Omnidirectional clamping jaw device suitable for explosion-proof environment

Abstract

The utility model relates to a clamping jaw, in particular to an omni-directional clamping jaw device suitable for an anti-explosion environment, which solves the problem of how to ensure the stability of a medicine barrel when a medicine feeding robot carries the medicine barrel in the anti-explosion environment, and comprises an overturning assembly and a clamping assembly, the clamping assembly comprises a clamping jaw frame, a clamping jaw motor, a clamping jaw assembly and a synchronizing assembly, the overturning assembly comprises an overturning motor, and an output shaft of the overturning motor is connected with the center of the inner side face of the clamping jaw frame. The first clamping jaw, the second clamping jaw and the third clamping jaw synchronously move away from the center position of the clamping jaw frame or synchronously move close to the center position of the clamping jaw frame, stable clamping of the medicine barrel is achieved, an output shaft of the overturning motor is connected with the center of the inner side face of the clamping jaw frame, and therefore deflection of the whole clamping jaw frame can be achieved. The clamping jaw motor and the overturning motor are both explosion-proof motors, and the requirement for the explosion-proof environment is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to a clamping jaw, in particular to a omnidirectional clamping jaw device suitable for under the explosion -proof environment. BACKGROUND

[0002] In the daily production of chemical plant, need to inject different reagent to the reaction tank in different reaction stage, these reagents are generally stored in the medicine bucket, when needing to inject, the operator needs to take down the medicine bucket of corresponding reagent from the goods shelf and carries it to the corresponding reaction tank, then takes down the bucket cover and injects in the alignment injection port, the whole process is realized by manual, and the process is complicated and the labor intensity is big. So currently some chemical plants begin to use robots to replace manual processing such as repeated high intensity work. But manual can pay attention to the medicine bucket condition in time when carrying and injecting, keeps its stability, and the robot is all executed according to the program prepared when carrying, does not pay attention to the medicine bucket condition, in the medicine bucket transfer process, the medicine bucket is prone to falling or overturning, so a clamping jaw device is needed to stably clamp the medicine bucket, ensure the stability in the medicine bucket transfer process, and the chemical plant also stores a large amount of flammable and explosive goods, the clamping jaw device also needs to have the explosion -proof function, prevents the safety accident from happening. SUMMARY

[0003] The utility model aims at solving the technical problem that how to ensure the stability of the medicine bucket when the medicine adding robot carries the medicine bucket under the explosion -proof environment, and provides a omnidirectional clamping jaw device suitable for under the explosion -proof environment.

[0004] To achieve the above object, the utility model provides the following technical solving scheme:

[0005] A omnidirectional clamping jaw device suitable for under the explosion -proof environment, its special features are that: including clamping subassembly and turnover subassembly,

[0006] The turnover subassembly includes turnover motor,

[0007] The clamping subassembly includes clamping jaw frame, clamping jaw motor and clamping jaw subassembly and synchronous subassembly, the inside face center of clamping jaw frame is connected with turnover motor output shaft, and clamping jaw motor is connected on clamping jaw frame, the clamping jaw subassembly includes first clamping jaw subassembly, second clamping jaw subassembly and third clamping jaw subassembly, clamping jaw motor and turnover motor are all explosion -proof motor,

[0008] The first gripper assembly comprises a first horizontal guide rail arranged on one side of the outer side of the gripper frame and extending horizontally, and the first gripper is slidingly assembled on the first horizontal guide rail; the second gripper assembly comprises a second horizontal guide rail arranged on the other side of the outer side of the gripper frame and extending horizontally, and the second gripper is slidingly assembled on the second horizontal guide rail; and the third gripper assembly comprises a first vertical guide rail arranged on the top of the outer side of the gripper frame and extending vertically, and the third gripper is slidingly assembled on the first vertical guide rail.

[0009] The synchronous assembly comprises an upper reversing wheel and a lower reversing wheel arranged on the top and the bottom of the inner side of the gripper frame, a left reversing wheel and a right reversing wheel arranged on the left side and the right side, and the output shaft of the gripper motor is connected with the upper reversing wheel or the lower reversing wheel through a synchronous belt; a left upper turning wheel is arranged above the left side of the center of the inner side of the gripper frame, a right upper turning wheel is arranged above the right side of the center of the inner side of the gripper frame, a left lower turning wheel is arranged below the left side of the center of the inner side of the gripper frame, and a right lower turning wheel is arranged below the right side of the center of the inner side of the gripper frame, and the four wheels are in abutment with the outer side of the synchronous belt; the inner side of the gripper frame is provided with a first meshing assembly connected with the first gripper, a second meshing assembly connected with the second gripper, and a third meshing assembly connected with the third gripper.

[0010] The first meshing assembly is meshed with the synchronous belt between the left reversing wheel and the left lower turning wheel, the second meshing assembly is meshed with the synchronous belt between the right reversing wheel and the right upper turning wheel, and the third meshing assembly is meshed with the synchronous belt between the upper reversing wheel and the left upper turning wheel; or, the first meshing assembly is meshed with the synchronous belt between the left reversing wheel and the left upper turning wheel, the second meshing assembly is meshed with the synchronous belt between the right reversing wheel and the right lower turning wheel, and the third meshing assembly is meshed with the synchronous belt between the upper reversing wheel and the right upper turning wheel.

[0011] When the gripper motor rotates, the first gripper, the second gripper and the third gripper are driven to move away from the center of the gripper frame to loosen the medicine barrel or move close to the center of the gripper frame to clamp the medicine barrel.

[0012] Further, the tensioning structure is further provided.

[0013] The tensioning structure comprises a T-shaped frame, a tensioning wheel, a vertical moving sliding block, a horizontal moving sliding block, a second vertical guide rail, a third horizontal guide rail and a fixing seat.

[0014] The fixing seat is connected to the inner side of the gripper frame, the T-shaped frame comprises a vertical frame and a horizontal frame connected to the middle of one side of the vertical frame, the second vertical guide rail is arranged on the vertical frame, the third horizontal guide rail is arranged on the horizontal frame, the vertical moving sliding block is slidingly assembled on the second vertical guide rail, the horizontal moving sliding block is fixedly connected to one end of the turnover motor shell away from the output shaft of the turnover motor, the center of the horizontal moving sliding block coincides with the axis of the output shaft of the turnover motor, and the horizontal moving sliding block is slidingly assembled with the third horizontal guide rail, the tensioning wheel is arranged between the fixing seat and the vertical moving sliding block, and the two ends of the tensioning wheel are rotationally connected with the vertical moving sliding block and the fixing seat, respectively.

[0015] Further, the first, second and third clamping jaws are identical in structure and each comprises a mounting base and a jaw body; the mounting base of the first clamping jaw is slidably assembled on the first horizontal guide rail, the mounting base of the second clamping jaw is slidably assembled on the second horizontal guide rail, and the mounting base of the third clamping jaw is slidably assembled on the first vertical guide rail; and one end of the jaw body is fixedly connected to the outer side of the mounting base.

[0016] Further, the first, second and third engaging assemblies are identical in structure and each comprises a toothed plate and a cover plate connected to the toothed plate; the toothed plate is provided with a gear rack engaged with the synchronous belt; the cover plate is provided with a groove for the synchronous belt to pass through; and a connecting piece is arranged on the toothed plate and used for being connected to the inner side of the mounting base of the first, second or third clamping jaw.

[0017] Further, the output shaft of the clamping jaw motor is connected to the upper reversing wheel. The clamping jaw motor does not interfere with other devices when rotating.

[0018] Further, the outer end of the jaw body of the first and second clamping jaws is provided with a baffle. The baffle can prevent the medicine barrel from falling out.

[0019] Further, the left upper reversing wheel, the right upper reversing wheel, the left lower reversing wheel and the right lower reversing wheel are provided with two reversing wheels respectively. The synchronous belt is prevented from being deformed too much when turning, so that the operation stability and service life of the synchronous belt are ensured.

[0020] Further, a fixed clamping jaw is arranged at the bottom position of the outer side of the clamping jaw frame. The clamping effect on the medicine barrel can be further enhanced.

[0021] Meanwhile, the utility model also provides a kind of omnidirectional clamping jaw device suitable for explosion-proof environment, and its special features are as follows: including clamping assembly and turnover assembly;

[0022] The turnover assembly comprises a turnover motor.

[0023] The clamping assembly comprises a clamping jaw frame, a clamping jaw motor, a clamping jaw assembly and a synchronous assembly; the inner side center of the clamping jaw frame is connected to the output shaft of the turnover motor for driving the clamping jaw frame to deflect, and the clamping jaw motor is connected to the clamping jaw frame; the clamping jaw assembly comprises a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; and the clamping jaw motor and the turnover motor are explosion-proof motors.

[0024] The first gripper assembly comprises a first horizontal guide rail arranged on one side of the outer side of the gripper frame and extending horizontally, and the first gripper is slidably arranged on the first horizontal guide rail; the second gripper assembly comprises a second horizontal guide rail arranged on the other side of the outer side of the gripper frame and extending horizontally, and the second gripper is slidably arranged on the second horizontal guide rail; and the third gripper assembly comprises a first vertical guide rail arranged on the top of the outer side of the gripper frame and extending vertically, and the third gripper is slidably arranged on the first vertical guide rail.

[0025] The synchronous assembly comprises a synchronous gear rotatably connected to the output shaft of the turnover motor, and the top of the inner side of the gripper frame is provided with a driving wheel connected with the output shaft of the gripper motor; the inner side of the gripper frame is provided with a first meshing assembly connected with the first gripper, a second meshing assembly connected with the second gripper, and a third meshing assembly connected with the third gripper; the first meshing assembly, the second meshing assembly, and the third meshing assembly are all racks; the synchronous gear comprises three coaxially connected gears, and the first meshing assembly, the second meshing assembly, and the third meshing assembly are respectively meshed with one of the gears; and the first meshing assembly is meshed with the lower side of the synchronous gear, the second meshing assembly is meshed with the upper side of the synchronous gear, and the third meshing assembly is respectively meshed with the left side of the synchronous gear and the driving wheel; or, the first meshing assembly is meshed with the upper side of the synchronous gear, the second meshing assembly is meshed with the lower side of the synchronous gear, and the third meshing assembly is respectively meshed with the right side of the synchronous gear and the driving wheel.

[0026] When the gripper motor rotates, the first gripper, the second gripper, and the third gripper are driven to move away from the center of the gripper frame or move towards the center of the gripper frame, thereby loosening or clamping the medicine barrel.

[0027] Compared with the prior art, the all-directional gripper device provided by the utility model has the advantages that:

[0028] (1) The all-directional gripper device provided by the utility model is provided with an upper reversing wheel and a lower reversing wheel on the top and the bottom of the inner side of the gripper frame, a left reversing wheel and a right reversing wheel are respectively arranged on the left side and the right side, the four reversing wheels are connected through a synchronous belt, the output shaft of the gripper motor is connected with the upper reversing wheel or the lower reversing wheel, a left upper turning wheel is arranged at the left upper side of the center of the inner side of the gripper frame, a right upper turning wheel is arranged at the right upper side of the center of the inner side of the gripper frame, a left lower turning wheel is arranged at the left lower side of the center of the inner side of the gripper frame, and a right lower turning wheel is arranged at the right lower side of the center of the inner side of the gripper frame, and the four turning wheels are all in abutment with the outer side of the synchronous belt; when the synchronous belt rotates, the first gripper, the second gripper, and the third gripper are driven to move away from the center of the gripper frame or move towards the center of the gripper frame, thereby realizing stable clamping of the medicine barrel; the output shaft of the turnover motor is connected with the center of the inner side of the gripper frame, so that the deflection of the whole gripper frame can be realized; after the medicine barrel is clamped by the gripper, the turnover motor is used to realize pouring and filling; the gripper motor and the turnover motor are both explosion-proof motors, and meet the requirements of the explosion-proof environment of the chemical plant.

[0029] (2) The utility model provides an omnidirectional clamping device suitable for use in explosion-proof environments and is also provided with a tensioning assembly. The tensioning assembly is used to enable the clamping frame to deflect along a fixed path, thereby improving the rotation accuracy and ensuring that the mouth of the medicine barrel can be aligned with the filling port of the reaction tank when the clamping frame is deflected. When the clamping frame deflects, the tensioning wheel rotates and drives the vertical sliding block to move along the second vertical guide rail, and the T-shaped frame also moves along the third horizontal guide rail to adapt to the deflection angle of the clamping frame.

[0030] (3) The utility model provides an omnidirectional clamping device suitable for use in explosion-proof environments, in which the synchronization components have two structural forms, one of which is a synchronous belt in combination with a steering wheel and a reversing wheel, and the other is a synchronous gear in combination with a rack. Both forms use only one clamping motor as a power source to achieve synchronous movement of the three clamping jaws, and have a simple structure and are easy to manufacture. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of an omnidirectional clamping jaw device suitable for use in explosion-proof environments according to the present invention;

[0032] Figure 2 This is a schematic diagram of the three-dimensional structure of an embodiment of the present invention in use (the timing belt, upper left steering wheel, lower left steering wheel, upper right steering wheel, and lower right reversing wheel are not shown);

[0033] Figure 3 A side view of an embodiment of the present utility model;

[0034] Figure 4 Schematic diagram of the cooperation between the upper reversing wheel, the lower reversing wheel, the left reversing wheel, the right reversing wheel, the upper left steering wheel, the lower left steering wheel, the upper right steering wheel and the lower right reversing wheel and the synchronous belt in the embodiment of the present utility model;

[0035] Figure 5 This is a schematic diagram of the cooperation between the first meshing assembly, the second meshing assembly and the third meshing assembly and the synchronous gear when they are all racks in the embodiment of the present utility model;

[0036] Figure 6 This is a schematic diagram of the cooperation between the synchronous gear and the output shaft of the flip motor in the embodiment of the present utility model.

[0037] The following are the descriptions of the reference numerals:

[0038] 1-Clamp holder, 101- fixed clamp; 2- clamp motor, 3- turnover motor; 4- first clamp, 41- first horizontal guide rail, 42- mounting base, 43- claw body, 431- baffle; 5- second clamp, 51- second horizontal guide rail, 6- third clamp, 61- first vertical guide rail; 7- upper reversing wheel, 8- lower reversing wheel, 9- left reversing wheel, 10- right reversing wheel, 11- synchronous belt, 12- left upper steering wheel, 13- left lower steering wheel, 14- right upper steering wheel, 15- right lower steering wheel, 16- first meshing assembly, 161- tooth plate, 162- cover plate; 17- second meshing assembly, 18- third meshing assembly; 19- T-shaped frame, 191- vertical frame, 192- horizontal frame; 20- fixed seat, 21- second vertical guide rail, 23- tensioning wheel, 24- vertical moving slider, 25- third horizontal guide rail, 26- synchronous gear. DETAILED DESCRIPTION

[0039] The utility model will be further explained in connection with the drawings and specific embodiments.

[0040] Reference Figures 1-6 The utility model discloses a kind of all-directional clamp devices suitable for under explosion-proof environment, including the clamping assembly for clamping chemical barrel and the turnover assembly for chemical barrel overturning and dumping, turnover assembly includes turnover motor 3, the shell of turnover motor 3 is used to be connected with dosing robot.

[0041] Clamping assembly includes clamp holder 1, clamp motor 2, clamp assembly and synchronous assembly;The output shaft of turnover motor 3 is connected with the inside center of clamp holder 1, and clamp motor 2 is connected on clamp holder 1, movable clamp includes first clamp assembly, second clamp assembly and third clamp assembly;Turnover motor 3 and clamp motor 2 are all explosion-proof motor, meet the demand of chemical plant explosion-proof environment.

[0042] Among them, first clamp assembly includes the first horizontal guide rail 41 of being set on the one side of the outside of clamp holder 1 and extending along horizontal direction, first clamp 4 is slidably assembled on it, second clamp assembly includes the second horizontal guide rail 51 of being set on the other side of the outside of clamp holder 1 and extending along horizontal direction, second clamp 5 is slidably assembled on it, and third clamp assembly includes the first vertical guide rail 61 of being set on the top of the outside of clamp holder 1 and extending along vertical direction, third clamp 6 is slidably assembled on it, and fixed clamp 101 is arranged at the bottom position of the outside of clamp holder 1, so that the stability of chemical barrel after clamping is guaranteed by four-way locking.

[0043] The first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6 are identical in structure and each comprise a mounting base 42 and a jaw body 43, the mounting base 42 of the first clamping jaw 4 is slidably assembled on the first horizontal guide rail 41, the mounting base 42 of the second clamping jaw 5 is slidably assembled on the second horizontal guide rail 51, and the mounting base 42 of the third clamping jaw 6 is slidably assembled on the first vertical guide rail 61, and one end of the jaw body 43 is fixedly connected to the outer side of the mounting base 42, and a baffle 431 is further arranged at the outer end of the jaw body 43 of the first clamping jaw 4 and the second clamping jaw 5 to prevent the medicine barrel from falling out.

[0044] In order to realize the synchronous movement of the first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6, a synchronous assembly is further arranged, and in the utility model, the synchronous assembly has two structural forms, and the first one is as shown in the figure, Figure 4 As shown in the figure, an upper reversing wheel 7 and a lower reversing wheel 8 are arranged at the top and the bottom of the inner side of the clamping jaw frame 1 respectively, a left reversing wheel 9 and a right reversing wheel 10 are arranged on the left side and the right side respectively, the four are connected through a synchronous belt 11, and a left upper turning wheel 12 is arranged at the left upper side of the center of the inner side of the clamping jaw frame 1, a right upper turning wheel 14 is arranged at the right upper side, a left lower turning wheel 13 is arranged at the left lower side, and a right lower turning wheel 15 is arranged at the right lower side, and the four are all in abutment with the outer side of the synchronous belt 11, in order to prevent the synchronous belt 11 from being deformed too much when passing through each turning wheel, the left upper turning wheel 12, the right upper turning wheel 14, the left lower turning wheel 13 and the right lower turning wheel 15 are respectively provided with two, so that the synchronous belt 11 can gradually turn, and the turning angle is avoided to be too large to affect the operation of the synchronous belt 11. In order to not generate an excessive deflection torque to the whole clamping jaw frame 1, the output shaft of the clamping jaw motor 2 can be connected with the upper reversing wheel 7 or the lower reversing wheel 8, and in the embodiment, in order not to interfere with the remaining equipment, the output shaft of the clamping jaw motor 2 is connected with the upper reversing wheel 7.

[0045] In order to realize the clamping of the medicine barrel by cooperating with the synchronous belt 11, the first engaging assembly 16 connected with the first clamping jaw, the second engaging assembly 17 connected with the second clamping jaw 5 and the third engaging assembly 18 connected with the third clamping jaw 6 are arranged on the inner side of the clamping jaw frame 1; the first engaging assembly 16 is engaged with the synchronous belt 11 between the left reversing wheel 9 and the left lower steering wheel 13, the second engaging assembly 17 is engaged with the synchronous belt 11 between the right reversing wheel 10 and the right upper steering wheel 14, and the third engaging assembly 18 is engaged with the synchronous belt 11 between the upper reversing wheel 7 and the left upper steering wheel 12. Alternatively, the first engaging assembly 16 is engaged with the synchronous belt 11 between the left reversing wheel 9 and the left upper steering wheel 12, the second engaging assembly 17 is engaged with the synchronous belt 11 between the right reversing wheel 10 and the right lower steering wheel 15, and the third engaging assembly 18 is engaged with the synchronous belt 11 between the upper reversing wheel 7 and the right upper steering wheel 14. In this way, when the clamping jaw motor 2 rotates, the first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6 can be driven to move away from the center position of the clamping jaw frame 1 to release the medicine barrel or move towards the center position of the clamping jaw frame 1 to clamp the medicine barrel. Only one clamping jaw motor 2 is used as a power source, and linkage is realized through synchronous belt 11 transmission, which saves cost.

[0046] In order to ensure stable engagement of each engaging assembly with the synchronous belt 11, the first engaging assembly 16, the second engaging assembly 17 and the third engaging assembly 18 are the same in structure, which includes a toothed plate 161 and a cover plate 162 connected with the toothed plate 161 by bolts, a rack engaged with the synchronous belt 11 is arranged on the toothed plate 161, and a groove for the synchronous belt 11 to pass through is provided through the cover plate 162. In this way, when each engaging assembly is engaged with the synchronous belt 11, the synchronous belt 11 is limited in the groove through the cooperation of the toothed plate 161 and the cover plate 162, so as to ensure stable engagement of the rack with the synchronous belt 11. A connecting piece is further arranged on the toothed plate 161, which is used to connect with the inner side of the mounting base 42 of the first clamping jaw 4, the second clamping jaw 5 or the third clamping jaw 6.

[0047] At the same time, the reversing wheel and the steering wheel can also adopt a sprocket form, and the synchronous belt 11 also correspondingly adopts a chain form for transmission, or the synchronous belt transmission can also be replaced by a rope transmission.

[0048] Alternatively, the second synchronous assembly structure form can also be used to realize the synchronous opening and closing of the three clamping jaws, as shown in Figure 5 The synchronous gear 26 is rotatably connected to the output shaft of the turnover motor 3 through a bearing, and the synchronous gear 26 includes three gears coaxially and fixedly connected, and the structure is as shown in Figure 6The top of the inner side of the clamping jaw frame 1 is provided with a driving wheel, the output shaft of the clamping jaw motor 2 is connected with the driving wheel, the inner side of the clamping jaw frame 1 is still provided with a first meshing assembly 16 connected with the first clamping jaw 4, a second meshing assembly 17 connected with the second clamping jaw 5 and a third meshing assembly 8 connected with the third clamping jaw 6, at this time, the first meshing assembly 16, the second meshing assembly 17 and the third meshing assembly 18 are all in the form of a rack, the three are connected with the inner side of the mounting base 42 of the first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6 respectively, and the first meshing assembly 16, the second meshing assembly 17 and the third meshing assembly 18 are respectively meshed with one of the synchronizing gears 26; and the first meshing assembly 16 is meshed with the lower side of the synchronizing gear 26, the second meshing assembly 17 is meshed with the upper side of the synchronizing gear 26, and the third meshing assembly 18 is respectively meshed with the left side of the synchronizing gear 26 and the driving wheel; or, the first meshing assembly 16 is meshed with the upper side of the synchronizing gear 26, the second meshing assembly 17 is meshed with the lower side of the synchronizing gear 26, and the third meshing assembly 18 is respectively meshed with the right side of the synchronizing gear 26 and the driving wheel. When the clamping jaw motor 2 rotates, the first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6 can synchronously move away from the center position of the clamping jaw frame 1 to loosen the medicine barrel or synchronously move towards the center position of the clamping jaw frame 1 to clamp the medicine barrel. Because the synchronizing gear 26 is rotatably connected to the output shaft of the overturning motor 3 through a bearing, the two do not affect each other when rotating.

[0049] The three clamping jaws all adopt the above transmission form, and have a large opening and closing stroke, so that most of the medicine barrels on the market can be adapted, most of the medicaments on the market are in the form of liquid or powder, and both forms of medicaments can be stored in the medicine barrel, and the powder type medicament can also be stored in a medicine bag, and the clamping jaw assembly can effectively clamp the container for storing medicaments such as the medicine barrel and the medicine bag.

[0050] The tensioning assembly is used for enabling the clamping jaw frame 1 to deflect along a fixed path, improving rotation accuracy and ensuring that the barrel opening of the medicine barrel can be aligned with the filling opening of the reaction tank when deflected to the position.

[0051] The T-shaped frame 19 includes a vertical frame 191 and a horizontal frame 192 connected to the middle of one side of the vertical frame 191, the second vertical guide rail 21 is arranged on the vertical frame 191, and the third horizontal guide rail 25 is arranged on the horizontal frame 192. The vertical sliding block 24 is slidably arranged on the second vertical guide rail 21, and the fixed seat 20 is connected to the inner side of the clamping jaw frame 1. The tensioning wheel 23 is arranged between the fixed seat 20 and the vertical sliding block 24, and the two ends of the tensioning wheel 23 are rotatably connected with the vertical sliding block 24 and the fixed seat 20 respectively.

[0052] The horizontal moving slider is fixedly connected to the outer shell of the overturning motor 3 at the end away from the output shaft of the overturning motor 3, the center of the horizontal moving slider coincides with the axis of the output shaft of the overturning motor 3, and the horizontal moving slider is slidingly assembled on the third horizontal guide rail 25; when the jaw frame 1 is deflected under the driving of the overturning motor 3, the tensioning wheel 23 rotates and drives the vertical moving slider 24 to move along the second vertical guide rail 21, and the T-shaped frame 19 also moves along the third horizontal guide rail 25, which is adapted to the deflection angle of the jaw frame 1.

[0053] In use, the jaw motor 2 rotates to drive the first jaw 4, the second jaw 5 and the third jaw 6 to move synchronously away from the center of the jaw frame 1, so as to embrace the medicine barrel, then the jaw motor 2 reverses to drive the first jaw 4, the second jaw 5 and the third jaw 6 to move synchronously towards the center of the jaw frame 1, so as to clamp the medicine barrel, then the overturning motor 3 rotates to drive the whole jaw frame 1 to rotate, so as to pour the medicine from the medicine barrel into the reaction tank.

[0054] The above-described embodiments are merely used to describe the specific implementation manners of the present application, and are not used to limit the scope of the present application; without departing from the design spirit of the present application, various modifications and improvements to the technical scheme of the present application made by those skilled in the art shall fall within the protection scope of the present application defined by the claims.

Claims

1. An omnidirectional gripper device suitable for use in explosion-proof environments, characterized by: The device comprises a clamping assembly and a turnover assembly; The turnover assembly comprises a turnover motor (3); The clamping assembly comprises a clamping jaw frame (1), a clamping jaw motor (2), a clamping jaw assembly and a synchronization assembly; the center of the inner side of the clamping jaw frame (1) is connected with the output shaft of the turnover motor (3) for driving the clamping jaw frame (1) to deflect, and the clamping jaw motor (2) is connected to the clamping jaw frame (1); the clamping jaw assembly comprises a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor (2) and the turnover motor (3) are both explosion-proof motors; The first clamping jaw assembly comprises a first horizontal guide rail (41) arranged on one side of the outer side of the clamping jaw frame (1) and extending in the horizontal direction, and a first clamping jaw (4) is slidingly assembled on the first horizontal guide rail (41); the second clamping jaw assembly comprises a second horizontal guide rail (51) arranged on the other side of the outer side of the clamping jaw frame (1) and extending in the horizontal direction, and a second clamping jaw (5) is slidingly assembled on the second horizontal guide rail (51); and the third clamping jaw assembly comprises a first vertical guide rail (61) arranged on the top of the outer side of the clamping jaw frame (1) and extending in the vertical direction, and a third clamping jaw (6) is slidingly assembled on the first vertical guide rail (61); The synchronization assembly comprises an upper reversing pulley (7) and a lower reversing pulley (8) arranged on the top and the bottom of the inner side of the clamping jaw frame (1), a left reversing pulley (9) and a right reversing pulley (10) arranged on the left side and the right side, and the four are connected through a synchronization belt (11), and the output shaft of the clamping jaw motor (2) is connected with the upper reversing pulley (7) or the lower reversing pulley (8); the upper left of the center of the inner side of the clamping jaw frame (1) is provided with an upper left deflection pulley (12), the upper right is provided with an upper right deflection pulley (14), the lower left is provided with a lower left deflection pulley (13), and the lower right is provided with a lower right deflection pulley (15), all of which abut against the outer side of the synchronization belt (11); the inner side of the clamping jaw frame (1) is provided with a first meshing assembly (16) connected with the first clamping jaw (4), a second meshing assembly (17) connected with the second clamping jaw (5), and a third meshing assembly (18) connected with the third clamping jaw (6); The first meshing assembly (16) meshes with the synchronization belt (11) between the left reversing pulley (9) and the left lower deflection pulley (13), the second meshing assembly (17) meshes with the synchronization belt (11) between the right reversing pulley (10) and the right upper deflection pulley (14), and the third meshing assembly (18) meshes with the synchronization belt (11) between the upper reversing pulley (7) and the left upper deflection pulley (12); or, the first meshing assembly (16) meshes with the synchronization belt (11) between the left reversing pulley (9) and the left upper deflection pulley (12), the second meshing assembly (17) meshes with the synchronization belt (11) between the right reversing pulley (10) and the right lower deflection pulley (15), and the third meshing assembly (18) meshes with the synchronization belt (11) between the upper reversing pulley (7) and the right upper deflection pulley (14); When the clamping jaw motor (2) rotates, the first clamping jaw (4), the second clamping jaw (5) and the third clamping jaw (6) are driven to move away from the center of the clamping jaw frame (1) to loosen the medicine barrel or move towards the center of the clamping jaw frame (1) to clamp the medicine barrel.

2. The omni-directional gripper device suitable for use in an explosion-proof environment according to claim 1, characterized in that: It also comprises a tensioning structure; The tensioning structure comprises a T-shaped frame (19), a tensioning wheel (23), a vertical sliding block (24), a horizontal sliding block, a second vertical guide rail (21), a third horizontal guide rail (25) and a fixing base (20). The fixing base (20) is connected to the inner side of the clamping jaw frame (1), the T-shaped frame (19) comprises a vertical frame (191) and a horizontal frame (192) which is vertically connected to the middle of one side of the vertical frame (191), the second vertical guide rail (21) is arranged on the vertical frame (191), the third horizontal guide rail (25) is arranged on the horizontal frame (192), the vertical sliding block (24) is slidingly assembled on the second vertical guide rail (21), the horizontal sliding block is fixedly connected to the end of the outer shell of the overturning motor (3) away from the output shaft of the overturning motor (3), the center of the horizontal sliding block coincides with the axis of the output shaft of the overturning motor (3), and the horizontal sliding block is slidingly assembled with the third horizontal guide rail (25), the tensioning wheel (23) is arranged between the fixing base (20) and the vertical sliding block (24), and the two ends of the tensioning wheel (23) are rotationally connected with the vertical sliding block (24) and the fixing base (20) respectively.

3. The omni-directional gripper device suitable for use in an explosion-proof environment according to claim 2, characterized in that: The first clamping jaw (4), the second clamping jaw (5) and the third clamping jaw (6) are the same in structure and each comprises a mounting base (42) and a jaw body (43); the mounting base (42) of the first clamping jaw (4) is slidingly assembled on the first horizontal guide rail (41), the mounting base (42) of the second clamping jaw (5) is slidingly assembled on the second horizontal guide rail (51), and the mounting base (42) of the third clamping jaw (6) is slidingly assembled on the first vertical guide rail (61); one end of the jaw body (43) is fixedly connected to the outer side of the mounting base (42).

4. The omni-directional gripper device suitable for use in an explosion-proof environment according to claim 3, characterized in that: The first engaging assembly (16), the second engaging assembly (17) and the third engaging assembly (18) are the same in structure and each comprises a toothed plate (161) and a cover plate (162) connected with the toothed plate (161); the toothed plate (161) is provided with a rack engaged with the synchronous belt (11), the cover plate (162) is provided with a groove through which the synchronous belt (11) passes, and a connecting piece is arranged on the toothed plate (161) and used for being connected with the inner side of the mounting base (42) of the first clamping jaw (4), the second clamping jaw (5) or the third clamping jaw (6).

5. The omni-directional gripper device suitable for use in an explosion-proof environment according to claim 4, characterized in that: The output shaft of the clamping jaw motor (2) is connected with the upper reversing wheel (7).

6. The omni-directional gripper device suitable for use in an explosion-proof environment according to claim 5, characterized in that: The outer end of the jaw body (43) of the first clamping jaw (4) and the second clamping jaw (5) is provided with a baffle (431).

7. The omnidirectional gripper device suitable for use in an explosion- proof environment according to any one of claims 1-6, characterized in that: The left upper turning wheel (12), the right upper turning wheel (14), the left lower turning wheel (13) and the right lower turning wheel (15) are provided with two respectively.

8. The omni-directional gripper device suitable for use in an explosion proof environment according to claim 1, characterized in that: A fixed clamping jaw (101) is arranged at the bottom position of the outer side of the clamping jaw frame (1).

9. An omnidirectional gripper device suitable for use in explosion-proof environments, characterized by: The clamping assembly and the overturning assembly are arranged on the clamping jaw frame (1). The overturning assembly comprises an overturning motor (3). The overturning assembly comprises an overturning motor (3). The clamping assembly comprises a clamping jaw frame (1), a clamping jaw motor (2), a clamping jaw assembly and a synchronization assembly; the center of the inner side surface of the clamping jaw frame (1) is connected with the output shaft of a turnover motor (3) for driving the clamping jaw frame (1) to deflect, and the clamping jaw motor (2) is connected to the clamping jaw frame (1); the clamping jaw assembly comprises a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor (2) and the turnover motor (3) are both explosion-proof motors; The first clamping jaw assembly comprises a first horizontal guide rail (41) arranged on one side of the outer side surface of the clamping jaw frame (1) and extending in the horizontal direction, and a first clamping jaw (4) is slidingly assembled on the first horizontal guide rail (41); the second clamping jaw assembly comprises a second horizontal guide rail (51) arranged on the other side of the outer side surface of the clamping jaw frame (1) and extending in the horizontal direction, and a second clamping jaw (5) is slidingly assembled on the second horizontal guide rail (51); and the third clamping jaw assembly comprises a first vertical guide rail (61) arranged on the top of the outer side surface of the clamping jaw frame (1) and extending in the vertical direction, and a third clamping jaw (6) is slidingly assembled on the first vertical guide rail (61); The synchronization assembly comprises a synchronization gear (26) rotatably connected to the output shaft of the turnover motor (3); the top of the inner side surface of the clamping jaw frame (1) is provided with a driving wheel, the output shaft of the clamping jaw motor (2) is connected with the driving wheel, and the inner side surface of the clamping jaw frame (1) is provided with a first meshing assembly (16) connected with the first clamping jaw (4), a second meshing assembly (17) connected with the second clamping jaw (5) and a third meshing assembly (18) connected with the third clamping jaw (6); the first meshing assembly (16), the second meshing assembly (17) and the third meshing assembly (18) are all racks; the synchronization gear (26) comprises three gears coaxially fixed, the first meshing assembly (16), the second meshing assembly (17) and the third meshing assembly (18) are respectively meshed with one of the gears; and the first meshing assembly (16) is meshed with the lower side of the synchronization gear (26), the second meshing assembly (17) is meshed with the upper side of the synchronization gear (26), and the third meshing assembly (18) is respectively meshed with the left side of the synchronization gear (26) and the driving wheel; or, the first meshing assembly (16) is meshed with the upper side of the synchronization gear (26), the second meshing assembly (17) is meshed with the lower side of the synchronization gear (26), and the third meshing assembly (18) is respectively meshed with the right side of the synchronization gear (26) and the driving wheel; When the clamping jaw motor (2) rotates, the first clamping jaw (4), the second clamping jaw (5) and the third clamping jaw (6) are driven to move away from the center position of the clamping jaw frame (1) to loosen the medicine barrel or move towards the center position of the clamping jaw frame (1) to clamp the medicine barrel.

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