Grabbing device and operation machine

Abstract

The invention provides a grabbing device and an operation machine, and relates to the technical field of engineering machines. The grabbing device comprises a rotating assembly. The grabbing arm assembly comprises a support body, at least two shearing arms and at least two clamping plates, the support body is connected with the rotating assembly, the two shearing arms are rotationally arranged on the support body and are arranged in a crossed mode, and the two clamping plates are correspondingly hinged to the ends, facing an object to be clamped, of the two shearing arms correspondingly. The two clamping plates are configured to keep an opening angle under the action of gravity; the two scissor arms are configured to be close to or far away from each other so that the two clamping plates can be close to or far away from each other. Therefore, self-locking is achieved through the crossed shear arms, stable grabbing can be achieved without continuous large driving force, the clamping plates keep the opening angle under the gravity effect, the to-be-clamped object is evenly stressed, and damage is avoided.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a gripping device and operating machinery. Background Technology

[0002] A gripping device is a device that grasps an object and moves it to a designated location. For example, carbon blocks often require a gripping device for automated handling, stacking, and positioning.

[0003] In related technologies, the gripping device includes a hydraulic device and a gripping arm. The hydraulic device is connected to the gripping arm and provides driving force to the gripping arm, thereby driving the gripping arm to open or close to grip the object to be gripped (such as a carbon block).

[0004] However, the above method requires the hydraulic device to continuously provide a large driving force. In some cases (such as when the driving force is affected by external force and tilting), the gripper arm may loosen, the grip may become unstable, and the object to be gripped may slip off. In addition, it may crush brittle objects. Summary of the Invention

[0005] This application provides a gripping device and a working machine that can grip stably without a large continuous driving force, while clamping firmly and distributing force evenly on the object to be gripped, thus avoiding damage.

[0006] To achieve the above objectives, the technical solution of this application is as follows:

[0007] On the one hand, this application provides a gripping device, including:

[0008] A rotating assembly; a gripping arm assembly, the gripping arm assembly including a support body, at least two scissor arms and at least two clamping plates, the support body being connected to the rotating assembly, both scissor arms being rotatably mounted on the support body, the two scissor arms being arranged crosswise, the two clamping plates being respectively hinged to the ends of the two scissor arms facing the object to be gripped, the two clamping plates being configured to maintain an angle under the action of gravity; the two scissor arms being configured to be relatively close or far apart, so that the two clamping plates are relatively close or far apart.

[0009] In one possible implementation, the gripping device provided in this application embodiment further includes a drive member and a transmission member in the gripping arm assembly. The drive member is connected to the transmission member, and both scissor arms are hinged to the transmission member. The transmission member is located above the intersection of the two scissor arms. The drive member drives the transmission member to move, causing the two scissor arms to move closer or further apart.

[0010] In one possible implementation, the gripping device provided in this application embodiment has at least two first connecting portions on the transmission member spaced apart along a first direction, the two first connecting portions being connected one-to-one with two scissor arms, and the intersection of the two scissor arms being located between the two first connecting portions; the transmission member has at least one second connecting portion along a second direction; the support body has a first hole, and the second connecting portion is slidably connected to the first hole; wherein the first direction is perpendicular to the second direction.

[0011] The transmission component is configured to move along the extension direction of the first hole under the drive of the drive component, and drive the two scissor arms through the two first connecting parts.

[0012] In one possible implementation, the gripping device provided in this application embodiment further includes at least two sliding parts in the gripping arm assembly. The two sliding parts are respectively disposed on opposite sides of the second connecting part. At least two guide plates are disposed on the support body. The two guide plates are respectively disposed on opposite sides of the first hole. The sliding parts are slidably connected to the guide plates.

[0013] At least one of the sliding part and the second connecting part has a lubrication groove on its friction surface.

[0014] In one possible implementation, the gripping device provided in this application embodiment further includes at least two counterweights in the gripping arm assembly. The counterweights are correspondingly disposed on the clamping plate, and at least some of the counterweights are located above the hinge point between the clamping plate and the scissor arm to adjust the center of gravity and the angle of the clamping plate.

[0015] In one possible implementation, the gripping device provided in this application embodiment includes a scissor arm comprising a swing arm and a gripping arm. One end of the swing arm is hinged to a support body, and the other end of the swing arm is hinged to the gripping arm. Two first connecting parts are respectively hinged to the gripping arms of the two scissor arms. The gripping arms of one scissor arm and the gripping arms of the other scissor arm are arranged crosswise.

[0016] In one possible implementation, the gripping device provided in this application embodiment has a second hole on the support body, the second hole being located above the first hole, a drive cavity inside the support body, both the second hole and the first hole communicating with the drive cavity, the drive member and the transmission member being partially located inside the drive cavity, and the second hole being disposed opposite to at least a portion of the drive member.

[0017] In one possible implementation, the gripping device provided in this application embodiment further includes at least two support members, which are inclinedly disposed in the support body and located above the transmission member.

[0018] In one possible implementation, the gripping device provided in this application embodiment further includes a control component, and the drive component and the rotating component are all electrically connected to the control component. The drive component has a pressure mode and a pressure relief mode.

[0019] The control component is configured to switch between a pressure mode and a pressure relief mode when the rotating component rotates to a preset angle, so that the two scissor arms are relatively close to or relatively far apart.

[0020] This application also provides a working machine, including the gripping device as described in the above embodiments.

[0021] This application provides a gripping device and a working machine. The gripping device includes a rotating assembly and a gripping arm assembly. The gripping arm assembly includes a support body, at least two scissor arms, and at least two clamping plates. The support body is connected to the rotating assembly. Both scissor arms are rotatably mounted on the support body and are arranged crosswise. The two clamping plates are respectively hinged to the ends of the two scissor arms facing the object to be gripped. The two clamping plates are configured to maintain an angle under gravity. The two scissor arms are configured to be relatively close or far apart so that the two clamping plates are relatively close or far apart. In the embodiments of this application, the rotating assembly rotates to rotate the gripping arm assembly to a gripping angle, such as parallel to the object to be gripped. The gripping arm assembly grips the object by moving the two scissor arms relatively close or far apart so that the two clamping plates are relatively close or far apart. The crosswise arrangement of the two scissor arms forms a self-locking state after gripping the object, thereby maintaining gripping stability during transportation without the need for continuous driving force or with only a small driving force. The two clamps are configured to maintain an angle under gravity, further ensuring stable gripping of the object and ensuring even force distribution, thus preventing damage from excessive clamping force. Therefore, this application achieves stable gripping without requiring a continuous large driving force, while ensuring even force distribution on the object and preventing damage. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0023] Figure 1 This is a schematic diagram of the gripping device provided in the embodiments of this application;

[0024] Figure 2 for Figure 1 Sectional view of AA;

[0025] Figure 3 for Figure 1 Side view of the gripping device;

[0026] Figure 4 for Figure 1 A structural schematic diagram of the gripping device from another perspective;

[0027] Figure 5 This is a schematic diagram of the transmission component in the gripping device provided in the embodiments of this application;

[0028] Figure 6 This is a schematic diagram of the structure of the support body in the gripping device provided in the embodiments of this application;

[0029] Figure 7 for Figure 6 Sectional view of BB;

[0030] Figure 8 This is a schematic diagram of the connection between the control component and the driving component in the grasping device provided in the embodiments of this application;

[0031] Figure 9 A simplified mechanical principle diagram of the gripper arm assembly in the gripping device provided in the embodiments of this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100-Rotating assembly;

[0034] 200 - Grappling arm assembly; 201 - First hole; 202 - Second hole; 203 - Drive cavity; 204 - First hinge point; 205 - Second hinge point; 206 - Third hinge point; 207 - Third hole;

[0035] 210-Support body; 211-Guide plate; 212-Support member; 213-First side wall; 214-Second side wall; 215-First upper wall; 216-Second upper wall; 217-Limiting plate;

[0036] 220 - Scissor arm; 221 - Swing arm; 222 - Grab arm;

[0037] 230-plyboard;

[0038] 240 - Transmission component; 241 - First connecting part; 242 - Second connecting part; 243 - Sliding part;

[0039] 250 - Drive unit; 251 - Hydraulic pipeline; 252 - Pressure relief control valve;

[0040] 260 - Counterweight;

[0041] 300-Control component; 301-Control system center; 302-Electromagnetic control component; 303-Wire harness assembly.

[0042] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended application.

[0044] It should be noted that in the description of the embodiments of this application, the terms "upper", "lower", "inner", "outer" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and are not intended to indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0045] Furthermore, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0046] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] A gripping device is a device that grasps an object and moves it to a designated location. For example, carbon blocks often require a gripping device for automated handling, stacking, and positioning.

[0048] In related technologies, the gripping device includes a hydraulic device and a gripping arm. The hydraulic device is connected to the gripping arm and provides driving force to the gripping arm, thereby driving the gripping arm to open or close to grip the object to be gripped (such as a carbon block).

[0049] However, the above method requires the hydraulic device to continuously provide a large driving force. In some cases (such as when the driving force is affected by external force and tilting), the gripper arm may loosen, the grip may become unstable, and the object to be gripped may slip off. In addition, it may crush brittle objects.

[0050] In view of this, this application provides a gripping device and a working machine. The gripping device includes a rotating assembly and a gripping arm assembly, which includes a support body, at least two scissor arms, and at least two clamping plates. The support body is connected to the rotating assembly. Both scissor arms are rotatably mounted on the support body and are arranged to cross each other. The two clamping plates are respectively hinged to the ends of the two scissor arms facing the object to be gripped. The two clamping plates are configured to maintain an angle under gravity. The two scissor arms are configured to be relatively close or far apart so that the two clamping plates are relatively close or far apart. In the embodiments of this application, the rotating assembly rotates to rotate the gripping arm assembly to a gripping angle, such as parallel to the object to be gripped. The gripping arm assembly grips the object by moving the two scissor arms relatively close or far apart so that the two clamping plates are relatively close or far apart. The two scissor arms are arranged to cross each other, and the cross geometry of the two scissor arms forms a self-locking state after gripping the object, thereby maintaining gripping stability during transportation without continuously applying driving force or only providing a small driving force. The two clamps are configured to maintain an angle under gravity, further ensuring stable gripping of the object and ensuring even force distribution, thus preventing damage from excessive clamping force. Therefore, this application achieves stable gripping without requiring a continuous large driving force, while ensuring even force distribution on the object and preventing damage.

[0051] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0052] This application provides a grasping device, combined with Figure 1 , Figure 2 , Figure 3 and Figure 4 The system includes: a rotating assembly 100 for connection with the working machinery; and a gripper assembly 200, which includes a support body 210, at least two scissor arms 220, and at least two clamping plates 230. The support body 210 is connected to the rotating assembly 100. The two scissor arms 220 are rotatably mounted on the support body 210 and are arranged to cross each other. The two clamping plates 230 are respectively hinged to the ends of the two scissor arms 220 facing the object to be gripped. The two clamping plates 230 are configured to maintain an angle under the action of gravity. The two scissor arms 220 are configured to be relatively close or far apart so that the two clamping plates 230 are relatively close or far apart.

[0053] Both shear arms 220 are rotatably mounted on the support body 210. The two shear arms 220 are arranged to cross each other. For example, both shear arms 220 are rotatably mounted on the support body 210 via a swing arm 221. The gripper arm 222 portions of the two shear arms 220 are arranged to cross each other.

[0054] The rotating assembly 100 drives the gripper assembly 200 to rotate about a vertical axis. The rotating assembly 100 drives the entire gripper assembly 200 to adjust the gripping orientation so that the clamping plate 230 is aligned with the object to be gripped. Exemplarily, the rotating assembly 100 includes, but is not limited to, a hydraulic rotator assembly. The hydraulic rotator assembly is connected to the second upper wall 216 of the support body 210 via fasteners (such as bolts). The second upper wall 216 has a plurality of connection holes spaced circumferentially thereon, through which the fasteners pass to connect the hydraulic rotator assembly to the support body 210.

[0055] Two scissor arms 220 rotate about their hinge point with the support body 210. Since the two scissor arms 220 are arranged to cross each other to form a scissor linkage structure, when one of the force points is driven, such as the middle of the scissor arm 220, the ends of the two scissor arms 220 (i.e., the end of the mounting clamp 230) will generate opposite synchronous movements, so that the ends of the two scissor arms 220 are relatively close or relatively far apart, adjusting the clamping range between them, for example, the interval between the two scissor arms 220 from -x to +x.

[0056] In its natural state, due to its own center of gravity or the effect of additional counterweight, the free end of the clamp 230 always tends to open downwards under the action of gravity, which facilitates the guidance and accommodation of the object to be clamped.

[0057] Among them, combined Figure 1 , Figure 2 , Figure 3 and Figure 4 The grab arm assembly 200 also includes a drive component 250 and a transmission component 240. The drive component 250 is connected to the transmission component 240. Both scissor arms 220 are hinged to the transmission component 240, and the transmission component 240 is located above the intersection of the two scissor arms 220. The drive component 250 drives the transmission component 240 to move, causing the two scissor arms 220 to move closer or further apart.

[0058] The driving component 250 has a telescopic end connected to the transmission component 240. The extension or retraction of the telescopic end drives the transmission component 240 to move along a third direction (e.g., the z-direction). Specifically, the driving component 250 drives the transmission component 240 to move along the +z-direction, thereby causing the two scissor arms 220 to move closer together, i.e., reducing the gap between the two scissor arms 220 from -x to +x, thus narrowing the clamping range. Conversely, the driving component 250 drives the transmission component 240 to move along the -z-direction, thereby causing the two scissor arms 220 to move further apart, i.e., increasing the gap between the two scissor arms 220 from -x to +x, thus expanding the clamping range.

[0059] like Figure 5As shown, the transmission member 240 has at least two first connecting portions 241 spaced apart along a first direction (e.g., the x-direction). The two first connecting portions 241 are connected to the two scissor arms 220 in a one-to-one correspondence, and the intersection of the two scissor arms 220 is located between the two first connecting portions 241. The transmission member 240 has at least one second connecting portion 242 along a second direction (e.g., the y-direction). The support body 210 has a first hole 201. The second connecting portion 242 is slidably connected to the first hole 201. The first direction is perpendicular to the second direction. The transmission member 240 is configured to move along the extension direction of the first hole 201 under the drive of the driving member 250, and drive the two scissor arms 220 through the two first connecting portions 241.

[0060] The transmission component 240 moves along the extension direction of the first hole 201 on the support body 210 via its second connecting part 242. The two first connecting parts 241 on the transmission component 240 are respectively hinged to the two scissor arms 220. When the transmission component 240 moves vertically, it pulls or pushes the two scissor arms 220 simultaneously through the two first connecting parts 241, causing the two scissor arms 220 to rotate around the hinge point between them and the support body 210. At the same time, due to the scissor linkage structure, the ends of the two scissor arms 220 move synchronously towards or away from each other, thereby driving the clamping plate 230 to open and close.

[0061] The embodiments of this application do not limit the structure of the driving component 250. For example, the driving component 250 is a device that realizes mechanical movement through hydraulic power, such as a combination of a hydraulic cylinder, hydraulic pipeline 251 and control valve, used to drive the opening and closing action of the grab arm assembly 200.

[0062] The two ends of the drive component 250 are respectively mounted on the support body 210 and the transmission component 240, and are used to control the opening and closing angle between the two scissor arms 220. For example, as Figure 8 As shown, the drive unit 250 includes a hydraulic cylinder, a hydraulic line 251, a pressure relief control valve 252, and an electromagnetic control unit 302. The pressure relief control valve 252 is installed on the hydraulic line 251. The control unit 300 is electrically connected to the pressure relief control valve 252. The control unit 300 controls the action and working state of the hydraulic cylinder through the pressure relief control valve 252. The electromagnetic control unit 302 is installed on the pressure relief control valve 252 and is used to control the hydraulic cylinder.

[0063] This application embodiment also includes a wiring harness assembly 303, and the control component 300 also includes a control system center 301. The wiring harness assembly 303 is used to connect the control system center 301 and each control component to realize control information transmission.

[0064] The operator can remotely control the carbon block grabbing and handling process from inside the cab, achieving high work efficiency and automation. No additional personnel are needed to adjust the opening and closing status of the grab arm 222, significantly improving work efficiency and reducing labor costs. For example, the control component 300 controls the rotating component 100 to adjust the grab arm component 200 to a preset angle; when the grab arm component 200 is lowered directly above the object to be grabbed (such as a carbon block), the control component 300 controls the drive component 250 to switch to a pressure relief mode, causing the grab arm component 200 to close and clamp the object under gravity; when the object to be grabbed is transferred to the target stacking position, the control component 300 controls the drive component 250 to switch to a pressure mode, causing the grab arm component 200 to open and release the carbon block.

[0065] In this embodiment, the rotating component 100 rotates the gripping arm assembly 200 to a gripping angle, such as parallel to the object to be gripped. The gripping arm assembly 200 uses two scissor arms 220 that move closer or further apart to bring the two clamping plates 230 closer or further apart to grip the object. The two scissor arms 220 are arranged crosswise, and their cross-geometric relationship creates a self-locking state after gripping the object, thus maintaining gripping stability during handling without continuous driving force or with only a small driving force. The two clamping plates 230 are configured to maintain an angle under gravity, further ensuring stable gripping of the object and ensuring uniform force distribution, preventing damage from excessive clamping force. Therefore, this application achieves stable gripping without a continuous large driving force, clamping firmly while ensuring uniform force distribution on the object, thus preventing damage.

[0066] In some embodiments, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the gripper assembly 200 also includes at least two sliding parts 243, which are respectively disposed on opposite sides of the second connecting part 242. At least two guide plates 211 are disposed on the support body 210, which are respectively disposed on opposite sides of the first hole 201. The sliding parts 243 are slidably connected to the guide plates 211. The two guide plates 211 constitute a guiding mechanism. Because the two scissor arms 220 are symmetrically distributed on both sides of the transmission member 240, the guiding mechanism guides the center of the transmission member 240, preventing the two scissor arms 220 from swaying. This provides better centering during operation and allows the operator to accurately grip carbon blocks from a distance while seated in the control room.

[0067] The drive component 250 pushes the transmission component 240 along a third direction (e.g.) Figure 1The movement of the first connecting part 242 (as shown in the z-direction) causes the second connecting part 242 on the transmission component 240 to move along the third direction within the first hole 201. Since two sliding parts 243 are respectively located on opposite sides of the second connecting part 242, the sliding parts 243 move linearly along the third direction between the two guide plates 211. The transmission component 240 is connected to the two shear arms 220 via the two first connecting parts 241. The movement of the transmission component 240 causes the two shear arms 220 to move closer or further apart, thereby adjusting the opening angle between the two shear arms 220 and adjusting the opening and closing state of the gripping device. The entire gripping device is connected to the operating machinery (such as a material handling machine) via the rotating assembly 100. Both the first and second directions are perpendicular to the third direction.

[0068] When the drive member 250 pushes the transmission member 240 to move, the sliding part 243 slides smoothly under the constraint of the guide plates 211 on both sides, which enhances the directional stability of the movement of the transmission member 240 and its ability to resist eccentric loads and lateral forces. When asymmetrical lateral forces are generated when clamping carbon blocks, it prevents the transmission member 240 and the drive member 250 (such as the drive cylinder) connected to it from tilting, thereby ensuring smooth transmission.

[0069] The gripping device in this embodiment not only ensures that the two gripping arms 222 can achieve precise opening and closing alignment, but the guide plate 211 can also prevent the cylinder body from tilting due to the lateral force when gripping the carbon block.

[0070] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, at least one of the sliding portion 243 and the second connecting portion 242 has a lubrication groove on its friction surface.

[0071] The lubrication groove is used to store grease or lubricating oil. During the relative movement of the sliding part 243 and the guide plate 211 or the second connecting part 242 and the inner wall of the first hole 201, a continuous lubricating film is formed, which reduces friction and movement resistance, reduces wear of parts, extends service life, and makes movement smoother.

[0072] The sliding part 243 can be made of nylon, and the friction surfaces of the sliding part 243 and the second connecting part 242 have lubrication grooves, which can realize the lubrication maintenance of the slider and reduce friction loss.

[0073] In addition, the transmission component 240 is hinged to the scissor arm 220 via a pin. The transmission component 240 and the scissor arm 220 are provided with pin holes that connect to the pins. Furthermore, a lubrication hole and a self-lubricating copper sleeve are provided between the pin and the corresponding pin hole to achieve lubrication and maintenance of the pin, reduce friction and wear during the operation of the pin part, and reduce failures in this part.

[0074] It should be noted that the lubrication hole facilitates the periodic addition of grease or lubricating oil. The self-lubricating copper bushing itself has a low coefficient of friction and wear-resistant properties, forming a friction pair with the pin, which improves the flexibility and reliability of each hinge point during rotation, and prevents the pin from seizing or abnormally wearing due to insufficient lubrication.

[0075] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the grab arm assembly 200 also includes at least two counterweights 260, which are correspondingly disposed on the clamping plate 230, and at least some of the counterweights 260 are located above the hinge point between the clamping plate 230 and the scissor arm 220, so as to adjust the center of gravity and the angle of the clamping plate 230.

[0076] This embodiment of the application adds a counterweight 260, positioning its center of gravity above the hinge point between the clamping plate 230 and the scissor arm 220, thereby changing the center of gravity position of the clamping plate 230. Under the influence of gravity, the clamping plate 230 naturally rotates around its hinge point, causing its free end (clamping surface) to swing downwards, thus automatically forming and maintaining a downward angle between the two clamping plates 230. The size of the angle can be adjusted by the weight and position of the counterweight 260. This embodiment of the application achieves gravity self-locking of the clamping plate 230 without the need for additional drive. When preparing to grip, the clamping plate 230 automatically opens to a suitable angle, making it easy to grip and hold the object; after releasing the object, it automatically returns to the open state. Because the clamping plate 230 can adaptively conform to the surface of the object under gravity, the clamping force distribution is more uniform, avoiding stress concentration.

[0077] For example, there are four counterweights 260. One clamping plate 230 corresponds to two counterweights 260. The clamping plate 230 includes a clamping plate and at least one connecting plate. The connecting plate is connected to the clamping plate. The length direction of the clamping plate is parallel to the second direction. The connecting plate is hinged to the scissor arm 220. The clamping plate is inclined. The two counterweights 260 are spaced apart along the width direction of the clamping plate. The counterweights 260 are connected to the connecting plate. One of the counterweights 260 is located above the hinge point between the connecting plate and the scissor arm 220. Or at least a portion of the counterweight 260 is located above the hinge point. One clamping plate corresponds to at least two connecting plates. The two connecting plates are spaced apart along the length direction of the clamping plate. The scissor arm 220 has two opposing side plates with connecting holes. The two ends of the pin pass through the connecting holes and are connected to the connecting plates, so that the connecting plates are hinged to the scissor arm 220 by the pins. The two connecting plates are respectively disposed on the two side plates of the scissor arm 220.

[0078] The counterweight 260 includes at least two counterweight plates, which are respectively connected to two connecting plates. The bottom of the counterweight plate is connected to the clamping plate, and the side of the counterweight plate is connected to the connecting plate.

[0079] The embodiments of this application do not limit the shape and structure of the counterweight plate. For example, the width of the counterweight plate decreases sequentially from the direction toward the connecting plate to the direction away from the connecting plate.

[0080] The clamping plates of the two clamping plates 230 are arranged at an angle relative to each other. For example, the clamping length between the two clamping plates decreases sequentially from the direction toward the object to be clamped to the direction away from the object to be clamped.

[0081] Understandably, the placement angle between the right clamping plate 230 and the right grab arm 222 is adjusted by the center of gravity distribution of the clamping plate 230, and the placement angle between the left clamping plate 230 and the left grab arm 222 is adjusted by the center of gravity distribution of the clamping plate 230. This ensures that the angle between the right clamping plate 230 and the left clamping plate 230 always opens downwards under the action of gravity, achieving adaptive adjustment of the opening angle of the clamping plate 230, such as in the conventional handling of carbon blocks.

[0082] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the scissor arm 220 includes a swing arm 221 and a gripper arm 222. One end of the swing arm 221 is hinged to the support body 210, and the other end of the swing arm 221 is hinged to the gripper arm 222. Two first connecting parts 241 are respectively hinged to the gripper arms 222 of the two scissor arms 220.

[0083] The scissor arm 220 has a multi-link structure, and the gripping arms 222 of the two scissor arms 220 form a cross structure to grasp heavy objects. The clamping plate 230 is located at the end of the gripping arm 222 away from the swing arm 221. The drive unit 250 directly drives the middle part of the two gripping arms 222 through the transmission unit 240. The movement of the gripping arm 222 will cause the swing arm 221, which is hinged to it, to swing around a fixed point on the support body 210.

[0084] The gripper arm 222 includes a first bent section, a straight section, and a second bent section connected in sequence. The bending direction of the first bent section is opposite to that of the second bent section. For example, the first bent section bends in the +z direction, and the second bent section bends in the -z direction. The first bent section is hinged to the swing arm 221, and the second bent section is hinged to the clamping plate 230. The gripper arms 222 of the two shear arms 220 are arranged crosswise in the drive cavity 203.

[0085] To facilitate the description of the principle of the two scissor arms 220, the scissor arm 220 located on the left is named the left scissor arm 220, and the scissor arm 220 located on the right is named the right scissor arm 220. The transmission component 240 is a guide connecting plate. Figure 9 As shown, the right swing arm 221 of the right scissor arm 220 has a length L1, the right grab arm 222 has a length L2, the right clamping plate 230 has a length L3, the left clamping plate 230 has a length L4, the left grab arm 222 has a rod length L5, the guide connecting plate has a length L6, the left swing arm 221 has a rod length L7 and the drive cylinder has a length L8, the right swing rod has a length L1, the right grab arm 222 has a rod length L2, the left grab arm 222 has a rod length L5, the guide connecting plate has a length L6, and the cross structure between the left swing arm 221 and the left swing arm 222 achieves gravity self-locking gripping and handling of heavy objects. The guide slider movement of the guide connecting plate length L6 and the drive cylinder length L8 achieves the adjustment of the opening angle between the right grab arm 222 rod length L2 and the left grab arm 222 rod length L5.

[0086] After a heavy object is gripped, its weight is transmitted to the gripping arm assembly 200 via the clamping plate 230 and the gripping arm 222. In this embodiment, by adjusting the rod length ratio and angle, the drive component 250 loses power (e.g., depressurization) during handling, and the weight of the heavy object helps maintain the gripping state, preventing accidental loosening and greatly improving the safety of the handling process.

[0087] The space between the right clamping plate 230 length L3 and the left clamping plate 230 length L4 is the space for gripping carbon blocks. The parameters of the space for gripping carbon blocks can be confirmed by designing the rod length and cylinder stroke parameters of each component.

[0088] The swing arm 221 is provided with a first pin hole and is rotatably connected to the support body 210 through a pin shaft to form a first hinge point 204. The swing arm 221 is provided with a second pin hole and is hinged to the grab arm 222 through a pin shaft to form a second hinge point 205. The grab arm 222 is provided with a third pin hole and is hinged to the clamping plate 230 through a pin shaft to form a third hinge point 206.

[0089] Furthermore, to prevent the object to be gripped from falling or fragile items from being damaged, this embodiment of the application also includes an anti-slip component, which is installed on the side of the clamping plate 230 facing the object to be gripped. For example, the anti-slip component is an anti-slip pad, which is installed on the surfaces of the left and right clamping plates 230. The anti-slip pad is made of polyurethane, which increases the friction between the clamping plate 230 and the carbon block surface, thereby improving the gripping force during handling.

[0090] It should be noted that when the operator remotely controls the gripper from the control room, and controls the two intersecting scissor arms 220 to open and align with the object to be gripped (such as a carbon block), the two intersecting scissor arms 220 have a guiding motion along the line of symmetry and will not wobble, resulting in better centering. The line of symmetry can be understood as a virtual center line directly in front of the intersection axis of the two scissor arms 220, coinciding with the bisector of the angle between the two arms. Centering can be understood as the center of the gripper (i.e., the line of symmetry of the two scissor arms 220) being easily and accurately aligned with the center of the object to be gripped (the carbon block). The support body 210 has a second hole 202 located above the first hole 201. The support body 210 has a drive cavity 203, and both the second hole 202 and the first hole 201 communicate with the drive cavity 203. The drive component 250 and the transmission component 240 are both partially located within the drive cavity 203, and the second hole 202 is positioned opposite to at least a portion of the drive component 250.

[0091] The support body 210 includes a first sidewall 213, a second sidewall 214, and a second upper wall 216. The first sidewall 213 and the second sidewall 214 are disposed opposite to each other, and both the first sidewall 213 and the second sidewall 214 are connected to the second upper wall 216. The second upper wall 216 and the first upper wall 215 are connected by a peripheral sidewall. The first sidewall 213, the second sidewall 214, and the second upper wall 216 form a driving cavity 203. The second hole 202 and the first hole 201 are located on the first sidewall 213 or the second sidewall 214.

[0092] The support body 210 also includes a limiting plate 217, which is disposed on the first side wall 213 or the second side wall 214. The limiting plate 217 is located at one end of the first hole 201 and is used to prevent the transmission member 240 from deviating from the first hole 201. It should be noted that when the driving member 250 pushes the transmission member 240 to move, it is necessary to ensure that the transmission member 240 does not contact the limiting plate 217 when it moves to its maximum stroke, that is, the transmission member 240 will not interfere with the limiting plate 217.

[0093] The drive cavity 203 houses the drive component 250 and the transmission component 240 within a semi-enclosed space. The second hole 202 facilitates the installation and fixation of the drive component 250 (such as the tail of a hydraulic cylinder). The first hole 201 provides a moving guide channel for the transmission component 240, making the grab arm assembly 200 compact and neat in appearance. The support body 210 provides certain protection for its internal moving parts, preventing external collisions or interference from foreign objects.

[0094] The drive component 250 is a hydraulic cylinder, which includes a cylinder barrel and a piston. One end of the piston is slidably disposed inside the cylinder barrel, and the other end of the piston is connected to the first fixing hole on the transmission component 240 via a pin. The upper middle position of the support has a second fixing hole, and the first fixing hole is connected to the cylinder barrel via a pin.

[0095] The right gripper arm 222 and the left gripper arm 222 are cross-assembled, with the middle portions of both arms connected to the first connecting portion 241 of the transmission component 240 via pins. The second connecting portion 242 of the transmission component 240 has sliding portions 243 on both sides, which are detachably connected to it. For example, the sliding portions 243 are connected to the second connecting portion 242 via bolts or screws.

[0096] It should be noted that the support body 210, swing arm 221, grab arm 222, clamping plate 230, and transmission component 240 in this application can all be formed by machining and welding of sheet metal (such as steel plate). Combined with... Figure 3 The mechanical schematic diagram shows the length dimensions of the left swing arm 221, right swing arm 221, right gripping arm 222, and left gripping arm 222, the hinge point distance dimensions of the transmission component 240, and the hinge point distance dimensions of the support body 210. The length of the linkage mechanism can be designed according to the size of a single carbon block to expand the clamping range, for example, to achieve the range of gripping 1-3 carbon blocks.

[0097] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, it also includes at least two support members 212, which are inclinedly disposed within the support body 210 and located above the transmission member 240.

[0098] Two support members 212 are arranged opposite to each other, and the gap between the two support members 212 decreases sequentially from the direction towards the object to be clamped to the direction away from the object to be clamped. The support members 212 are used to enhance the strength of the support body 210 and are inclined to provide sufficient movement space for the transmission member 240 below it. At least one of the first side wall 213 and the second side wall 214 is connected to the support member 212.

[0099] In addition, the support member 212 also has a third hole 207, which facilitates the passage of the wire harness or reduces the weight of the support member 212 itself.

[0100] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, it also includes a control component 300, a drive component 250 and a rotating component 100, all of which are electrically connected to the control component 300. The drive component 250 has a pressure mode and a pressure relief mode. The control component 300 is configured to control the drive component 250 to switch between the pressure mode and the pressure relief mode when the rotating component 100 rotates to a preset angle, so that the two scissor arms 220 are relatively close to each other or relatively far apart.

[0101] During the gripping phase, the gripping device is moved above the object to be gripped (such as a carbon block), and the angle of the gripping arm assembly 200 is adjusted to be parallel to the carbon block by the rotating assembly 100. The drive component 250 is a hydraulic cylinder, and the control assembly 300 controls the hydraulic cylinder to be in pressure mode, driving the gripping arm 222 to open to its maximum angle. Subsequently, the control assembly 300 controls the gripping device to move along the -z direction, so that the carbon block enters the gripping space of the two clamping plates 230.

[0102] During the handling phase, the control component 300 controls the hydraulic cylinder to switch to the pressure relief mode, and the gripper arm 222 closes under the action of gravity, forming a self-locking state of the crossarm structure. Moreover, the guide plate 211 keeps the gripper arm 222 stable under the action of lateral force, preventing the hydraulic cylinder from tilting.

[0103] During the stacking phase, the control component 300 controls the hydraulic rotator to adjust the angle of the gripper to a preset position, and the control component 300 controls the gripping device to lower the carbon blocks and complete the stacking. After the gripper arm 222 opens again, the gripper lifts the device, completing the gripping cycle.

[0104] This application also provides a working machine, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, it includes a gripping device as described in any of the above embodiments.

[0105] This application does not limit the structure of the working machinery, for example, the working machinery is a material grabber.

[0106] When it is necessary to grasp an object (such as a carbon block), the grasping device is first fixed to the working machinery (such as the boom of a material grabber) by the rotating assembly 100 (such as a hydraulic rotator assembly), and the material grabber moves the grasping device above the object to be grasped. By rotating the rotating assembly 100, the relative angle between the gripping arm assembly 200 and the carbon block to be grasped is adjusted until the two clamping plates 230 of the gripping arm assembly 200 are parallel to the carbon block to be grasped and directly above the carbon block. At this time, the hydraulic cylinder is controlled in pressure mode (such as hydraulic pressure state). The right swing arm 221 is opened and the left gripping arm 222 is opened to the maximum angle by the hydraulic cylinder moving upward. Then, the gripping arm assembly 200 is lowered so that the carbon block to be transported is located inside the left clamping plate 230 and the right clamping plate 230. Then, the hydraulic cylinder is controlled in depressurization mode (such as depressurization state), and the grasping device is raised upward. Under the action of gravity, it self-locks to lift the carbon block and transfer it above the required placement position. After adjusting the carbon block to the appropriate angle by rotating the assembly, the gripping device is lowered to complete the placement of the carbon block. Once the carbon block is in place, the hydraulic cylinder is switched to pressure mode, and then the right swing arm 221 is opened and the left gripping arm 222 is moved upward to the maximum angle by the hydraulic cylinder. Then, the material handling machine is operated to lift the gripping device, thus completing one work cycle of carbon block gripping and handling.

[0107] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0108] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A gripping device, characterized in that, include: Rotating components; A gripper assembly includes a support body, at least two scissor arms, and at least two clamping plates. The support body is connected to the rotating assembly. Both scissor arms are rotatably mounted on the support body and are arranged to cross each other. The two clamping plates are respectively hinged to the ends of the two scissor arms facing the object to be gripped. The two clamping plates are configured to maintain an angle under the action of gravity. The two shear arms are configured to be relatively close or far apart, so that the two clamps are relatively close or far apart.

2. The gripping device according to claim 1, characterized in that, The grab arm assembly also includes a drive component and a transmission component. The drive component is connected to the transmission component, and both scissor arms are hinged to the transmission component. The transmission component is located above the intersection of the two scissor arms. The drive component drives the transmission component to move, causing the two scissor arms to move closer or further apart.

3. The gripping device according to claim 2, characterized in that, The transmission component has at least two first connecting portions spaced apart along a first direction, and the two first connecting portions are connected to the two shear arms in a one-to-one correspondence, with the intersection of the two shear arms located between the two first connecting portions. The transmission component has at least one second connecting portion along a second direction, and the support body has a first hole, with the second connecting portion slidably connected to the first hole. The first direction is perpendicular to the second direction. The transmission component is configured to move along the extension direction of the first hole under the drive of the driving component, and drive the two shear arms through the two first connecting parts.

4. The gripping device according to claim 3, characterized in that, The gripper assembly further includes at least two sliding parts, which are respectively disposed on opposite sides of the second connecting part. At least two guide plates are provided on the support body, which are respectively disposed on opposite sides of the first hole. The sliding parts are slidably connected to the guide plates. At least one of the sliding portion and the second connecting portion has a lubrication groove on its friction surface.

5. The gripping device according to any one of claims 1-4, characterized in that, The gripper assembly also includes at least two counterweights, which are correspondingly disposed on the clamping plate, and at least a portion of the counterweights are located above the hinge point between the clamping plate and the scissor arm to adjust the center of gravity and the angle of the clamping plate.

6. The gripping device according to claim 3 or 4, characterized in that, The scissor arm includes a swing arm and a gripper arm. One end of the swing arm is hinged to the support body, and the other end of the swing arm is hinged to the gripper arm. The two first connecting parts are respectively hinged to the gripper arms of the two scissor arms. The gripper arm of one scissor arm is arranged to cross the gripper arm of the other scissor arm.

7. The gripping device according to claim 3 or 4, characterized in that, The support body has a second hole located above the first hole. The support body has a drive cavity, and both the second hole and the first hole are connected to the drive cavity. The drive component and the transmission component are both partially located in the drive cavity, and the second hole is disposed opposite to at least a portion of the drive component.

8. The gripping device according to any one of claims 2-4, characterized in that, It also includes at least two support members, which are inclinedly disposed within the support body and located above the transmission member.

9. The gripping device according to any one of claims 2-4, characterized in that, It also includes a control component, wherein both the drive component and the rotating component are electrically connected to the control component, and the drive component has a pressure mode and a pressure relief mode; The control component is configured to control the drive to switch between a pressure mode and a pressure relief mode when the rotating component rotates to a preset angle, so that the two shear arms are relatively close to or relatively far apart.

10. A type of operating machinery, characterized in that, Includes the gripping device as described in any one of claims 1-9 above.

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