50 results about "Claw hands" patented technology

The utility model provides an instrument glue pouring waterproof structure which comprises an instrument structure main body part, a plastic decoration bottom shell and an instrument plastic claw hand assembly. The plastic decorative bottom shell is mounted on the instrument structure main body component, a gluing cavity is formed between the instrument structure main body component and the plastic decorative bottom shell, an instrument main control circuit board is arranged in the instrument structure main body component, and an instrument external lead is mounted on the instrument main control circuit board through a lead fixing wire fastener; the instrument plastic claw assembly is installed on the instrument structure main body component. The beneficial effects of the utility model are that the structure is simple, the glue filling is convenient, the external lead of the instrument can be connected with the external, the circuit board is completely immersed in the glue liquid by filling the liquid glue, and the waterproofness of the circuit board is fully protected.

The utility model discloses a robot battery taking-out mechanism. A battery of a robot is arranged on a tray capable of being pulled out of the robot. The robot battery taking-out mechanism comprises a transverse pulling mechanism and a lifting mechanism. The transverse pulling mechanism comprises a fixed seat, a claw seat, a claw and a translation driving unit; the translation driving unit can drive the claw base to translate in the horizontal direction; the claw hand is installed on a movable plate, the movable plate is connected with the claw hand seat through a push-pull execution unit, and the push-pull execution unit can change the distance between the movable plate and the claw hand seat; and the lifting mechanism comprises a lifting supporting plate and a driving mechanism for driving the lifting supporting plate to do lifting motion. According to the taking-out mechanism, the tray can be pulled out of the robot firstly, then the battery is lifted away from the tray, a new battery can be loaded conveniently, by means of the auxiliary function of the battery taking-out mechanism, the difficulty of replacing the battery can be greatly reduced, and the robot can rapidly detach and replace the battery.

A clamping jaw suitable for grabbing and stacking looped cables of various specifications comprises a rack, an inner clamping jaw mechanism and an outer clamping jaw mechanism, and the inner clamping jaw mechanism is connected to the bottom face of the rack; the inner clamping jaw mechanism is provided with at least two inner clamping jaw hands. The inner clamping claws are symmetrical around a straight line l; each inner claw hand is driven by a first radial movement driving mechanism to do linear motion, and the motion direction is perpendicular to a straight line l; the outer clamping jaw mechanism comprises two outer clamping jaw hands in pairs, and the two outer clamping jaw hands are connected to the bottom face of the rack and located below the rack. The two outer clamping jaw hands are symmetrical around a straight line 1; a cavity enclosed by the two outer clamping jaws is a loading cavity of a looped cable; the two outer clamping jaws are driven by a second radial movement driving mechanism to do linear movement, and the movement direction is perpendicular to the straight line l; a lifting mechanism is connected between the inner clamping jaw mechanism and the rack; when the inner clamping jaw mechanism is in a falling state, the inner clamping jaw hand is arranged below the loading cavity; and when the inner clamping jaw mechanism is in a lifting state, the inner clamping jaw hand is in the loading cavity.

The utility model relates to the technical field of truss robots, and provides a feeding and discharging truss robot claw for a carrier and a truss robo.The claw comprises a mounting welding support, two hook moving driving mechanisms, a limiting mechanism and hooks are arranged on the mounting welding support, and the two hook moving driving mechanisms are linearly arranged on the mounting welding support at intervals; the hook moving driving mechanisms are arranged on the mounting welding support and can move in a reciprocating mode, a limiting mechanism is arranged on the moving path of at least one hook moving driving mechanism, each hook moving driving mechanism is connected with two hooks, and the two hooks are connected to the hook moving driving mechanisms at intervals in the width direction of the mounting welding support. The maximum moving distance of the hook moving driving mechanism can be adjusted through the limiting mechanism, so that the hook can adapt to and grab carriers of various specifications, and the problem that an existing clamping jaw can only grab the carriers of the same specification and size is solved.

The utility model provides a U-shaped concrete drainage ditch prefabricated piece one-unit multi-piece integral assembly device, which is used for batch lifting of drainage ditch prefabricated blocks, including a lifting frame, a first steel wire rope, a second steel wire rope, and a lifting claw hand. The lifting frame is suspended by a crane through the first steel wire rope, and a plurality of lifting claw hands are distributed in an array shape, with two rows in front and back, and each lifting claw hand is respectively suspended on two opposite sides of the lifting frame through the second steel wire rope; each lifting claw hand includes a lifting ring, a pair of upper connecting rods, a pair of lower connecting rods, an X-shaped claw hand, and a pair of rubber plates from the top downward in sequence, and the whole is suspended on the lifting frame through the lifting ring through the second steel wire rope, and the X-shaped claw hand is in a retracted posture under natural state by relying on its own weight, and the X-shaped claw hands of two adjacent lifting claw hands in each row in a retracted posture can be clamped on both sides of the opening end of the drainage ditch prefabricated block through the rubber plate. The utility model can improve the assembly efficiency of the U-shaped concrete drainage ditch and reduce labor consumption.

The utility model discloses an automatic certificate storing and taking mechanism which comprises a certificate bin used for containing certificates and provided with a top opening, a top conveying assembly, a station disc, a claw hand and a transverse and longitudinal driving assembly connected with the claw hand. The lifting plate and the certificate bin are arranged up and down, the lifting rod is arranged on the lifting plate, the jacking driving assembly is connected with the lifting plate, and the jacking driving assembly is used for driving the lifting plate to move up and down relative to the certificate bin so as to drive the lifting rod to penetrate through the certificate bin to jack all certificates in the certificate bin to the top opening. The suction cup and the certificate bin are arranged up and down and arranged at the top opening, the station disc and the claw are arranged on the same side of the certificate bin, and the transverse and longitudinal driving assembly is used for driving the claw to achieve transverse movement and longitudinal movement so as to drive the claw to clamp certificates sucked by the suction cup to the station disc. The transverse movement is the front-back telescopic movement of the claw relative to the certificate bin, and the longitudinal movement is the up-down movement of the claw relative to the station disc. The utility model further provides a certificate checking device.

The application discloses a small-sized simple vacuum grabber and belongs to the technical field of mechanical engineering, which comprises a magnetic rod and a claw hand; the magnetic rod comprises a shell, an elongated cylinder, a telescopic cylinder, an outer magnetic ring, an inner magnetic ring and a driving rod; the lower end of the shell is fixedly connected with the elongated cylinder; the claw hand comprises a rotating disc, a fixed disc and a claw; the telescopic cylinder and the fixed disc are connected with each other to fix the fixed disc; the driving rod and the rotating disc are connected with each other to realize the rotation of the rotating disc along with the rotation of the driving rod; the structure has the advantages of miniaturization and simplification, and the universality of the vacuum grabber in various places is greatly realized.

The present invention discloses a cup-picking gripper that is compatible with the grasping operations of various cups. The gripper includes pneumatic fingers, clamps, and a clamping distance limiting assembly. The two clamps are arranged at a 180-degree interval along the circumference of the pneumatic fingers, and the pneumatic fingers drive the two clamps to form an opening and closing movement; the clamping distance limiting assembly includes a limiting turntable that is arranged below the pneumatic fingers and can rotate relative to the pneumatic fingers. The limiting turntable has at least two limiting width parts with different widths along the circumference, and the width of each limiting width part has two side surfaces corresponding to the two clamps for limiting.

The utility model relates to a kind of medical mechanical claw hand, including handle, the left side rotation of handle is equipped with clamping finger, the top of handle is equipped with transition connecting box, the top of transition connecting box is fixedly installed with bent pole, the inside of transition connecting box is provided with locking assembly, the side fixedly installed with extension rod of bent pole away from transition connecting box.This medical mechanical claw hand, by setting transmission work component, cooperate with finger shaft and winding wheel etc., only need to be by thumb and index finger to be inserted into the clamping finger on handle, control the opening and closing of clamping finger, it can be controlled by finger shaft etc. Structure to control clamping tooth plate work, by the above setting, not only the required mechanical structure is less, and operation is simple, reduce its upper hand threshold, reduce minimally invasive surgery training cost, improve surgical efficiency, with practicality, by setting locking assembly, realize the locking and relaxation of left and right swing and pitch angle during the operation of the device.

The present application relates to the technical field of transfer devices, and in particular to a cardboard transfer system. It includes a cardboard conveying system, a stacking system, a manipulator device, and a transfer vehicle; the manipulator device includes a base, on which a multi-joint manipulator arm is movably mounted along the length direction, a claw seat is fixed at the end of the movable joint of the multi-joint manipulator arm, a fixed upper clamping plate and a movable lower clamping plate are provided on the clamping plate, and a friction belt that can be rotated forward and backward is provided on the lower clamping plate. The cardboard falls from the conveyor belt into the container by itself to achieve self-stack. After the cardboard is stacked, the push rod on the lower clamping plate pushes the convex ball to descend and pulls the push plate to push the cardboard stack toward the claw hand, and finally is clamped by the claw hand and transferred to the transfer vehicle. The cardboard stack falls into the claw hand by itself through the pushing of the push plate and the pulling of the friction belt, which is convenient for loading and unloading of the cardboard stack, and does not require manual adjustment, which is more convenient and fast, and improves the stacking and clamping efficiency.

The utility model discloses a novel cover hanging mechanism which comprises a large cover hanging plate, and a feeding channel is arranged in the large cover hanging plate. A large plate supporting lug is arranged on the upper end face of the cover hanging large plate and connected with one end of a pressing plate through a pivot, the other end of the pressing plate is exposed out of an outlet of the feeding channel, and a pressing plate elastic assembly for limiting the pressing plate to turn upwards is arranged on the cover hanging large plate. Claw supporting lugs are arranged on the two sides of the large cover hanging plate and are in pivot connection with one ends of claws, the other ends of the claws are exposed out of an outlet of the feeding channel, and claw elastic assemblies for limiting the claws to overturn outwards are arranged on the large cover hanging plate. The cap hanging large plate is connected with the pressing plate through the pivot, so that the friction resistance between the pressing plate and the upper plane of the bottle cap when the pressing plate is lifted is reduced; the large cap hanging plate is connected with the claw hands through the pivot, friction force on the two sides of the bottle caps during cap hanging is reduced, the cap outlet end of the pressing plate is in arc transition, and cap outlet is smoother.

The invention discloses a clamping jaw unit, an integrated transfer module, a transfer system and a transfer method, and relates to the technical field of automatic medical device.According to the clamping jaw unit, the integrated transfer module, the transfer system and the transfer method, the structural strength adaptation of different consumables is achieved through the elastic force self-adaptive change of an elastic unit; corresponding to the amplification consumables, the elastic units exert small elastic force, and the amplification consumables which are thin in wall and prone to damage are prevented from being pressed and damaged; corresponding to consumable extraction, the opening degree of the claws is larger, the elastic units store more potential energy due to stretching, enough clamping force is provided after clamping and returning, high-strength consumable extraction stability is guaranteed, a complex control program or a high-precision motor is not needed, and the damage risk is reduced; the clamping jaw driving motor adopts a hierarchical current control strategy, when the consumable is clamped, the claw hand is maintained to be closed with low driving current, and clamping depends on elastic force; when the diaphragm is adsorbed, high driving current is used for overcoming elastic force, so that the claw hands are opened for avoiding, and energy consumption and reliability are balanced.

The utility model belongs to the technical field of engine machining equipment, especially for a kind of engine cylinder cover carrying double hand claws, double hand claws are installed on manipulator, double hand claws include the connecting seat of being installed with manipulator, two clamping cylinders are installed on the connecting seat, the clamping cylinder is equipped with the jaw of being formed by two and being a group on each, the jaw is formed with the opening for cylinder cover pick-and-place at the end of the one end and the other end of two groups of jaws back to clamping cylinder, two groups of clamping cylinders and jaw snatch two cylinder covers back;The double hand claws of the utility model are controlled by main control unit after installation, double-sided claw hand can simultaneously carry two cylinder covers, compared with manual operation more safe, efficient, also avoid the damage that can appear in cylinder cover carrying process, still can accurately, quickly transplant workpiece in each equipment time, greatly improve work efficiency, satisfy the demand of large quantities of automated production.

The utility model discloses a two-shaft manipulator for grabbing rice noodles, which comprises a vertical frame, a transverse support, a transverse guide rail, a longitudinal mounting plate, a longitudinal guide rail, a longitudinal power device, a transverse pushing device and a claw, one end of the transverse support is fixedly connected with the vertical frame, and the transverse guide rail extending along the length direction of the transverse support is fixed on the transverse support; the upper side of the longitudinal mounting plate is matched with the transverse guide rail through a first sliding block, and a longitudinal guide rail is arranged on the lower side of the longitudinal mounting plate. The extending direction of the longitudinal guide rail is perpendicular to the extending direction of the transverse guide rail. The claws are installed on the longitudinal guide rail through a second sliding block in a matched mode, the two claws are installed at the two ends of the longitudinal guide rail respectively, and the two claws are controlled by a longitudinal power device to move on the stroke of the longitudinal guide rail. And the transverse pushing device is connected with the longitudinal mounting plate. The device has the advantages of being high in automation degree, capable of reducing the labor intensity of workers, improving the working efficiency and the like.

The utility model discloses a carrying device for an automobile driving motor, which belongs to the technical field of motor production equipment and consists of a stand column, a control rod and a telescopic retracting and stretching component, and the stand column is fixed at the edge of a production line; the two ends of the control rod are connected with the stand column and the telescopic folding-unfolding assembly respectively. The telescopic retracting and stretching assembly is provided with an opening and closing claw matched with the inner wall of the middle of the motor semi-finished product. Wherein an opening and closing claw of the telescopic folding and unfolding assembly firmly grabs the inner wall of the middle of the semi-finished motor when being in an opening state, and the telescopic folding and unfolding assembly moves between different places along with swinging or lifting of the control rod. The device has the beneficial effects that the carrying is convenient, the labor intensity is reduced, and the grasping is firm.

The utility model discloses a zipper translation pushing mechanism for zipper detection. The zipper translation pushing mechanism comprises a fixed seat, a traction device and a pushing device, a zipper sliding groove is formed in the fixed seat; the traction device comprises a traction claw and a translation module; the pushing device comprises a sliding seat and a telescopic execution unit; a claw part is rotationally mounted on the sliding seat, the claw part is switched between an acting state and an idle state, and the claw part acts on a square piece of a zipper in an operating state; and the telescopic execution unit can enable the sliding seat to translate relative to the fixed seat. According to the zipper translation pushing mechanism for zipper detection, the square block is accurately pushed, the requirement for accurately pushing a zipper to a designated position in a translation mode in the zipper detection process is met, the problem that pushing is not accurate due to the fact that the zippers are different in length can be solved, and the zipper translation pushing mechanism is small in structure and small in occupied space.

The utility model relates to an automatic gearbox shell production line which comprises an unstacking unit, a marking machine unit, a machining unit, a transfer table unit, a sky rail robot unit and a control system, and the unstacking unit comprises an unstacking robot, a first quick-change connector, two sets of unstacking claws, a claw storage position and a zero-point cache station; the marking machine unit comprises a marking machine and a marking machine jig; the machining unit comprises a plurality of machine tools; the transfer table unit comprises two sets of transfer tables; the sky rail robot unit comprises a sky rail robot, a second quick-change connector, two sky rail robot claws and a claw storage station. According to the automatic gearbox shell production line, by arranging the unstacking unit, the sky rail robot unit and other automatic units, automatic operation of multiple links including blank feeding, part marking, machining, transferring and the like is achieved, manual intervention is greatly reduced, the labor cost is reduced, and meanwhile the production efficiency is improved.

The utility model relates to the technical field of intelligent visual inspection on a production line, and discloses an intelligent visual inspection device for robot production. The conveyor belt is arranged on the bottom plate in parallel; the synchronizing mechanism is arranged above the bottom plate; the synchronizing mechanism comprises a sliding strip, a sliding groove, a sliding seat, a roller, a telescopic rod, a spring and a limiting plate, the telescopic rod is fixedly connected to the side, close to the conveying belt, of the sliding seat, a limiting block is fixedly connected to the outer side wall of the conveying belt, and products are placed on the upper surface of the conveying belt; the annular detection lamp arranged above the conveying belt can detect products, if unqualified products are detected, the detection lamp transmits signals, the telescopic rod receives the signals, the telescopic rod stretches out and draws back to make contact with the limiting block, synchronous movement is achieved, and then the unqualified products placed on the conveying belt are taken through the claw hand mechanism in the synchronous movement process.

The present invention discloses a visual feeding mechanism that can effectively eliminate the interference of the material frame, including: a supporting upright plate fixedly connected to a 3D visual robot, a transmission mechanism is arranged on the supporting upright plate, a rotating claw platform is arranged at the end of the supporting upright plate, the transmission mechanism includes an upper synchronous gear fixed to the upper part of the supporting upright plate, a lower synchronous gear fixed to the lower part of the supporting upright plate, and a synchronous toothed belt arranged around the upper and lower synchronous gears, an upper U-shaped plate is fixedly installed at the lower part of the supporting upright plate, and the rotating claw platform includes a lower U-shaped plate, a cylinder and a claw assembly arranged below the lower U-shaped plate, one end of the shaft of the lower synchronous gear is fixedly arranged on the supporting upright plate, and the other end passes through the upper U-shaped plate and is connected to the lower U-shaped plate in a transmission manner. In the visual feeding mechanism of the present invention, the rotating claw platform can be arbitrarily rotated and positioned within a range of ninety degrees vertically and parallel to the ground, and the rotation angle is transmitted by a synchronous belt, so that there is no dead angle in grabbing materials.

The present invention discloses a non-powered sling, comprising a sling frame, a telescopic connecting rod, a support rod and two claw handle rods symmetrically arranged on both sides of the sling frame, the upper ends of the two claw handle rods are respectively rotatably connected to one side of the sling frame, the lower ends of the two claw handle rods are respectively fixedly connected to the vehicle body in a releasable manner, the telescopic connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod which are movably connected in sequence, the left end of the first connecting rod is fixedly connected to the claw handle rod on the left side, the right end of the third connecting rod is fixedly connected to the claw handle rod on the right side, the support rod is fixedly penetrated in the center of the sling frame and its lower end is movably connected to the middle part of the second connecting rod, the connection between the first connecting rod and the second connecting rod is provided with a positioning rope with a fixed upper end position, and the connection between the second connecting rod and the third connecting rod is provided with a spring with a fixed upper end position. The non-powered sling of the present invention has a simple structure, low cost, reduces the number of operators, shortens the hanging and taking time, and eliminates safety hazards.

A subsea apparatus and a method of operating the same. The underwater equipment comprises a main body platform, a mechanical claw, a clamping device and a cable take-up and pay-off device, the mechanical claw comprises claw hands which can be controlled to be opened and closed and is configured to be capable of carrying a target object, and the clamping device is installed on the main body platform and is configured to be detachably connected with the mechanical claw and control the mechanical claw; the cable take-up and pay-off device comprises a first cable which can be controlled to be taken up and released, and the first cable is configured to be connected with a target object. According to the underwater equipment, the target object can be placed at the target position through simple steps, and the process is simple, efficient and convenient to operate; for example, under the condition that the target object is the explosive ordnance disposal device, the underwater equipment can place the explosive ordnance disposal device on the elastic body so as to realize accurate explosive ordnance disposal.

The present invention relates to the technical field of working at heights, and discloses a quick-change tool carrying structure for a working-at-heights robot, which is characterized in that: it includes a fixed bracket, a guide rail is arranged on the fixed bracket, and a plurality of C-shaped trays are detachably arranged along the direction of the guide rail. The C-shaped trays are used for carrying tools, and a fastening claw hand cooperating with the tools is arranged below the C-shaped trays. The fastening claw hand is connected to an elastic locking mechanism, and the elastic locking mechanism is used to drive the fastening claw hand to open or retract so as to lock or unlock the tools placed in the C-shaped trays. The whole device has a simple structure, low cost and is convenient for popularization and application.

The utility model discloses a tray grabbing rotary gripper mechanism which comprises an outer frame arranged on a stacking machine, a grabbing mechanism used for grabbing trays is arranged on the outer frame, the grabbing mechanism comprises fixing frames arranged at the two ends of the inner side of the outer frame, a pair of rotating shafts is vertically arranged on the opposite sides of the two fixing frames, and the rotating shafts are arranged on the outer frame. And the rotating shaft is rotationally connected to the side face of the fixing frame, a horizontally-arranged claw is fixedly arranged at the bottom of the rotating shaft, a second air cylinder is movably arranged on one side of the upper end of the fixing frame, and a cam is fixedly arranged at the top of the rotating shaft. According to the tray grabbing rotating paw mechanism, the grabbing mechanism mainly comprises the second air cylinder, the connecting rod, the cam, the rotating shaft and the paws, one second air cylinder can drive the two paws to rotate, the operation efficiency of a stacking machine is improved, the structure is simple, and operation is stable.

An underwater device and its operation method. The underwater device includes a main body platform, a mechanical claw, a clamping device, and a cable winding and unwinding device; the mechanical claw includes a claw hand that can be controlled to open and close, and is configured to be able to carry a target object. The clamping device is installed on the main body platform and is configured to detachably connect to the mechanical claw and control the mechanical claw; the cable winding and unwinding device includes a first cable that can be controlled to be wound up and released, and the first cable is configured to connect to the target object. The underwater device can place the target object at the target position through simple steps, and the process is simple, efficient, and easy to operate; for example, when the target object is an explosive disposal device, the underwater device can place the explosive disposal device on the projectile body to achieve precise explosive disposal.

The application discloses an electromagnetic adsorption type inlaying claw hand and belongs to the field of mechanical hands. The electromagnetic adsorption type inlaying claw hand comprises an electromagnet fixing base, a mounting flange is fixedly connected to the bottom of the electromagnet fixing base, a switch induction switch is fixedly connected to the outer side wall of the electromagnet fixing base, a proximity switch is fixedly connected to the bottom of the switch induction switch and located below the mounting flange, a plurality of oil-free shaft sleeves are embedded and mounted in the electromagnet fixing base, guide rods are slidably connected to the oil-free shaft sleeves, a push plate is fixedly connected to the top ends of the guide rods, a switch base is fixedly connected to the bottom ends of the two guide rods located in front of the outer side of the electromagnet fixing base, and springs are sleeved with the outer side walls of the guide rods. Compared with a traditional clamping mode, the device can control the adsorption and loosening of inlaying pieces through the combination of AlNiCo and NdFeB to charge and demagnetize.

The application discloses a clamping jaw unit, an integrated transfer module, a transfer system and a transfer method, relates to the technical field of automatic medical equipment, and provides the clamping jaw unit, the integrated transfer module, the transfer system and the transfer method, which realize the structural strength adaptation of different consumables through the elastic force self-adaptive change of an elastic unit; corresponding to amplification consumables, the elastic unit applies a small elastic force, so that the thin-walled and easily-damaged amplification consumables are prevented from being damaged by pressure; corresponding to extraction consumables, the degree of opening of the claw hand is larger, the elastic unit stores more potential energy due to stretching, and enough clamping force is provided after the clamping reset to guarantee the stability of high-strength extraction consumables, so that a complex control program or a high-precision motor is not needed, and the damage risk is reduced; the clamping jaw driving motor adopts a staged current control strategy, the claw hand is maintained to be closed at low driving current when clamping consumables, and is clamped by relying on the elastic force; when the adsorbing film is clamped, the claw hand is opened by overcoming the elastic force at high driving current to avoid, and the energy consumption and reliability are balanced.

The invention discloses an electromagnetic adsorption type embedded claw and belongs to the field of manipulators. Comprising an electromagnet fixing seat, a mounting flange is fixedly connected to the bottom of the electromagnet fixing seat, a switch sensing switch is fixedly connected to the outer side wall of the electromagnet fixing seat, and a proximity switch is fixedly connected to the position, below the mounting flange, of the bottom of the switch sensing switch; a plurality of oil-free shaft sleeves are embedded in the electromagnet fixing seat, guide rods are slidably connected to the interiors of the oil-free shaft sleeves, the top ends of the plurality of guide rods are jointly and fixedly connected with a push plate, and the bottom ends of the two guide rods located in front of the outer side of the electromagnet fixing seat are jointly and fixedly connected with a switch seat. The outer side wall of the guide rod is sleeved with a spring. Compared with a traditional clamping mode, the device can control adsorption and loosening of the insert by magnetizing and demagnetizing through combination of AlNiCo and neodymium iron boron.

The utility model belongs to the technical field of knitting machinery, and particularly relates to a novel transfer needle and a transfer device.The novel transfer needle comprises a needle body, a hook tongue is arranged at the front end of the needle body, the novel transfer needle further comprises a needle base, the needle base extends in the axial direction of the needle body and is connected with the needle body through at least two mortise and tenon joint structures, and the positions of the mortise and tenon joint structures are distributed at intervals in the axial direction of the needle body. The needle body is connected to the needle seat in a hanging manner; wherein the butt joint direction of a tenon and a mortise of the mortise and tenon joint structure is the axial direction of the needle body; the transfer device comprises a claw disc, the claw disc is provided with a sliding groove extending in the radial direction of the claw disc, the transfer device further comprises the novel transfer needle, and the needle base is in sliding fit with the sliding groove so that the needle body can move in the radial direction of the claw disc. According to the novel transfer needle and the transfer device, the needle body and the needle base are stably connected, it is guaranteed that the needle body cannot deviate in other directions due to the fact that the needle body is separated from the needle base due to vibration in the axial movement process of the needle body, and the quality and efficiency of sock thread transfer operation are guaranteed.

The utility model belongs to the technical field of hot galvanizing, and discloses an outer claw for grabbing a hot galvanizing charging barrel and automatic outer claw equipment, the outer claw for grabbing the hot galvanizing charging barrel comprises a support frame, three clamping claws hinged on the support frame and a linkage control mechanism for synchronously opening and closing the three clamping claws, the dust scraping rod is rotationally arranged on the supporting frame, the dust scraping plate is fixedly arranged on the dust scraping rod, and the power mechanism is used for driving the dust scraping rod to rotate. The automatic outer claw hand equipment for clamping the hot galvanizing charging barrel comprises a robot and the outer claw hand, and the robot is fixedly connected with the supporting frame. The zinc ash cleaning device can realize automatic zinc ash cleaning, is controlled by a robot, and can reduce the harm of smoke dust and high temperature to human bodies.