CN218747782U - Crochet hook type manipulator - Google Patents

Abstract

The utility model provides a crochet hook formula manipulator belongs to commodity circulation machinery. The problem of current manipulator make the material bag damaged seriously cause the scattering of material, the effect of breaking a jam poor and traditional manipulator of breaking a jam can't normally use under the limited circumstances in space easily is solved. The bag pressing device comprises an upper connecting frame, a lower connecting frame, a crochet hook swinging device, a bag pressing component and a crochet hook component, wherein the lower connecting frame is arranged at the lower side of the upper connecting frame; the bag pressing assembly acts on the surface of the material bag to enable more crochet hooks to act on the material bag, and the crochet hook swinging device drives the crochet hook assembly to rotate to hook the material bag; the crochet hook swinging device comprises a rotating shaft I, a rotating shaft II and swinging assemblies, the swinging assemblies are arranged in two groups, and the two groups of swinging assemblies are respectively used for driving the rotating shaft I and the rotating shaft II to rotate. The utility model is suitable for a jack-up, pile up neatly, break a jam and load.

Description

Crochet hook type manipulator

Technical Field

The invention belongs to the field of unstacking mechanical structures, and particularly relates to a crochet hook type mechanical arm.

Background

The traditional unstacking in the fields of hoisting, stacking, unstacking, loading and logistics machinery adopts manual unstacking and automatic unstacking. The manual unstacking is just to adopt the manpower to accomplish the disassembling of whole buttress pocket as the name suggests, and automatic unstacking is the mode of replacing the manpower with automated equipment, and the very high rate all adopts the mode of unstacking of sucking disc under the technical condition at present, but because the different physical characteristics of different materials, for example moisture absorption, easily harden, just leads to the mode of unstacking that can't adopt the sucking disc to absorb the pocket. The mode of automatic unstacking also has the mode of adopting the manipulator finger to insert from pocket side and get the pocket and go on, but this type of finger that unstacks is too thick causes the damage of pocket and the scattering of material very easily, and this and unstacking effect is not very stable has the condition that the pocket drops from the finger to traditional unstacking manipulator finger motion space is too big can't normal use under the limited condition in space. The crochet hook type manipulator is specially designed aiming at the limitation of the automatic unstacking mode.

Disclosure of Invention

In view of this, the present invention provides a crochet hook type manipulator to solve the problems of the existing manipulator that the material bag is damaged seriously, the material is scattered, the unstacking effect is poor and the traditional unstacking manipulator cannot be used normally under the condition of limited space.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a crochet hook type manipulator comprises an upper connecting frame, a lower connecting frame, a crochet hook swinging device, a bag pressing component and a crochet hook component, wherein the lower connecting frame is arranged at the lower side of the upper connecting frame; the bag pressing assembly presses the material bag flatly, and the crochet hook swinging device drives the crochet hook assembly to rotate to hook the material bag;

the crochet hook swinging device comprises a rotating shaft I, a rotating shaft II and swinging assemblies, wherein the two groups of swinging assemblies are respectively used for driving the rotating shaft I and the rotating shaft II to rotate;

the bag pressing assembly comprises two bag pressing units, and the bag pressing units are respectively arranged under the rotating shaft I and the rotating shaft II;

the crochet hook component is provided with two groups, and a group of crochet hook components are respectively sleeved on the rotating shaft I and the rotating shaft II.

Still further, the swing subassembly includes swing actuating mechanism I, swing actuating mechanism II, the triangular connection frame, swing arm I and swing arm II, swing actuating mechanism I installs under on the linking frame, the output of swing actuating mechanism I passes through actuating mechanism coupling and is connected with the supporting shaft, swing arm I is connected in the one end of supporting shaft, I cover of swing arm is established on corresponding rotation axis, the other end and the triangular connection frame of supporting shaft are connected, the output of swing actuating mechanism II stretches into in the triangular connection frame with swing arm II articulated, II covers of swing arm are established on corresponding rotation axis, swing arm II passes through the key-type connection with corresponding rotation axis, the one end and the corresponding rotation axis of triangular connection frame rotate and are connected, the other end is connected with swing actuating mechanism II.

Furthermore, the bag pressing unit comprises a pressing roller and a connecting plate, wherein two ends of the pressing roller are respectively fixed with one connecting plate and connected with the supporting upright post of the lower connecting frame through the connecting plate, and the pressing roller is positioned right below the corresponding rotating shaft.

Still further, the crochet hook subassembly includes a plurality of crochet hook units, and every crochet hook unit all includes crochet hook and crochet hook connecting piece, and the crochet hook is circular-arc structure, the one end and the crochet hook connecting piece fixed connection of crochet hook, and the other end is most advanced, and the crochet hook passes through the crochet hook connecting piece cover and establishes on the rotation axis, and the crochet hook connecting piece passes through the key-type connection with the rotation axis.

Furthermore, the crochet hook type manipulator further comprises a hand-holding rotating device, the hand-holding rotating device comprises a rotating driving mechanism and a rotary support, the rotating driving mechanism is installed on the upper connecting frame, the output end of the rotating driving mechanism is connected with the fixed end of the rotary support, and the movable end of the rotary support is connected with the upper connecting frame.

Furthermore, the upper connecting frame comprises two aluminum alloy cross beams I, three aluminum alloy longitudinal beams I and a rotary driving mechanism fixing support, the three aluminum alloy longitudinal beams I and the rotary driving mechanism fixing support are arranged between the two aluminum alloy cross beams I, the three aluminum alloy longitudinal beams I and the rotary driving mechanism fixing support are connected with the two aluminum alloy cross beams I through aluminum profile connecting accessories I, and the rotary driving mechanism fixing support is arranged at the right end of the two aluminum alloy cross beams I.

Further, connect the frame down and include two aluminum alloy crossbeam II and three aluminum alloy longeron II, three aluminum alloy longeron II is arranged between two aluminum alloy crossbeams II, all connect through aluminium alloy attachment II between three aluminum alloy longeron II and two aluminum alloy crossbeams II, set up two support post on the lower surface of every aluminum alloy longeron II, be located and be equipped with on the middle a set of support post and be used for corresponding the hole that passes of rotation axis, be located and be equipped with the mounting hole that is used for corresponding the rotation axis on the support post of both sides.

Furthermore, the compression roller is of a semi-arc structure formed by cutting a circular tube along the axis.

Furthermore, the aluminum profile connecting accessory I and the aluminum profile connecting accessory II are identical in structure and comprise triangular steel and connecting screws.

Furthermore, the rotation driving mechanism, the swing driving mechanism I and the swing driving mechanism II are pneumatic devices or electric devices.

Compared with the prior art, the crochet hook type mechanical arm has the beneficial effects that:

(1) The crochet hook type manipulator provided by the invention completes the nearly 180-degree rotation of the crochet hook in a mode of the combined action of the crochet hook swinging device and the double power driving device, thereby ensuring that the crochet hook is inserted into a point from the upper part of the material bag and is inserted out of the hooked material bag.

(2) According to the crochet hook type manipulator, the crochet hook component is made of high-quality spring steel and is subjected to quenching and tempering, and the strength and toughness of the crochet hook are guaranteed under the condition that the diameter of the crochet hook is as small as possible; meanwhile, the crochet hook is made into a circular arc shape, so that the crochet hook is inserted into the hooked material bag from a point above the material bag, the surface length of the crochet hook hooked material bag is increased, the material bag cannot fall off from the crochet hook component, the damage degree to the material bag can be reduced as much as possible, and the scattering of field materials is reduced.

(3) The crochet hook type manipulator is formed by splicing a plurality of aluminum alloy frames, the self weight of the manipulator is reduced as much as possible, the rotational inertia of the manipulator is further reduced, and the burden of grabbing a rotating device by hands is reduced.

(4) According to the crochet hook type manipulator, the bag pressing component is used for applying pressure to the material bag, the full contact part of the bag pressing component and the material bag is leveled as much as possible, a great amount of crochet hooks can be inserted into a point above the material bag to be inserted out of the hooked material bag after swinging for a certain angle through the center of the rotating shaft, and the success rate of hooking the material bag is increased; and reducing the load on the individual bearded needle assemblies improves the reliability of the bearded needle robot apparatus.

(5) According to the crochet hook type manipulator provided by the invention, due to the swing principle of the crochet hook, when in work, the fingers can swing to hook the material bag only in a small space, and meanwhile, the crochet hook type manipulator fully considers the working space utilization rate through the layout of all the structures, compared with the traditional unstacking manipulator fingers, the crochet hook type manipulator provided by the invention is small in size, so that the crochet hook type manipulator can complete the operation under the condition of limited space.

(6) According to the crochet hook type manipulator, the whole crochet hook manipulator can rotate at multiple angles by arranging the hand-holding rotating device, and the material bags can be placed at multiple angles.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. In the drawings:

fig. 1 is a schematic structural diagram of a crochet hook type manipulator according to the inventive embodiment of the present invention;

fig. 2 is a schematic structural diagram of an upper connection frame in a crochet hook type manipulator according to the inventive embodiment of the present invention;

fig. 3 is a schematic structural diagram of a lower connection frame in a crochet hook type manipulator according to an embodiment of the invention;

fig. 4 is a schematic structural diagram of a crochet hook swinging mechanism in a crochet hook type mechanical arm according to the inventive embodiment of the present invention;

fig. 5 is a schematic structural diagram of a bag pressing assembly in a crochet hook type manipulator according to an embodiment of the invention;

fig. 6 is a schematic structural diagram of a crochet hook assembly in a crochet hook type manipulator according to the inventive embodiment of the present invention;

FIG. 7 is a schematic view of a bearded needle type robot having a hand grasping and rotating device;

fig. 8 is a schematic structural view of the hand-held rotating mechanism.

Description of reference numerals:

1. a hand grasping rotation device; 1-1, a rotation driving mechanism; 1-2, connecting components; 1-3, rotating and supporting; 1-4, an upper connecting plate; 2. an upper connecting frame; 2-1, an aluminum alloy beam I; 2-2, aluminum alloy longitudinal beam I; 2-3, connecting an aluminum profile with an accessory I; 2-4, rotating the driving mechanism to fix the bracket; 3. a lower connecting frame; 3-1, aluminum alloy beam II; 3-2, supporting the upright post; 3-3, aluminum alloy longitudinal beam II; 3-4, connecting an aluminum profile with an accessory II; 4. a crochet hook swinging device; 4-1, a swing driving mechanism I; 4-2, a swing driving mechanism II; 4-3, a rotating shaft I; 4-4, a rotating shaft II; 4-5, triangular connecting frames; 4-6, connecting the driving mechanism with an accessory; 4-7, a swing arm I; 4-8, a swing arm II; 5. a bag pressing assembly; 5-1, pressing rollers; 5-2, connecting plates; 6. a crochet hook component; 6-1, hooking a needle; 6-2, a crochet hook connecting piece.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood in specific cases by those of ordinary skill in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The first embodiment is as follows: as shown in fig. 1 to 6, a crochet hook type manipulator comprises an upper connecting frame 2, a lower connecting frame 3, a crochet hook swinging device 4, a bag pressing component 5 and a crochet hook component 6, wherein the lower connecting frame 3 is installed at the lower side of the upper connecting frame 2, the crochet hook swinging device 4 is installed on the lower connecting frame 3, the bag pressing component 5 is installed at the lowest end of the lower connecting frame 3, and the crochet hook component 6 is installed on a rotating shaft of the crochet hook swinging device 4; the bag pressing component 5 flattens the material bag, the bag pressing component 5 acts on the surface of the material bag to enable more crochet hooks to act on the material bag, and the crochet hook swinging device 4 drives the crochet hook component 6 to rotate to hook the material bag;

the crochet hook swinging device 4 comprises a rotating shaft I4-3, a rotating shaft II 4-4 and swinging assemblies, the swinging assemblies are arranged in two groups, the two groups of swinging assemblies are respectively used for driving the rotating shaft I4-3 and the rotating shaft II 4-4 to rotate, the rotating shaft I4-3 and the rotating shaft II 4-4 are arranged on a supporting upright post 3-2 of the lower connecting frame 3, and the rotating shaft I4-3 and the rotating shaft II 4-4 are symmetrically arranged; the two groups of swing assemblies are symmetrically arranged, so that the utilization rate of the internal space of the lower frame is improved;

the bag pressing assembly 5 comprises two bag pressing units, and the bag pressing units are respectively arranged under the rotating shaft I4-3 and the rotating shaft II 4-4;

the crochet hook components 6 are arranged in two groups, and one group of crochet hook components are respectively sleeved on the rotating shaft I4-3 and the rotating shaft II 4-4.

The swing assembly comprises a swing driving mechanism I4-1, a swing driving mechanism II 4-2, a triangular connecting frame 4-5, a swing arm I4-7 and a swing arm II 4-8, the swing driving mechanism I4-1 is installed on the lower connecting frame 3, the output end of the swing driving mechanism I4-1 is connected with a supporting shaft through a driving mechanism connecting accessory 4-6, the swing arm I4-7 is connected with one end of the supporting shaft, the swing arm I4-7 is sleeved on a corresponding rotating shaft, the other end of the supporting shaft is connected with the triangular connecting frame 4-5, the output end of the swing driving mechanism II 4-2 extends into the triangular connecting frame 4-5 to be hinged with the swing arm II 4-8, the swing arm II 4-8 is sleeved on the corresponding rotating shaft, the swing arm II 4-8 is connected with the corresponding rotating shaft through a key, one end of the triangular connecting frame 4-5 is rotatably connected with the corresponding rotating shaft, and the other end of the swing driving mechanism II 4-2 is connected with the swing driving mechanism.

The driving mechanism connecting accessories 4-6 comprise standard parts required by fixing driving mechanism connecting joints, pin shafts and the like.

The bag pressing unit comprises a pressing roller 5-1 and a connecting plate 5-2, two ends of the pressing roller 5-1 are respectively fixed with one connecting plate 5-2 and connected with a supporting upright post of the lower connecting frame 3 through the connecting plate 5-2, and the pressing roller 5-1 is positioned right below the corresponding rotating shaft; namely, the compression rollers 5-1 are respectively arranged below the rotating shaft I4-3 and the rotating shaft II 4-4, the rotation of the crochet hook 6-1 is not influenced by the arrangement of the compression rollers, the interference between the rotation of the crochet hook and the rotation of the crochet hook is avoided, and the flattening of the compression rollers 5-1 on the material bag is not influenced when the crochet hook does not rotate.

The crochet hook component 6 comprises a plurality of crochet hook units, each crochet hook unit comprises a crochet hook 6-1 and a crochet hook connecting piece 6-2, the crochet hook 6-1 is of an arc-shaped structure, one end of the crochet hook 6-1 is fixedly connected with the crochet hook connecting piece 6-2, the other end of the crochet hook is a tip end, the crochet hook 6-1 is sleeved on the rotating shaft through the crochet hook connecting piece 6-2, and the crochet hook connecting piece 6-2 is connected with the rotating shaft through a key; a group of crochet hook components are respectively sleeved on the rotating shaft I4-3 and the rotating shaft II 4-4, and the two groups of crochet hooks are hooked to the center direction of the material bag at the same time in opposite moving directions (namely, a group of clockwise rotation and a group of counterclockwise rotation), so that the mutual interference between the two groups of crochet hook components can be reduced. The success rate of pocket is colluded to the crochet hook has been improved, has also reduced the static external dimension of manipulator and the required motion space size of work of grabbing in hand simultaneously, guarantees that the manipulator of this application can work under the limited condition in space.

The crochet hook connecting piece 6-2 is of an annular structure, the inner wall of the annular structure is provided with symmetrically arranged grooves, the outer walls of the two rotating shafts are also provided with symmetrically arranged grooves, and the grooves are respectively connected with the grooves on the outer wall of the rotating shaft and the grooves on the inner wall of the annular structure through connecting keys, so that power is transmitted to the crochet hook 6-1 when the rotating shaft rotates.

The upper connecting frame 2 comprises two aluminum alloy cross beams I2-1, three aluminum alloy longitudinal beams I2-2 and a rotary driving mechanism fixing support 2-4, the three aluminum alloy longitudinal beams I2-2 and the rotary driving mechanism fixing support 2-4 are arranged between the two aluminum alloy cross beams I2-1, the three aluminum alloy longitudinal beams I2-2 and the rotary driving mechanism fixing support 2-4 are connected with the two aluminum alloy cross beams I2-1 through aluminum profile connecting accessories I2-3, and the rotary driving mechanism fixing support 2-4 is arranged at the right end of the two aluminum alloy cross beams I2-1.

The lower connecting frame 3 comprises two aluminum alloy cross beams II 3-1 and three aluminum alloy longitudinal beams II 3-3, the three aluminum alloy longitudinal beams II 3-3 are arranged between the two aluminum alloy cross beams II 3-1, the three aluminum alloy longitudinal beams II 3-3 and the two aluminum alloy cross beams II 3-1 are connected through aluminum profile connecting accessories II 3-4, two supporting stand columns 3-2 are arranged on the lower surface of each aluminum alloy longitudinal beam II 3-3, a group of supporting stand columns in the middle are provided with through holes for corresponding to rotating shafts, and the supporting stand columns on the two sides are provided with mounting holes for corresponding to the rotating shafts.

The compression roller 5-1 is a semi-circular arc structure formed by cutting a circular tube along the axis, the structural form is set to realize that the sufficient parts of the bag pressing assembly and the material bag are as flat as possible when the compression roller is in contact with the material bag, so that hook needles which can be used as much as possible can be inserted into a point from the upper part of the material bag to hook the material bag after swinging for a certain angle through the center of the rotating shaft, and the success rate of hooking the material bag is increased. And reducing the load on the individual bearded needle assemblies improves the reliability of the bearded needle robot apparatus.

The aluminum profile connecting accessories I2-3 and the aluminum profile connecting accessories II 3-4 are identical in structure and comprise triangular steel and connecting screws, and the upper connecting frame and the lower connecting frame are stabilized by the triangular steel.

The rotary driving mechanism 1-1, the swing driving mechanism I4-1 and the swing driving mechanism II 4-2 are pneumatic devices or electric devices, the pneumatic devices can be air cylinders, and the electric devices can be electric cylinders. By the arrangement, a moving assembly in the rotation process of the crochet hook 6-1 is ensured to have no dead point and reasonable moment change.

In a second embodiment, as shown in fig. 7 and 8, different from the above technical solutions, the crochet needle type manipulator of the present application further includes a hand-holding rotating device 1, the hand-holding rotating device 1 is installed on the upper side of the upper connecting frame 2, the hand-holding rotating device 1 can drive the crochet needle type manipulator to integrally rotate by a certain angle, the hand-holding rotating device 1 includes a rotation driving mechanism 1-1 and a rotation support 1-3, the rotation driving mechanism 1-1 is installed on the upper connecting frame 2, an output end of the rotation driving mechanism 1-1 is connected with a fixed end of the rotation support 1-3, and a movable end of the rotation support is connected with the upper connecting frame 2; the method specifically comprises the following steps: the hand grab rotating device 1 comprises a rotating driving mechanism 1-1, a connecting assembly 1-2, a rotary support 1-3 and an upper connecting plate 1-4, wherein the rotating driving mechanism 1-1 and the rotary support 1-3 are both arranged on an upper connecting frame 2, the output end of the rotating driving mechanism 1-1 is connected with one end of the upper connecting plate 1-4 through the connecting assembly 1-2, the upper connecting plate 1-4 is fixedly connected with an inner ring of the rotary support 1-3, an outer ring of the rotary support 1-3 is fixed on the upper connecting frame 2, the upper connecting plate 1-4 is fixed on equipment above a manipulator, the equipment above the manipulator can be a lifter, a press machine and the like, the equipment is selected to be connected with the equipment above according to the working steps of the manipulator, and the upper connecting plate 1-4 is in a relatively fixed state when being connected with the equipment above.

The connecting assembly 1-2 comprises a hinge pin shaft, connecting holes are formed in the output end of the rotation driving mechanism 1-1 and one end of the upper connecting plate 1-4, and the hinge pin shaft penetrates through the connecting holes to realize the hinge connection of the output end of the rotation driving mechanism 1-1 and the upper connecting plate 1-4.

The utility model provides a rotating device below is grabbed in hand is the last connection frame of whole manipulator, goes up connection frame and is connected with lower connection frame, crochet hook subassembly and pressure bag subassembly etc. as the main part of connection of manipulator. The rotation driving mechanism is connected with the rotary support to drive the whole crochet hook manipulator to realize multi-angle rotation.

A working method of a crochet hook type manipulator comprises the following steps,

firstly, applying vertical external force to a manipulator to enable two compression rollers 5-1 of a bag pressing assembly 5 to be fully contacted with a material bag, then enabling two groups of swing driving mechanisms I4-1 to move simultaneously to drive triangular connecting frames 4-5, swing driving mechanisms II 4-2, swing arms I4-7 and swing arms II 4-8 of respective groups to rotate, enabling one swing arm II 4-8 to drive a rotating shaft I to rotate for a certain angle, enabling the other swing arm II to drive the rotating shaft II to rotate for a certain angle, enabling the rotating directions of the two rotating shafts to be opposite (namely clockwise and anticlockwise), stopping the motion of the extending ends of the two swing driving mechanisms I4-1 when the extending ends of the two swing driving mechanisms I4-1 reach the limit position, enabling the rotating shaft I4-3 and a crochet hook 6-2 on the rotating shaft II 4-4 to rotate for a certain angle, and enabling the tip end of the crochet hook 6-2 to penetrate into the material bag;

then the output ends of the two swing driving mechanisms II 4-2 synchronously move to drive the two swing arms II 4-8 to rotate again, the two swing arms II 4-8 drive the corresponding rotating shafts to rotate for a certain angle again, so that the rotating shafts I and the crochet needles 6-1 on the rotating shafts II both realize rotation at an angle of nearly 180 degrees, a point is inserted from one point on the material bag to be inserted out of the material bag to hook the material bag, and the material bag is hooked and conveyed to a required position;

the output end of the rotation driving mechanism of the rotation device 1 can be extended out through grabbing by hand, and as the output end of the rotation driving mechanism 1-1 is hinged with the upper connecting plate 1-4 and the upper connecting plate 1-4 is connected with a fixed instrument, under the action of the rotation support 1-3, the rotation driving mechanism 1-1 is subjected to reverse force, so that the rotation driving mechanism 1-1 rotates, the mechanical arm is driven to rotate integrally, and the material bag is placed at a specified position.

The upper connecting frame and the lower connecting frame are formed by connecting various aluminum alloy sections and aluminum alloy connecting accessories, and are mainly characterized in that the weight of the whole manipulator can be reduced, the rotational inertia of the manipulator is reduced, the burden of a rotating mechanism is reduced, and the equipment stability of the crochet needle manipulator is improved;

the upper connecting frame mainly plays a role in bearing and connecting; the lower connecting frame mainly plays a role in bearing and connecting, but compared with the upper connecting frame, the fixing function of the crochet hook swinging mechanism is added, and enough movement space is reserved for the crochet hook swinging mechanism;

the crochet hook swinging device adopts two power devices to drive the crochet hook together to realize the rotation of an angle close to 180 degrees, the power devices can be pneumatic or can adopt a motor driving mode, and a moving assembly in the rotating process of the crochet hook is ensured not to have a dead point and is ensured to have a more reasonable moment change;

the bag pressing assembly cuts the whole circular tube into a semi-arc shape, and applies pressure to the material bag by using the bag pressing assembly, so that the fully contacted part of the bag pressing assembly and the material bag is as flat as possible, hook needles which can be used as much as possible can be inserted into a point from the upper part of the material bag to hook the material bag after swinging for a certain angle through the center of the rotating shaft, and the success rate of hooking the material bag is increased; the load of a single crochet hook component is reduced, and the reliability of the crochet hook manipulator equipment is improved;

the crochet hook component adopts special materials and special processes, and ensures that the crochet hook has other physical characteristics such as enough hardness, flexibility and the like; the crochet hook component is made of special materials and a special process, and is used for ensuring the strength, flexibility and other physical characteristics of the crochet hook under the condition that the thickness and the diameter of the crochet hook are as small as possible. Meanwhile, the crochet hook is made into the circular arc shape so as to ensure that the crochet hook is inserted into the material bag from a point above the material bag, thus increasing the surface length of the material bag hooked by the crochet hook and reducing the damage degree to the material bag as much as possible.

The crochet hook type mechanical arm can also serve different use fields including the fields of hoisting, stacking, loading and logistics machinery.

The embodiments of the invention disclosed above are intended only to help illustrate the invention. The examples are not intended to be exhaustive or to limit the invention to the precise embodiments described. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and with the various embodiments.

Claims (10)

1. The utility model provides a crochet hook formula manipulator which characterized in that: the bag pressing device comprises an upper connecting frame (2), a lower connecting frame (3), a crochet hook swinging device (4), a bag pressing component (5) and a crochet hook component (6), wherein the lower connecting frame (3) is arranged at the lower side of the upper connecting frame (2), the crochet hook swinging device (4) is arranged on the lower connecting frame (3), the bag pressing component (5) is arranged at the lowest end of the lower connecting frame (3), and the crochet hook component (6) is arranged on a rotating shaft of the crochet hook swinging device (4); the bag pressing component (5) presses the material bag flatly, and the crochet hook swinging device (4) drives the crochet hook component (6) to rotate to hook the material bag;

the crochet hook swinging device (4) comprises a rotating shaft I (4-3), a rotating shaft II (4-4) and swinging assemblies, the two groups of swinging assemblies are arranged, the two groups of swinging assemblies are respectively used for driving the rotating shaft I (4-3) and the rotating shaft II (4-4) to rotate, the rotating shaft I (4-3) and the rotating shaft II (4-4) are installed on a supporting upright post (3-2) of the lower connecting frame (3), and the rotating shaft I (4-3) and the rotating shaft II (4-4) are symmetrically arranged;

the bag pressing assembly (5) comprises two bag pressing units, and one bag pressing unit is arranged under the rotating shaft I (4-3) and the rotating shaft II (4-4) respectively;

the crochet hook components (6) are arranged in two groups, and one group of crochet hook components are respectively sleeved on the rotating shaft I (4-3) and the rotating shaft II (4-4).

2. A crochet manipulator according to claim 1, characterized in that: the swing assembly comprises a swing driving mechanism I (4-1), a swing driving mechanism II (4-2), a triangular connecting frame (4-5), a swing arm I (4-7) and a swing arm II (4-8), wherein the swing driving mechanism I (4-1) is installed on the lower connecting frame (3), the output end of the swing driving mechanism I (4-1) is connected with a support shaft through a driving mechanism connecting accessory (4-6), the swing arm I (4-7) is connected with one end of the support shaft, the swing arm I (4-7) is sleeved on a corresponding rotating shaft, the other end of the support shaft is connected with the triangular connecting frame (4-5), the output end of the swing driving mechanism II (4-2) extends into the triangular connecting frame (4-5) to be hinged with the swing arm II (4-8), the swing arm II (4-8) is sleeved on the corresponding rotating shaft, the swing arm II (4-8) is connected with the corresponding rotating shaft through a key, one end of the triangular connecting frame (4-5) is connected with the corresponding rotating shaft in a rotating mode, and the other end of the swing driving mechanism II (4-2) is connected with the swing driving mechanism.

3. A crochet manipulator according to claim 1, characterized in that: the bag pressing unit comprises a pressing roller (5-1) and a connecting plate (5-2), the two ends of the pressing roller (5-1) are respectively fixed with the connecting plate (5-2) and connected with the supporting upright post of the lower connecting frame (3) through the connecting plate (5-2), and the pressing roller (5-1) is positioned right below the corresponding rotating shaft.

4. A crochet manipulator according to claim 1, characterized in that: the crochet hook component (6) comprises a plurality of crochet hook units, each crochet hook unit comprises a crochet hook (6-1) and a crochet hook connecting piece (6-2), the crochet hook (6-1) is of an arc-shaped structure, one end of the crochet hook (6-1) is fixedly connected with the crochet hook connecting piece (6-2), the other end of the crochet hook is a tip end, the crochet hook (6-1) is sleeved on the rotating shaft through the crochet hook connecting piece (6-2), and the crochet hook connecting piece (6-2) is connected with the rotating shaft through a key.

5. A crochet manipulator according to claim 2, characterized in that: the crochet hook type manipulator further comprises a hand-holding rotating device (1), the hand-holding rotating device (1) comprises a rotating driving mechanism (1-1) and a rotary support (1-3), the rotating driving mechanism (1-1) is installed on the upper connecting frame (2), the output end of the rotating driving mechanism (1-1) is connected with the fixed end of the rotary support (1-3), and the movable end of the rotary support is connected with the upper connecting frame (2).

6. The bearded needle type manipulator according to claim 5, characterized in that: go up linking frame (2) and include two aluminum alloy crossbeam I (2-1), three aluminum alloy longeron I (2-2) and rotation actuating mechanism fixed bolster (2-4) are arranged between two aluminum alloy crossbeam I (2-1), all are connected through aluminium alloy connecting parts I (2-3) between three aluminum alloy longeron I (2-2) and rotation actuating mechanism fixed bolster (2-4) and two aluminum alloy crossbeam I (2-1), rotate actuating mechanism fixed bolster (2-4) and set up the right-hand member at two aluminum alloy crossbeam I (2-1).

7. The crochet manipulator of claim 6, wherein: the lower connecting frame (3) comprises two aluminum alloy cross beams II (3-1) and three aluminum alloy longitudinal beams II (3-3), the three aluminum alloy longitudinal beams II (3-3) are arranged between the two aluminum alloy cross beams II (3-1), the three aluminum alloy longitudinal beams II (3-3) and the two aluminum alloy cross beams II (3-1) are connected through aluminum profile connecting accessories II (3-4), two supporting upright columns (3-2) are arranged on the lower surface of each aluminum alloy longitudinal beam II (3-3), a group of supporting upright columns in the middle are provided with through holes for corresponding to rotating shafts, and the supporting upright columns on the two sides are provided with mounting holes for corresponding to the rotating shafts.

8. The crochet manipulator of claim 4, wherein: the compression roller (5-1) is of a semi-arc structure formed by cutting a circular tube along the axis.

9. The crochet manipulator of claim 7, wherein: the aluminum profile connecting accessories I (2-3) and the aluminum profile connecting accessories II (3-4) are identical in structure and comprise triangular steel and connecting screws.

10. The crochet manipulator of claim 5, wherein: the rotary driving mechanism (1-1), the swing driving mechanism I (4-1) and the swing driving mechanism II (4-2) are pneumatic devices or electric devices.

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