CN112518178A

CN112518178A - Standard festival material loading clamping device

Info

Publication number: CN112518178A
Application number: CN202011343863.0A
Authority: CN
Inventors: 钟如健; 李国平; 袁渊; 陈堪永; 黄维坤; 陈千雅
Original assignee: Guangzhou Ruisong Intelligent Technology Co ltd
Current assignee: Guangzhou Ruisong Intelligent Technology Co ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-03-19

Abstract

The invention discloses a standard knot feeding clamping device which comprises an installation frame, a first clamping mechanism, a second clamping mechanism and a trigger switch, wherein the first clamping mechanism is arranged on the installation frame; the first clamping mechanism comprises two large clamping claws with hook parts and a first driving mechanism, the two large clamping claws are respectively and rotatably connected with the mounting frame, and the first driving mechanism is used for driving the two large clamping claws to rotate so as to enable the two large clamping claws to be close to or far away from each other; the second clamping mechanism comprises a supporting seat, a second driving mechanism and a small clamping claw, a linkage piece is arranged on the supporting seat, the base end of the small clamping claw can be rotatably arranged on the supporting seat and is in fit connection with the linkage piece, and the linkage piece can be in linkage with the small clamping claw to move while sliding; the supporting seat is provided with a touch piece and a third driving mechanism, the trigger switch is electrically connected with the first driving mechanism, and the first driving mechanism is used for driving the two large clamping claws to rotate after the touch piece touches the trigger switch. The invention has good compatibility and reduces the manufacturing cost and the later maintenance cost.

Description

Standard festival material loading clamping device

Technical Field

The invention relates to the field of automatic production lines of standard knots, in particular to a feeding clamping device for the standard knots.

Background

The tower crane is also called tower crane, and is tower crane machinery widely used in construction industry. The standard knot is a basic component part in the tower crane and mainly comprises a main pipe, a main folded plate, an auxiliary folded plate and an inclined web member which are mutually welded together. At present, a simpler tool fixture is generally adopted to fix standard joint parts, and then manual welding is carried out. The manual welding is affected by human factors, the welding efficiency is low, the labor intensity is high, the welding quality is unstable, the welding quality of each welding line is difficult to ensure, and the quality of a standard knot is difficult to reliably ensure. In order to solve the problems, a standard section automatic welding production line is designed, in order to enable the standard section automatic welding production line to be more useful, a workpiece grabbing clamp suitable for a feeding robot system in the standard section automatic welding production line needs to be designed, in the prior art, multiple grippers with different functions are needed for automatic feeding and discharging of single parts and assemblies of standard sections, and the problems of large and multiple structures, high cost, poor compatibility, inconvenience in switching and the like exist.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a standard knot feeding clamping device which is good in compatibility, simple in structure and low in manufacturing cost.

The purpose of the invention is realized by adopting the following technical scheme:

a standard knot feeding clamping device comprises an installation frame, a first clamping mechanism, a second clamping mechanism and a trigger switch, wherein the installation frame is used for being fixed on an arm of a feeding robot; the first clamping mechanism comprises two large clamping claws with hook parts and a first driving mechanism, the two large clamping claws are respectively rotatably connected with the mounting frame, the two large clamping claws are respectively arranged on two sides of the mounting frame in a manner that the hook parts are opposite, the first driving mechanism is used for driving the two large clamping claws to rotate so as to enable the two large clamping claws to be close to or far away from each other, and the large clamping claws are used for grabbing the standard knot assembly; the second clamping mechanism comprises a supporting seat arranged on the mounting frame, a second driving mechanism arranged on the supporting seat and a small clamping jaw, the supporting seat is provided with a clamping supporting surface, a linkage piece is arranged on the supporting seat and can slide relative to the supporting seat under the driving of the second driving mechanism, the base end of the small clamping jaw can be rotatably arranged on the supporting seat and is in fit connection with the linkage piece, the linkage piece can be linked with the small clamping jaw to move towards the direction close to or far away from the clamping supporting surface while sliding, and the small clamping jaw is used for grabbing standard joint single products; the supporting seat is provided with a touch piece and a third driving mechanism, the touch piece can be touched with the trigger switch under the driving of the third driving mechanism, the trigger switch is electrically connected with the first driving mechanism, and the first driving mechanism is used for driving the two large clamping claws to rotate after the touch piece is touched with the trigger switch.

Further, the linkage is provided with a rack, and the base end of the small clamping claw is provided with a gear part which is meshed with the rack.

Furthermore, the head end of the small clamping claw is provided with a clamping groove, and the opening direction of the clamping groove faces the clamping support surface.

Furthermore, the central point of gear portion puts and is equipped with first hinge hole, gear portion articulates through the articulated shaft on the supporting seat, be equipped with the gear on gear portion's global, the supporting seat be equipped with be used for with linkage piece sliding fit's first spout, first spout extends the setting along the slip direction of linkage piece, be equipped with on the supporting seat with the second hinge hole of articulated shaft looks adaptation and with the rotation hole of gear portion looks adaptation, the rotation hole with first spout is linked together.

The movable part is slidably mounted on the supporting seat, the movable part is provided with a lifting inner cavity matched with the touch part, the touch part is slidably mounted in the lifting inner cavity, the first driving mechanism comprises a first air cylinder and a second air cylinder, two large clamping claws comprise a first large clamping claw in driving connection with the first air cylinder and a second large clamping claw in driving connection with the second air cylinder, the trigger switch comprises a first trigger switch and a second trigger switch, the third driving mechanism is used for driving the touch part to extend out of the lifting inner cavity so that the touch part can be touched with the first trigger switch, the first trigger switch is electrically connected with the first air cylinder, and the fourth driving mechanism is used for driving the movable part to slide relative to the supporting seat so that the end part of the movable part can be touched with the second trigger switch, the second trigger switch is electrically connected with the second cylinder.

Furthermore, the mounting frame comprises a first mounting plate, a second mounting plate and a vertical plate assembly for connecting the first mounting plate and the second mounting plate, the first mounting plate is positioned above the second mounting plate, the first mounting plate is fixed on an arm of the feeding robot, the vertical plate assembly comprises two first vertical plates arranged on the left side below the first mounting plate and two second vertical plates arranged on the right side below the first mounting plate, the bottoms of the two first vertical plates are connected with the second mounting plate through first connecting rods, and the two second vertical plates are connected with the second mounting plate through second connecting rods; the left sides of the two first vertical plates are respectively hinged with one first large clamping jaw, the two first large clamping jaws are connected through a third connecting rod, the right sides of the two second vertical plates are respectively hinged with one second large clamping jaw, and the two second large clamping jaws are connected through a fourth connecting rod; the cylinder body of the first cylinder is fixed on the first connecting rod, the piston rod of the first cylinder is fixedly connected with the third connecting rod, the cylinder body of the second cylinder is fixed on the second connecting rod, and the piston rod of the second cylinder is fixedly connected with the fourth connecting rod.

Furthermore, a first positioning plate for fixing the first trigger switch and a second positioning plate for fixing the second trigger switch are arranged on the second mounting plate.

Further, the periphery of moving member is equipped with the draw runner, the internal perisporium of supporting seat be equipped with the second spout of draw runner looks adaptation, the second spout is followed the slip direction of moving member extends the setting.

Further, still including installation piece and jacking cylinder, the both sides of installation piece are equipped with the joint rod, the mounting bracket be equipped with be used for with the draw-in groove of joint rod looks adaptation, the supporting seat is installed the below of installation piece, the cylinder body of jacking cylinder is fixed on the mounting bracket, the piston rod of jacking cylinder is located the below of joint rod, the installation piece can rise under the drive of jacking cylinder extremely the joint rod with the draw-in groove joint.

Further, the trigger switch is a mechanical valve or an electromagnetic valve.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the standard joint single products are grabbed and placed at the corresponding positions of the tool through the small clamping claws, after the small clamping claws grab all the standard joint single products, the third driving mechanism drives the touch piece to touch the trigger switch, the trigger switch controls the first driving mechanism to start, and the first driving mechanism drives the large clamping claw to take out the standard joint assembly from the corresponding position of the tool and place the standard joint assembly at the specified position. The large clamping claw and the small clamping claw provided by the invention realize automatic switching through the trigger switch, and the small clamping claw is matched with the clamping support surface, so that the large clamping claw and the small clamping claw can be compatible with various different workpieces, and the manufacturing cost and the later maintenance cost are reduced. In addition, the device has simple and compact structure, and saves space cost.

Drawings

FIG. 1 is a schematic view of a standard knot feeding clamping device provided by the present invention;

FIG. 2 is a schematic view of the assembly of the first clamping mechanism and the mounting bracket provided by the present invention;

FIG. 3 is a schematic view of the assembly of a second clamping mechanism and a mounting block provided by the present invention;

FIG. 4 is a schematic view of a second clamping mechanism provided in accordance with the present invention;

FIG. 5 is a first cross-sectional view of a second clamping mechanism provided by the present invention;

FIG. 6 is a second cross-sectional view of a second clamping mechanism provided in accordance with the present invention;

FIG. 7 is a schematic view of a support base according to the present invention;

in the figure: 10. a mounting frame; 101. a first mounting plate; 102. a second mounting plate; 103. a first vertical plate; 104. a second vertical plate; 105. a first connecting rod; 106. a second connecting rod; 107. a third connecting rod; 108. a fourth connecting rod; 109. a card slot; 20. a first clamping mechanism; 201. a first large gripper jaw; 202. a second large gripper jaw; 203. a first cylinder; 204. a second cylinder; 30. a second clamping mechanism; 300. connecting blocks; 301. a supporting seat; 3011. clamping the support surface; 3012. a first chute; 3013. rotating the hole; 3014. a second hinge hole; 3015. a second chute; 302. a small gripper jaw; 3021. a gear portion; 3022. a clamping groove; 303. a linkage member; 3031. a rack; 304. a second drive mechanism; 305. a touch member; 306. a third drive mechanism; 307. a moving member; 3071. a slide bar; 308. a fourth drive mechanism; 40. a first trigger switch; 50. a second trigger switch; 60. mounting blocks; 601. a clamping and connecting rod; 70. and (5) jacking the cylinder.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", "vertical", "top", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," "one," "another," and the like are used to distinguish similar elements, and these terms and other similar terms are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through both elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Corresponding reference numerals are used throughout the figures to indicate corresponding or corresponding elements (e.g., elements identified as "1 XX" and "2 XX" are structurally identical and functionally similar).

As shown in fig. 1 to 7, the standard knot feeding clamping device provided by the present invention comprises a mounting frame 10 for fixing on an arm of a feeding robot, a first clamping mechanism 20, a second clamping mechanism 30 and a trigger switch, wherein the first clamping mechanism 20, the second clamping mechanism 30 and the trigger switch are arranged on the mounting frame 10; the first clamping mechanism 20 comprises two large clamping claws with hook portions and a first driving mechanism, the two large clamping claws are respectively connected with the mounting frame 10 in a rotating mode, the two large clamping claws are respectively arranged on two sides of the mounting frame 10 in an opposite mode of the hook portions, the first driving mechanism is used for driving the two large clamping claws to rotate so as to enable the two large clamping claws to be close to or far away from each other, and the large clamping claws are used for grabbing the standard knot assembly; the second clamping mechanism 30 comprises a supporting seat 301 arranged on the mounting frame 10, a second driving mechanism 304 arranged on the supporting seat 301 and a small clamping jaw 302, the supporting seat 301 is provided with a clamping supporting surface 3011, a linkage member 303 is arranged on the supporting seat 301, the linkage member 303 can slide relative to the supporting seat 301 under the driving of the second driving mechanism 304, the base end of the small clamping jaw 302 can be rotatably arranged on the supporting seat 301 and is in fit connection with the linkage member 303, the linkage member 303 can move towards the direction close to or far away from the clamping supporting surface 3011 in a linkage manner while sliding, and the small clamping jaw is used for clamping a standard single-joint product; the supporting seat 301 is provided with a touch piece 305 and a third driving mechanism 306, the touch piece 305 can be driven by the third driving mechanism 306 to be touched by the trigger switch, the trigger switch is electrically connected with the first driving mechanism, and the first driving mechanism is used for driving the two large clamping claws to rotate after the touch piece 305 touches the trigger switch.

In this embodiment, the standard knot feeding clamping device is provided with a large clamping claw and a small clamping claw 302, namely the device is provided with double grippers, the small clamping claw 302 is used for grabbing a single standard knot product, and the large clamping claw is used for grabbing a standard knot assembly, namely the device is provided with two functional grippers. Wherein, the theory of operation is: the second driving mechanism 304 drives the linkage member 303 to slide, the linkage member 303 drives the small clamping claw 302 to move while sliding, so that the small clamping claw 302 moves towards a direction close to or away from the clamping support surface 3011, the small clamping claw 302 and the clamping support surface 3011 are matched to clamp a standard section workpiece, then the workpiece is placed at a corresponding position of a tool by a feeding robot, after the small clamping claw 302 finishes grabbing all standard section single products, the third driving mechanism 306 drives the touch member 305 to touch the trigger switch, the trigger switch controls the first driving mechanism to start, and the first driving mechanism drives the large clamping claw to take out the standard section assembly from the corresponding position of the tool and place the standard section assembly at a specified position, so that a feeding grabbing process is finished.

The large clamping jaw and the small clamping jaw 302 provided by the invention can realize automatic switching through the trigger switch, and the small clamping jaw 302 is matched with the clamping support surface 3011, so that the large clamping jaw and the small clamping jaw can be compatible with various different workpieces, and the manufacturing cost and the later maintenance cost are reduced. The device has simple and compact structure, and saves space cost.

Preferably, the link 303 is provided with a rack 3031, and the base end of the small holding claw 302 is provided with a gear portion 3021, and the gear portion 3021 is engaged with the rack 3031.

Specifically, the central position of gear portion 3021 is equipped with first hinge hole, gear portion 3021 articulates on supporting seat 301 through the articulated shaft, be equipped with the gear on the global of gear portion 3021, supporting seat 301 is equipped with be used for with link 303 sliding fit's first spout 3012, first spout 3012 extends along link 303's slip direction sets up, be equipped with on the supporting seat 301 with the second hinge hole 3014 of articulated shaft adaptation and with the rotation hole 3013 of gear portion 3021 looks adaptation, rotation hole 3013 with first spout 3012 is linked together.

Specifically, the second driving mechanism 304 is preferably an air cylinder, a cylinder body of which is fixedly connected to the supporting base 301, and a piston rod of which is fixedly connected to the link 303.

Preferably, the head end of the small clamping claw 302 is provided with a clamping groove 3022, and the opening direction of the clamping groove 3022 faces the clamping support surface 3011. Through the cooperation of the clamping groove 3022 and the clamping support surface 3011, the small clamping claw 302 can grab different workpieces, and meanwhile, the grabbing stability is improved.

In this embodiment, the link 303 is an elongated rectangular block, the first chute 3012 of the support base 301 is adapted to the elongated rectangular block, and the rack 3031 is disposed on the upper surface of the elongated rectangular block. The linkage process is as follows: the cylinder drives the piston rod to move downwards, then the piston rod pushes the linkage piece 303 to move downwards, as the gear part 3021 at the base end of the small clamping claw 302 is meshed with the linkage piece 303, and the small clamping claw 302 is hinged on the supporting seat 301, the linkage piece 303 moves downwards and simultaneously links the small clamping claw 302 to move upwards, namely the small clamping claw 302 moves towards the direction far away from the clamping supporting surface 3011, so that the workpiece is loosened; when the link 303 moves upward, the small holding claw 302 moves downward, that is, the small holding claw 302 moves toward the holding support surface 3011, thereby clamping the workpiece.

Preferably, the clamping small holding claws are provided in two. Through setting up two little gripper jaws 302, improve the stability of snatching, avoid dropping from little gripper jaw 302 at the material loading in-process work piece.

Preferably, the present embodiment further includes a moving member 307 and a fourth driving mechanism 308, the moving member 307 is slidably mounted on the supporting base 301, the moving member 307 is provided with an elevating cavity adapted to the touching member 305, the touching member 305 is slidably mounted in the elevating cavity, the first driving mechanism includes a first air cylinder 203 and a second air cylinder 204, the two large clamping jaws include a first large clamping jaw 201 drivingly connected to the first air cylinder 203 and a second large clamping jaw 202 drivingly connected to the second air cylinder 204, the trigger switch includes a first trigger switch 40 and a second trigger switch 50, the third driving mechanism 306 is configured to drive the touching member 305 to extend out of the elevating cavity so that the touching member 305 can touch the first trigger switch 40, the first trigger switch 40 is electrically connected to the first air cylinder 203, and the fourth driving mechanism 308 is configured to drive the moving member 307 to slide relative to the supporting base 301 so as to enable the moving member to move the supporting base 301 307 can touch the second trigger switch 50, and the second trigger switch 50 is electrically connected to the second cylinder 204.

In this embodiment, the first large gripper 201 is driven by the first cylinder 203, the second large gripper 202 is driven by the second cylinder 204, after the small gripper 302 finishes the gripping process, the third driving mechanism 306 drives the touching part 305 to extend out of the moving part 307, so that the end of the touching part 305 touches the first trigger switch 40, and the fourth driving mechanism 308 drives the moving part 307 to move towards the direction close to the second trigger switch 50, so that the outer wall of the moving part 307 touches the second trigger switch 50, and thus, the first cylinder 203 and the second cylinder 204 can be simultaneously started, so that the first large gripper 201 and the second large gripper 202 rotate simultaneously.

Preferably, the trigger switch is a mechanical valve or a solenoid valve. The first cylinder 203 and the second cylinder 204 of the present embodiment are respectively provided with a mechanical valve, and the mechanical valve controls the air intake of the first cylinder 203 and the second cylinder 204.

Preferably, the mounting frame 10 includes a first mounting plate 101, a second mounting plate 102 and a riser assembly for connecting the first mounting plate 101 and the second mounting plate 102, the first mounting plate 101 is located above the second mounting plate 102, the first mounting plate 101 is fixed on an arm of the feeding robot, the riser assembly includes two first risers 103 installed on the left side below the first mounting plate 101 and two second risers 104 installed on the right side below the first mounting plate 101, bottoms of the two first risers 103 are connected to the second mounting plate 102 through first connecting rods 105, and the two second risers 104 are connected to the second mounting plate 102 through second connecting rods 106; the left sides of the two first vertical plates 103 are respectively hinged with one first large clamping jaw 201, the two first large clamping jaws 201 are connected through a third connecting rod 107, the right sides of the two second vertical plates 104 are respectively hinged with one second large clamping jaw 202, and the two second large clamping jaws 202 are connected through a fourth connecting rod 108; the cylinder body of the first cylinder 203 is fixed on the first connecting rod 105, the piston rod of the first cylinder 203 is fixedly connected with the third connecting rod 107, the cylinder body of the second cylinder 204 is fixed on the second connecting rod 106, and the piston rod of the second cylinder 204 is fixedly connected with the fourth connecting rod 108.

Specifically, a first fixing seat is sleeved at the middle position of the first connecting rod 105, a first connecting piece is sleeved at the middle position of the third connecting rod 107, a cylinder body of the first cylinder 203 is fixed on the first fixing seat, and a piston rod of the first cylinder 203 is fixedly connected with the first connecting piece; the middle position cover of second connecting rod 106 is equipped with the second fixing base, the middle position cover of fourth connecting rod 108 is equipped with the second connecting piece, the cylinder body of second cylinder 204 is fixed on the second fixing base, the piston rod of second cylinder 204 with second connecting piece fixed connection.

In this embodiment, there are two first large clamping claws 201, the first cylinder 203 drives the two first large clamping claws 201 to rotate, and there are two second large clamping claws 202, and the second cylinder 204 drives the two second large clamping claws 202 to rotate, so that the whole structure is compact and the layout is simple. By providing two first large clamping jaws 201 and two second large clamping jaws 202, the stability of the clamping is further improved.

Preferably, the second mounting plate 102 is provided with a first positioning plate for fixing the first trigger switch 40 and a second positioning plate for fixing the second trigger switch 50.

Preferably, a sliding bar 3071 is arranged on the outer periphery of the moving member 307, a second sliding groove 3015 adapted to the sliding bar 3071 is arranged on the inner peripheral wall of the supporting seat 301, and the second sliding groove 3015 extends along the sliding direction of the moving member 307. The slide bar 3071 and the second chute 3015 improve the smoothness of the sliding of the moving member 307. In this embodiment, the fourth driving mechanism 308 is preferably a fourth cylinder, a cylinder body of which is fixed on the supporting base 301, and a piston rod of which is fixedly connected with the moving member 307.

Preferably, still including installation piece 60 and jacking cylinder 70, the both sides of installation piece 60 are equipped with joint rod 601, mounting bracket 10 be equipped with be used for with the draw-in groove 109 of joint rod 601 looks adaptation, supporting seat 301 is installed the below of installation piece 60, jacking cylinder 70's cylinder body is fixed on mounting bracket 10, jacking cylinder 70's piston rod is located joint rod 601's below, installation piece 60 can rise under jacking cylinder 70's the drive to joint rod 601 with the joint of draw-in groove 109. In this embodiment, a connecting block 300 is installed below the installation block 60, and a support base 301 is installed on the connecting block 300. When the jacking cylinder 70 drives the piston rod to move upwards, the end of the piston rod pushes the mounting block 60 to move upwards, and then the clamping rod 601 of the mounting block 60 is clamped into the clamping groove 109, so that the mounting block 60 is fixed on the mounting frame 10.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. A standard knot feeding clamping device is characterized by comprising an installation frame, a first clamping mechanism, a second clamping mechanism and a trigger switch, wherein the installation frame is used for being fixed on an arm of a feeding robot; the first clamping mechanism comprises two large clamping claws with hook parts and a first driving mechanism, the two large clamping claws are respectively rotatably connected with the mounting frame, the two large clamping claws are respectively arranged on two sides of the mounting frame in a manner that the hook parts are opposite, the first driving mechanism is used for driving the two large clamping claws to rotate so as to enable the two large clamping claws to be close to or far away from each other, and the large clamping claws are used for grabbing the standard knot assembly; the second clamping mechanism comprises a supporting seat arranged on the mounting frame, a second driving mechanism arranged on the supporting seat and a small clamping jaw, the supporting seat is provided with a clamping supporting surface, a linkage piece is arranged on the supporting seat and can slide relative to the supporting seat under the driving of the second driving mechanism, the base end of the small clamping jaw can be rotatably arranged on the supporting seat and is in fit connection with the linkage piece, the linkage piece can be linked with the small clamping jaw to move towards the direction close to or far away from the clamping supporting surface while sliding, and the small clamping jaw is used for grabbing standard joint single products; the supporting seat is provided with a touch piece and a third driving mechanism, the touch piece can be touched with the trigger switch under the driving of the third driving mechanism, the trigger switch is electrically connected with the first driving mechanism, and the first driving mechanism is used for driving the two large clamping claws to rotate after the touch piece is touched with the trigger switch.

2. A standard knot feeding clamping device as claimed in claim 1, wherein the linkage is provided with a rack, and the base end of the small clamping jaw is provided with a gear portion, and the gear portion is engaged with the rack.

3. The standard knot charging clamping device as defined in claim 1, wherein the head end of the small clamping claw is provided with a clamping groove, and the opening direction of the clamping groove faces the clamping support surface.

4. The standard knot feeding and clamping device as claimed in claim 2, wherein a first hinge hole is formed at a central position of the gear portion, the gear portion is hinged to the supporting seat through a hinge shaft, a gear is disposed on a peripheral surface of the gear portion, the supporting seat is provided with a first sliding groove for sliding fit with the linkage, the first sliding groove extends along a sliding direction of the linkage, a second hinge hole matched with the hinge shaft and a rotation hole matched with the gear portion are formed on the supporting seat, and the rotation hole is communicated with the first sliding groove.

5. The standard knot feeding and clamping device as claimed in claim 1, further comprising a moving member and a fourth driving mechanism, wherein the moving member is slidably mounted on the supporting base, the moving member is provided with a lifting cavity adapted to the touch member, the touch member is slidably mounted in the lifting cavity, the first driving mechanism comprises a first cylinder and a second cylinder, the two large clamping jaws comprise a first large clamping jaw drivingly connected to the first cylinder and a second large clamping jaw drivingly connected to the second cylinder, the trigger switch comprises a first trigger switch and a second trigger switch, the third driving mechanism is used for driving the touch member to extend out of the lifting cavity so that the touch member can be touched by the first trigger switch, the first trigger switch is electrically connected to the first cylinder, and the fourth driving mechanism is used for driving the moving member to slide relative to the supporting base so that the end of the moving member can be touched by the first trigger switch The second trigger switch can be touched and is electrically connected with the second cylinder.

6. The standard knot feeding and clamping device as claimed in claim 5, wherein the mounting frame comprises a first mounting plate, a second mounting plate and a vertical plate assembly for connecting the first mounting plate and the second mounting plate, the first mounting plate is positioned above the second mounting plate, the first mounting plate is fixed on an arm of the feeding robot, the vertical plate assembly comprises two first vertical plates arranged on the left side below the first mounting plate and two second vertical plates arranged on the right side below the first mounting plate, the bottoms of the two first vertical plates are connected with the second mounting plate through first connecting rods, and the two second vertical plates are connected with the second mounting plate through second connecting rods; the left sides of the two first vertical plates are respectively hinged with one first large clamping jaw, the two first large clamping jaws are connected through a third connecting rod, the right sides of the two second vertical plates are respectively hinged with one second large clamping jaw, and the two second large clamping jaws are connected through a fourth connecting rod; the cylinder body of the first cylinder is fixed on the first connecting rod, the piston rod of the first cylinder is fixedly connected with the third connecting rod, the cylinder body of the second cylinder is fixed on the second connecting rod, and the piston rod of the second cylinder is fixedly connected with the fourth connecting rod.

7. The standard knot charging clamping device as defined in claim 6, wherein the second mounting plate is provided with a first positioning plate for fixing the first trigger switch and a second positioning plate for fixing the second trigger switch.

8. The standard knot feeding and clamping device as claimed in claim 5, wherein the moving member is provided with a sliding bar at the outer circumference thereof, and the inner circumferential wall of the supporting seat is provided with a second sliding groove adapted to the sliding bar, the second sliding groove extending along the sliding direction of the moving member.

9. The standard knot feeding clamping device as claimed in claim 1, further comprising an installation block and a jacking cylinder, wherein clamping rods are arranged on two sides of the installation block, the installation frame is provided with clamping grooves adapted to the clamping rods, the supporting seat is installed below the installation block, a cylinder body of the jacking cylinder is fixed on the installation frame, a piston rod of the jacking cylinder is located below the clamping rods, and the installation block can be driven by the jacking cylinder to ascend to the clamping rods to be clamped with the clamping grooves.

10. A modular segment charging clamping apparatus as claimed in claim 1 wherein said trigger switch is a mechanical valve or a solenoid valve.