Mechanical gripper, mechanical arm and cement kiln preheater unblocking system

Abstract

The utility model provides a mechanical gripper, a mechanical arm and a cement kiln preheater unblocking system, and relates to the technical field of cement kiln cleaning devices, and the mechanical gripper mainly comprises a first clamping arm, a second clamping arm, a first driving part and a second driving part. The first clamping arm and the second clamping arm can move close to each other or away from each other so as to clamp or loosen the water gun; the first driving piece is connected with the first clamping arm and the second clamping arm; the second driving part is installed on the first clamping arm or the second clamping arm and used for being connected with the clamped water gun and driving the water gun to move close to or away from the first driving part. According to the embodiment provided by the invention, the length of the water gun extending out of the mechanical gripper is adjusted, so that a high-temperature target area can be cleaned in time in a long distance, the cleaning efficiency is improved, short-distance manual operation is avoided, the labor intensity is reduced, and the manual safety is guaranteed.

Description

Technical Field

[0001] This utility model relates to the technical field of cement kiln cleaning devices, and in particular to a mechanical gripper, a mechanical arm, and a cement kiln preheater unblocking system. Background Technology

[0002] In the new dry-process cement production line, the flue is a crucial piece of equipment connecting the rotary kiln and the precalciner. Hot flue gas from the rotary kiln enters the precalciner through the flue, while high-temperature raw meal from the lowest-level preheater is fed into the rotary kiln through the flue. The section at the bottom of the flue where it meets the rotary kiln is called the feeding ramp. Because the new dry-process cement production line uses preheating and pre-decomposition technology, the temperature of the preheated and pre-decomposed raw meal generally reaches 850–900℃. When the hot raw meal enters the flue, it encounters the kiln-exit flue gas, which is above 1000℃. Furthermore, the raw materials contain harmful elements such as potassium, sodium, sulfur, and chlorine. These elements accumulate in the rotary kiln and kiln tail system, lowering the melting point of the hot raw meal and making it prone to premature liquid phase formation and crusting. Crust formation easily leads to material accumulation and collapse, affecting system ventilation, reducing combustion efficiency, and in severe cases, causing blockages and disrupting the continuous operation of the production line. The material feeding slope at the kiln tail flue is the most difficult to clean. Once a crust forms, the material tends to accumulate and must be cleaned thoroughly each time, otherwise it is prone to sintering and extremely difficult to clean. In addition, the temperature here is high, which can easily cause safety accidents.

[0003] Currently, the main methods for cleaning the crust on the feed slope of the kiln tail flue are:

[0004] 1. Use an air cannon: Air cannons are more effective at clearing blockages, but less effective at clearing crusts;

[0005] 2. Manual cleaning: Manual cleaning requires tools such as steel bars and sledgehammers, which involves high labor intensity and is highly dangerous.

[0006] 3. Use a high-pressure water gun: When the crusting is severe, it is necessary to stop the material flow and use a high-pressure water gun to clean it. The above-mentioned manual cleaning method and high-pressure water gun cleaning method can thoroughly clean the crusting on the material discharge slope. However, since the material temperature and air temperature here are usually several hundred degrees, and the probability of positive pressure spraying outward after blockage is very high, manually clearing the blockage with a steel bar or high-pressure water gun is a very dangerous task. Utility Model Content

[0007] This application addresses the shortcomings of existing methods by providing a mechanical gripper, robotic arm, and cement kiln preheater unblocking system, which can improve the automation level and efficiency of cleaning work, improve the working environment of workers, reduce labor intensity, reduce the probability of safety accidents, and ensure safe production.

[0008] In one aspect, embodiments of this application provide a mechanical gripper, which mainly includes a first gripper arm, a second gripper arm, a first drive member, and a second drive member. The first gripper arm and the second gripper arm can move relative to each other or away to grip or release a water gun; the first drive member is connected to both the first gripper arm and the second gripper arm; the second drive member is mounted on the first gripper arm or the second gripper arm and is used to connect to the gripped water gun and drive the water gun to move closer to or away from the first drive member.

[0009] As an optional implementation, the mechanical gripper further includes a guide groove and a guide member. The guide groove is formed in the first clamping arm and the second clamping arm; the guide member is fixed to the first clamping arm or the second clamping arm, and is installed in the guide groove and slidably connected; both the guide groove and the guide member extend along a design direction, and the guide groove is recessed in a direction perpendicular to the design direction; the design direction is the direction in which the first clamping arm and the second clamping arm are relatively close to or far apart.

[0010] As an optional implementation, the first clamping arm includes a first support plate and a first clamping member. A first side of the first support plate is a clamping side, and a second side is a mounting side; the first side and the second side of the first support plate are opposite to each other; the first clamping member is mounted on the first side of the first support plate; wherein the guide groove is formed on the second side of the first support plate.

[0011] In one optional embodiment, the second clamping arm includes a second support plate and a second clamping member. The second support plate is disposed side by side with the first support plate on one side, with a first side of the second support plate being the clamping side and a second side being the mounting side; the first side and the second side of the second support plate are opposite to each other; the first side of the second support plate faces the same direction as the first side of the first support plate, and the second side of the second support plate faces the same direction as the second side of the first support plate; the second clamping member is mounted on the first side of the second support plate; wherein, the guide groove is also formed on the second side of the second support plate.

[0012] As an optional implementation, the first driving component includes a guide shaft, a first motor, and a connecting seat. The axial direction of the guide shaft is arranged along the design direction; the first motor is drivenly connected to the guide shaft to drive the guide shaft to move axially closer to or away from the first motor; the connecting seat is fixedly connected to the guide shaft; one of the guide shaft and the connecting seat is mounted on the second side of the first support plate, and the other is mounted on the second side of the second support plate.

[0013] As an optional implementation, the first clamping member and the second clamping member are disposed opposite to each other to form a first clamping structure; both the first clamping member and the second clamping member are first rollers, the first rollers are provided with a first clamping groove that is recessed radially, the first clamping groove is disposed circumferentially, and the axial direction of the first rollers is perpendicular to the design direction.

[0014] As an optional implementation, the second driving component includes a second motor and a second roller. The second motor is mounted on the first clamping arm or the second clamping arm; the second roller is mounted on the first side of the first support plate or the first side of the second support plate; the second roller is provided with a radially recessed second clamping groove, the second clamping groove is arranged circumferentially, the axial direction of the second roller is perpendicular to the design direction, and the second roller and the first roller correspond to form a second clamping structure.

[0015] Secondly, embodiments of this application provide a robotic arm, including the mechanical gripper and arm structure described in any of the foregoing embodiments. The arm structure is rotatably connected to the mechanical gripper, and the arm structure includes a plurality of connected forearms, with adjacent forearms rotatably connected by a steering shaft.

[0016] Thirdly, this application provides a cement kiln preheater unclogging system, which mainly includes the robotic arm, high-pressure water pump, water gun, and controller described in the foregoing embodiments. The high-pressure water pump is connected to a water source; the water gun is connected to the high-pressure water pump; and the controller is at least connected to and controls the robotic arm and the high-pressure water pump.

[0017] As an optional implementation, the high-pressure water pump includes a high-pressure outlet pipe, an electric valve, a pressure sensor, and a pressure transmitter. The high-pressure outlet pipe is connected to the water gun; the electric valve, pressure sensor, and pressure transmitter are all located on the high-pressure outlet pipe; the electric valve, pressure sensor, and pressure transmitter are also connected to the controller.

[0018] This application provides a mechanical gripper, a robotic arm, and a cement kiln preheater unblocking system. The technical solution provided by the embodiments of this application brings at least the following beneficial effects:

[0019] The first driving component drives the first and second clamping arms to move closer together to grip the water gun. With the mechanical gripper holding the water gun, the second driving component contacts the water gun and drives it to move closer to or away from the first driving component along its own axis. This adjusts the length of the water gun extending beyond the mechanical gripper, enabling timely cleaning of high-temperature target areas from a distance. This improves cleaning efficiency, avoids close-range manual work, reduces labor intensity, and ensures worker safety.

[0020] By connecting multiple forearms and cooperating with the steering shaft, the freedom of movement of the arm structure is improved, enabling large-angle rotation, such as 360-degree rotation, so that the water gun nozzle can be aimed at any area, expanding the cleaning range of the water gun, avoiding cleaning dead corners, and improving the cleaning effect.

[0021] The pressure transmitter is used to determine the scaling condition, which in turn adjusts the opening of the electric valve, thereby adjusting the flow rate and pressure of the water gun. This prevents excessive flow and pressure from damaging the refractory material, while insufficient flow and pressure reduces the cleaning effect.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0024] Figure 1 This is a schematic diagram of the structure of a mechanical gripper provided in an embodiment of this application;

[0025] Figure 2 A schematic diagram of the structure of a mechanical gripper provided in another embodiment of this application;

[0026] Figure 3 A schematic diagram of a mechanical gripper holding a water gun, provided as an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of a cement kiln preheater unblocking system provided in an embodiment of this application.

[0029] Figure labels and corresponding explanations:

[0030] 1: First clamping arm; 11: First support plate; 12: First clamping component; 13: Mounting plate; 14: Protective bracket;

[0031] 2: Second clamping arm; 21: Second support plate; 22: Second clamping component;

[0032] 3: First driving component; 31: Guide shaft; 32: First motor; 33: Connecting seat;

[0033] 4: Second driving component; 41: Second motor; 42: Second roller;

[0034] 5: Guide groove;

[0035] 6: Guide components;

[0036] 100: Arm structure;

[0037] 200: Water gun;

[0038] 300: High-pressure water pump. Detailed Implementation

[0039] This application is described in detail below. Examples of embodiments of this application are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. Furthermore, detailed descriptions of known technologies that are unnecessary for the features of this application are omitted. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0040] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of this application means the presence of the stated features, elements, and / or components, but does not exclude the presence or addition of one or more other features, elements, components, and / or groups thereof. The term “and / or” as used herein includes all or any units and all combinations thereof of one or more associated listed items.

[0041] First, let me introduce and explain the terms used in this application:

[0042] A pressure transmitter is a device that converts pressure into pneumatic or electrical signals for control and remote transmission. It transforms the physical pressure parameters of gases, liquids, etc., sensed by pressure sensors into standard electrical signals, which are then supplied to secondary instruments such as indicators, alarms, recorders, and controllers for measurement, indication, and process regulation.

[0043] like Figure 1-3 As shown in the figure, this application provides a mechanical gripper, which mainly includes a first clamping arm 1, a second clamping arm 2, a first driving member 3, and a second driving member 4. The first clamping arm 1 and the second clamping arm 2 can move relatively closer to or further away from each other to clamp or release a water gun 200; the first driving member 3 is connected to both the first clamping arm 1 and the second clamping arm 2; the second driving member 4 is installed on the first clamping arm 1 or the second clamping arm 2, and is used to connect with the clamped water gun 200 and drive the water gun 200 to move closer to or further away from the first driving member 3.

[0044] In this embodiment, at least a portion of the water gun 200 is rod-shaped, and the first clamping arm 1 and the second clamping arm 2 clamp the rod-shaped portion of the water gun 200. The first clamping arm 1 and the second clamping arm 2 are relatively close to each other to clamp the water gun 200. The first clamping arm 1 and the second clamping arm 2 are relatively far apart to release the water gun 200.

[0045] The mechanical gripper provided in this embodiment drives the first clamping arm 1 and the second clamping arm 2 to move closer together to grip the water gun 200. While the mechanical gripper grips the water gun 200, the second driving element 4 contacts the water gun 200 and drives the water gun 200 to move closer to or away from the first driving element 3 along its own axis. This adjusts the length of the water gun 200 extending beyond the mechanical gripper, enabling timely cleaning of high-temperature target areas from a distance. This improves cleaning efficiency, avoids close-range manual work, reduces labor intensity, and ensures worker safety.

[0046] As an optional implementation, the mechanical gripper also includes a guide groove 5 and a guide member 6. The guide groove 5 is formed in the first clamping arm 1 and the second clamping arm 2; the guide member 6 is fixed to the first clamping arm 1 or the second clamping arm 2, and is installed in the guide groove 5 and slidably connected; both the guide groove 5 and the guide member 6 extend along a design direction, and the guide groove 5 is recessed in a direction perpendicular to the design direction; the design direction is the direction in which the first clamping arm 1 and the second clamping arm 2 are relatively close to or far apart.

[0047] Based on the aforementioned embodiments, in this embodiment, the first clamping arm 1 has at least one first sub-guide groove 5. If multiple first sub-guide grooves 5 are provided, they are arranged in parallel. The second clamping arm 2 has at least one second sub-guide groove 5. If multiple second sub-guide grooves 5 are provided, they are arranged in parallel. The number and size of the first and second sub-guide grooves 5 correspond to each other. The first and second sub-guide grooves 5 together form the aforementioned guide groove 5. The shape of the guide member 6 is adapted to the guide groove 5. Through the cooperation of the guide groove 5 and the guide member 6, the first clamping arm 1 and the second clamping arm 2 are guided to move closer or further apart. The specific structure of the guide groove 5 and the guide member 6 is described below.

[0048] As an optional implementation, the first clamping arm 1 includes a first support plate 11 and a first clamping member 12. The first side of the first support plate 11 is the clamping side, and the second side is the mounting side; the first side and the second side of the first support plate 11 are opposite to each other; the first clamping member 12 is mounted on the first side of the first support plate 11; wherein, the guide groove 5 is formed on the second side of the first support plate 11.

[0049] Based on the aforementioned embodiments, in this embodiment, the first support plate 11 is rectangular and horizontally positioned. The bottom side of the first support plate 11 is the clamping side, and the first clamping member 12 is fixed to the bottom of the first support plate 11. The top side of the first support plate 11 is the mounting side, and the first sub-guide groove 5 extends along the width direction of the first support plate 11. The first sub-guide groove 5 can be recessed downwards into the first support plate 11, or it can be an independent groove-shaped structure fixed to the top of the first sub-guide groove 5 by screws. The first clamping arm 1 and the second clamping arm 2 move closer to or further away from each other along the width direction of the first support plate 11.

[0050] As an optional implementation, the second clamping arm 2 includes a second support plate 21 and a second clamping member 22. The second support plate 21 is arranged side by side on one side of the first support plate 11, with the first side of the second support plate 21 being the clamping side and the second side being the mounting side; the first side of the second support plate 21 and the second side of the second support plate 21 are opposite to each other; the first side of the second support plate 21 and the first side of the first support plate 11 face the same direction, and the second side of the second support plate 21 and the second side of the first support plate 11 face the same direction; the second clamping member 22 is mounted on the first side of the second support plate 21; wherein, a guide groove 5 is also formed on the second side of the second support plate 21.

[0051] Based on the foregoing embodiments, in this embodiment, the second support plate 21 is rectangular. The second support plate 21 and the first support plate 11 are disposed on the same horizontal plane, and the long sides of the first support plate 11 and the second support plate 21 are opposite to each other.

[0052] The bottom side of the second support plate 21 is the clamping side, and the second clamping member 22 is fixed to the bottom of the second support plate 21. The top side of the second support plate 21 is the mounting side. The second sub-guide groove 5 can be recessed downward in the second support plate 21, or the second sub-guide groove 5 can be an independent groove-shaped structure, fixed to the top of the second sub-guide groove 5 by screws. The second sub-guide groove 5 extends along the width direction of the second support plate 21, and the first sub-guide groove 5 and the second sub-guide groove 5 correspond to each other.

[0053] As an optional implementation, the first driving component 3 includes a guide shaft 31, a first motor 32, and a connecting seat 33. The axial direction of the guide shaft 31 is arranged along the design direction; the first motor 32 is drivenly connected to the guide shaft 31 to drive the guide shaft 31 to move axially closer to or away from the first motor 32; the connecting seat 33 is fixedly connected to the guide shaft 31; one of the guide shaft 31 and the connecting seat 33 is mounted on the second side of the first support plate 11, and the other is mounted on the second side of the second support plate 21.

[0054] Based on the aforementioned embodiments, in this embodiment, the guide shaft 31 is arranged along the width direction of the first support plate 11 and the second support plate 21. The first motor 32 is fixed to the top of the first support plate 11. The connecting seat 33 is fixed to the top of the second support plate 21. The guide shaft 31 connects the first motor 32 and the connecting seat 33. The connecting seat 33 has a through-hole structure through which the guide shaft 31 passes, thus achieving a fixed connection between the connecting seat 33 and the guide shaft 31. The first motor 32 drives the guide shaft 31 to move along the designed direction, thereby causing the connecting seat 33 to move synchronously, so that the first support plate 11 and the second support plate 21 move relatively away from or closer to each other, thereby allowing the first clamping member 12 and the second clamping member 22 to move relatively closer to each other, thus clamping the water gun 200, or moving relatively away to release the water gun 200.

[0055] As an optional implementation, the first clamping member 12 and the second clamping member 22 are disposed opposite to each other to form a first clamping structure; both the first clamping member 12 and the second clamping member 22 are first rollers, each first roller is provided with a radially recessed first clamping groove, the first clamping groove is disposed circumferentially, and the axial direction of the first roller is perpendicular to the design direction.

[0056] Based on the aforementioned embodiments, in this embodiment, both the first clamping member 12 and the second clamping member 22 include multiple first rollers. The first rollers are vertically oriented and can rotate circumferentially around their own axis. First clamping grooves are formed circumferentially. Multiple first rollers are fixed to the bottom of the first support plate 11 and arranged along the length of the first support plate 11 to form a first row of rollers. Multiple first rollers are fixed to the bottom of the second support plate 21 and arranged along the length of the second support plate 21 to form a second row of rollers. The number and position of the first and second rows of rollers correspond. The first and second rows of rollers move closer to or further away from their respective support plates. When the first and second rows of rollers are relatively close, the water gun 200 is clamped between the two rows of rollers, or more specifically, within the two rows of first clamping grooves.

[0057] As an optional implementation, the second driving member 4 includes a second motor 41 and a second roller 42. The second motor 41 is mounted on the first clamping arm 1 or the second clamping arm 2; the second roller 42 is mounted on the first side of the first support plate 11 or the first side of the second support plate 21; the second roller 42 is provided with a radially recessed second clamping groove, the second clamping groove is arranged circumferentially, the axial direction of the second roller 42 is perpendicular to the design direction, and the second roller 42 and the first roller correspond to form a second clamping structure.

[0058] Based on the aforementioned embodiments, in this embodiment, the second motor 41 is mounted on the top of the first clamping arm 1. The second roller 42 is mounted on the bottom of the first support plate 11. The second roller 42 is vertically oriented, and the second roller 42 and the second motor 41 are vertically corresponding to each other. The second roller 42 is connected to the output end of the second motor 41, and the second motor 41 drives the second roller 42 to rotate circumferentially around its own axis.

[0059] The second clamping groove is formed circumferentially. The second roller 42 corresponds to the first roller to form a second clamping structure, and the water gun 200 is also clamped between the corresponding second roller 42 and the first roller, more specifically, within the corresponding first and second clamping grooves. The second motor 41 drives the second roller 42 to rotate, thereby driving the water gun 200 to move along its own axial direction, realizing the adjustment of the extension length of the water gun 200. Simultaneously, the first roller also rotates with the movement of the water gun 200 to reduce frictional resistance.

[0060] In some embodiments, the first clamping arm 1 further includes a mounting plate 13, which is horizontally arranged. A strip-shaped guide 6 is mounted on the bottom of the mounting plate 13. A first motor 32 is fixed to the top of the mounting plate 13.

[0061] In some embodiments, the first clamping arm 1 further includes a protective bracket 14, which is a ring structure, and the first motor 32 is fixed inside the protective bracket 14.

[0062] like Figure 4 As shown, based on the same inventive concept, this application provides a robotic arm, including a mechanical gripper and an arm structure 100 as described in any of the foregoing embodiments. The arm structure 100 is rotatably connected to the mechanical gripper, and the arm structure 100 includes a plurality of connected forearms, with adjacent forearms rotatably connected by a steering shaft.

[0063] By connecting multiple forearms and cooperating with the steering shaft, the freedom of movement of the arm structure 100 is improved, enabling large-angle rotation, such as 360-degree rotation, so that the nozzle of the water gun 200 can be aimed at any area, expanding the cleaning range of the water gun 200, avoiding cleaning dead corners, and improving the cleaning effect.

[0064] In some embodiments, the robotic arm further includes a base, wheels disposed at the bottom of the base, and a drive system for driving the wheels.

[0065] like Figure 5 As shown, based on the same inventive concept, this application provides a cement kiln preheater unclogging system, which mainly includes a robotic arm, a high-pressure water pump 300, a water gun 200, and a controller as described in the previous embodiments. The high-pressure water pump 300 is connected to a water source; the water gun 200 is connected to the high-pressure water pump 300; and the controller is connected to and controls at least the robotic arm and the high-pressure water pump 300.

[0066] Based on the aforementioned embodiments, in this embodiment, the water source is a water tank. The water gun 200 is a high-pressure water gun 200, which has at least a hose section to allow for multi-angle adjustment. When cleaning areas with thick and difficult-to-clean crusts, the high-pressure water gun 200 can quickly remove the crusts by generating a large amount of steam, improving the cleaning effect. The controller is a PLC, which can control the robotic arm to move to the preset cleaning position and control the water gun 200 to spray water for cleaning, etc., without direct human intervention, reducing labor intensity and safety risks.

[0067] As an optional implementation, the high-pressure water pump 300 includes a high-pressure outlet pipe, an electric valve, a pressure sensor, and a pressure transmitter. The electric valve, pressure sensor, and pressure transmitter are all located on the high-pressure outlet pipe; the electric valve, pressure sensor, and pressure transmitter are also connected to the controller.

[0068] Based on the foregoing embodiments, in this embodiment, the high-pressure water pump 300 further includes a frame and a high-pressure plunger pump. The high-pressure plunger pump, high-pressure outlet pipe, electric valve, pressure sensor, and pressure transmitter are all mounted on the frame. The output end of the high-pressure plunger pump is connected to the high-pressure outlet pipe.

[0069] The pressure transmitter is used to determine the scaling condition, which in turn adjusts the opening of the electric valve, thereby adjusting the flow rate and pressure of the water gun 200. This prevents excessive flow and pressure from damaging the refractory material, while insufficient flow and pressure reduces the cleaning effect.

[0070] In some embodiments, the cement kiln preheater unblocking system further includes a water gun 200 bracket, which is disposed on one side of the cement kiln preheater.

[0071] In the description of this application, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0072] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0073] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0074] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0075] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A mechanical gripper, characterized in that, include: The first clamping arm (1) and the second clamping arm (2) can move relatively close to or far away from each other to clamp or release the water gun (200); The first driving member (3) is connected to both the first clamping arm (1) and the second clamping arm (2); The second driving member (4) is installed on the first clamping arm (1) or the second clamping arm (2) for connecting with the clamped water gun (200) and driving the water gun (200) to move closer to or away from the first driving member (3).

2. The mechanical gripper according to claim 1, characterized in that, Also includes: Guide groove (5) is formed in the first clamping arm (1) and the second clamping arm (2); A guide member (6) is fixed to the first clamping arm (1) or the second clamping arm (2). The guide member (6) is installed in the guide groove (5) and slidably connected. The guide groove (5) and the guide member (6) both extend along the design direction. The guide groove (5) is recessed in a direction perpendicular to the design direction. The design direction is the direction in which the first clamping arm (1) and the second clamping arm (2) are relatively close to or far away from each other.

3. The mechanical gripper according to claim 2, characterized in that, The first clamping arm (1) includes: The first support plate (11) has a first side that is a clamping side and a second side that is a mounting side; the first side of the first support plate (11) and the second side of the first support plate (11) are opposite to each other; The first clamping member (12) is installed on the first side of the first support plate (11); The guide groove (5) is formed on the second side of the first support plate (11).

4. The mechanical gripper according to claim 3, characterized in that, The second clamping arm (2) includes: The second support plate (21) is arranged side by side on one side of the first support plate (11). The first side of the second support plate (21) is the clamping side, and the second side is the mounting side. The first side of the second support plate (21) and the second side of the second support plate (21) are opposite to each other. The first side of the second support plate (21) and the first side of the first support plate (11) face the same direction. The second side of the second support plate (21) and the second side of the first support plate (11) face the same direction. The second clamping member (22) is installed on the first side of the second support plate (21); The guide groove (5) is also formed on the second side of the second support plate (21).

5. The mechanical gripper according to claim 4, characterized in that, The first driving element (3) includes: Guide shaft (31), axially arranged along the design direction; A first motor (32) is driven to connect to the guide shaft (31) to drive the guide shaft (31) to move axially closer to or away from the first motor (32); A connecting seat (33) is fixedly connected to the guide shaft (31); one of the guide shaft (31) and the connecting seat (33) is installed on the second side of the first support plate (11), and the other is installed on the second side of the second support plate (21).

6. The mechanical gripper according to claim 4, characterized in that, The first clamping member (12) and the second clamping member (22) are arranged opposite to each other to form a first clamping structure; Both the first clamping member (12) and the second clamping member (22) are first rollers. The first roller is provided with a first clamping groove that is recessed in the radial direction. The first clamping groove is arranged in the circumferential direction. The axial direction of the first roller is perpendicular to the design direction.

7. The mechanical gripper according to claim 6, characterized in that, The second driving element (4) includes: A second motor (41) is mounted on the first clamping arm (1) or the second clamping arm (2); The second roller (42) is installed on the first side of the first support plate (11) or the first side of the second support plate (21); the second roller (42) is provided with a second clamping groove that is recessed in the radial direction, the second clamping groove is arranged in the circumferential direction, the axial direction of the second roller (42) is perpendicular to the design direction, and the second roller (42) and the first roller correspond to form a second clamping structure.

8. A robotic arm, characterized in that, include: The mechanical gripper as described in any one of claims 1-7; An arm structure (100) is rotatably connected to the mechanical gripper. The arm structure (100) includes a plurality of connected forearms, and adjacent forearms are rotatably connected by a steering shaft.

9. A cement kiln preheater unblocking system, characterized in that, include: The arm structure (100) as described in claim 8; High-pressure water pump (300), connected to the water source; A water gun (200) is connected to the high-pressure water pump (300); The controller connects to and controls the arm structure (100) and the high-pressure water pump (300).

10. The cement kiln preheater unblocking system according to claim 9, characterized in that, The high-pressure water pump (300) includes: A high-pressure water outlet pipe is connected to the water gun (200); The electric valve, pressure sensor, and pressure transmitter are all located in the high-pressure water outlet pipe; the electric valve, pressure sensor, and pressure transmitter are also connected to the controller.

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