1, located on both sides of the frame, are arranged side-by-side on two connecting rods 1, and several claws 2, located on both sides of the frame, are arranged side-by-side on two connecting rods 2. The claws 1 on both sides of the frame are rotatably connected to two rotating shafts and then connected to the two connecting rods 1. The drive assembly 1 is configured to drive the connecting rods 1 to swing around the rotating shafts, thereby causing the claw assembly 1 to open or close. The claws 2 on both sides of the frame are rotatably connected to two rotating shafts and then connected to the two connecting rods 2. The drive assembly 2 is configured to drive the connecting rods 2 to swing around the rotating shafts, thereby causing the claw assembly 2 to open or close.

[0013] Further, the first drive assembly includes a power component and a drive arm. The power component is configured to drive the drive arm to perform lifting and lowering movements, and two connecting rods are respectively located on both sides of the frame and hinged to the drive arm. Alternatively, the first drive assembly includes a drive component and two power arms, each hinged to one of the two connecting rods. The drive component is configured to drive the two power arms to move synchronously in a near-total or far-total direction in the horizontal direction. The second drive assembly includes a power component and a drive arm. The power component is configured to drive the drive arm to perform lifting and lowering movements, and two connecting rods are respectively located on both sides of the frame and hinged to the drive arm. Alternatively, the second drive assembly includes a drive component and two power arms, each hinged to one of the two connecting rods. The drive component is configured to drive the two power arms to move synchronously in a near-total or far-total direction in the horizontal direction.

[0014] In the above structure, the drive assembly can drive the claws to perform retrieval or release actions through a hinged connection. Specifically, taking drive assembly one as an example, after the power component one drives the drive arm one to move up and down, under the action of the hinged connection, the two connecting rods one will synchronously rotate the claws one on them around the rotation axis. By controlling the rise or fall of the drive arm one, the direction of rotation of the claws one can be controlled accordingly. When the claws one on both sides of the frame rotate inward (which can be understood as the direction closer to the frame), the claw assembly one can be closed; otherwise, it can be opened. Alternatively, drive component one drives the two power arms one to move synchronously close together or separate in the horizontal direction. In this case, the two connecting rods one will also synchronously rotate the claws one on them around the rotation axis under the action of the hinged connection. When the two power arms one move synchronously close together, the claw assembly one can be closed; otherwise, it can be opened.

[0015] Furthermore, each of the first grabbing claws includes a first connecting member disposed at its upper end, the first connecting member being hinged to a rotating shaft; each second grabbing claw includes a second connecting member disposed at its upper end, the second connecting member being hinged to a rotating shaft; the plurality of first connecting members and the plurality of second connecting members disposed on the same rotating shaft are staggered or at least partially staggered; the end of the first connecting member is connected to the first connecting rod; the end of the second connecting member is connected to the second connecting rod.

[0016] Furthermore, both connector one and connector two are connecting arms with obtuse angle bends; connector one and connector two are arranged with obtuse angle bends facing opposite directions.

[0017] In the above structure, the connecting arm with an obtuse angle bend is preferred, as it can better adapt to rotational motion and provide more space for movement avoidance between connecting rod one and connecting rod two.

[0018] Furthermore, both the first and second claws are L-shaped, and the shapes of the first and second claws, which are respectively located on both sides of the frame, are matched to form a U-shaped combination.

[0019] In the above structure, the L-shaped claws on both sides of the frame can form a U-shape when they are engaged (i.e., when the claw assembly is closed). This will not only lift and pick up the material from the bottom, but also block and limit the material on both sides, thereby improving the stability during material picking and transfer.

[0020] Furthermore, a pressing component is connected to the lower part of the frame, and the pressing component is located between the claws on both sides of the frame; the pressing component is box-shaped, plate-shaped, block-shaped or platform-shaped, and its working surface is a plane that is adapted to the material in the material frame.

[0021] In the above structure, the pressing component can press down on the material during material handling to make the material more flat and compact, thus making it easier for the claw to pick up the material.

[0022] A transfer method with a transfer structure having composite claws, using the transfer structure with composite claws described above, includes the following steps:

[0023] Step 1: After receiving the material picking instruction, the mechanical power arm moves the composite claw mechanism to above the material picking position; at this time, both claw component one in claw mechanism one and claw component two in claw mechanism two open.

[0024] Step 2: The mechanical power arm lowers to the material picking position with the composite claw mechanism; at the material picking position, claw component one changes from open to closed to pick up the material, while claw component two remains open;

[0025] Step 3: After the first material is picked up by the claw assembly, the composite claw mechanism, under the action of the mechanical power arm, lifts the material up to leave the picking position and then moves upward towards the discharge position.

[0026] Step 4: The mechanical power arm moves the composite claw mechanism to above the material feeding position;

[0027] Step 5: Above the material feeding position, claw assembly one remains closed, while claw assembly two changes from open to closed, thus achieving the situation where claw assembly one and claw assembly two close simultaneously to jointly pick up the material.

[0028] Step 6: The second claw assembly remains closed to continue picking up materials, while the first claw assembly changes from closed to open, thus switching the claw mechanism for picking up the current material.

[0029] Step 7: Under the action of the mechanical power arm, the composite claw mechanism lowers the material to the discharge position;

[0030] Step 8: At the discharge position, the second claw assembly changes from closed to open to release the material, while the first claw assembly remains open;

[0031] Step 9: The mechanical power arm, carrying the composite claw mechanism, rises to leave the unloading position, completing the material transfer operation for this time; then, steps 1 to 9 are repeated to achieve continued material transfer.

[0032] The beneficial effects achieved by this invention are:

[0033] A transfer structure and method with composite claws are provided. The structure includes a first claw mechanism and a second claw mechanism, configured to adapt to two material frames with different claw channel spacings and / or numbers. Claw mechanisms one and two can open / close separately / simultaneously. Based on this, the transfer structure can switch the claw mechanism currently handling the material by controlling the opening and closing states of claw mechanisms one and two, thereby enabling the retrieval and release of materials from material frames with different structures. During the switching process, claw mechanisms one and two simultaneously retrieve the material, and then one claw mechanism opens. This simultaneous retrieval ensures the orderly transfer of materials, preventing material scattering during claw mechanism switching.

[0034] Therefore, compared with the existing technology that requires the replacement of both material frames, the present invention breaks the inherent prejudice. When faced with the structural improvement of one of the material frames, it creatively proposes a composite claw mechanism, so that by using the transfer structure provided by the present invention, the simultaneous replacement of a large number of other material frames can be eliminated, thereby greatly saving manpower and material costs. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the transfer structure described in the embodiment of the present invention. Figure I (The second claw assembly is closed);

[0036] Figure 2 This is a schematic diagram of the transfer structure described in the embodiment of the present invention. Figure II (The claw assembly closes).

[0037] Figure 3 This is a schematic diagram of the material picking frame described in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the material feeding frame according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the structural state during step 1 of the transfer method described in this embodiment of the invention;

[0040] Figure 6 This is a schematic diagram of the structural state during step 2 of the transfer method described in this embodiment of the invention;

[0041] Figure 7 This is a schematic diagram of the structural state during step 3 of the transfer method described in this embodiment of the invention;

[0042] Figure 8 This is a schematic diagram of the structural state during step 4 of the transfer method described in this embodiment of the invention;

[0043] Figure 9 This is a schematic diagram of the structural state during step 5 of the transfer method described in this embodiment of the invention;

[0044] Figure 10 This is a schematic diagram of the structural state during step 6 of the transfer method described in this embodiment of the invention;

[0045] Figure 11 This is a schematic diagram of the structural state during step 7 of the transfer method described in this embodiment of the invention;

[0046] Figure 12 This is a schematic diagram of the structural state during step 8 of the transfer method described in this embodiment of the invention;

[0047] Figure 13 This is a schematic diagram of the structural state during step 9 of the transfer method described in this embodiment of the invention;

[0048] In the diagram: 1. Mounting plate; 2. Base; 3. Rotating shaft; 4. Claw 1; 5. Claw 2; 6. Mounting component; 7. Link 1; 8. Link 2; 9. Power component 1; 10. Drive arm 1; 11. Driven arm 1; 12. Power component 2; 13. Connector 1; 14. Connector 2; 15. Spacer; 16. Pressing component; 17. Channel plate 1; 18. Claw channel 1; 19. Channel plate 2; 20. Claw channel 2. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0050] Example 1

[0051] The first aspect of this embodiment provides a transfer structure with composite claws, suitable for scenarios involving material transfer between material frames with different claw channel spacing and / or numbers. Please refer to [reference needed]. Figures 1 to 4 :

[0052] The transfer structure includes a mechanical power arm (not shown in the figure) and a frame. The frame includes a mounting plate 1, on which a base 2 is mounted. The base 2 is connected to the output end of the mechanical power arm. The frame is equipped with a composite claw mechanism, which includes claw mechanism one and claw mechanism two. Claw mechanism one and claw mechanism two are configured to adapt to two material frames with different claw channel spacing and / or number, respectively.

[0053] In this embodiment, the first claw mechanism is adapted to the material picking frame, and the second claw mechanism is adapted to the material dispensing frame. The length and width of the material picking frame and the material dispensing frame are the same or match the size of the material. The difference lies in the number of claw channels and the spacing between the claw channels. Specifically, the two sides of the material picking frame are provided with 8 pairs of claw channels 18 (16 claw channels 18 in total) formed by 7 pairs of channel plates 17 (14 channel plates 17 in total). The two sides of the material dispensing frame are provided with 5 pairs of claw channels 20 (10 claw channels 20 in total) formed by 4 pairs of channel plates 29 (8 channel plates 29 in total). The spacing H1 between adjacent claw channels 18 is smaller than the spacing H2 between adjacent claw channels 20.

[0054] In the composite claw mechanism, claw mechanism one includes claw assembly one, rotating shaft 3, and drive assembly one; claw mechanism two includes claw assembly two, rotating shaft 3, and drive assembly two, wherein:

[0055] The first claw assembly comprises two symmetrically distributed groups of claw 4 arranged side-by-side on both sides of the frame; the second claw assembly comprises two symmetrically distributed groups of claw 5 arranged side-by-side on both sides of the frame; the number of claw 4 / claw 5 is less than or equal to the number of corresponding claw channels. There are two rotating shafts 3, located on opposite sides of the frame; claw 4 and claw 5 on the same side of the frame are rotatably connected to the same rotating shaft 3 in a cross-avoiding manner. The first drive assembly is configured to drive the claw 4 to rotate along the rotating shaft 3 on both sides of the frame to open or close the first claw assembly; the second drive assembly is configured to drive the claw 5 to rotate along the rotating shaft 3 on both sides of the frame to open or close the second claw assembly; the first and second claw assemblies are configured to open / close separately / simultaneously.

[0056] In this embodiment, specifically: The first claw assembly includes 12 claws 4, which are symmetrically distributed in two groups. Each group contains 6 claws 4 (less than the number 8 in the claw channels 18). The two groups of claws 4 are arranged side-by-side on both sides of the frame, and the positions of the 12 claws 4 correspond to the 12 claw channels 18. The second claw assembly includes 10 claws 5, which are symmetrically distributed in two groups. Each group contains 5 claws 5 (equal to the number 5 in the claw channels 20). The two groups of claws 5 are arranged side-by-side on both sides of the frame, and the positions of the 10 claws 5 correspond to the 10 claw channels 20. Furthermore, the six claws 4 in each group of claw 1 are evenly divided into three subgroups, each subgroup containing two adjacent claws 4, with a spacing of D1 between each subgroup and a spacing of d1 between adjacent claws 1 4 in each subgroup, where d1 is less than D1; the five claws 5 in each group of claw 2 are evenly arranged, with a spacing of d2 between adjacent claws 2 5, where d1 is less than D2.

[0057] Drive assembly one is configured to drive 12 claws 4 to rotate along the rotation axis 3 on both sides of the frame to open or close claw assembly one; drive assembly two is configured to drive 10 claws 5 to rotate along the rotation axis 3 on both sides of the frame to open or close claw assembly two.

[0058] Furthermore, the two rotating shafts 3 are respectively connected to both sides of the mounting plate 1 through a number of mounting parts 6; the connection positions of the mounting parts 6 on the rotating shafts 3 are offset from the opening positions of the claw channels on one of the material frames.

[0059] In this embodiment, specifically: the two rotating shafts 3 are connected to both sides of the mounting plate 1 by 4 pairs of symmetrically distributed mounting parts 6 (specifically hinges or other structures that can achieve detachable connection); wherein, the connection position of the 4 pairs of mounting parts 6 on the two rotating shafts 3 corresponds to the position of the 4 pairs of channel plates 19, that is, it is staggered from the opening position of the 5 pairs of claw channels 20, and each mounting part 6 is provided with claw 4 and claw 5 on both sides respectively.

[0060] Furthermore, several claws 4, located on both sides of the frame, are arranged side-by-side on two connecting rods 7, and several claws 5, located on both sides of the frame, are arranged side-by-side on two connecting rods 8. Specifically, the claws 4 on both sides of the frame are rotatably connected to two rotating shafts 3 and then connected to the two connecting rods 7; the claws 5 on both sides of the frame are rotatably connected to two rotating shafts 3 and then connected to the two connecting rods 8. Drive assembly 1 is configured to drive connecting rod 7 to swing around rotating shaft 3, thereby opening or closing the claw assembly; drive assembly 2 is configured to drive connecting rod 8 to swing around rotating shaft 3, thereby opening or closing the claw assembly.

[0061] In this embodiment, specifically: 12 claws 4, located on both sides of the frame, are arranged side-by-side on two connecting rods 7; 10 claws 5, located on both sides of the frame, are arranged side-by-side on two connecting rods 8. Connecting rods 7 and 8 on the same side of the frame are arranged to avoid each other.

[0062] Twelve claws 4, each located on one side of the frame, are rotatably connected to two rotating shafts 3 and then to two connecting rods 7. Drive assembly 1 is configured to drive connecting rods 7 to swing around the rotating shafts 3, thereby opening or closing the claw assemblies. Ten claws 5, each located on one side of the frame, are rotatably connected to two rotating shafts 3 and then to two connecting rods 8. Drive assembly 2 is configured to drive connecting rods 8 to swing around the rotating shafts 3, thereby opening or closing the claw assemblies.

[0063] In this embodiment, drive assembly one includes a power component 9 and a drive arm 10. The power component 9 is configured to drive the drive arm 10 to perform lifting and lowering movements. Two connecting rods 7 are respectively located on both sides of the frame and are each hinged to the drive arm 10 through a driven arm 11. Drive assembly two includes a power component 2 12 and a drive arm 2. The power component 2 12 is configured to drive the drive arm 2 to perform lifting and lowering movements. Two connecting rods 2 8 are respectively located on both sides of the frame and are each hinged to the drive arm 2 through a driven arm 2. The aforementioned power components 9 and 12 are respectively connected to both ends of the base 2 via connecting plates. In this embodiment, both power components 9 and 12 are cylinders. The piston rod of the cylinder is vertically arranged and connected to the drive arm located horizontally below the cylinder.

[0064] In other embodiments, the drive assembly may also take the following form: Drive assembly one includes a drive element one and two power arms one, the output end of drive element one is connected to the two power arms one respectively, both power arms one are horizontally arranged and respectively hinged to two driven arms one, and the two driven arms one are respectively hinged to two connecting rods one 7; drive element one is configured to drive the two power arms one to move synchronously close together or apart in the horizontal direction. Drive assembly two includes a drive element two and two power arms two, the output end of drive element two is connected to the two power arms two respectively, both power arms two are horizontally arranged and respectively hinged to two driven arms two, and the two driven arms two are respectively hinged to two connecting rods two 8; drive element two is configured to drive the two power arms two to move synchronously close together or apart in the horizontal direction. The above-mentioned drive element one and drive element two may adopt finger cylinders (or other structures capable of driving the two power arms to move synchronously), and the two grippers of the finger cylinder are respectively connected to the two power arms.

[0065] Furthermore, each claw 4 includes a connector 13 at its upper end, which is hinged to the rotating shaft 3, and the end of the connector 13 is connected to the connecting rod 7; each claw 5 includes a connector 2 14 at its upper end, which is hinged to the rotating shaft 3, and the end of the connector 2 14 is connected to the connecting rod 2 8. For the rotating shaft 3 and / or the connecting rod 7 and / or the connecting rod 2 8, a plurality of spacers 15 are sleeved on it, and the plurality of spacers 15 are respectively located between the ends of adjacent connectors.

[0066] In this embodiment, specifically: the six connectors 13 and five connectors 14 arranged on the same rotating shaft 3 are staggered (or at least partially staggered in other embodiments), and a spacer 15 is fitted on the rotating shaft 3 between each adjacent connector 13 and connector 14 (at the position where the mounting part 6 is not provided); for the ends of the six connectors 13 or the ends of the five connectors 14 connected to the same connecting rod, a spacer 15 is also fitted on the connecting rod between each adjacent end.

[0067] Furthermore, in this embodiment: both connector 13 and connector 14 are connecting arms with obtuse angle bends, and connector 13 and connector 14 are arranged with obtuse angle bends facing opposite directions, that is, the obtuse angle bend opening of connector 13 faces away from the mounting plate 1, and the obtuse angle bend opening of connector 14 faces the direction where the mounting plate 1 is located. Both claw 14 and claw 25 are L-shaped, and the shapes of claw 14 / claw 25, respectively located on both sides of the frame, are matched to form a U-shaped configuration.

[0068] In addition, a pressing component 16 is connected to the lower part of the mounting plate 1. The pressing component 16 is located between the claws on both sides of the frame. In this embodiment, the pressing component 16 is a rectangular box (in other embodiments, it may be plate-shaped, block-shaped, or platform-shaped, etc.), and its working surface is a plane that is adapted to the material in the material box.

[0069] The above-described transfer structure with composite claws provided in this embodiment includes two claw mechanisms, Claw Mechanism 1 and Claw Mechanism 2, which can open / close separately / simultaneously. This means that the two claw mechanisms can adapt to two material picking frames and dispensing frames with different structures by opening / closing separately, and the material can be transferred between the two claw mechanisms by closing simultaneously. This achieves compatibility of the transfer structure with different frame structures. Based on this, in the actual improvement of the glove counting machine production process, to enhance the stability of the material transfer process, only the structure of the picking frame needs to be improved, without simultaneously replacing a large number of dispensing frames. Wherein:

[0070] In the claw mechanism of this transfer structure, the drive assembly can drive the claw to perform the picking or releasing action through the hinge relationship. Specifically, taking the drive assembly one as an example, after the power component one 9 drives the drive arm one 10 to move up and down, under the action of the hinge relationship, the connecting rod one 7 will take the claw one 4 on it to rotate around the rotation axis 3. By controlling the rise or fall of the drive arm one 10, the direction of rotation of the claw one 4 can be controlled accordingly. When the claws one 4 on both sides of the frame rotate inward (which can be understood as the direction closer to the mounting plate 1), the claw assembly one can be closed, and vice versa.

[0071] Furthermore, the pressing component 16 can press down on the material during material handling to make the material more flat and compact, thus facilitating the scooping claw to pick up the material.

[0072] In addition, this embodiment sets a misalignment between the mounting component 6 and the second claw channel 20, thereby ensuring the compatibility between the composite claw mechanism and the unloaded material frame without structural modifications. Specifically, to achieve the compatibility effect of the transfer structure, when actually manufacturing the transfer structure, the distribution of the second claw channel 20 on the unloaded material frame should be used as the initial condition. The second claw mechanism in the transfer structure should be designed accordingly, and the claw 5 in the second claw mechanism should be adapted to the distribution of the second claw channel 20 on the unloaded material frame. Since the mounting component 6 cannot be connected to the claw at the connection position on the rotating shaft 3, the connection position must be offset from the opening position of the second claw channel 20 on the unloaded material frame to achieve the above-mentioned compatibility effect. After designing the second claw mechanism in the above manner, the first claw mechanism and the first claw channel 18 on the picking material frame can be designed based on this and combined with the improvement requirements (claw (channel) spacing and / or quantity). This can achieve the improvement of the picking material frame and successfully design and manufacture a transfer structure with compatibility.

[0073] The second aspect of this embodiment provides a transfer method with a transfer structure having composite claws. The transfer method using the aforementioned transfer structure with composite claws includes the following steps:

[0074] Step 1: Please refer to Figure 5 After receiving the material picking instruction, the mechanical power arm moves the composite claw mechanism to above the material picking position (i.e. above the material picking frame); at this time, both the first claw component in the first claw mechanism and the second claw component in the second claw mechanism open.

[0075] Step 2: Please refer to Figure 6 The mechanical power arm, carrying the composite claw mechanism, descends to the material retrieval position (i.e., the position in the material retrieval frame where materials can be retrieved); at the material retrieval position, the first claw assembly, adapted to the structure of the material retrieval frame, changes from open to closed to retrieve materials, while the second claw assembly remains open;

[0076] Step 3: Please refer to Figure 7 After the claw assembly finishes picking up the material, the composite claw mechanism, under the action of the mechanical power arm, lifts the material (not shown in the figure) to leave the picking position, and then moves upward toward the discharge position (i.e., the position where the material can be released in the discharge box);

[0077] Step 4: Please refer to Figure 8 The mechanical power arm, carrying the composite claw mechanism, reaches above the material discharge position;

[0078] Step 5: Please refer to Figure 9 Above the material feeding position, the first claw assembly remains closed, while the second claw assembly, which is adapted to the material feeding frame, changes from open to closed, thus realizing the situation where the first claw assembly and the second claw assembly close simultaneously to jointly pick up the material.

[0079] Step 6: Please refer to Figure 10 The second claw assembly remains closed to continue picking up materials, while the first claw assembly changes from closed to open, thus switching the claw mechanism for picking up the current material.

[0080] Step 7: Please refer to Figure 11 Under the action of the mechanical power arm, the composite claw mechanism lowers the material to the discharge position;

[0081] Step 8: Please refer to Figure 12 At the material discharge position, the second claw assembly changes from closed to open to release the material, while the first claw assembly remains open.

[0082] Step 9: Please refer to Figure 13 The mechanical power arm, carrying the composite claw mechanism, rises to leave the unloading position, completing the material transfer operation for that time. Then, by repeating steps 1 to 9, the material can be transferred again.

[0083] It should be noted that the parts not described in detail or in elaboration in the above solutions are all prior art and do not constitute improvements made by this invention to existing technology, nor are they within the protection scope of this invention's technical solutions. Therefore, they will not be elaborated upon further in this document. Of course, the above content is merely a preferred embodiment of this invention and should not be considered as limiting the scope of the embodiments of this invention. This invention is also not limited to the above examples; equivalent changes and improvements made by those skilled in the art within the substantial scope of this invention should all fall within the patent coverage of this invention.

Claims

1. A transfer structure with composite claws, suitable for material transfer between material frames with different claw channel spacing and / or numbers, comprising a mechanical power arm and a frame, characterized in that: The frame is equipped with a composite claw mechanism, which includes a claw mechanism one and a claw mechanism two; the claw mechanism one and the claw mechanism two are configured to adapt to two material frames with different claw channel spacing and / or number respectively; The first claw mechanism includes a first claw assembly, a rotating shaft (3) and a first drive assembly; the second claw mechanism includes a second claw assembly, a rotating shaft (3) and a second drive assembly. The total number of rotating shafts (3) in the transfer structure is two, and the two rotating shafts (3) are respectively located on both sides of the frame; the first claw assembly includes several claws (4) arranged side by side on both sides of the frame, and the second claw assembly includes several claws (5) arranged side by side on both sides of the frame; the claws (4) and claws (5) located on the same side of the frame are rotatably connected to the same rotating shaft (3) in a cross-avoidance manner; The first drive assembly is configured to drive several claws (4) to rotate along the rotation axis (3) on both sides of the frame to open or close the claw assembly; the second drive assembly is configured to drive several claws (5) to rotate along the rotation axis (3) on both sides of the frame to open or close the claw assembly. The first and second claw assemblies are configured to open / close separately / simultaneously. When retrieving and transferring materials, the composite claw mechanism is configured as follows: At the material handling position, the first claw assembly changes from open to closed to pick up the material, while the second claw assembly remains open; During the transfer process, the second claw assembly changes from open to closed, and the first claw assembly changes from closed to open. There are cases where the first claw assembly and the second claw assembly close simultaneously to pick up the material together. At the material discharge position, the second claw assembly changes from closed to open to release the material, while the first claw assembly remains open; Several claws (4) located on both sides of the frame are arranged side by side on two connecting rods (7), and several claws (5) located on both sides of the frame are arranged side by side on two connecting rods (8). Several claws (4) located on both sides of the frame are rotatably connected to two rotating shafts (3) and then connected to two connecting rods (7); the drive assembly is configured to drive the connecting rods (7) to swing around the rotating shafts (3) to drive the claw assembly to open or close. Several claws (5) located on both sides of the frame are rotatably connected to two rotating shafts (3) and then connected to two connecting rods (8); the drive assembly is configured to drive the connecting rods (8) to swing around the rotating shafts (3) to open or close the claw assembly.

2. The transfer structure with composite claws according to claim 1, characterized in that: When the first and second claw mechanisms are configured to adapt to two material frames with different claw channel spacings, the minimum distance between adjacent claw one (4) is d1, and the minimum distance between adjacent claw two (5) is d2. d1 and d2 are not equal.

3. The transfer structure with composite claws according to claim 1, characterized in that: The drive assembly includes a power component (9) and a drive arm (10). The power component (9) is configured to drive the drive arm (10) to perform lifting and lowering movements. Two connecting rods (7) are respectively located on both sides of the frame and are hinged to the drive arm (10). Alternatively, the drive assembly includes a drive component and two power arms. The two power arms are respectively hinged to the two connecting rods (7). The drive component is configured to drive the two power arms to perform synchronous, close, or separate movements in the horizontal direction. The second drive assembly includes a second power component (12) and a second drive arm. The second power component (12) is configured to drive the second drive arm to perform lifting and lowering movements. Two connecting rods (8) are respectively located on both sides of the frame and are respectively hinged to the second drive arm. Alternatively, the second drive assembly includes a second drive component and two second power arms. The two second power arms are respectively hinged to two connecting rods (8). The second drive component is configured to drive the two second power arms to perform synchronous, close, or separate movements in the horizontal direction.

4. The transfer structure with composite claws according to claim 1, characterized in that: Each of the first claws (4) includes a connector (13) disposed at its upper end, the connector (13) being hinged to the rotating shaft (3); each of the second claws (5) includes a connector (14) disposed at its upper end, the connector (14) being hinged to the rotating shaft (3); Several connectors 1 (13) and several connectors 2 (14) set on the same rotation axis (3) are staggered or at least partially staggered; The end of connector one (13) is connected to connecting rod one (7); the end of connector two (14) is connected to connecting rod two (8).

5. The transfer structure with composite claws according to claim 4, characterized in that: Both connector one (13) and connector two (14) are connecting arms with obtuse angle bends; connector one (13) and connector two (14) are arranged with obtuse angle bends facing opposite directions.

6. The transfer structure with composite claws according to claim 1, characterized in that: Both the first (4) and the second (5) of the grabbing claw are L-shaped. The shapes of the first (4) and the second (5) of the grabbing claw, which are located on both sides of the frame, are matched to form a U-shaped combination.

7. The transfer structure with composite claws according to claim 1, characterized in that: A pressing component (16) is connected to the bottom of the frame, and the pressing component (16) is located between the claws on both sides of the frame. The pressing component (16) is boxed, plate-shaped, block-shaped or platform-shaped, and its working surface is a plane that is compatible with the material in the material frame.

8. A transfer method with a transfer structure having composite claws, using the transfer structure with composite claws as described in any one of claims 1-7, characterized in that, Includes the following steps: Step 1: After receiving the material picking instruction, the mechanical power arm moves the composite claw mechanism to above the material picking position; at this time, both claw component one in claw mechanism one and claw component two in claw mechanism two open. Step 2: The mechanical power arm lowers to the material picking position with the composite claw mechanism; at the material picking position, claw component one changes from open to closed to pick up the material, while claw component two remains open; Step 3: After the first material is picked up by the claw assembly, the composite claw mechanism, under the action of the mechanical power arm, lifts the material up to leave the picking position and then moves upward towards the discharge position. Step 4: The mechanical power arm moves the composite claw mechanism to above the material feeding position; Step 5: Above the material feeding position, claw assembly one remains closed, while claw assembly two changes from open to closed, thus achieving the situation where claw assembly one and claw assembly two close simultaneously to jointly pick up the material. Step 6: The second claw assembly remains closed to continue picking up materials, while the first claw assembly changes from closed to open, thus switching the claw mechanism for picking up the current material. Step 7: Under the action of the mechanical power arm, the composite claw mechanism lowers the material to the discharge position; Step 8: At the discharge position, the second claw assembly changes from closed to open to release the material, while the first claw assembly remains open; Step 9: The mechanical power arm, carrying the composite claw mechanism, rises to leave the unloading position, completing the material transfer operation for this time; then, steps 1 to 9 are repeated to achieve continued material transfer.

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