A material gripping tool for a ladle

Abstract

The application relates to a material grabbing tool for a material barrel and relates to the technical field of bottled water production equipment. The tool comprises an upper cover frame, the left and right sides of the upper cover frame being fixed with a first clamping jaw mechanism and a second clamping jaw mechanism, a push position structure being arranged on the side of the first clamping jaw mechanism, a first air cylinder being hinged to the top of the upper cover frame through a top cover, a barrel cover dismounting structure being connected to the first air cylinder, and the barrel cover dismounting structure being hinged into a positioning sleeve on the top of the second clamping jaw mechanism. The barrel cover dismounting structure comprises a triangular lever with a supporting shaft and a power structure, and the power structure is connected with a star-shaped disc with a vacuum chuck. The push position structure drives a push plate to first flip and then horizontally pull through a worm gear and a connecting rod mechanism, so that flexible material pushing and reset avoidance are realized. Two motors are arranged in the power structure to respectively drive groove sleeve rotation and axial movement, so that thread lead is simulated. Through swing cover lifting, composite push position and double-power independent transmission design, stable clamping positioning of the material barrel and smooth loosening and tightening of the barrel cover are realized, and the structure is compact and the action is reliable.

Description

Technical Field

[0001] This application relates to the technical field of bottled water production equipment, and in particular to a material gripping fixture for a material bucket. Background Technology

[0002] In the bottled water production process, high-pressure sterilization is a key step to ensure product hygiene and safety. Bottled water is usually stacked in barrels for batch processing. During the processing, the barrel lids need to be opened and closed repeatedly to facilitate the handling of bottled water.

[0003] Currently, Chinese patent application number CN202222990399.5 discloses a gripping robot for plastic bucket production, including a lifting plate, two sets of connecting rods, a fixed plate, a power mechanism, a moving block, two sets of swing blocks, two sets of sliders, and two sets of grippers. It also includes a base, a lifting mechanism, and a retractable rod. The lifting plate is connected to the base via the lifting mechanism. The retractable rod is fixed to the bottom right side of the lifting plate and connected to the top of the base. The lifting mechanism drives the lifting plate to move up and down, allowing the grippers to rise and fall synchronously with the connecting rods and the fixed plate. The power mechanism, through a second motor, gear transmission, and screw sleeve, drives the moving block to move left and right. The moving block, in conjunction with the swing blocks, drives the two sets of sliders to move back and forth in opposite directions, opening and closing the two sets of grippers. This adapts to gripping plastic buckets of different heights, preventing tipping due to instability when gripping taller buckets. A cooling component is also provided on the outside of the grippers. Cooling water in the water storage hood evaporates and absorbs heat, reducing the gripper temperature and improving operational safety.

[0004] However, in the high-pressure sterilization process of bottled water, the work object is a container with a sealed lid. The operation process not only requires stable clamping and movement of the container, but also requires opening and closing the lid before and after storing and retrieving bottled water. Currently, most common gripping devices focus on the lifting and clamping stability of the container. There is still room for further integration of the twisting drive and lifting avoidance functions required for the lid disassembly and assembly. Summary of the Invention

[0005] The purpose of this application is to provide a material gripping fixture for a material bucket to solve the problems in the prior art.

[0006] This application provides a material gripping fixture for a material bucket, which adopts the following technical solution: it includes an upper cover frame, on the left and right sides of the upper cover frame respectively fixed a first gripper mechanism and a second gripper mechanism with the same structure; a push-positioning structure is locked and fixed on the upper left side of the first gripper mechanism, and a top cover is locked and fixed on the middle side of the top of the upper cover frame. A first cylinder is hinged to the inner side of the top cover, and a bucket cover disassembly and assembly structure is connected to the output shaft at the right end of the first cylinder. The upper left side of the bucket cover disassembly and assembly structure is hinged to the inside of a positioning sleeve, and the positioning sleeve is embedded and fixed to the middle side of the top of the second gripper mechanism.

[0007] The bucket lid disassembly and assembly structure includes a triangular rod, with a support shaft on the upper left side of the triangular rod. The support shaft is inserted into and rotates inside the positioning sleeve on both the front and rear sides. A power structure is fixed at the bottom of the triangular rod, and a star-shaped disk is connected to the middle left side of the power structure. At least six vacuum suction cups are circumferentially and equidistantly distributed on the inner side of the star-shaped disk, and each vacuum suction cup is connected to an external pneumatic device.

[0008] Preferably, the second gripper mechanism includes a frame fixedly connected to the side of the upper cover frame. The frame has two second cylinders hinged to both the front and rear sides, and the two second cylinders are symmetrically arranged in the middle of the frame. The bottom output shafts of the two second cylinders are rotatably connected to an arc-shaped claw. The upper part of the two arc-shaped claws is rotatably connected to the bottom side of the frame through a shaft column. A pad is locked and fixed to the bottom side of the two arc-shaped claws.

[0009] Preferably, an arc-shaped support pad is locked and fixed to both the front and rear parts of the arc-shaped front of the frame, and two arc-shaped supports are provided, with the length of the arc-shaped support pad on the side closer to the upper cover frame being less than the length of the arc-shaped support pad on the side farther from the upper cover frame.

[0010] Preferably, the pushing structure includes a support frame fixedly connected to the upper left side of the first gripper mechanism. A crossbeam is fixedly connected to the right side of the inner wall of the support frame. A bin seat is tightly fixed to the left side of the crossbeam. A first motor is locked and fixed to the bottom side of the bin seat. A first worm gear is connected to the top output end of the first motor. A first worm wheel is meshed and driven to the left side of the first worm gear. The first worm wheel is rotatably connected to the inside of the bin seat, and a pushing component is provided through the middle side of the inside of the first worm wheel. Guide grooves are provided on both the front and rear sides of the support frame. The pushing component slides through the guide grooves. A slider is slidably connected to both the front and rear sides of the inner wall of the support frame. The right side of the slider abuts against the right side of the inner wall of the support frame through a spring, and the left side of the slider contacts the pushing component.

[0011] Preferably, the pushing component includes a rotating shaft that passes through and is fixed inside the middle side of the first worm gear. The rotating shaft rotates through the front and rear sides of the housing, and a short rod is connected to both ends of the rotating shaft. A long rod is rotatably connected to the other side of each of the two short rods. The other side of the long rod is connected to a connecting block through a connecting post. A rectangular block is connected to the upper part of the connecting block, and the rectangular block is slidably connected inside the guide groove. The left sides of both connecting blocks are fixed to the push plate.

[0012] Preferably, the bottom of the guide groove has an arc-shaped groove extending downwards, and the connecting post slides through the inner side of the arc-shaped groove. When the connecting post is located on the top side, the connecting post is slidably connected to the inside of the guide groove.

[0013] Preferably, the rotating shaft passes through and rotates on both sides of the support frame, and the connecting block has a T-shaped structure.

[0014] Preferably, the power structure includes a cover fixed to the top center side of a triangular rod, a support block fixed to the left side of the cover, an actuation component installed inside the cover, the left output of the actuation component being disposed through the middle of the support block, and the left end of the output being connected to a carrier block, and the left side of the carrier block being fastened to a star-shaped disk.

[0015] Preferably, the actuation assembly includes a second motor locked and fixed to the front right side inside the cover, a third motor locked and fixed to the rear right side inside the cover, a second worm gear connected to the left output end of the second motor, a support block wrapped around the outer surface of the second worm gear, a second worm wheel meshing with the top of the second worm gear, a rotating rod fixed through the middle of the second worm wheel, the front of the rotating rod rotatably connected to the inner wall of the cover, a gear plate wrapped and fixed around the rear side of the outer surface of the rotating rod, a slotted sleeve meshing with the bottom of the gear plate, a key rod inserted into the right side inside the slotted sleeve, a bearing block wrapped around the outer surface of the key rod, the bottom of the bearing block fixed to the cover, the slotted sleeve penetrating the left side of the cover and the middle side inside the support block, and the left end of the slotted sleeve connected to the carrier block, a driven gear coaxially fixed to the right end of the key rod, a driving gear meshing with the rear side of the driven gear, and the left output end of the third motor connected to the driving gear.

[0016] Preferably, the sleeve is divided into a cylindrical section with toothed grooves and a solid rod section. The top side of the cylindrical section with toothed grooves meshes with the toothed disc, and the solid rod section rotates through the left side of the cover and the middle side inside the support block, and the left end of the solid rod section is fastened to the carrier block.

[0017] In summary, this application includes the following beneficial technical effects: 1. The connection point between the triangular rod and the first cylinder in this application is located at the lower left of the support shaft. When the piston rod of the first cylinder retracts, the lid disassembly and assembly structure swings downward around the support shaft and approaches the lid. When it is pushed out, it drives the lid to lift upward. This method of lifting the lid from the upper side of the material bucket significantly reduces the height space required for equipment operation compared to directly pulling it upward, making the overall structure layout more compact and better adaptable to different production line environments. At the same time, the push plate of the push position structure flips upward and resets after completing the pushing action, eliminating motion interference for the subsequent suction and lifting action of the lid and ensuring smooth connection between the actions of each mechanism.

[0018] 2. The push-positioning structure of this application uses a worm gear and linkage mechanism to make the push plate first rotate around the rectangular block to a vertical position during operation, and then move laterally along the guide groove to pull back. This transforms the rotational motion into a compound action of swinging followed by translation. This can effectively push the material bucket into the center of the gripper from the side, and can also naturally avoid the upper edge of the material bucket during reset. At the same time, the elastic contact mechanism composed of the slider and the spring provides a smooth push force buffer and auxiliary reset force throughout the entire operation, avoiding rigid impact, ensuring no damage to the surface of the material bucket, and improving the stability and service life of the positioning.

[0019] 3. The power structure of this application separates the rotary drive from the axial feed transmission: the third motor drives the sleeve and star disk to rotate through the gear set and key rod, while the second motor independently drives its axial movement through the meshing of the gear disk and the groove of the sleeve; through this dual-power independent control design, the pitch parameters of the barrel lid thread can be accurately matched, so that the star disk automatically generates synchronous axial advance and retreat while rotating, simulating the thread engagement trajectory, fundamentally avoiding thread jamming or damage caused by disordered action sequence, and improving the smoothness and reliability of the opening and tightening process. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a schematic diagram of the push-position structure of this application; Figure 3 This is a schematic diagram of the internal structure of the storage compartment in this application; Figure 4 This is a schematic diagram of the structure of the pushing component of this application; Figure 5 This is a structural diagram of the bucket lid disassembly and assembly structure of this application; Figure 6 This is a schematic diagram of the power structure of this application; Figure 7 This is a schematic diagram of the structure of the action component of this application.

[0021] Explanation of reference numerals in the attached drawings: 1. Top cover frame; 2. First gripper mechanism; 3. Second gripper mechanism; 4. Pushing structure; 5. Top cover; 6. First cylinder; 7. Positioning sleeve; 8. Bucket lid disassembly and assembly structure; 31. Frame; 32. Second cylinder; 33. Arc-shaped claw; 34. Shaft column; 35. Pad block; 311. Arc-shaped support pad; 41. Support frame; 42. Cross frame; 43. Bin seat; 44. First motor; 45. First worm gear; 46. First worm wheel; 47. Pushing component; 48. Guide groove; 49. Slider; 410. Spring; 481. Arc-shaped groove; 471. Rotating shaft; 472. Short rod; 473. Long rod; 47 4. Connecting column; 475. Connecting block; 476. Rectangular block; 477. Push plate; 81. Triangular rod; 82. Support shaft; 83. Power structure; 84. Star disk; 85. Vacuum suction cup; 831. Cover; 832. Support block; 833. Action component; 834. Carrier block; 8331. Second motor; 8332. Third motor; 8333. Second worm gear; 8334. Support block; 8335. Second worm wheel; 8336. Rotating rod; 8337. Gear disk; 8338. Slotted sleeve; 8339. Key rod; 83310. Bearing block; 83311. Driven gear; 83312. Driving gear. Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1 -Appendix Figure 7 This application will be described in further detail below.

[0023] Example 1 like Figure 1 and Figure 5 As shown, a material gripping jig for a material bucket includes an upper cover frame 1, which serves as the main support for the entire jig. The upper cover frame 1 has a first gripper mechanism 2 and a second gripper mechanism 3 with the same structure fixed on its left and right sides, respectively. The two gripper mechanisms are arranged opposite to each other to grip the material bucket from both sides.

[0024] The upper left side of the first gripper mechanism 2 is locked with a pusher structure 4, which is used to push the bucket from the side to the center position of the gripper to achieve radial positioning. The top cover 5 is locked with the middle side of the top cover frame 1. The tail of the cylinder of the first cylinder 6 is hinged to the inside of the top cover 5 by a pin. The piston rod end extends to the right and is connected to the bucket cover disassembly structure 8. The upper left side of the bucket cover disassembly structure 8 is hinged to the inside of the positioning sleeve 7. The positioning sleeve 7 is embedded and fixed to the middle side of the top of the second gripper mechanism 3 so that the extension and retraction of the first cylinder 6 can drive the bucket cover disassembly structure 8 to swing around the hinge point inside the positioning sleeve 7.

[0025] The lid disassembly and assembly structure 8 includes a triangular rod 81, with a fixed support shaft 82 on the upper left side. The front and rear ends of the support shaft 82 are respectively inserted into the positioning sleeve 7 to form a rotational fit. The lower left side of the triangular rod 81, near the support shaft 82, is hinged to the end of the output shaft of the first cylinder 6. The bottom of the triangular rod 81 is fixedly installed with a power structure 83. When the piston rod of the first cylinder 6 extends, the triangular rod 81 swings counterclockwise around the support shaft 82, causing the power structure 83 to lift upward. Conversely, when the piston rod retracts, the power structure 83 descends.

[0026] A star-shaped disk 84 is connected to the middle left side of the power structure 83. There are no fewer than six vacuum suction cups 85 evenly distributed along the circumference of its inner side. In this embodiment, eight vacuum suction cups 85 are used. Each vacuum suction cup 85 is connected to an external air pressure device through an air pipe. The suction force is provided by a vacuum generator or vacuum pump. When the vacuum suction cup 85 contacts the end face of the bucket lid, a vacuum is drawn to firmly suck the bucket lid.

[0027] like Figure 1As shown, the second gripper mechanism 3 is described as an example, and the structure of the first gripper mechanism 2 is symmetrical to it. The second gripper mechanism 3 includes a frame 31 that is fixedly connected to the side of the upper cover frame 1 by bolts. The frame 31 has an internal space. A second cylinder 32 is hinged to each of the front and rear sides inside the frame 31. The two second cylinders 32 are arranged symmetrically front and rear. The bottom output shaft of each second cylinder 32 is rotatably connected to an arc-shaped claw 33 through a pin. The arc-shaped claw 33 is a curved gripping arm, and its upper part is rotatably connected to the inner bottom side of the frame 31 through a shaft column 34 to form a lever structure. A pad 35 is locked and fixed to the bottom side of the arc-shaped claw 33. The pad 35 is made of rubber material to increase friction and avoid damaging the outer wall of the material barrel. When the piston rod of the second cylinder 32 extends, it pushes the arc-shaped claw 33 to rotate around the shaft column 34, so that the lower ends of the two arc-shaped claws 33 come closer to each other and complete the clamping action. When the second cylinder 32 retracts, the arc-shaped claw 33 opens.

[0028] Among them, an arc-shaped support pad 311 is locked and fixed on both the front and rear parts of the arc surface of the frame 31. There are two arc-shaped support pads 311 in total. The inner arc surface of the support pad is adapted to the outline of the outer wall of the material barrel. The length of the arc-shaped support pad 311 on the side closer to the upper cover frame 1 is smaller than the length of the arc-shaped support pad 311 on the side farther away from the upper cover frame 1, so as to better adapt to the material barrel and make the clamping more stable.

[0029] like Figure 2 , Figure 3 and Figure 4 As shown, the pushing structure 4 includes a support frame 41 fixedly connected to the upper left side of the first gripper mechanism 2 by screws. A crossbeam 42 is fixedly connected to the right side of the inner wall of the support frame 41. A bin seat 43 is tightly fixed to the left side of the crossbeam 42. The bin seat 43 is a shell structure. A first motor 44 is locked and fixed to the bottom side inside the bin seat 43. The first motor 44 is a servo motor. A first worm gear 45 is connected to the top output end of the first motor 44. A first worm wheel 46 is meshed and driven on the left side of the first worm gear 45. The first worm wheel 46 is rotatably connected to the inside of the bin seat 43 through a bearing. A pushing component 47 is horizontally arranged through the middle side of the inside of the first worm wheel 46. When the first worm wheel 46 rotates, it drives the pushing component 47 to move.

[0030] Guide grooves 48 are provided on both the front and rear side walls of the support frame 41. The guide grooves 48 are long grooves extending laterally. The pushing component 47 slides through the guide grooves 48. A slider 49 is slidably connected to both the front and rear sides of the inner wall of the support frame 41 via guide rails. A spring 410 abuts between the right side of the slider 49 and the right side of the inner wall of the support frame 41, and the spring 410 provides a leftward pushing force. The left side of the slider 49 contacts the corresponding part of the pushing component 47, which plays a role in buffering and assisting in resetting.

[0031] The pushing component 47 includes a rotating shaft 471 that is fixed inside the middle side of the first worm gear 46. The axis of the rotating shaft 471 is arranged horizontally in the front-back direction. Both ends of the shaft are rotatably connected to the front and rear side walls of the hopper 43 through bearings, and further extend through the front and rear side walls of the support frame 41. A short rod 472 is fixedly connected to each of the front and rear ends of the rotating shaft 471. The short rod 472 is perpendicular to the rotating shaft 471. The other end of each short rod 472 is rotatably connected to a long rod 473 through a pin. The other end of the long rod 473 is connected to a connecting block 475 through a connecting post 474. A rectangular block 476 is rotatably connected to the upper part of the connecting block 475. The rectangular block 476 is embedded in the guide groove 48 and can slide along the groove. A push plate 477 is fixed to the left side of the two connecting blocks 475. The right side of the push plate 477 is used to contact the outer wall of the material bucket. The connecting block 475 has a T-shaped structure to facilitate stable operation.

[0032] The bottom of the guide groove 48 is further provided with an arc-shaped groove 481, the arc path of which matches the movement trajectory of the connecting post 474. The connecting post 474 slides through the inner side of the arc-shaped groove 481, and when the connecting post 474 is in the top high position, it is slidably connected to the inside of the guide groove 48. When the first motor 44 drives the first worm gear 45 to rotate, driving the first worm wheel 46 and the rotating shaft 471 to rotate, the short rod 472 swings with the rotating shaft 471, and pushes and pulls the connecting post 474 in the arc-shaped groove 481 through the long rod 473. The connecting block 475 moves laterally upwards, causing it to rotate around the rectangular block 476 as a fulcrum. This causes the connecting block 475 to rotate the push plate 477 downwards until it is vertical. Then, the connecting post 474 falls into the guide groove 48. As the long rod 473 continues to push, the rectangular block 476 moves laterally along the guide groove 48, thus pulling the push plate 477 back vertically. Conversely, it drives the push plate 477 to reset. During the movement of the connecting block 475, the reset force of the spring 410 keeps it in contact with the slider 49 to provide a smooth reset force.

[0033] like Figure 5 , Figure 6 and Figure 7 As shown, the power structure 83 includes a cover 831 that is fixed to the bottom of a triangular rod 81 by bolts on the top center side. The cover 831 is a hollow shell. A support block 832 is fixed to the left side of the cover 831. The support block 832 has a through hole in the center. An actuation component 833 is installed inside the cover 831. The left output of the actuation component 833 passes through the through hole in the middle of the support block 832, and the left end of the output is connected to the carrier block 834 by bolts. The left side of the carrier block 834 is then fastened to the star-shaped disk 84. The carrier block 834 mainly serves as a transfer device.

[0034] The actuation component 833 includes a second motor 8331 locked and fixed inside the front right side of the cover 831 and a third motor 8332 locked and fixed inside the rear right side of the cover 831. The left output end of the second motor 8331 is connected to a second worm gear 8333. The outer surface of the second worm gear 8333 is covered with a support block 8334. A bearing is installed in the support block 8334 to support the second worm gear 8333. The top of the second worm gear 8333 is engaged with a second worm wheel 8335. A rotating rod 8336 is fixed through the middle of the second worm wheel 8335. The front and rear ends of the rotating rod 8336 are rotatably connected to the inner wall of the cover 831 through bearings. A gear plate 8337 is fixedly wrapped around the rear side of the outer surface of the rotating rod 8336. The gear plate 8337 is a small module gear.

[0035] The actuation component 833 also includes a sleeve 8338, which is divided into two sections: the right side is a cylindrical section with toothed grooves, the outer cylindrical surface of which is machined with axially extending rack-like toothed grooves; the left side is a solid rod section. The top side of the cylindrical section with toothed grooves meshes with the gear disk 8337 to form a gear and rack transmission pair, which can convert the rotational motion of the gear disk 8337 into the axial linear motion of the sleeve 8338. The right side of the inside of the sleeve 8338 has a keyway, and a key rod 8339 is inserted and installed therein. The outer surface of the key rod 8339 is provided with a keyway that mates with the keyway. The key segment allows the key rod 8339 to drive the slotted sleeve 8338 to rotate synchronously, while also allowing the slotted sleeve 8338 to slide axially along the key rod 8339. A bearing block 83310 is wrapped around the middle of the outer surface of the key rod 8339. The bottom of the bearing block 83310 is fixed to the cover 831, providing rotational support for the key rod 8339. The solid rod segment of the slotted sleeve 8338 passes through the hole in the left side wall of the cover 831 and the inner middle side of the support block 832, and the left end of the solid rod segment is fastened to the carrier block 834 through a flange, thereby realizing the connection with the star disk 84.

[0036] The right end of the key rod 8339 is coaxially fixed with a driven gear 83311, and the driven gear 83311 meshes with a driving gear 83312 on its rear side. The driving gear 83312 is installed on the left output end of the third motor 8332. When the third motor 8332 rotates, it drives the key rod 8339 to rotate through the driving gear 83312 and the driven gear 83311, which in turn drives the slotted sleeve 8338 and the star disk 84 to rotate. When the second motor 8331 rotates, it drives the slotted sleeve 8338 and its left end component to move axially through the meshing of the teeth of the second worm 8333, the second worm wheel 8335, the rotating rod 8336, the gear disk 8337 and the slotted sleeve 8338. The two transmission routes do not interfere with each other and can work independently or in combination.

[0037] The working process for this application is as follows: First, the entire jig is mounted on the robotic arm via the top cover 5. After the material bucket arrives at the work station, the second cylinders 32 of the first gripper mechanism 2 and the second gripper mechanism 3 are ventilated simultaneously. The arc-shaped claws 33 rotate around the shaft column 34, and the two arc-shaped claws 33 cooperate with the arc-shaped support pads 311 to hold the material bucket body from both sides. Subsequently, the first motor 44 of the push structure 4 is started, and the push plate 477 is driven to retract laterally through the worm gear and linkage mechanism, pushing the material bucket to the predetermined center position of the gripper.

[0038] Next, the piston rod of the first cylinder 6 retracts, pushing the triangular rod 81 to swing downward around the support shaft 82, so that the star-shaped disk 84 approaches the barrel lid; the external pneumatic equipment is activated, the vacuum suction cup 85 adsorbs the end face of the barrel lid, and then the control push plate 477 is reset and lifted; then, the third motor 8332 in the power structure 83 first slowly reverses, driving the star-shaped disk 84 to rotate to loosen the barrel lid, while the second motor 8331 synchronously drives the slotted sleeve 8338 to move axially backward according to the thread lead, so that the star-shaped disk 84 moves outward along the axis while rotating, realizing smooth unscrewing of the lid; when the barrel lid is completely disengaged from the thread, the vacuum suction cup 85 continues to maintain adsorption, the piston rod of the first cylinder 6 pushes out, lifting the entire barrel lid disassembly and assembly structure 8 together with the barrel lid upward, making room on the side of the discharge barrel for external equipment to pick up and put in bottled water.

[0039] After the bottled water is loaded and unloaded, the first cylinder 6 retracts again to lower the lid to the opening of the bottle. The third motor 8332 rotates forward, and the second motor 8331 synchronously drives the slot sleeve 8338 forward to tighten the lid. Finally, the vacuum suction cup 85 breaks the vacuum to release the lid, and all the grippers and push-position structures reset. The fixture separates from the barrel, completing one work cycle.

[0040] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be included within the scope of protection of this application.

Claims

1. A material gripping fixture for a material bucket, comprising an upper cover frame (1), wherein a first gripper mechanism (2) and a second gripper mechanism (3) with the same structure are fixed on the left and right sides of the upper cover frame (1). Its features are, The first gripper mechanism (2) has a push-position structure (4) locked and fixed on its upper left side. The top cover (1) has a top cover (5) locked and fixed on its middle top side. The top cover (5) has a first cylinder (6) hinged to its inner side. The output shaft of the right end of the first cylinder (6) is connected to a bucket lid disassembly and assembly structure (8). The bucket lid disassembly and assembly structure (8) is hinged to the upper left side of the positioning sleeve (7). The positioning sleeve (7) is embedded and fixed to the middle top side of the second gripper mechanism (3). The bucket lid disassembly and assembly structure (8) includes... A triangular rod (81) is provided with a support shaft (82) on the upper left side. The support shaft (82) is inserted into and rotated inside the positioning sleeve (7) on both the front and rear sides. A power structure (83) is fixed at the bottom of the triangular rod (81). A star-shaped disk (84) is connected to the middle left side of the power structure (83). There are no less than six vacuum suction cups (85) circumferentially and evenly distributed on the inner side of the star-shaped disk (84). Each vacuum suction cup (85) is connected to an external air pressure device.

2. The material gripping fixture for a material bucket according to claim 1, characterized in that, The second gripper mechanism (3) includes a frame (31) fixedly connected to the side of the upper cover frame (1). The frame (31) has two second cylinders (32) hinged on both the front and rear sides. The two second cylinders (32) are located in the middle of the frame (31) and are arranged symmetrically in front and behind. The bottom output shafts of the two second cylinders (32) are rotatably connected to an arc-shaped claw (33). The upper part of the two arc-shaped claws (33) is rotatably connected to the bottom side of the frame (31) through a shaft column (34). A pad (35) is locked and fixed on the bottom side of the two arc-shaped claws (33).

3. The material gripping fixture for a material bucket according to claim 2, characterized in that, The arc-shaped front and rear sides of the frame (31) are locked with an arc-shaped support (311), and there are two arc-shaped supports (311). The arc-shaped support (311) on the side closer to the upper cover frame (1) is shorter than the arc-shaped support (311) on the side farther away from the upper cover frame (1).

4. The material gripping fixture for a material bucket according to claim 1, characterized in that, The pushing structure (4) includes a support frame (41) fixedly connected to the upper left side of the first gripper mechanism (2). A crossbeam (42) is fixedly connected to the right side of the inner wall of the support frame (41). A bin seat (43) is tightly fixed to the left side of the crossbeam (42). A first motor (44) is locked and fixed to the bottom inside the bin seat (43). A first worm gear (45) is connected to the top output end of the first motor (44). A first worm wheel (46) is meshed and driven on the left side of the first worm gear (45). The first worm wheel (46) rotates... The first worm gear (46) is connected to the inside of the housing (43), and a pushing component (47) is provided through the middle side of the first worm gear (46). The front and rear sides of the support frame (41) are provided with guide grooves (48). The pushing component (47) slides through the guide grooves (48). The front and rear sides of the inner wall of the support frame (41) are connected to a slider (49) which slides laterally. The right side of the slider (49) abuts against the right side of the inner wall of the support frame (41) through a spring (410), and the left side of the slider (49) contacts the pushing component (47).

5. A material gripping fixture for a material bucket according to claim 4, characterized in that, The pushing component (47) includes a rotating shaft (471) that passes through and is fixed inside the middle side of the first worm gear (46). The rotating shaft (471) rotates through the front and rear sides of the housing (43), and a short rod (472) is connected to both ends of the rotating shaft (471). A long rod (473) is rotatably connected to the other side of each of the two short rods (472). The other side of the long rod (473) is connected to the connecting block (475) through a connecting post (474). A rectangular block (476) is connected to the upper part of the connecting block (475), and the rectangular block (476) is slidably connected inside the guide groove (48). The left sides of both connecting blocks (475) are fixed to the push plate (477).

6. The material gripping fixture for a material bucket according to claim 5, characterized in that, The bottom of the guide groove (48) is provided with an arc-shaped groove (481) and the connecting post (474) slides through the inner side of the arc-shaped groove (481). When the connecting post (474) is located on the top side, the connecting post (474) is slidably connected to the inside of the guide groove (48).

7. The material gripping fixture for a material bucket according to claim 5, characterized in that, The rotating shaft (471) rotates through the front and rear sides of the support frame (41), and the connecting block (475) has a T-shaped structure.

8. The material gripping fixture for a material bucket according to claim 1, characterized in that, The power structure (83) includes a cover (831) fixed to the top center side of a triangular rod (81). A support block (832) is fixed to the left side of the cover (831). An action component (833) is installed inside the cover (831). The left output of the action component (833) is disposed through the middle of the support block (832), and the left end of the output is connected to a carrier block (834). The left side of the carrier block (834) is fastened to a star-shaped disk (84).

9. A material gripping fixture for a material bucket according to claim 8, characterized in that, The actuation component (833) includes a second motor (8331) locked and fixed to the front right side inside the cover (831), and a third motor (8332) locked and fixed to the rear right side inside the cover (831). A second worm gear (8333) is connected to the left output end of the second motor (8331). A support block (8334) is provided on the outer surface of the second worm gear (8333), and a second worm wheel (8335) is engaged and driven at the top of the second worm gear (8333). A rotating rod (8336) is fixed through the middle of the second worm wheel (8335). The front part of the rotating rod (8336) is rotatably connected to the inner wall of the cover (831), and a gear disc (8337) is fixedly wrapped around the rear side of the outer surface of the rotating rod (8336). The bottom of the motor has a slotted sleeve (8338) for meshing transmission. A key rod (8339) is inserted into the right side of the slotted sleeve (8338). A bearing block (83310) is wrapped around the outer surface of the key rod (8339). The bottom of the bearing block (83310) is fixed to the cover (831). The slotted sleeve (8338) is inserted through the left side of the cover (831) and the middle side of the support block (832). The left end of the slotted sleeve (8338) is connected to the carrier block (834). The right end of the key rod (8339) is coaxially fixed with a driven gear (83311). The driven gear (83311) meshes with a driving gear (83312) on the rear side. The left output end of the third motor (8332) is connected to the driving gear (83312).

10. A material gripping fixture for a material bucket according to claim 9, characterized in that, The groove sleeve (8338) is divided into a cylindrical section with toothed grooves and a solid rod section. The top side of the cylindrical section with toothed grooves meshes with the toothed disc (8337). The solid rod section passes through and rotates on the left side of the cover (831) and the middle side inside the support block (832). The left end of the solid rod section is fastened to the carrier block (834).

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