Clamping jaw hoisting equipment

Abstract

The utility model relates to the technical field of hoisting equipment, and provides clamping jaw hoisting equipment which comprises an inflatable clamping jaw. The inflatable clamping jaw comprises an inserting jaw rod, an inflatable jaw head and a driving air cylinder. The inserting claw rod is used for being connected with an inserted hole in an object to be clamped in an inserted mode. The inflatable claw head is embedded in the peripheral wall of the inserting claw rod; the driving air cylinder is arranged at the other end of the inserting claw rod and connected with the inflatable claw head through an air path. The driving air cylinder can drive the inflatable claw head to extend outwards from the peripheral wall of the inserting claw rod to be supported, pressed and fixed to the inserted hole position in the air supply state. The driving air cylinder can drive the inflatable claw heads to contract inwards to the peripheral wall of the inserting claw rod in the air exhausting state. The whole lifting process of the clamping jaw lifting equipment is completely free of manual assistance, and the clamping jaw lifting equipment has the beneficial effects that the lifting process is rapid and efficient, the automation degree is high, and the safety performance is good.

Description

Technical Field

[0001] The present disclosure relates to the technical field of grabbing equipment, and in particular to a claw lifting equipment. Background Art

[0002] The module size of power batteries is relatively large, and their own weight is also relatively heavy. When the existing power batteries are transported for appearance inspection, they are generally carried out by lifting with hooks, and the lifting hook hanging, unloading and unhooking must all rely on manpower for auxiliary operations. While the labor intensity is high, there are also certain safety hazards to the workers during the transportation process.

[0003] Therefore, there is an urgent need on the market for a grabbing and lifting equipment that is stable and efficient and does not require manpower for auxiliary hooking, so as to save manpower and reduce safety risks to workers. Utility Model Content

[0004] The disclosed embodiment provides a claw lifting device, in order to solve the problem that the hook lifting device in the prior art needs to rely on manpower for auxiliary hooking and has certain safety hazards.

[0005] The claw lifting equipment provided by the embodiment of the present disclosure includes an air expansion claw;

[0006] The pneumatic claw comprises an inserted claw rod, a pneumatic claw head and a driving cylinder;

[0007] The plug-in claw rod is used to be plugged into the plug-in hole of the object to be clamped;

[0008] The inflatable claw head is embedded in the peripheral wall of the plug-in claw rod;

[0009] The driving cylinder is arranged at the other end of the plug-in claw rod and is connected to the pneumatic claw head through an air path;

[0010] The driving cylinder can drive the pneumatic claw head to extend outward from the peripheral wall of the plug-in claw rod to be pressed and fixed in the receiving hole position under the air supply state;

[0011] The driving cylinder can drive the inflatable claw head to shrink inwardly to the peripheral wall of the insertion claw rod in the state of exhausting air.

[0012] In one possible implementation, the pneumatic clamping jaw further includes an overload protection device;

[0013] The overload protection device is installed and connected with the plug-in claw rod;

[0014] When the insertion resistance of the insertion claw rod is greater than a set threshold, the overload protection device can regulate the insertion claw rod to shrink along its own axial direction.

[0015] In one embodiment, the overload protection device comprises:

[0016] An installation shell having a containing cavity inside;

[0017] A compression spring is arranged in the accommodating cavity, with one end abutting against the inner wall of the mounting shell, and the other end being transmission-connected to the insertion claw rod through a lifting plate;

[0018] Wherein, the compression spring can exert an elastic force toward the insertion claw rod through the lifting plate;

[0019] When the insertion resistance of the insertion claw rod is greater than the elastic force of the compression spring, the insertion claw rod can be partially retracted into the accommodating cavity toward the lifting plate.

[0020] In one possible implementation, the overload protection device further comprises a slot-type photoelectric sensor disposed in the accommodating cavity;

[0021] The slot-type photoelectric sensor is used to detect the real-time distance between the lifting plate and the inner wall of the installation shell.

[0022] In one possible implementation manner, a plurality of the inflatable claw heads are evenly spaced and embedded along the peripheral wall of the insertion claw rod;

[0023] The plurality of pneumatic claws can be synchronously extended and retracted under the drive of the driving cylinder.

[0024] In one possible implementation manner, the expansion end of the gas expansion claw head is provided with a resistance increasing member;

[0025] When the inflatable claw head is supplying air, the expansion end can be fixedly abutted against the inner hole wall of the receiving hole through the resistance increasing member.

[0026] In one possible implementation manner, the resistance increasing member is configured as an arc-shaped gasket with elastic deformation capability.

[0027] In one possible implementation, the claw lifting device further includes a visual camera;

[0028] The visual camera is used to collect the relative position information of the inserted hole in the object to be clamped, and can process the collected image information and feed it back to the driving controller of the claw lifting device.

[0029] In one possible implementation, the drive controller includes a servo motor;

[0030] The servo motor is connected to the pneumatic clamping claw through a transmission mechanism, and can at least drive the pneumatic clamping claw to move in two different directions to adjust the relative position.

[0031] In one possible implementation, the claw lifting device further includes a support frame;

[0032] The inflatable claws are respectively installed at the four corners of the support frame;

[0033] The drive controller is respectively connected to the four pneumatic claws through a ball screw mechanism, and can at least drive the pneumatic claws to move along the length and width directions of the support frame.

[0034] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0035] The claw lifting device provided by the disclosed embodiment can be positioned and plugged with the inserted claw rod in the pneumatic claw and the inserted hole in the object to be clamped, and when the cylinder is driven to supply air, the pneumatic claw head can be extended outward from the peripheral wall of the inserted claw rod to support and press the inner wall of the inserted hole of the object to be clamped, so that the connection and fixation between the pneumatic claw head and the inserted hole are achieved through the friction between the pneumatic claw head and the inserted hole. In this way, the claw lifting device can lift the object to be clamped and move it to the target area, and finally, by driving the cylinder to evacuate air, the pneumatic claw head is retracted inward to the peripheral wall of the inserted claw rod, and there is no friction between the pneumatic claw head and the inserted hole, so that the object to be clamped can be released. The entire lifting process of the claw lifting device does not require any manual assistance, and has the beneficial effects of fast and efficient lifting process, high degree of automation, and good safety performance.

[0036] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0038] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0039] Figure 1 A schematic diagram of lifting the claw lifting device provided by an embodiment of the present disclosure is shown;

[0040] Figure 2 A schematic diagram of an inflatable claw in a claw lifting device provided by an embodiment of the present disclosure is shown;

[0041] Figure 3 A schematic diagram of an overload protection device in a claw lifting device provided in an embodiment of the present disclosure is shown;

[0042] Figure 4The overall structural diagram of the claw lifting equipment provided by the embodiment of the present disclosure is shown.

[0043] Explanation of the numbers in the figure: 1. Pneumatic clamping claw; 11. Inserting claw rod; 12. Pneumatic claw head; 13. Driving cylinder; 14. Overload protection device; 141. Mounting shell; 142. Compression spring; 143. Slot-type photoelectric sensor; 2. Driving controller; 3. Support frame. DETAILED DESCRIPTION

[0044] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0045] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0046] Combination Figure 1 and Figure 2 As shown, the embodiment of the present disclosure provides a claw lifting device, which includes an inflatable claw 1; the inflatable claw 1 includes an inserted claw rod 11, an inflatable claw head 12 and a driving cylinder 13; the inserted claw rod 11 is used to be plugged into a receiving hole in an object to be clamped; the inflatable claw head 12 is embedded in the peripheral wall of the inserted claw rod 11; the driving cylinder 13 is arranged at the other end of the inserted claw rod 11 and is connected to the inflatable claw head 12 through an air path; the driving cylinder 13 can drive the inflatable claw head 12 to extend outward from the peripheral wall of the inserted claw rod 11 to be pressed and fixed in the receiving hole in the air supply state; the driving cylinder 13 can drive the inflatable claw head 12 to retract inward to the peripheral wall of the inserted claw rod 11 in the air exhaust state.

[0047] When the claw lifting device is used in practice, the insertion claw rod 11 in the pneumatic claw 1 is first positioned and plugged with the insertion hole in the object to be clamped, and then the air is supplied by the driving cylinder 13 to make the pneumatic claw head 12 extend outward from the peripheral wall of the insertion claw rod 11, and be pressed and fixed to the inner wall of the insertion hole of the object to be clamped, so that the connection and fixation between the pneumatic claw head 12 and the insertion hole are achieved through the friction between the pneumatic claw head 12 and the insertion hole. In this way, the claw lifting device can start to lift the object to be clamped and move it to the target area. Finally, the driving cylinder 13 is evacuated to make the pneumatic claw head 12 shrink inward to the peripheral wall of the insertion claw rod 11, so that there is no friction between the pneumatic claw head 12 and the insertion hole, and the object to be clamped can be released.

[0048] Compared with the hook-type lifting equipment in the prior art, the entire lifting process of the claw lifting equipment provided by the embodiment of the present disclosure does not require any manual assistance, and has the beneficial effects of fast and efficient lifting process, high degree of automation and good safety performance.

[0049] In addition, it is worth mentioning that the claw lifting equipment provided by the embodiment of the present disclosure can be provided with a plurality of pneumatic claws 1, and the actual number of the pneumatic claws 1 can be appropriately increased or decreased according to the actual weight of the object to be clamped, and the plurality of pneumatic claws 1 can be respectively provided corresponding to the corners and the center of the object to be clamped.

[0050] In one embodiment, the pneumatic claw 1 also includes an overload protection device 14; the overload protection device 14 is installed and connected to the insertion claw rod 11; when the insertion resistance of the insertion claw rod 11 is greater than the set threshold, the overload protection device 14 can regulate the insertion claw rod 11 to shrink along its own axial direction.

[0051] Specific, combined Figure 3 To further explain in detail, an overload protection device 14 installed and connected to the insertion claw rod 11 is also provided in the pneumatic clamping claw 1, so that when the insertion claw rod 11 is plugged into the insertion hole in the object to be clamped, when the insertion claw rod 11 abuts against the bottom wall of the insertion hole and the insertion resistance of the insertion claw rod 11 is greater than the set threshold, the overload protection device 14 can be triggered accordingly at this time, thereby feeding back to the driving mechanism of the insertion claw rod 11, causing the insertion claw rod 11 to shrink a small section along its own axial direction, thereby avoiding the problem of excessive extension of the insertion claw rod 11 to damage the insertion hole in the object to be clamped, or avoiding the problem of the insertion claw rod 11 itself being squeezed and damaged.

[0052] Of course, the telescopic drive implementation method of the above-mentioned plug-in claw rod 11 can be but is not limited to the "stepping motor + lead screw nut transmission mechanism" method, and the overload protection device 14 can be specifically but not limited to being set as a piezoelectric sensor and electrically connected to the stepping motor for feedback adjustment of the output stepping angle of the stepping motor.

[0053] In one embodiment, the overload protection device 14 includes a mounting shell 141 and a compression spring 142; the mounting shell 141 has a accommodating cavity inside; the compression spring 142 is arranged in the accommodating cavity, and one end abuts against the inner wall of the mounting shell 141, and the other end is transmission-connected to the insertion claw rod 11 through a lifting plate; wherein, the compression spring 142 can apply an elastic force toward the insertion claw rod 11 through the lifting plate; when the insertion resistance of the insertion claw rod 11 is greater than the elastic force of the compression spring 142, the insertion claw rod 11 can be partially retracted in the accommodating cavity toward the lifting plate.

[0054] Specific, combined Figure 3To further explain in detail, the overload protection device 14 is specifically configured to include a mounting shell 141 and a compression spring 142, and one end of the compression spring 142 is transmission-connected to the plug-in claw rod 11 through a lifting plate, so that the compression spring 142 can apply an elastic force toward the plug-in claw rod 11 through the lifting plate. When the downward plug-in resistance encountered by the plug-in claw rod 11 is greater than the elastic force of the compression spring 142, the plug-in claw rod 11 can be partially retracted into the accommodating cavity toward the lifting plate, thereby realizing the function of regulating the axial contraction of the plug-in claw rod 11.

[0055] The overload protection device 14 is configured as the above-mentioned mechanical structure, which has the beneficial effects of simple structure and automatic regulation of the insertion amplitude of the insertion claw rod 11 when overloaded only by the compression elastic force of the compression spring 142 itself.

[0056] In one possible implementation, the overload protection device 14 further includes a slot-shaped photoelectric sensor 143 disposed in the accommodating cavity; the slot-shaped photoelectric sensor 143 is used to detect the real-time distance between the lifting plate and the inner wall of the installation shell 141 .

[0057] Specific, combined Figure 3 To further explain in detail, a slot-type photoelectric sensor 143 is also arranged in the housing cavity of the overload protection device 14, so that the slot-type photoelectric sensor 143 can detect the distance between the lifting plate and the inner wall of the mounting shell 141 in real time, so that the contraction degree of the plug-in claw rod 11 during overload contraction can be judged in real time, thereby avoiding the problem of excessive contraction of the plug-in claw rod 11 during overload protection, which will squeeze and damage the compression spring 142.

[0058] By providing the slot-shaped photoelectric sensor 143 , the distance between the lifting plate and the inner wall of the mounting shell 141 can be detected in real time, thereby avoiding the problem of the compression spring 142 being damaged by excessive squeezing.

[0059] In one embodiment, a plurality of pneumatic claw heads 12 are evenly spaced and embedded along the peripheral wall of the inserted claw rod 11 ; the plurality of pneumatic claw heads 12 can be synchronously extended and retracted under the drive of the driving cylinder 13 .

[0060] Specific, combined Figure 1 To further explain in detail, a plurality of pneumatic claw heads 12 are evenly spaced and embedded along the peripheral wall of the insertion claw rod 11. Specifically, but not limited to, three pneumatic claw heads 12 are embedded along the peripheral wall of the insertion claw rod 11 at equal intervals of 120°, and the three pneumatic claw heads 12 can be synchronously extended, pressed and fixed to the inner wall of the inserted hole under the drive of the driving cylinder 13, or synchronously retracted and separated from the inner wall of the inserted hole.

[0061] The specific arrangement of the above-mentioned inflatable claw head 12 has the beneficial effects of simple structure, being able to work in coordination, being more uniform and stable, and being supported and pressed and fixed by the inner wall of the insertion hole.

[0062] In one possible implementation manner, the expansion end of the gas expansion claw head 12 is provided with a resistance increasing member; when the gas expansion claw head 12 is supplying air, the expansion end can be fixedly abutted against the inner hole wall of the receiving hole through the resistance increasing member.

[0063] Specific, combined Figure 1 To further explain in detail, a resistance-increasing component is provided at the expansion end of the inflatable claw head 12, so that when the inflatable claw head 12 is supplying air, the expansion end can be fixedly abutted against the inner hole wall of the receiving hole through the resistance-increasing component, and the resistance-increasing component can further increase the friction resistance between the inflatable claw head 12 and the inner wall of the receiving hole, thereby further improving the supporting and pressing fixing effect of the inflatable claw head 12.

[0064] In one possible implementation manner, the resistance increasing member is configured as an arc-shaped gasket having elastic deformation capability.

[0065] The material of the resistance-increasing component can be specifically but not limited to being set to a high-toughness wear-resistant composite rubber, and the shape of the resistance-increasing component can be set to a circular arc gasket. In this way, when the inflatable claw head 12 extends outward to press the resistance-increasing component, the circular arc-shaped resistance-increasing component will increase the contact area with the inner wall of the receiving socket, thereby further improving the reliability of the pressing and fixing between the inflatable claw head 12 and the receiving socket.

[0066] In one possible implementation manner, the claw lifting device further comprises a visual camera; the visual camera is used to collect relative position information of the inserted position of the object to be clamped, and can process and feed back the collected image information to the driving controller 2 of the claw lifting device.

[0067] A visual camera is arranged in the claw lifting device, and the visual camera is electrically connected to the driving controller 2 in the claw lifting device, so that the visual camera collects the relative position information of the receiving hole in the object to be clamped, and transmits it to the driving controller 2. The driving controller 2 can automatically move the claw lifting device, so that the pneumatic claw 1 can be automatically aligned with the receiving hole, and then drive the pneumatic claw 1 to move toward the receiving hole, so as to realize the function of automatic alignment and insertion of the two.

[0068] The above-mentioned visual camera can be provided to further improve the automation level of the claw lifting equipment, so that the claw lifting equipment can automatically adjust the position of the pneumatic claw 1 to be inserted into the receiving hole.

[0069] In one embodiment, the drive controller 2 includes a servo motor; the servo motor is connected to the pneumatic clamping jaw 1 through a transmission mechanism, and can at least drive the pneumatic clamping jaw 1 to move in two different directions to adjust the relative position.

[0070] The driving controller 2 is specifically set as a servo motor, and the servo motor is connected to the pneumatic clamping claw 1 through a transmission mechanism, so that the servo motor can accurately control its own output angle, thereby realizing the function of accurately adjusting the relative position of the pneumatic clamping claw 1 and the receiving socket, so that the pneumatic clamping claw 1 can be more accurately and quickly inserted into the receiving socket.

[0071] The specific configuration of the driving controller 2 has the beneficial effects of being simple in structure and being convenient for automatically and accurately regulating the relative position of the pneumatic clamping claw 1 .

[0072] In one embodiment, the claw lifting equipment also includes a support frame 3; the pneumatic claws 1 are respectively installed at the four corners of the support frame 3; the drive controller 2 is respectively connected to the four pneumatic claws 1 through a ball screw mechanism, and can at least drive the pneumatic claws 1 to move along the length and width directions of the support frame 3.

[0073] Specific, combined Figure 4 To further explain in detail, a pneumatic claw 1 is respectively arranged at the four corners of the support frame 3 of the claw lifting equipment, and the drive controller 2 is respectively connected to the four pneumatic claws 1 through a ball screw mechanism, so that the drive controller 2 can at least drive the pneumatic claw 1 to move along the length and width directions of the support frame 3, so that the multiple pneumatic claws 1 can be driven and adjusted by their respective ball screw mechanisms simultaneously or individually, further improving the centering adjustment efficiency of the pneumatic claw 1 in the claw lifting equipment.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0075] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A claw lifting device, characterized in that: It comprises an air expansion claw (1); The pneumatic clamping claw (1) comprises an inserted claw rod (11), a pneumatic clamping claw head (12) and a driving cylinder (13); The plug-in claw rod (11) is used for plugging into the plug-in hole in the object to be clamped; The inflatable claw head (12) is embedded in the peripheral wall of the inserted claw rod (11); The driving cylinder (13) is arranged at the other end of the insertion claw rod (11) and is connected to the pneumatic claw head (12) through an air path; The driving cylinder (13) can drive the pneumatic claw head (12) to extend outward from the peripheral wall of the insertion claw rod (11) to be pressed and fixed in the insertion hole when the air is supplied; The driving cylinder (13) can drive the inflatable claw head (12) to retract inwardly to the peripheral wall of the insertion claw rod (11) in a vacuum state.

2. The claw lifting device according to claim 1, characterized in that: The pneumatic clamping claw (1) further comprises an overload protection device (14); The overload protection device (14) is installed and connected to the plug-in claw rod (11); When the insertion resistance of the insertion claw rod (11) is greater than a set threshold, the overload protection device (14) can regulate the insertion claw rod (11) to contract along its own axial direction.

3. The claw lifting device according to claim 2, characterized in that: The overload protection device (14) comprises: An installation shell (141) having a receiving cavity therein; A compression spring (142) is arranged in the accommodating cavity, with one end abutting against the inner wall of the mounting shell (141), and the other end being transmission-connected to the insertion claw rod (11) via a lifting plate; Wherein, the compression spring (142) can exert an elastic force toward the insertion claw rod (11) through the lifting plate; When the insertion resistance of the insertion claw rod (11) is greater than the elastic force of the compression spring (142), the insertion claw rod (11) can be partially retracted into the accommodating cavity toward the lifting plate.

4. The claw lifting device according to claim 3, characterized in that: The overload protection device (14) further comprises a slot-shaped photoelectric sensor (143) arranged in the accommodating cavity; The slot-type photoelectric sensor (143) is used to detect the real-time distance between the lifting plate and the inner wall of the mounting shell (141).

5. The claw lifting device according to claim 1, characterized in that: A plurality of the pneumatic claw heads (12) are evenly spaced and embedded along the peripheral wall of the inserted claw rod (11); The plurality of pneumatic claw heads (12) can be synchronously extended and retracted under the drive of the driving cylinder (13).

6. The claw lifting device according to claim 5, characterized in that: The expansion end of the gas expansion claw head (12) is provided with a resistance increasing member; When the air-expanding claw head (12) is supplying air, the expansion end can be fixedly abutted against the inner hole wall of the receiving hole through the resistance-increasing member.

7. The claw lifting device according to claim 6, characterized in that: The resistance increasing member is configured as an arc-shaped gasket with elastic deformation capability.

8. The claw lifting device according to any one of claims 1 to 7, characterized in that: The claw lifting device also includes a visual camera; The visual camera is used to collect relative position information of the inserted hole in the object to be clamped, and can process the collected image information and feed it back to the driving controller (2) of the claw lifting device.

9. The claw lifting device according to claim 8, characterized in that: The drive controller (2) comprises a servo motor; The servo motor is connected to the pneumatic clamping claw (1) through a transmission mechanism, and can at least drive the pneumatic clamping claw (1) to move in two different directions to adjust the relative position.

10. The claw lifting device according to claim 9, characterized in that: The claw lifting device also includes a support frame (3); The inflatable claws (1) are respectively installed at the four corners of the support frame (3); The drive controller (2) is respectively connected to the four pneumatic claws (1) through a ball screw mechanism, and is at least capable of driving the pneumatic claws (1) to move along the length and width directions of the support frame (3).

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