CN213859306U - Gripping apparatus grabbing mechanism and reducing log gripping apparatus - Google Patents

Abstract

The utility model discloses a gripping apparatus snatchs mechanism and reducing log gripping apparatus snatchs the type gripping apparatus that circles round of mechanism for grabbing the board including two jaws and one, the upper end of jaw be equipped with one outstanding in the actuating arm that jaw outside cambered surface and certain angle were arranged, the actuating arm with jaw handing-over department is equipped with the rotation point. From this, snatch the actuating arm of mechanism and set up in the rotation point top, the selectivity of actuating cylinder is bigger, when the frame structure is more complicated, more is favorable to the structural arrangement of actuating cylinder, and the design space is big, is difficult to take place to interfere the coincidence between actuating cylinder and frame or other parts.

Description

Gripping apparatus grabbing mechanism and reducing log gripping apparatus

Technical Field

The utility model relates to an engineering machine tool field especially relates to a gripping apparatus snatchs mechanism and reducing log gripping apparatus.

Background

The wood consumption in China is rapidly increased and becomes the largest world import country of wood. A large amount of logs are imported from foreign countries every year in China, and the current handling process and equipment working mode of rough logs in operation sites cause that the log disability rate is still high and the efficiency is low. The span of log size and weight is huge, and generally speaking, the air-dry density value of the wood can be reduced from smaller value0.12g/cm of balsawood³1.2-1.36 g/cm of larger snakewood grain³And the value range distribution is wide.

The drive part of the rotary gripper in the prior art is often arranged below a rotating point, so that the length of the driving cylinder is longer, when the structure of the rack is more complex, the driving cylinder with longer length is not favorable for structural arrangement, interference coincidence is easy to occur between the driving cylinder and the rack or other components, and the design space is smaller.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is that, because the drive division of the gyration type gripping apparatus among the prior art gripping apparatus often sets up in the rotation point below, lead to taking place easily between the part and interfere the coincidence, the design space is less.

Not enough to prior art exists, the utility model aims at providing a gripping apparatus snatchs mechanism.

In order to achieve the above object, the utility model also provides a grabbing mechanism, the grabbing mechanism includes two grabbing arms, the same end of two grabbing arms is provided with the same grabbing plate, any one of the grabbing arms includes a jaw, one end of the jaw is provided with a driving arm protruding out of the outer arc surface of the jaw, and the joint of the driving arm and the jaw is provided with a rotation point; a bearing shaft is arranged between the upper end parts of the two driving arms, and a through groove is arranged on one side of each driving arm and between the rotating point and the bearing shaft.

Preferably, two sections of positioning sleeves arranged at intervals are arranged on the bearing shaft, and an annular groove is formed between the positioning sleeves.

Preferably, the through groove extends downwards to form an arc-shaped groove on the arc-shaped jaw.

Preferably, at least one support bar is arranged between two of the gripping arms.

Preferably, the surface of the grabbing plate on one side of the arc-shaped opening is subjected to sanding treatment.

Preferably, the minimum swing angle of the jaw is more than 37 degrees, and the length of the driving arm is more than 290 mm.

The embodiment of the utility model provides a technical scheme can include following beneficial effect:

the utility model provides an among the technical scheme, the log gripping apparatus can include gripping apparatus frame, reducing mechanism and snatch the mechanism erection joint and form, when the log gripping apparatus of operation snatchs the log of different specifications, can change the relative position who snatchs the mechanism rotation point through reducing mechanism to reach the purpose of reducing, can be more effective, stable snatch the log of radius level in the certain limit. Secondly, the lateral wall is the type of falling V structure on the gripping apparatus frame, be equipped with chamfer and bulge on the lateral wall, can both share the load for reducing mechanism when reducing mechanism is in biggest reducing state and minimum reducing state, and the usability is improved, in addition, reducing mechanism is parallel four-bar structure, can keep snatching the mechanism and keep unchangeable at reducing in-process gesture, and simultaneously, the jaw upper end of snatching the mechanism is equipped with actuating arm and the logical groove that is used for cooperating reducing mechanism, make in the reducing in-process, it can keep the gesture inconvenient to snatch the mechanism, and can not influence reducing mechanism and produce deformation in snatching the in-process yet

The grabbing mechanism is a rotary grabbing tool comprising two jaws and a grabbing plate, a driving arm which protrudes out of the outer arc surface of the jaws and is arranged at a certain angle is arranged at the upper end of each jaw, and a rotating point is arranged at the joint of the driving arm and the jaws. From this, snatch the actuating arm of mechanism and set up in the rotation point top, the selectivity of actuating cylinder is bigger, when the frame structure is more complicated, more is favorable to the structural arrangement of actuating cylinder, and the design space is big, is difficult to take place to interfere the coincidence between actuating cylinder and frame or other parts.

Drawings

In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings needed to be used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a perspective view of the gripping apparatus frame, the reducing mechanism and the gripping mechanism of the utility model assembled into a log gripping apparatus;

fig. 2 is a schematic structural diagram of an embodiment of a gripper frame according to the present invention;

fig. 3 is a schematic structural diagram of an embodiment of a reducing mechanism according to the present invention;

fig. 4 is a schematic structural diagram of an embodiment of a gripping mechanism according to the present invention;

fig. 5 is a schematic structural view of a grasping arm of the grasping mechanism of the present invention.

The correspondence between reference numbers and component names is:

1. a gripper frame; 11. a top wall; 12. a side wall; 13. load sharing buckles; 14. a load distributing seat; 15. a support plate; 121. dividing a side wall; 141. a card slot; 2. a diameter-changing mechanism; 21. a connecting seat; 22. an upper swing rod; 23. a lower swing rod; 24. a supporting seat; 25. a first bearing shaft; 26. a second bearing shaft; 27. a positioning sleeve; 28. an auxiliary support rod; 3. a grabbing mechanism; 31. a grasping arm; 32. grabbing a plate; 311. a rotation point; 312. a jaw; 313. a drive arm; 314. an arc-shaped groove; 315. a through groove; 316. a bearing shaft; 4. a drive mechanism;

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

The utility model provides a gripping apparatus frame.

Referring to fig. 2, in the present embodiment, the gripper frame 1 includes two side walls 12 and a top wall 11, and the top wall 11 is disposed at the same end of the two side walls 12; two side walls 12 and a top wall 11 form an inverted U-shaped structure, and any one of the side walls 12 comprises two sub side walls 121; two minute lateral walls 121 form an inverted V-shaped structure, and the setting of inverted V-shaped structure makes this kind of gripping apparatus frame 1 structure compacter, and simultaneously, the branch lateral wall 121 that extends to oblique below of outside can also play the effect of bearing other mechanisms of gripping apparatus. At least two pin holes are correspondingly formed in the middle of any one of the sub-side walls 121; the axis direction of the pin holes is parallel to the top wall 11, the pin holes are arranged at intervals with a certain distance, and the pin holes play roles in positioning and mounting. A partial load seat 14 comprising two clamping grooves 141 is arranged on the upper end surface of any partial side wall 121 close to the top wall 11; the whole part of the load distributing seat 14 is in a shape of Chinese character shan. The upper end face of any end part of the sub-side wall 121 far away from the top wall 11 is provided with a sub-carrying buckle 13.

Due to the arrangement of the load sharing seat 14 and the load sharing buckle 13, the gripper frame 1 in the technical scheme can stably position other mechanisms of the gripper on the upper end face of the load sharing side wall 121, more loads can be effectively shared, and the overall usability and stability of the gripper are improved.

Specifically, the axis direction of the pin holes is parallel to the top wall 11, and the pin holes are arranged at intervals, so that the structure is simple and compact, and other mechanisms can be conveniently positioned and fixed in the gripper frame 1.

Specifically, two of the slots 141 are disposed at a certain distance and correspond to the pin holes, and the structure of the slots 141 is used for positioning and receiving other mechanisms to press against the unloading seat 14.

Further, any pin hole and the corresponding card slot 141 are located on the same vertical plane. When the corresponding slot 141 and the pin hole are located at the same vertical plane, the bending moment of the mechanism carried on the unloading seat 14 can be reduced to the maximum extent, so that the unloading seat 14 bears more load, and the overall usability is increased.

Specifically, an arc-shaped supporting plate 15 is arranged between the side walls 12 and at the opening of the inverted V-shaped structure, the arc-shaped supporting plate 15 can support the side walls 121, the load of the gripper frame 1 is increased, the gripper frame 1 is prevented from deforming, and the central angle of the arc-shaped supporting plate 15 is preferably 107 °.

Further, still include rotary mechanism, rotary mechanism install in roof 11 up end for drive the frame rotation, just gripping apparatus frame 1 passes through rotary mechanism is connected with the arm.

Specifically, the width of the gripper frame 1 is more than 1200mm, and the radius of the load sharing buckle 13 is more than 38.6 mm.

The utility model also provides a reducing mechanism.

Referring to fig. 3, in this embodiment, the diameter changing mechanism 2 is a double three-link structure including two connecting seats 21, two upper swing links 22 and two lower swing links 23, the same side ends of the two upper swing links 22 and the two lower swing links 23 of the double three-link structure are hinged between the two connecting seats 21 through a pin, the other ends of the two upper swing links 22 and the two lower swing links 23 are hinged to other mechanisms through a pin and form a parallel four-link structure together, the connecting seats 21 are in an oblique triangle shape, a lower pin hole is formed in an end portion of any one of the connecting seats 21 located at a lower end point of the oblique triangle, the structure enables the other mechanisms to be conveniently positioned and installed on the diameter changing mechanism 2, a supporting seat 24 is formed in an upper end surface of any one of the upper swing links 22, and a first supporting shaft 25 is formed between the two supporting seats 24.

Specifically, a certain distance is arranged between any one of the connecting seats 21 and any one of the upper swing link 22 and any one of the lower swing link 23 on the double three-link structure.

When the reducing mechanism 2 bears a large load, the load can be divided by pressing the pin shafts at the intervals against other mechanisms.

Furthermore, an annular cushion block is sleeved on a pin shaft at the interval between any one of the connecting seats 21 and the corresponding lower swing rod 23 on the double three-link structure.

Furthermore, an annular cushion block is sleeved on a pin shaft at the interval between any one of the connecting seats 21 and the corresponding upper swing rod 22 on the double-three-link structure.

The arrangement of the annular cushion block can play a role in protecting the pin shaft.

Specifically, a positioning sleeve 27 is sleeved on a pin shaft between any one of the connecting seats 21, any one of the upper swing rods 22 and any one of the lower swing rods 23 on the double three-link structure.

Further, an annular groove is reserved between the positioning sleeve 27 on the first bearing shaft 25 and the second bearing shaft 26.

The reserved annular groove is convenient for other mechanisms such as a driving mechanism 4 and the like to be connected with the reducing mechanism 2.

Furthermore, at least one auxiliary supporting rod 28 is arranged between the second bearing shaft 26 and the pin shaft at one end of the upper swing link 22.

The swing angle between any upper swing rod 22 and any lower swing rod 23 is more than 113 degrees.

The utility model also provides a snatch mechanism.

Referring to fig. 4-5, in the present embodiment, a grabbing mechanism 3 includes two grabbing arms 31, the same end of the two grabbing arms 31 is provided with the same grabbing plate 32, the two grabbing arms 31 and the grabbing plate 32 form a U-shaped structure, any one of the grabbing arms 31 includes a jaw 312, the jaw 312 is integrally arc-shaped, one end of the jaw 312 is provided with a driving arm 313 protruding from an outer arc surface of the jaw 312, and a rotation point 311 is provided at a junction of the driving arm 313 and the jaw 312; the gripping arm 31 can be rotated around the above-mentioned rotation point 311, so that the two gripping mechanisms 3 can be used to perform a gripping operation in cooperation with each other. A bearing shaft 316 is arranged between the upper end parts of the two driving arms 313, and a through groove 315 is arranged on one side of each driving arm 313 and between the rotating point 311 and the bearing shaft 316, wherein the through groove 315 is used for being matched with other mechanisms to realize nested connection.

The simple structure is compact for this snatchs mechanism 3 can be through leading to groove 315 and other mechanism nested connection, and when the nested connection had been guaranteed in the setting that leads to groove 315, this snatchs mechanism 3 still can use rotation point 311 to rotate the swing as the center, and in addition, the mechanism 3 is snatched in effectual drive of the accepting axle 316 that sets up actuating mechanism 4 on actuating arm 313, and simultaneously, the actuating arm 313 of snatching mechanism 3 sets up in rotation point 311 top, and the design space is big, is difficult to take place to interfere the coincidence between actuating cylinder and other parts.

Specifically, two positioning sleeves arranged at intervals are arranged on the bearing shaft 316, and an annular groove is formed between the positioning sleeves. The annular groove is convenient for other mechanisms such as a driving mechanism and the like to be connected with the gripping mechanism 3 of the gripping apparatus.

Specifically, the through slot 315 extends downward to form an arc-shaped groove 314 on the outer arc surface of the jaw 312. The structure reduces the manufacturing cost on the premise of not influencing the overall firmness.

Specifically, at least one supporting strip is arranged between the two grabbing arms 31, and the supporting strips are all arranged in parallel with the grabbing plate 32. This structure can improve this stability of snatching mechanism 3, prevents to take place horizontal deformation.

Specifically, the surface of the grip plate 32 on the side of the arc-shaped opening is frosted.

Specifically, the swing angle of the jaw 312 is 37 ° or more, and the length of the drive arm 313 is 290mm or more. The use processes of the gripping apparatus frame 1, the reducing mechanism 2 and the gripping mechanism 3 are as follows:

referring to fig. 1, first, a gripper frame 1 is connected to two reducing mechanisms 2, and the gripper frame 1 is connected to two gripping mechanisms 3 through the reducing mechanisms 2. And a driving mechanism 4 for driving the reducing mechanisms 2 to move and/or deform so as to drive the rotating point 311 of any one of the grabbing mechanisms 3 to move relative to the rotating point 311 of the other grabbing mechanism 3 is arranged between the two reducing mechanisms 2, and the driving mechanism 4 can be a hydraulic cylinder. Two grabbing mechanism 3 that gripping apparatus frame 1 connects, arbitrary all be equipped with rotation point 311 on grabbing mechanism 3, grab mechanism 3 and specifically can be in snatching the material in-process, drive and use rotation point 311 as the structure that the axle center rotation grabbed the portion in order to realize that the material is grabbed and is put through actuating mechanism 4, if type jaw 312 circles round.

When the log radius span that needs lifted by crane is great, the log gripping apparatus that this technical scheme provided can be under actuating mechanism 4's drive, displacement and/or deformation take place for reducing mechanism 2, because it sets up on gripping apparatus frame 1 through reducing mechanism 2 to snatch mechanism 3, consequently, it can change along with reducing mechanism 2 to snatch mechanism 3, this process is the reducing promptly, when snatching the log, it can be according to the radius adjustment turning point 311 of log to snatch mechanism 3, thereby make and have more reasonable contact point and make the log be in more reasonable loaded area between snatching mechanism 3 and the log, can't be competent in all specifications for the timber loading and unloading manipulator of single model among the prior art, the loading and unloading condition of the log of all kinds of timber, the utility model discloses more have universality and general use, improved work efficiency.

It should be noted that, in this embodiment, there is no limitation on the connection mode between the reducing mechanism 2 and the gripper frame 1, and no matter what kind of structure and connection mode is adopted, as long as the reducing mechanism 2 can move and/or deform under the driving of the driving mechanism 4 to drive any one of the rotation points 311 of the gripping mechanism 3 to move relative to the other rotation point 311 of the gripping mechanism 3, the purpose of the present application can be achieved, and of course, a connection mode between the reducing mechanism 2 and the gripper frame 1 can be specifically designed, as follows:

specifically, two reducing mechanisms 2 are all disposed between two side walls 12, and two reducing mechanisms 2 are respectively fixed to two end portions of the side walls 12 along the axial direction of the inverted U-shaped structure. The gripping apparatus frame 1 has a simple and compact structure, and facilitates the arrangement of the reducing mechanism 2.

Specifically, one end of each of the two upper swing rods 22 and one end of each of the two lower swing rods 23 of the double three-link structure on the two diameter-changing mechanisms 2 are hinged to pin holes of the side wall 12 through pin shafts, specifically, the pin holes of the sub-side wall 121, and the double three-link structure and the sub-side wall 121 together form a parallel four-link structure.

To ensure that the posture of the grabbing mechanism 3 before and after the diameter change of the diameter changing mechanism 2 is the same, the design of a parallel four-bar structure is considered, at the moment, the grabbing mechanism 3 can be regarded as being fixed with the connecting seat 21, and the posture of the grabbing mechanism 3 is directly influenced by the direction of the connecting seat 21. Because of the parallel four-bar linkage structure, the connecting seat 21 keeps unchanged in direction at any time during movement, so that the grabbing mechanism 3 is guaranteed to be identical in posture before and after diameter changing, and the danger that the grabbing mechanism 3 is collided with surrounding objects or grabbed between the grabbing mechanisms 3 due to uncontrollable posture change in the diameter changing process of the grabbing mechanism 3 is avoided.

Furthermore, two connecting seats 21 on any diameter changing mechanism 2 are located on the outer side of the partial side wall 121, and the two upper swing rods 22 and the two lower swing rods 23 are located on the inner side of the partial side wall 121, so that a pin shaft between the connecting seats 21 and the lower swing rods 23 can be abutted against the upper end surface of the partial side wall 121. The structure can be matched with the side wall 12 of the inverted V-shaped structure, so that the load borne by the reducing mechanism 2 is shared by the sub side wall 121 to be borne, and the overall usability is improved.

The drive mechanism 4 may also be specifically designed. The driving mechanism 4 is hinged between the first bearing shafts 25 on the reducing mechanism 2, and the driving mechanism 4 can be a hydraulic cylinder. In the structure, as the hydraulic cylinder extends, the reducing mechanism 2 deforms until the pin shaft or the annular cushion block between the connecting seat 21 and the lower swing rod 23 abuts against the upper end face of the lower end part of the side wall 12, the reducing mechanism 2 reaches the maximum reducing state, and as the hydraulic cylinder contracts, the reducing mechanism 2 deforms until the pin shaft or the annular cushion block between the connecting seat 21 and the lower swing rod 23 abuts against the load distributing seat 14 at the upper end part of the side wall 12, and the reducing mechanism 2 reaches the minimum reducing state.

When the log gripping apparatus is in the maximum diameter-changing state, the annular cushion block or the pin shaft is pressed against the load-sharing buckle 13, the annular cushion block can play a role in load sharing and pin shaft protection, usability is improved, and in addition, the annular cushion block also restricts axial deformation of the lower swing rod 23.

When the log gripper is in the minimum diameter-changing state, the annular cushion block or the pin abuts against the clamping groove 141 of the load-sharing seat 14, so that the bending moment of the diameter-changing mechanism 2 borne on the load-sharing seat 14 can be reduced to the maximum extent, the load-sharing seat 14 bears more load, and the overall usability is improved.

In the above embodiment, a specific design may be further made for a connection manner between the diameter changing mechanism 2 and the grabbing mechanism 3, a lower pin hole is provided at a lower end portion of the oblique triangle on any one of the connection seats 21, the lower end portion of the oblique triangle may be first nested into the through groove 315 of the driving arm 313 of the grabbing mechanism 3, and then the lower pin hole is hinged to two of the rotation points 311 of any one of the grabbing mechanisms 3 through a pin shaft. When the diameter-changing mechanism 2 moves and/or deforms under the driving of the driving mechanism 4, the rotation point 311 of any one of the grabbing mechanisms 3 can be driven to move relative to the rotation point 311 of the other grabbing mechanism 3.

Specifically, the driving mechanism 4 can be arranged between the second bearing shaft 26 of the reducing mechanism 2 and the bearing shaft 316 of the grabbing mechanism 3, the driving mechanism 4 can be a hydraulic cylinder, the reducing mechanism 2 and the grabbing mechanism 3 are integrated by the structure, the grabbing mechanism 3 can perform a reducing process along with the reducing mechanism 2, and the position of the reducing mechanism 2 cannot be influenced to deviate when the grabbing mechanism 3 grabs or loosens materials.

The rotating mechanism is rotatably connected to the upper end face of the gripper frame 1, and the driving mechanism 4 of the rotating mechanism can be a swing hydraulic cylinder. This arrangement enables the gripping mechanism 3 to be rotated to align the log and, in addition, the log gripper can be coupled to the engineering robot via the rotating mechanism.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims (6)

1. A snatch mechanism which characterized in that: the novel gripper comprises two gripper arms (31), the same end of each gripper arm (31) is provided with the same gripper plate (32), any gripper arm (31) comprises a jaw (312), one end of each jaw (312) is provided with a driving arm (313) protruding out of the outer side arc surface of each jaw (312) and arranged, and a rotating point (311) is arranged at the joint of each driving arm (313) and each jaw (312); a bearing shaft (316) is arranged between the upper end parts of the two driving arms (313), and a through groove (315) is arranged on one side of each driving arm (313) and is positioned between the rotating point (311) and the bearing shaft (316).

2. A gripping mechanism according to claim 1, wherein the adaptor shaft (316) is provided with two spaced locating sleeves defining an annular groove therebetween.

3. A gripping mechanism according to claim 1, wherein the channel (315) extends downwardly to form an arcuate recess (314) in the arcuate jaw (312).

4. A gripping mechanism according to claim 1, characterized in that at least one support bar is arranged between the two gripping arms (31).

5. A gripping mechanism according to claim 1, characterised in that the surface of the gripping plate (32) on the side of the arcuate opening is frosted.

6. A gripping mechanism according to any of claims 1-5, characterized in that the swing angle of the jaw (312) is above 37 ° and the drive arm (313) is above 290mm long.

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