A handling assistance mechanical device

Abstract

The utility model provides a kind of carrying power mechanical equipment belongs to rail train technical field, to solve the problem in prior art, through artificial overturning traction beam is not only inefficient, and process is complicated, and a large amount of manpower and time cost are wasted;Including the upright column connected with the end of manipulator, upright column bottom is equipped with crossbeam, the side of crossbeam is slidably connected with two clamps, two clamps are driven by being equipped with driving device on crossbeam;The opposite end of two clamps is equipped with clamping plate, clamping plate is rotatably connected with clamp by pivot, pivot is driven by being equipped with rotating device on clamp;In the utility model, the carrying power mechanical equipment can realize automatic grabbing, carrying and overturning function, effectively replaces the operation mode of artificial overturning traction beam. Improve the working efficiency of traction beam pressure test, reduce manual intervention, reduce manpower cost and labor intensity, avoid the possible mistake of artificial overturning, improve the safety and reliability of test process.

Description

Technical Field

[0001] This utility model belongs to the field of rail train technology, specifically relating to a material handling assistive mechanical device. Background Technology

[0002] In the field of rail trains, the traction beam is a key structural component of a rail train car. It is usually installed at both ends of the car, located on the bogie under the car body, and plays an important role in connecting the bogie and the car body. The two ends of the traction beam are connected to traction rod seats for mounting traction rods. The traction rod seat consists of two parts, upper and lower plates, with the ends of the plates having an arc-shaped structure.

[0003] However, there are some pressing issues to be addressed when conducting pressure tests on traction beams. Since the parallelism of multiple surfaces of the traction beam needs to be checked after pressing, the usual practice is to manually flip the beam. Manually flipping the traction beam is not only inefficient but also cumbersome, consuming significant manpower and time. Furthermore, the accuracy of manual operation is difficult to guarantee; improper flipping or incorrect operation may affect the accuracy of the test results, thus adversely impacting the reliability of the traction beam performance evaluation. Utility Model Content

[0004] In view of this, the present invention provides a material handling assistive mechanical device to solve the problem that in the prior art, manually flipping the traction beam is not only inefficient, but also cumbersome and consumes a lot of manpower and time.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A material handling assist device includes a column connected to the end of a robotic arm. A crossbeam perpendicular to the column is provided at its bottom. Two grippers are slidably connected to one side of the crossbeam. The grippers are horizontally positioned and perpendicular to the crossbeam, and are driven by a drive device mounted on the crossbeam to move along the length of the crossbeam. A clamping plate is provided at the opposite end of each gripper. The clamping plate is rotatably connected to the grippers via a rotating shaft. The rotating shaft is driven by a rotating device mounted on the grippers to rotate the clamping plate. The rotating shaft is parallel to the crossbeam.

[0007] In this technical solution, it should be noted that the material handling assistive machinery mainly consists of a robotic arm, a column, a crossbeam, grippers, a drive unit, and a rotating device, forming a complete mechanical system. The robotic arm (not shown in the diagram) serves as the basic support component, its end connected to the column, providing a platform for the installation and connection of subsequent components. A crossbeam is located at the bottom of the column, forming a stable T-shaped support perpendicular to it. Two grippers are slidably connected to one side of the crossbeam, with the grippers horizontally positioned perpendicular to the crossbeam. The crossbeam provides guidance and support for the movement of the grippers. The drive unit, mounted on the crossbeam, drives the two grippers to move along the length of the crossbeam, controlling the opening and closing degree of the grippers to accommodate objects of different sizes, achieving precise gripping and placement. A clamping plate is located at the opposite end of each gripper, rotatably connected to the grippers via a rotating shaft parallel to the crossbeam. The rotating device, mounted on the grippers, drives the rotating shaft to rotate, thereby rotating the clamping plate. This allows the clamping plate to be angled according to inspection requirements. The clamping plate directly contacts the object, and its shape and material must be designed according to the characteristics of the object being handled to ensure a firm and reliable grip. In practical use, initially, the two grippers are open, and the robotic arm moves them to both sides of the traction beam. At this point, the drive unit activates, pushing the two grippers laterally along the crossbeam until the clamping plates on the grippers firmly clamp the traction beam. After gripping, the robotic arm transports the traction beam to the testing position for inspection. If the traction beam needs to be flipped during testing, the robotic arm first moves the traction beam out of the testing position, then the rotating device drives the shaft to rotate, causing the clamping plates and the traction beam to rotate to the specified flipping angle, before moving the traction beam back to the testing position for the corresponding inspection. This invention provides a material handling assist device that automatically grips, transports, and flips traction beams during pressure testing, effectively replacing manual flipping. This significantly improves the efficiency of traction beam pressure testing, reduces manual intervention, lowers labor costs and intensity, avoids errors that may occur with manual flipping, and enhances the safety and reliability of the testing process. By precisely controlling the opening and closing of the grippers through the drive device, it can be adapted to traction beams of different sizes. The angle adjustment function of the clamps further enhances the adaptability of the equipment to traction beams of different shapes and placement angles, making the equipment have a wider range of applications and able to meet the pressure testing requirements of various types of traction beams. This is of great significance for improving the testing efficiency and quality of related components of rail trains.

[0008] Preferably, the clamping plate has two stabilizing seats spaced apart from top to bottom at the end away from the clamping claw, and a receiving groove for accommodating the traction rod is formed between the two stabilizing seats. Each stabilizing seat has an arc-shaped surface that matches the shape of the traction rod seat.

[0009] In this technical solution, it should be noted that each stabilizing seat has an arc-shaped surface that matches the shape of the traction rod seat. This structural design allows the clamping plate to fit tightly against the traction rod seat through the arc-shaped surface of the stabilizing seat when clamping the traction beam, and to stably contain the traction rod within the receiving groove. This effectively prevents the traction beam from shaking or shifting during the handling and flipping of the traction beam.

[0010] Preferably, the rotating device includes a first cylinder, a gear, and a rack. The first cylinder is fixed on the gripper and parallel to the gripper. The piston rod of the first cylinder is connected to the rack. The rack is slidably connected to the gripper. The gear is fixedly sleeved on the rotating shaft, and the gear and the rack mesh with each other.

[0011] In this technical solution, it should be noted that the piston rod of the first cylinder is connected to the rack, and the rack slides in engagement with the gripper, allowing it to move linearly along the gripper under the drive of the cylinder. As a common transmission element, the rack converts the linear motion of the cylinder into the rotational motion of the gear, achieving a change in motion mode. The sliding connection between the rack and the gripper provides reliable guidance for the rack, ensuring the linearity and stability of its motion, thereby improving transmission accuracy. The gear is fixedly mounted on the rotating shaft and meshes with the rack. Gear transmission has advantages such as high transmission efficiency, compact structure, reliable operation, and long service life. By rationally designing the module and number of teeth of the gear and rack, precise angle control can be achieved, ensuring that the rotation angle of the clamping plate meets the process requirements. When the first cylinder starts, the extension or retraction of the piston rod causes the rack to slide along the gripper. Due to the meshing relationship between the gear and rack, the linear motion of the rack is converted into the rotational motion of the gear, which in turn drives the rotating shaft and clamping plate to rotate. The use of cylinder drive instead of motor drive is primarily due to the following considerations: cylinders have a simple structure, lower cost, and are easy to maintain. They also exhibit good durability and reliability in industrial environments, making them particularly suitable for locations with high explosion-proof requirements. The cylinder's linear motion output force is large, providing sufficient driving force to achieve stable rotation of the clamping plate. Simultaneously, through the meshing transmission of rack and pinion gears, precise angle control can be achieved, ensuring that the clamping plate's rotation angle meets the requirements of different working conditions.

[0012] Preferably, the gripper is provided with a first slide rail, and the rack is provided with a first slide groove that slides in cooperation with the first slide rail.

[0013] In this technical solution, it should be noted that the first slide rail is mounted on the gripper, and the rack engages with the slide rail via a first groove on its own surface. When the rack slides along the gripper under the drive of the cylinder, the first slide rail engages with the first groove of the rack, forming a sliding pair. This design ensures that the rack moves linearly along the first slide rail, effectively constraining the rack's trajectory and guaranteeing its linearity and stability. When the piston rod of the first cylinder extends or retracts, causing the rack to move, the engagement of the first slide rail and the first groove ensures that the rack can only slide along the slide rail direction, preventing the rack from deviating or wobbling during movement. This improves the accuracy and reliability of the gear and rack meshing, thereby ensuring the smoothness and accuracy of the rotation of the shaft and clamping plate, and maintaining a stable posture of the traction beam during handling and flipping. Simultaneously, the engagement of the slide rail and the groove can also withstand a certain lateral force, preventing the rack from bending or deforming under stress, extending the service life of the rack and gears, and ensuring the long-term stable operation of the rotating device.

[0014] Preferably, the crossbeam has a mounting beam in the middle, and the driving device includes two second cylinders on both sides of the mounting beam. One end of each second cylinder is connected to the mounting beam, and the piston rod at the other end is connected to the corresponding gripper.

[0015] In this technical solution, it should be noted that by synchronously or differentially controlling the two second cylinders, the grippers can move in opposite directions, thereby precisely controlling the opening and closing degree of the grippers to accommodate objects of different sizes and achieve accurate gripping and placement. This symmetrical dual-cylinder design provides stable driving force, ensuring smooth movement of the grippers, improving the stability and reliability of handling, and is suitable for handling and flipping operations of objects such as traction beams in handling-assisted machinery.

[0016] Preferably, a third cylinder is fixed to the end of the mounting beam. The third cylinder is parallel to the gripper. A mounting plate is connected to the piston rod of the third cylinder. The mounting plate is provided with a positioning plate that cooperates with the top of the traction beam.

[0017] In this technical solution, it should be noted that before clamping the traction beam, the third cylinder is activated. The piston rod of the third cylinder drives the mounting plate to move towards the traction beam, causing the positioning plate to contact and limit the top of the traction beam. Simultaneously, the mounting plate limits one side of the traction beam, thus completing the initial positioning of the traction beam. This pre-positioning effectively prevents the traction beam from shaking or shifting during clamping, providing a precise initial position for subsequent clamping operations and ensuring that the grippers can accurately and stably clamp the traction beam. When it is necessary to flip the traction beam, the piston rod of the third cylinder retracts, causing the mounting plate to separate from the traction beam and releasing the limit. At this time, the rotating device can smoothly drive the traction beam to perform the flipping operation. This design, through the cooperation of the third cylinder, mounting plate, and positioning plate, achieves rapid positioning and limiting of the traction beam, improving the operating efficiency and stability of the equipment.

[0018] Preferably, the crossbeam is provided with a second guide rail parallel to it, and the gripper is provided with a second sliding groove that slides in cooperation with the second guide rail.

[0019] In this technical solution, it should be noted that the second guide rail provides additional guidance and support for the movement of the gripper, ensuring that the gripper maintains stable linear motion when moving along the crossbeam. Through the tight cooperation between the second slide rail and the second guide rail, the gripper can still slide smoothly along the predetermined track even under lateral force or load, avoiding deviation or jamming. This combination of guide rail and slide rail design effectively improves the accuracy and stability of gripper movement, enhancing the reliability and durability of the entire mechanical system. Simultaneously, the cooperation between the second guide rail and the second slide rail can also withstand certain lateral and torsional forces, preventing the gripper from wobbling or tilting during movement, thereby ensuring the accuracy and safety of clamping operations. Furthermore, this structure helps to disperse the contact stress between the gripper and the crossbeam, reducing wear, extending the service life of the equipment, and ensuring good performance during frequent handling and clamping operations.

[0020] Preferably, the column and the crossbeam are detachably connected by bolts.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0022] 1. In this utility model, the handling assistive mechanical equipment can automatically grasp, transport, and flip the traction beam during pressure testing, effectively replacing the manual flipping operation. This greatly improves the efficiency of traction beam pressure testing, reduces manual intervention, lowers labor costs and intensity, avoids errors that may occur during manual flipping, and enhances the safety and reliability of the testing process.

[0023] 2. In this utility model, the opening and closing degree of the grippers is precisely controlled by the drive device, which can adapt to traction beams of different sizes. The angle adjustment function of the clamping plate further enhances the adaptability of the equipment to traction beams of different shapes and placement angles, making the equipment have a wider range of applications and able to meet the pressure testing requirements of various types of traction beams. This is of great significance for improving the testing efficiency and quality of related components of rail trains.

[0024] 3. In this utility model, each stabilizing seat is provided with an arc-shaped surface that matches the shape of the traction rod seat. This structural design allows the clamping plate to fit tightly against the traction rod seat through the arc-shaped surface on the stabilizing seat when clamping the traction beam, and to stably contain the traction rod in the receiving groove, thereby effectively preventing the traction beam from shaking or shifting during the handling and flipping of the traction beam.

[0025] 4. In this invention, when the first cylinder is activated, the extension or retraction of the piston rod causes the rack to slide along the gripper. Due to the meshing relationship between the gear and the rack, the linear motion of the rack is converted into the rotational motion of the gear, which in turn drives the rotating shaft and the clamping plate to rotate. The use of a cylinder drive instead of a motor drive is primarily due to the following considerations: the cylinder has a large linear motion output force, providing sufficient driving force to achieve stable rotation of the clamping plate; simultaneously, through the meshing transmission of the rack and gear, precise angle control can be achieved, ensuring that the rotation angle of the clamping plate meets the requirements of different working conditions. Attached Figure Description

[0026] This utility model will be described by way of example and with reference to the accompanying drawings, wherein:

[0027] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the assistive mechanical equipment of this utility model when clamping the traction beam;

[0029] Figure 3 This is a three-dimensional structural diagram of the power-assisted mechanical device of this utility model when there is no clamping traction beam;

[0030] Figure 4 for Figure 3 A top-view structural diagram;

[0031] Figure 5 This is a three-dimensional structural diagram of the gripper of this utility model without a clamping plate and a rotating shaft.

[0032] Figure 6 This is a three-dimensional structural diagram of the traction beam of this utility model;

[0033] Among them: 1-inspection machine, 2-column, 3-crossbeam, 4-gripper, 5-traction beam, 51-traction rod, 52-traction rod seat, 6-mounting beam, 7-third cylinder, 8-mounting plate, 9-positioning plate, 10-first cylinder, 11-rack, 12-gear, 13-rotating shaft, 14-clamping plate, 15-stabilizing seat, 16-arc surface, 17-accommodating groove, 18-first guide rail, 19-first slide groove. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0036] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0040] Example 1

[0041] like Figures 1-6As shown in the figure, this utility model discloses a material handling assistive mechanical device, including a column 2 connected to the end of a robotic arm. A crossbeam 3 perpendicular to the column 2 is provided at its bottom. Two grippers 4 are slidably connected to one side of the crossbeam 3. The grippers 4 are horizontally arranged and perpendicular to the crossbeam 3, and are driven by a drive device mounted on the crossbeam 3 to move along the length of the crossbeam 3. Each of the two grippers 4 has a clamping plate 14 at its opposite end. The clamping plate 14 is rotatably connected to the gripper 4 via a rotating shaft 13. The rotating shaft 13 is driven by a rotating device mounted on the gripper 4 to rotate the clamping plate 14. The rotating shaft 13 is parallel to the crossbeam 3. It should be noted that the material handling assistive mechanical device mainly consists of a robotic arm, column 2, crossbeam 3, grippers 4, drive device, and rotating device, forming a complete mechanical system. The robotic arm (not shown in the diagram) serves as the basic support component, with its end connected to the column 2, providing a platform for the installation and connection of subsequent components. A crossbeam 3 is located at the bottom of the column 2, forming a stable T-shaped support perpendicular to it. Two grippers 4 are slidably connected to one side of the crossbeam 3, and the grippers 4 are horizontally positioned perpendicular to the crossbeam 3. The crossbeam 3 provides guidance and support for the movement of the grippers 4. A drive unit is mounted on the crossbeam 3 to drive the two grippers 4 to move along the length of the crossbeam 3, controlling the opening and closing degree of the grippers 4 to accommodate objects of different sizes, achieving precise gripping and placement. A clamping plate 14 is located at the opposite end of the grippers 4, rotatably connected to the grippers 4 via a rotating shaft 13 parallel to the crossbeam 3. A rotating device is mounted on the grippers 4, driving the rotating shaft 13 to rotate, thereby rotating the clamping plate 14. This allows the clamping plate 14 to be angled according to inspection requirements. The clamping plate 14 directly contacts the object, and its shape and material must be designed according to the characteristics of the object being handled to ensure a firm and reliable grip. In practical use, initially, the two grippers 4 are open, and the robotic arm moves the two grippers 4 to both sides of the traction beam 5. At this time, the drive device is activated, pushing the two grippers 4 to move laterally towards each other along the crossbeam 3 until the clamping plates 14 on the grippers 4 firmly clamp the traction beam 5. After gripping, the robotic arm transports the traction beam 5 to the testing position for testing. If the traction beam 5 needs to be flipped during the testing process, the robotic arm will first move the traction beam 5 out of the testing position, and then the rotating device will drive the rotating shaft 13 to rotate, thereby causing the clamping plates 14 and the traction beam 5 to rotate together to the specified flipping angle, and then move the traction beam 5 back to the testing position for the corresponding test. In this utility model, the handling assistive mechanical equipment can realize automatic gripping, handling, and flipping functions when handling the traction beam 5 for pressure testing, effectively replacing the manual operation of flipping the traction beam 5. It greatly improves the working efficiency of the traction beam 5 pressure test, reduces manual intervention, reduces labor costs and labor intensity, avoids errors that may occur during manual flipping, and improves the safety and reliability of the testing process.By precisely controlling the opening and closing degree of the gripper 4 through the drive device, it can be adapted to traction beams 5 of different sizes. The angle adjustment function of the clamp 14 further enhances the adaptability of the equipment to traction beams 5 of different shapes and placement angles, making the equipment have a wider range of applications and able to meet the pressure testing requirements of various types of traction beams 5. This is of great significance for improving the testing efficiency and quality of related components of rail trains.

[0042] like Figure 4 As shown, in this embodiment, the clamping plate 14, located away from the gripper 4, has two stabilizing seats 15 spaced apart from top to bottom. A receiving groove 17 is formed between the two stabilizing seats 15 to accommodate the traction rod 51. Each stabilizing seat 15 has an arc-shaped surface 16 that matches the shape of the traction rod seat 52. It should be noted that each stabilizing seat 15 has an arc-shaped surface 16 that matches the shape of the traction rod seat 52. This structural design allows the clamping plate 14 to tightly fit against the traction rod seat 52 through the arc-shaped surface 16 on the stabilizing seat 15 when clamping the traction beam 5, and to stably contain the traction rod 51 within the receiving groove 17. This effectively prevents the traction beam 5 from shaking or shifting during handling and flipping.

[0043] like Figure 2 As shown, in this embodiment, the crossbeam 3 is provided with a second guide rail parallel to it, and the gripper 4 is provided with a second groove that slides in cooperation with the second guide rail. It should be noted that the second guide rail provides additional guidance and support for the movement of the gripper 4, ensuring that the gripper 4 maintains stable linear motion when moving along the crossbeam 3. Through the tight cooperation between the second groove (not visible in the figure, but located at the end of the gripper 4 facing the second guide rail) and the second guide rail, the gripper 4 can still slide smoothly along the predetermined track when subjected to lateral force or load, avoiding deviation or jamming. This combination of guide rail and groove design effectively improves the accuracy and stability of the gripper 4's movement, enhancing the reliability and durability of the entire mechanical system. Simultaneously, the cooperation of the second guide rail and the second groove can also withstand certain lateral and torsional forces, preventing the gripper 4 from shaking or tilting during movement, thereby ensuring the accuracy and safety of the clamping operation. Furthermore, this structure helps to disperse the contact stress between the gripper 4 and the crossbeam 3, reducing wear, extending the service life of the equipment, and ensuring good performance during frequent handling and clamping operations.

[0044] In this embodiment, the column 2 and the crossbeam 3 are detachably connected by bolts.

[0045] Example 2

[0046] like Figures 1-6As shown, this embodiment is largely the same as the above embodiment, except that the rotating device includes a first cylinder 10, a gear 12, and a rack 11. The first cylinder 10 is fixed on and parallel to the gripper 4. The piston rod of the first cylinder 10 is connected to the rack 11, and the rack 11 is slidably connected to the gripper 4. The gear 12 is fixedly sleeved on the rotating shaft 13, and the gear 12 meshes with the rack 11. It should be noted that the piston rod of the first cylinder 10 is connected to the rack 11, and the rack 11 is slidably engaged with the gripper 4, allowing it to move linearly along the gripper 4 under the drive of the cylinder. The rack 11, as a common transmission element, can convert the linear motion of the cylinder into the rotational motion of the gear 12, realizing the conversion of motion form. The sliding connection between the rack 11 and the gripper 4 provides reliable guidance for the rack 11, ensuring the linearity and stability of the rack 11's motion, thereby improving transmission accuracy. The gear 12 is fixedly sleeved on the rotating shaft 13 and meshes with the rack 11. The gear 12 transmission has advantages such as high transmission efficiency, compact structure, reliable operation, and long service life. By rationally designing the module and number of teeth of gear 12 and rack 11, precise angle control can be achieved, ensuring that the rotation angle of clamping plate 14 meets process requirements. When the first cylinder 10 is activated, the extension or retraction of the piston rod drives rack 11 to slide along jaw 4. Due to the meshing relationship between gear 12 and rack 11, the linear motion of rack 11 is converted into the rotational motion of gear 12, which in turn drives shaft 13 and clamping plate 14 to rotate. The use of cylinder drive instead of motor drive is mainly due to the following considerations: cylinder has a simple structure, low cost, and convenient maintenance, and has good durability and reliability in industrial environments, especially suitable for places with high explosion-proof requirements. The linear motion output force of the cylinder is large, which can provide sufficient driving force to achieve stable rotation of clamping plate 14. At the same time, through the meshing transmission of rack 11 and gear 12, precise angle control can be achieved, ensuring that the rotation angle of clamping plate 14 meets the requirements of different working conditions.

[0047] like Figure 5As shown, in this embodiment, the gripper 4 is provided with a first slide rail, and the rack 11 is provided with a first slide groove 19 that slides with the first slide rail. It should be noted that the first slide rail is mounted on the gripper 4, and the rack 11 engages with the slide rail through its own first slide groove 19. When the rack 11 slides along the gripper 4 under the drive of the cylinder, the first slide rail is embedded in the first slide groove 19 of the rack 11, forming a sliding pair. This design ensures that the rack 11 moves linearly along the first slide rail, effectively constraining the movement trajectory of the rack 11 and ensuring its linearity and stability. When the piston rod of the first cylinder 10 extends and retracts, driving the rack 11 to move, the engagement of the first slide rail and the first slide groove 19 ensures that the rack 11 can only slide along the slide rail direction, preventing the rack 11 from deviating or wobbling during movement. This improves the accuracy and reliability of the meshing between the gear 12 and the rack 11, thereby ensuring the smoothness and accuracy of the rotation of the shaft 13 and the clamping plate 14, and ensuring that the traction beam 5 maintains a stable posture during handling and flipping. At the same time, the cooperation between the slide rail and the slide groove can withstand a certain lateral force, prevent the rack 11 from bending or deforming when under force, extend the service life of the rack 11 and the gear 12, and ensure the long-term stable operation of the rotating device.

[0048] Example 3

[0049] like Figure 3 As shown, this embodiment is largely the same as the previous embodiment, except that a mounting beam 6 is provided in the middle of the crossbeam 3, and the driving device includes two second cylinders located on both sides of the mounting beam 6. One end of each second cylinder is connected to the mounting beam 6, and the piston rod at the other end is connected to the corresponding gripper 4. It should be noted that by synchronous or differential control of the two second cylinders, the grippers 4 can move in opposite directions, thereby precisely controlling the opening and closing degree of the grippers 4 to accommodate objects of different sizes and achieve accurate gripping and placement. This symmetrical dual-cylinder design provides stable driving force, ensuring the smooth movement of the grippers 4, improving the stability and reliability of handling, and is suitable for handling and flipping operations of objects such as the traction beam 5 in handling-assisted machinery.

[0050] Example 4

[0051] like Figure 3As shown, this embodiment is largely the same as the previous embodiment, except that a third cylinder 7 is fixed to the end of the mounting beam 6. The third cylinder 7 is parallel to the gripper 4, and a mounting plate 8 is connected to the piston rod of the third cylinder. The mounting plate 8 has a positioning plate 9 that cooperates with the top of the traction beam 5. It should be noted that before clamping the traction beam 5, the third cylinder 7 is activated. The piston rod of the third cylinder 7 drives the mounting plate 8 to move towards the traction beam 5, so that the positioning plate 9 contacts the top of the traction beam 5 and achieves a limiting position. At the same time, the mounting plate 8 limits one side of the traction beam 5, thereby completing the initial positioning of the traction beam 5. This pre-positioning can effectively prevent the traction beam 5 from shaking or shifting during clamping, providing a precise initial position for subsequent clamping operations and ensuring that the gripper 4 can accurately and stably clamp the traction beam 5. When it is necessary to flip the traction beam 5, the third cylinder 7 retracts its piston rod, causing the mounting plate 8 to separate from the traction beam 5, releasing the limiting position. At this time, the rotating device can smoothly drive the traction beam 5 to perform the flipping operation. This design, through the cooperation of the third cylinder 7, mounting plate 8, and positioning plate 9, enables the rapid positioning and limiting of the traction beam 5, thereby improving the operating efficiency and stability of the equipment.

[0052] The working principle of this utility model is as follows:

[0053] When the robotic arm is in its initial position, the two grippers 4 remain open under the control of the drive device. The robotic arm moves the entire device, and the third cylinder 7 drives the mounting plate 8 to move, so that the positioning plate 9 is initially positioned with one side and the top of the traction beam 5, ensuring that the traction beam 5 is in the correct position. Next, the second cylinders at both ends of the mounting beam 6 are activated, and their piston rods push the grippers 4 to slide along the second guide rail on the crossbeam 3. The grippers 4 gradually approach the traction beam 5, achieving a firm grip.

[0054] After clamping, the robotic arm moves the traction beam 5 to the inspection position on the inspection machine 1. If the traction beam 5 needs to be flipped for inspection, the third cylinder 7 retracts its piston rod, causing the mounting plate 8 to separate from the traction beam 5 and releasing the side limit. Subsequently, the robotic arm moves the traction beam 5 out of the inspection position, and the first cylinder 10 in the rotating device drives the rack 11 to slide along the first slide rail on the gripper 4. The rack 11 meshes with the gear 12, causing the gear 12 to rotate, thereby causing the clamping plate 14 and the traction beam 5 to rotate together to the specified angle, completing the flipping operation.

[0055] Finally, the robotic arm moves the flipped traction beam 5 back to the detection position for subsequent inspection.

[0056] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the software and methods.

[0057] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0058] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A load-assist mechanical device, characterized by, It includes a column (2) connected to the end of the robot arm. The bottom of the column (2) is provided with a crossbeam (3) perpendicular to it. Two grippers (4) are slidably connected to one side of the crossbeam (3). The grippers (4) are horizontally arranged and perpendicular to the crossbeam (3). The two grippers (4) are driven by a drive device provided on the crossbeam (3) to move along the length direction of the crossbeam (3). Each of the two grippers (4) has a clamping plate (14) at one of its opposite ends. The clamping plate (14) is rotatably connected to the gripper (4) via a rotating shaft (13). The rotating shaft (13) is driven by a rotating device on the gripper (4) to rotate the clamping plate (14). The rotating shaft (13) is parallel to the crossbeam (3).

2. A handling-assistance machine according to claim 1, characterized in that Two stabilizing seats (15) are provided at a distance from top to bottom at the end of the clamping plate (14) away from the clamping claw (4). A receiving groove (17) for accommodating the traction rod (51) is formed between the two stabilizing seats (15). Each stabilizing seat (15) is provided with an arc-shaped surface (16) that matches the shape of the traction rod seat (52).

3. A handling-assistance machine according to claim 1, characterized in that The rotating device includes a first cylinder (10), a gear (12) and a rack (11). The first cylinder (10) is fixed on the gripper (4) and parallel to the gripper (4). The piston rod of the first cylinder (10) is connected to the rack (11). The rack (11) is slidably connected to the gripper (4). The gear (12) is fixedly sleeved on the rotating shaft (13), and the gear (12) meshes with the rack (11).

4. A handling-assistance machine according to claim 3, characterized in that The gripper (4) is provided with a first slide rail, and the rack (11) is provided with a first slide groove (19) that slides with the first slide rail.

5. The material handling assistive machinery according to claim 1, characterized in that, The crossbeam (3) has a mounting beam (6) in the middle. The driving device includes two second cylinders on both sides of the mounting beam (6). One end of each second cylinder is connected to the mounting beam (6), and the piston rod at the other end is connected to the corresponding gripper (4).

6. The material handling assistive machinery according to claim 5, characterized in that, The end of the mounting beam (6) is fixed with a third cylinder (7), which is parallel to the gripper (4). The piston rod of the third cylinder is connected to a mounting plate (8), and the mounting plate (8) is provided with a positioning plate (9) that cooperates with the top of the traction beam (5).

7. The material handling assistive machinery according to claim 5, characterized in that, The crossbeam (3) is provided with a second guide rail parallel to it, and the gripper (4) is provided with a second sliding groove that slides in cooperation with the second guide rail.

8. The material handling assistive machinery according to claim 1, characterized in that, The column (2) and the crossbeam (3) are detachably connected by bolts.

Images