A paper pulp wharf intelligent lifting appliance clamping jaw structure

Abstract

The application discloses a paper pulp wharf intelligent lifting appliance clamping jaw structure and relates to the technical field of wharf lifting appliances.The paper pulp wharf intelligent lifting appliance clamping jaw structure comprises a supporting assembly, a guiding assembly, a clamping assembly, a driving assembly, a floating assembly, a locking assembly and a positioning assembly.The supporting assembly is a topologically optimized high-strength steel structure and provides stable bearing;the driving assembly drives the opening and closing of the clamping jaw body and the overall movement;the guiding assembly cooperates with the driving assembly to realize overall translation;the floating assembly adopts a supporting spring-guiding column structure and is self-adaptive to the surface height difference of the paper pulp bale;the locking assembly locks the translational freedom degree after clamping and protects the transmission mechanism;and the positioning assembly and other sensors ensure the accuracy of automatic positioning.The application can be adapted to various common and non-standard paper pulp bales, does not need to replace the clamping jaw, effectively improves the alignment efficiency of single-bale clamping, reduces the paper pulp breakage rate and transmission mechanism wear, provides a safe, simple and intuitive automatic working environment for paper pulp wharf lifting appliance operation and meets the high-strength and high-precision loading and unloading requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wharf spreader, in particular to a paper pulp wharf intelligent spreader clamping jaw structure, which solves the problems of low efficiency of manual alignment and realizes precise and unmanned operation of paper pulp loading and unloading. BACKGROUND

[0002] With the continuous growth of global paper pulp trade and the rapid development of wharf automation technology, as an important logistics hub, the paper pulp wharf puts forward higher requirements for the precision, adaptability and safety of loading and unloading equipment. As the core executive component of the paper pulp spreader directly clamping the paper pulp package, the performance of the clamping jaw directly determines the wharf operation efficiency, material loss rate and operation safety level, and is the key link to realize the automatic loading and unloading of paper pulp.

[0003] The paper pulp package has the characteristics of various specifications and prominent non-standard attributes, and there are more than 30 common sizes. At present, the clamping operation of the paper pulp wharf still faces many technical bottlenecks: the traditional clamping jaw relies on manual auxiliary positioning, and the operator needs to observe the clamping position of the paper pulp package at close range and manually calibrate it, which not only takes a long time for single package operation and is low in efficiency, but also the manual operation needs to be close to the spreader operation area frequently, which has the safety hidden danger of being collided and extruded, and does not meet the development trend of wharf automation and unmanned.

[0004] At the equipment structure level, the design defects of the existing clamping jaw further aggravate the operation pain points: the support assembly is mostly a simple welded frame, which has not been optimized in topology and is difficult to meet the strength and lightweight requirements; there is no effective adjusting structure, and it cannot adapt to various sizes of paper pulp packages. In addition, the existing clamping jaw lacks reliable auxiliary positioning structure, and the positioning accuracy completely depends on manual experience, which cannot meet the high-strength and high-precision operation requirements of modern paper pulp wharf.

[0005] In summary, the clamping jaw structure of the current paper pulp wharf spreader has obvious deficiencies in support stability, driving and guiding accuracy, multi-specification adaptability, safety protection performance and automatic positioning capability, which has become a key bottleneck restricting the improvement of paper pulp wharf operation efficiency and the upgrading of automation.

[0006] According to the above situation and background, the present application provides a single group clamping jaw structure of a paper pulp wharf intelligent positioning spreader, which aims to solve the many defects of the prior art and promote the precision and automation development of paper pulp wharf loading and unloading operation. SUMMARY

[0007] In view of the existing deficiencies, the purpose of the present application is to provide a paper pulp wharf intelligent spreader clamping jaw structure to solve the problems of poor adaptability of the clamping jaw, low positioning accuracy, low operation efficiency and insufficient safety in the prior art.

[0008] To achieve the above purpose, the technical solution adopted by the present application is:

[0009] A paper wharf intelligent lifting tool clamping jaw structure, comprising a support assembly, a driving assembly, a guide assembly, a clamping assembly, a floating assembly, a locking assembly and a positioning assembly; the support assembly is a topologically optimized high-strength steel structure, used to provide stable bearing; the driving assembly is used to drive the overall movement and the opening and closing of the clamping jaw; the guide assembly cooperates with the driving assembly to realize the translation of the whole along the preset trajectory; the floating assembly adopts a spring-guide column structure, used to adapt to the surface height difference of the pulp package; the locking assembly locks the translational freedom after clamping the pulp package, protecting the transmission mechanism; the positioning assembly is used to position the steel wire position of the pulp package, realizing the accurate positioning of the clamping jaw assembly; the clamping assembly is used to clamp the steel wire on the pulp package.

[0010] Further, the support assembly comprises a clamping jaw connecting upper frame, a total bracket, a hanging bracket, a clamping plate, a supporting plate and a hinge hole bolt c; the top surface of the total bracket is symmetrically provided with two pairs of clamping plates, the upper side of the total bracket is provided with a clamping jaw connecting upper frame in parallel, the bottom of the clamping jaw connecting upper frame is symmetrically provided with an integrated supporting plate on the left and right sides, and the supporting plate is inserted between the pair of clamping plates; a vertical strip-shaped sliding groove b is formed in the inside of the supporting plate, the hinge hole bolt c penetrates the clamping plate and passes through the strip-shaped sliding groove b, used to connect the supporting plate and the clamping plate; the bottom of the total bracket is provided with two groups of hanging brackets arranged in parallel and at intervals, and a strip-shaped sliding groove a for passing through the clamping jaw pull rod is vertically formed on the hanging bracket; the clamping jaw connecting upper frame and the total bracket are floatingly connected through the floating assembly, and the relative displacement between the two adapts to the surface height difference of the pulp package, avoiding the instability of clamping or the damage of the pulp caused by rigid contact.

[0011] Further, the guide assembly comprises a channel steel, a groove wheel and a groove wheel angle steel frame; the channel steel is fixed on the overall external lifting tool, the groove wheel angle steel frame is provided with two groups, which are symmetrically installed on the top two side edges of the clamping jaw connecting upper frame through bolts, and the groove wheel is assembled on the outside of the groove wheel angle steel frame and rolls with the channel steel, guiding the whole to translate along the preset trajectory through the cooperation of the driving assembly, ensuring smooth and accurate translation.

[0012] Further, the locking assembly comprises a locking rack support, a locking rack a, a locking rack fixing plate and a locking rack b; the locking rack a is installed on the locking rack fixing plate, and the locking rack fixing plate is welded on the bottom of the channel steel, with its teeth upward; the locking rack b is compatible in specification with the locking rack a, installed on the locking rack support, with its teeth downward, and the bottom of the locking rack support is installed on the total bracket through bolts.

[0013] Further, the floating assembly comprises a support spring, a spring cover plate, a spring fixing bolt and a support plate; the support plate is arranged inside the locking rack support and is fixed perpendicularly with the locking rack support; the spring is assembled on the support plate in an extendable manner through the spring cover plate and the spring fixing bolt, and the top of the spring cover plate and the bottom of the support plate are always in contact; when at rest, the spring is completely relaxed, and when unloaded, the spring supports the dead weight to maintain the separation of the locking rack a and the locking rack b, and after clamping the pulp package, the locking rack a and the locking rack b are engaged to realize the locking of the translational freedom.

[0014] Further, the clamping assembly comprises a hinged ear, a hinged hole bolt b, a clamping jaw connecting rod, a hinged hole bolt a, a clamping jaw and a reinforcing shaft; the hinged ear is provided with two groups and is symmetrically arranged on the left and right sides of the bottom of the total support and is located outside the hanger; the clamping jaw is arranged outside the bottom of the hanger and can be opened and closed; the upper end of the clamping jaw connecting rod is hinged to the hinged ear through the hinged hole bolt b, and the lower end is hinged to the clamping jaw through the hinged hole bolt a, forming a transmission mechanism, which transmits the power of the driving assembly to the clamping jaw through the clamping jaw connecting rod to realize the opening and closing action of the clamping jaw; the clamping jaws on the two sides are connected through the reinforcing shaft.

[0015] Further, the driving assembly comprises a fixed support, a transmission gear, a worm gear reducer, a servo motor a, a clamping jaw pull rod, a servo motor b and an electric cylinder; the fixed support is installed on the top of the clamping jaw connection upper frame through bolts; the worm gear reducer is installed on the fixed support; the servo motor a is in transmission connection with the worm gear reducer; the output end of the worm gear reducer is provided with a transmission gear; the transmission gear is engaged with the rack drive on the overall external lifting appliance to drive the overall translation.

[0016] The servo motor b is in transmission connection with the electric cylinder; the electric cylinder is installed inside the hanger; the output end of the electric cylinder is connected with the clamping jaw pull rod through a Y joint; the two ends of the clamping jaw connecting rod pass through the strip-shaped sliding groove a on the hanger and are rotatably connected with the clamping jaws on the two sides, thereby realizing the stable opening and closing of the clamping jaws.

[0017] Further, the positioning assembly comprises a camera, an electromagnet and a positioning block; the camera is installed at the bottom of the clamping jaw pull rod and is used to collect image information of the pulp package to provide visual basis for positioning; the positioning block is in U-shaped structure and is invertedly arranged at the bottom of the hanger and is used to support the lifting appliance and the clamping and positioning; the electromagnet is arranged at the bottom of the clamping jaw pull rod and is used to assist in adsorbing and lifting the steel wire during the closing process of the clamping jaw, thereby ensuring the accurate alignment of the clamping jaw with the pulp package clamping position and ensuring the accuracy of automatic positioning; the side edge of the positioning block is provided with a proximity switch, which is in electric connection with the control assembly and is used to sense whether the clamping jaw reaches the specified position.

[0018] Further, it further comprises a control assembly, which comprises a PLC, a servo motor driver and a steel wire recognition module, and is used to control the cooperative work of each assembly.

[0019] The working principle of the present application is that after the overall lifting appliance reaches the approximate position, the servo motor a is controlled by the PLC to rotate the belt to move the clamping jaw as a whole to the preset interval, the camera on each group of clamping jaws assists in aligning each group of clamping jaws with the pulp package, the PLC controls the electric cylinder to open the clamping jaw, then the lifting appliance is lowered to the positioning block to press the pulp, at this time the floating assembly ensures that a single group of clamping jaws flexibly adapts to different planes, the electromagnet opens the adsorbed steel wire, the PLC controls the electric cylinder to close the clamping jaw, the clamping jaw clamps the steel wire after closing, and the overall lifting appliance lifts and hoists the pulp package, at this time the locking assembly engages to realize the locking of the translational degree of freedom, and the lifting appliance hoists the pulp package to the designated position.

[0020] Compared with the prior art, the present application has the following beneficial effects:

[0021] 1、The floating assembly of the present application adopts a spring-guide column integrated structure, which can adaptively adapt to the height difference of the surface of the pulp package through the elastic expansion and contraction characteristics of the supporting spring, avoiding damage to the pulp package or unstable clamping caused by rigid contact; at the same time, the spring supporting structure is self-weighted in the no-load state, so that the locking rack a and the locking rack b are kept separate, without affecting the overall translation of the clamping jaw; during clamping operation, the spring is compressed, driving the locking rack b to automatically engage with the locking rack a, realizing the locking of the translational degree of freedom, which not only ensures the structural stability during operation, but also effectively protects the transmission mechanism such as transmission gear, worm gear reducer, etc., prolonging the service life of the equipment.

[0022] 2、The positioning assembly integrates an industrial high-definition camera, an electromagnet and an inductive proximity switch, which can automatically complete image acquisition, steel wire position recognition and accurate positioning of the pulp package by matching the steel wire recognition module in the control assembly, without the need for manual close-range auxiliary calibration; not only greatly improves the positioning accuracy, but also completely avoids the safety risks such as collision and extrusion caused by manual operation, fully meets the development trend of port automation and unmanned, and solves the problems of low efficiency and insufficient safety of traditional clamping jaw manual alignment.

[0023] 3、The locking assembly realizes automatic locking and unlocking of the translational degree of freedom through the engagement / disengagement of the locking rack a and the locking rack b, and is automatically locked after clamping the pulp package to prevent clamping failure caused by displacement of the clamping jaw structure during operation; it is automatically unlocked after unloading is completed, without affecting the equipment reset, further improving the operation safety and reliability.

[0024] 4、The driving assembly adopts a double-drive combination scheme of "servo motor + worm gear reducer" and "servo motor + electric cylinder", the servo motor a cooperates with the worm gear reducer and the transmission gear to realize accurate translation of the clamping jaw as a whole, with fast response speed and small positioning error; the servo motor b drives the electric cylinder to drive the clamping jaw pull rod to act, and the power is transmitted through the clamping jaw connecting rod to realize stable and synchronous opening and closing of the clamping jaw, compared with the traditional hydraulic or pneumatic driving mode, the action is more stable, the control precision is higher, and the single package operation efficiency is effectively improved.

[0025] 5. The support components adopt a topology-optimized high-strength steel structure design. Compared with the traditional simple welded frame, it can effectively achieve the goal of lightweighting and reduce the energy consumption of equipment operation while ensuring structural strength and stable load bearing. At the same time, the pallet and the clamping plate form a relatively movable connection structure through the strip groove b and the hinged hole bolt c. Combined with the elastic expansion and contraction characteristics of the floating components, the clamping structure can be adapted to various common specifications of pulp bales, completely solving the technical pain point of poor adaptability of existing clamps to non-standard pulp bales.

[0026] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Fig. 1 This is a schematic diagram of the overall structure of the lifting gripper claw structure of the present invention.

[0029] Fig. 2 This is a schematic diagram of the gripper structure of the lifting device of the present invention from another angle.

[0030] Fig. 3 This is a front view of the lifting gripper structure of the present invention.

[0031] Fig. 4 This is a right view of the lifting gripper structure of the present invention.

[0032] Fig. 5 This is a partial structural diagram of the lifting gripper claw structure of the present invention.

[0033] Fig. 6 This is a partial sectional view of the lifting gripper structure of the present invention.

[0034] In the diagram: 1. Transmission gear; 2. Worm gear reducer; 3. Servo motor a; 4. Channel steel; 5. Locking rack a; 6. Locking rack fixing plate; 7. Locking rack b; 8. Locking rack bracket; 9. Support spring; 10. Gripper connecting frame; 11. Gripper connecting rod; 12. Hinge hole bolt a; 13. Gripper; 14. Reinforcing shaft; 15. Electromagnet; 16. Positioning block; 17. Camera; 18. 19. Claw pull rod; 20. Servo motor b; 21. Electric cylinder; 22. Hinge hole bolt b; 23. Main bracket; 24. Hinge hole bolt c; 25. Grooved wheel; 26. Grooved wheel angle steel frame; 27. Fixed bracket; 28. Spring cover plate; 29. ​​Spring fixing bolt; 30. Strip groove a; 31. Hinge ear; 32. Hanger; 33. Support plate; 34. Clamping plate; 35. Support plate; 36. Strip groove b. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1: As Figs. 1 to 6 As shown, this embodiment provides a smart spreader gripper structure for a pulp terminal, including a support component, a drive component, a guide component, a clamping component, a floating component, a locking component, a positioning component, and a control component.

[0037] The supporting component is a topology-optimized high-strength steel structure used to provide stable load-bearing capacity; the driving component is used to drive the overall movement and the opening and closing of the gripper 13; the guiding component works with the driving component to realize the overall translation along a preset trajectory; the floating component adopts a spring-guide column structure to adapt to the height difference of the pulp bale surface; the locking component locks the translational freedom after clamping the pulp bale to protect the transmission mechanism; and the positioning component is used to position the steel wire of the pulp bale to achieve precise positioning of the clamping component.

[0038] In this embodiment, the support assembly includes a gripper connecting upper frame 10, a main bracket 22, a hanger 31, a clamping plate 33, a support plate 34, and a hinged hole bolt c23;

[0039] Wherein, the top surface of the total support 22 is symmetrically provided with two pairs of clamping plates 33, the upper side of the total support 22 is provided with a clamping jaw connecting upper frame 10 in parallel, the bottom of the clamping jaw connecting upper frame 10 is symmetrically provided with an integrated supporting plate 34 on the left and right sides, and the supporting plate 34 is inserted between the pair of clamping plates 33; the inside of the supporting plate 34 is vertically provided with a strip-shaped sliding groove b35, and the hinge hole bolt c23 penetrates the clamping plate 33 and passes through the strip-shaped sliding groove b35, which is used to connect the supporting plate 34 and the clamping plate 33; the bottom of the total support 22 is provided with two groups of hanging brackets 31 which are arranged in parallel and at intervals, and the hanging bracket 31 is vertically provided with a strip-shaped sliding groove a29 for penetrating the clamping jaw pull rod 18; the clamping jaw connecting upper frame 10 and the total support 22 are floatingly connected through the cooperation of the floating assembly, and the relative displacement between the two can adapt to the surface height difference of the pulp bag, so as to avoid unstable clamping or pulp damage caused by rigid contact.

[0040] In the embodiment, the guide assembly includes channel steel 4, channel wheel 24 and channel wheel angle steel frame 25; wherein the channel steel 4 is fixed on the external lifting appliance as a whole, the channel wheel angle steel frame 25 is provided with two groups, which are symmetrically installed on the top of the clamping jaw connecting upper frame 10 through bolts, and the channel wheel 24 is assembled on the outside of the channel wheel angle steel frame 25 and rolls with the channel steel 4, which cooperates with the driving assembly to guide the whole to translate along the preset track, ensuring smooth and accurate translation.

[0041] In the embodiment, the locking assembly includes locking rack support 8, locking rack a5, locking rack fixing plate 6 and locking rack b7; wherein the locking rack a5 is installed on the locking rack fixing plate 6, the locking rack fixing plate 6 is welded on the bottom of the channel steel 4, and the teeth thereof face upward; the locking rack b7 is adapted in size to the locking rack a5, and is installed on the locking rack support 8, and the teeth thereof face downward, and the bottom of the locking rack support 8 is installed on the total support 22 through bolts.

[0042] In the embodiment, the floating assembly includes supporting spring 9, spring cover plate 27, spring fixing bolt 28 and support plate 32; the support plate 32 is provided on the inside of the locking rack support 8 and is fixed perpendicularly to the locking rack support 8, the spring is assembled on the supporting plate 34 through the spring cover plate 27 and the spring fixing bolt 28, and the top of the spring cover plate 27 is always in contact with the bottom of the support plate 32; when at rest, the spring is completely relaxed, and when unloaded, the spring supports the dead weight to maintain the separation of the locking rack a5 and the locking rack b7, and after clamping the pulp bag, the locking rack a5 and the locking rack b7 are engaged to realize the locking of the translational freedom.

[0043] In the embodiment, the clamping assembly includes hinged ears 30, hinge hole bolts b21, clamping jaw connecting rods 11, hinge hole bolts a12, clamping jaws 13 and reinforcing shafts 14; the hinged ears 30 are provided in two groups and symmetrically fixed to the bottom of the total bracket 22 on the left and right sides and located outside the hanger 31; the clamping jaws 13 are provided outside the bottom of the hanger 31 and can be opened and closed; the upper end of the clamping jaw connecting rod 11 is hinged to the hinged ear 30 through the hinge hole bolt b21, and the lower end is hinged to the clamping jaw 13 through the hinge hole bolt a12, forming a transmission mechanism, transmitting the power of the driving assembly to the clamping jaw 13 through the clamping jaw connecting rod 11 to realize the opening and closing action of the clamping jaw 13; the clamping jaws 13 on the left and right sides are connected through the reinforcing shafts 14 to improve the synchronism and structural stability of the clamping jaws 13.

[0044] In the embodiment, the driving assembly includes a fixed bracket 26, a transmission gear 1, a worm gear reducer 2, a servo motor a3, a clamping jaw pull rod 18, a servo motor b19 and an electric cylinder 20; the fixed bracket 26 is installed on the top of the clamping jaw connecting upper frame 10 through bolts; the worm gear reducer 2 is installed on the fixed bracket 26; the servo motor a3 is in transmission connection with the worm gear reducer 2; the output end of the worm gear reducer 2 is equipped with the transmission gear 1; the transmission gear 1 is in mesh with the rack drive of the overall external sling to drive the overall translation; the servo motor b19 is in transmission connection with the electric cylinder 20; the electric cylinder 20 is installed inside the hanger 31; the output end of the electric cylinder 20 is connected with the clamping jaw pull rod 18 through a Y joint; the clamping jaw pull rod 18 is in rotational connection with the clamping jaws 13 on the left and right sides through the strip-shaped sliding grooves a29 on the hanger 31 to realize the stable opening and closing of the clamping jaws 13.

[0045] In the embodiment, the positioning assembly includes a camera 17, an electromagnet 15 and a positioning block 16; the camera 17 is installed at the bottom of the clamping jaw pull rod 18 to collect image information of the pulp bag and provide visual basis for positioning; the positioning block 16 is in U-shaped structure and is invertedly installed at the bottom of the hanger 31 to support the sling and clamping positioning; the electromagnet 15 is installed at the bottom of the clamping jaw pull rod 18 to assist in adsorbing and lifting the steel wire during the closing process of the clamping jaw 13, to ensure that the clamping jaw 13 accurately aligns with the clamping position of the pulp bag and to ensure the accuracy of automatic positioning; the side edge of the positioning block 16 is provided with a proximity switch which is in electric control connection with the control assembly to sense whether the clamping jaw 13 reaches the specified position.

[0046] In the embodiment, the control assembly includes a PLC, a servo motor driver and a steel wire recognition module to control the cooperative work of each assembly; the servo motor driver is matched with the type of the servo motor; the steel wire recognition module adopts an image recognition algorithm based on machine vision.

[0047] Embodiment 2: The working principle of the pulp wharf intelligent sling clamping jaw structure is provided.

[0048] 1. Preparation: the clamp jaw structure of the application is fixedly connected with the external lifting appliance as a whole through the channel steel 4, and the PLC of the control assembly is signal-interconnected with the automatic control system of the wharf, thereby completing equipment debugging.

[0049] 2. Positioning stage: the external lifting appliance drives the clamp jaw structure to move above the pulp bale, the camera 17 of the positioning assembly is started, the image information of the pulp bale is collected and transmitted to the steel wire identification module of the control assembly, and the position of the steel wire of the pulp bale is identified; at the same time, the proximity switch senses the initial position of the clamp jaw 13 and feeds back to the PLC, the PLC controls the servo motor a3 to start, the transmission gear 1 is driven to rotate through the worm and gear reducer 2, the transmission gear 1 is engaged with the rack on the external lifting appliance as a whole, the clamp jaw structure as a whole is driven to translate along the channel steel 4 until the positioning block 16 is aligned with the preset clamping position of the pulp bale; the external lifting appliance drives the clamp jaw structure to move downward, so that the positioning block 16 is clamped on the steel wire on the pulp bale, in this process, the support spring 9 of the floating assembly is elastically stretched according to the height difference of the surface of the pulp bale, the height deviation is compensated through the abutting cooperation of the spring cover plate 27 and the support plate 32, and the uneven force on the clamp jaw 13 is avoided.

[0050] 3. Clamping stage: the PLC controls the servo motor b19 to start, the electric cylinder 20 is driven to stretch and retract, the electric cylinder 20 drives the clamp jaw pull rod 18 to move through the Y joint, the clamp jaw pull rod 18 pulls the clamp jaw connecting rod 11, the clamp jaw connecting rod 11 rotates around the hinge ear 30, and then drives the two clamp jaws 13 to close inward, thereby realizing clamping of the steel wire; in this process, the electromagnet 15 generates magnetic force after being powered on, thereby assisting in adsorbing and lifting the steel wire of the pulp bale, and ensuring the accuracy of the clamping position.

[0051] 4. Locking and transfer: after the clamp jaw 13 is closed in place, the external lifting appliance is lifted to lift the pulp bale; in this process, the total support 22 moves downward under the action of the gravity of the pulp bale, drives the locking rack support 8 to move downward, until the locking rack b is completely engaged with the locking rack a5, the mechanical locking of the translational freedom of the clamp jaw structure is realized, the displacement of the clamp jaw structure in the lifting process is prevented, the transmission mechanism such as the transmission gear 1 and the worm and gear reducer 2 is protected from impact, and then the external lifting appliance drives the clamp jaw structure and the clamped pulp bale to be transferred to the target position.

[0052] 5. Release stage: after reaching the target position, the PLC controls the servo motor b19 to operate in reverse, drives the electric cylinder 20 to retract, and the electric cylinder output end drives the clamp jaw pull rod 18 to move upward along the strip-shaped sliding groove a29 through the Y joint; when the clamp jaw pull rod 18 moves upward, the clamp jaw 13 is driven to open outward through the clamp jaw connecting rod 11; the support spring 9 is stretched under the action of the elastic restoring force, pushes the locking rack support 8 to move upward relative to the clamp jaw connecting upper frame 10, the locking rack b7 is separated from the locking rack a5, the translational freedom is unlocked, the clamp jaw returns to the initial operation position, waits for the next operation instruction, and completes a complete operation cycle.

[0053] Obviously, the above embodiments of the present application are merely exemplary ones for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art, and here, all the embodiments cannot be exhausted, and any obvious changes or variations derived from the technical solutions of the present application are still within the protection scope of the present application.

Claims

1. A paper terminal intelligent spreader gripper structure, characterized in that, The support assembly, the driving assembly, the guiding assembly, the clamping assembly, the floating assembly, the locking assembly and the positioning assembly; the support assembly is a topologically optimized high-strength steel structure, which is used for providing stable bearing; the driving assembly is used for driving the overall movement and the opening and closing of the clamping jaw (13); the guiding assembly cooperates with the driving assembly to realize the translation of the overall along the preset track; the floating assembly adopts a spring-guiding column structure and is used for adapting to the surface height difference of the pulp bag; the locking assembly locks the translation freedom after clamping the pulp bag, thereby protecting the transmission mechanism; the positioning assembly is used for positioning the steel wire position of the pulp bag, thereby realizing the accurate positioning of the clamping assembly; and the clamping assembly is used for clamping the steel wire on the pulp bag. The support assembly includes the clamping jaw connecting upper frame (10), the total support (22), the hanging bracket (31), the clamping plate (33), the supporting plate (34) and the hinged hole bolt c (23); the total support (22) is symmetrically provided with two sets of clamping plates (33) on the top surface, the clamping jaw connecting upper frame (10) is provided on the upper side of the total support (22), the clamping jaw connecting upper frame (10) is symmetrically provided with an integrated supporting plate (34) on the bottom left and right sides, and the supporting plate (34) is inserted between the clamping plates (33); the supporting plate (34) is vertically provided with a strip-shaped sliding groove b (35) inside, the hinged hole bolt c (23) penetrates the clamping plate (33) and passes through the strip-shaped sliding groove b (35), and is used for connecting the supporting plate (34) and the clamping plate (33); the total support (22) is provided with two groups of hanging brackets (31) which are arranged in parallel and at intervals on the bottom, and the hanging bracket (31) is vertically provided with a strip-shaped sliding groove a (29) for passing through the clamping jaw pull rod (18) on the upper side. The locking assembly includes the locking rack support (8), the locking rack a (5), the locking rack fixing plate (6) and the locking rack b (7); the locking rack a (5) is installed on the locking rack fixing plate (6), the locking rack fixing plate (6) is welded on the bottom of the channel steel (4), and the teeth thereof face upward; the locking rack b (7) is matched with the locking rack a (5) in specification, is installed on the locking rack support (8), and the teeth thereof face downward; and the bottom of the locking rack support (8) is installed on the total support (22) through a bolt. The floating assembly includes the supporting spring (9), the spring cover plate (27), the spring fixing bolt (28) and the supporting plate (32); the supporting plate (32) is provided on the inner side of the locking rack support (8) and is fixed perpendicularly to the locking rack support (8), the spring is telescopically assembled on the supporting plate (34) through the spring cover plate (27) and the spring fixing bolt (28), and the top of the spring cover plate (27) and the bottom of the supporting plate (32) are always in contact.

2. The paper pulp pier intelligent spreader gripper structure according to claim 1, characterized in that: The guiding assembly includes the channel steel (4), the groove wheel (24) and the groove wheel angle steel frame (25); the channel steel (4) is fixed on the overall external lifting appliance, the groove wheel angle steel frame (25) is provided with two groups, is symmetrically installed on the top two side edges of the clamping jaw connecting upper frame (10) through bolts, and the groove wheel (24) is assembled on the outer side of the groove wheel angle steel frame (25) and rolls with the channel steel (4).

3. The paper pulp pier intelligent spreader gripper structure according to claim 2, characterized in that: The clamping assembly comprises a hinged lug (30), a hinge hole bolt b (21), a clamping jaw connecting rod (11), a hinge hole bolt a (12), a clamping jaw (13) and a reinforcing shaft (14); the hinged lug (30) is provided with two groups and is symmetrically fixed on the left and right sides of the bottom of the general support (22) and is located outside the hanger (31); the clamping jaw (13) is provided outside the bottom of the hanger (31) and can be opened and closed; the upper end of the clamping jaw connecting rod (11) is hinged to the hinged lug (30) through the hinge hole bolt b (21) and the lower end is hinged to the clamping jaw (13) through the hinge hole bolt a (12); the clamping jaws (13) on the two sides are connected through the reinforcing shaft (14).

4. The paper pulp pier intelligent spreader gripper structure according to claim 3, characterized in that: The driving assembly comprises a fixed support (26), a transmission gear (1), a worm gear reducer (2), a servo motor a (3), a clamping jaw pull rod (18), a servo motor b (19) and an electric cylinder (20); the fixed support (26) is installed on the top of the clamping jaw connecting upper frame (10) through bolts; the worm gear reducer (2) is installed on the fixed support (26); the servo motor a (3) is in transmission connection with the worm gear reducer (2); the worm gear reducer (2) is provided with a transmission gear (1) at the output end; the transmission gear (1) is in mesh with the rack drive of the overall external lifting appliance to drive the overall translation; The servo motor b (19) is in transmission connection with the electric cylinder (20); the electric cylinder (20) is installed inside the hanger (31); the output end of the electric cylinder (20) is connected with the clamping jaw pull rod (18) through a Y joint; the clamping jaw connecting rod (11) is rotatably connected with the clamping jaws (13) on the two sides through the strip-shaped sliding grooves a (29) on the hanger (31).

5. The paper pulp pier intelligent spreader gripper structure according to claim 4, characterized in that: The positioning assembly comprises a camera (17), an electromagnet (15) and a positioning block (16); the camera (17) is installed at the bottom of the clamping jaw pull rod (18) and is used for collecting image information of the pulp bag; the positioning block (16) is in U-shaped structure and is invertedly installed at the bottom of the hanger (31) and is used for supporting the lifting appliance and clamping positioning; the electromagnet (15) is installed at the bottom of the clamping jaw pull rod (18) and is used for assisting in adsorbing and lifting the steel wire during the closing process of the clamping jaw (13); the side edge of the positioning block (16) is provided with a proximity switch which is in electric connection with the control assembly and is used for sensing the position of the clamping jaw (13).

6. The paper pulp pier intelligent spreader gripper structure according to claim 5, characterized in that: The control assembly comprises a PLC, a servo motor driver and a steel wire identification module and is used for controlling the cooperative work of the components. The control assembly comprises a PLC, a servo motor driver and a steel wire identification module and is used for controlling the cooperative work of the components.

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