CN105417360B - A kind of fully-automatic intelligent grabbing device and method - Google Patents
A kind of fully-automatic intelligent grabbing device and method Download PDFInfo
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- CN105417360B CN105417360B CN201510929558.2A CN201510929558A CN105417360B CN 105417360 B CN105417360 B CN 105417360B CN 201510929558 A CN201510929558 A CN 201510929558A CN 105417360 B CN105417360 B CN 105417360B
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- rack
- grabbing device
- polygon
- handgrip
- special shape
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/04—Tine grabs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of fully-automatic intelligent grabbing device, including hanging beam, hoist block, polygon rack, heterotypic gear, connecting rod, handgrip and control device.The invention also discloses the grasping means using the device, include the preparation of the grabbing device --- descending --- crawl --- step such as lifting --- moving back hook --- reset.The present invention is compared with prior art, change traditional Grasp Modes, the automatic crawl of gripping apparatus is realized by common mechanical drive mode, and the folding condition and force-bearing situation of automatic detection each handgrip, crawl and uninstall process are operated without personnel on site, reduce intensity of workers, improve the efficiency of loading and unloading, and overall cost is relatively low, security reliability is high.
Description
Technical field
It is especially a kind of to be used for lifting transport field the present invention relates to a kind of Novel full-automatic intelligent grabbing device and method
The grabbing device and method of middle bucket base part.
Background technology
Using manually operated in traditional lifting transport field the crawl of bucket base part, automatization level is than relatively low, dress more
Unload relatively inefficient, the labor intensity of operating personnel allocates and transports efficiency low than larger.At present, also there is the grabbing device of automation,
But structural shape is relative complex, operating process is cumbersome, and detection control imperfection, and cost level is also higher.
The content of the invention
The technical problems to be solved by the invention are that there is provided a kind of new full-automatic for the defect that exists for prior art
Intelligent grabbing device and method.
To solve this technical problem, the invention provides a kind of fully-automatic intelligent grabbing device, including hanging beam, lift heavy
Block, polygon rack, heterotypic gear, connecting rod, handgrip and control device, the hanging beam include cylinder, crossbeam and otic placode, the crossbeam
Provided with more than one piece, the lower end for being welded on cylinder is uniformly distributed, crossbeam is welded with otic placode with cylinder junction, and the top of the otic placode is set
Have be provided with the cylinder above axis hole, the otic placode top surface in elongate slots, the cylinder interior be fixed with compact electromagnetic sucker and
Position limit device, middle part is equipped with lower caging device；The polygon rack section is polygon, and rack, the tooth are processed into interval
Bar number is consistent with otic placode number, and the top of the polygon rack is provided with upper end cover, and its bottom is provided with bottom end cover, and hoist block is articulated with many
On the bottom end cover of heel teeth bar, the top of polygon rack penetrates cylinder, and its upper end cover is provided with microswitch；The heterotypic gear
Gear end is hinged centrally through bearing pin with otic placode, and with polygon rack engaged transmission, the other end of heterotypic gear by bearing pin with
Rod hinge connection, the other end and the handgrip of connecting rod are hinged；Magnetic-type proximity switch is installed on the inside of the dop of the handgrip；The magnetic
Power formula proximity switch, compact electromagnetic sucker and microswitch are connected with control device；The hanging beam is fixed in lifting by cylinder
On mechanical running block fixed mount.
The grabbing device is provided with three sets of special shape gears, connecting rod and gripper equipment in 360 degree of spatial dimensions, described polygon
Rack cross section is hexagon, and three sides of interval are processed into rack, engaged with three special shape gears.
The grabbing device is provided with four sets of special shape gears, connecting rod and gripper equipment in 360 degree of spatial dimensions, described polygon
Rack cross section is quadrangle, and four sides are processed into rack, engaged with four special shape gears.
Present invention also offers a kind of grasping means of utilization fully-automatic intelligent grabbing device, comprise the following steps：
1）Grabbing device prepares：Under the Action of Gravity Field of hoist block, polygon rack is displaced downwardly to limit inferior position as drive end
Put, polygon rack is engaged with heterotypic gear, drive special shape gear to rotate supreme pendulum extreme position, drivening rod and handgrip are swung,
Handgrip is opened, this state is detected by the microswitch of polygon rack upper end cover lower flange position, start movable pulley and consolidate
Determining frame drives grabbing device descending；
2）Grabbing device is descending：Movable pulley fixed mount drives grabbing device to come downwards to hoist block and contacted with bucket class lifting part；
3）Grabbing device is captured：After hoist block is contacted with bucket class lifting part, movable pulley fixed mount drives hanging beam and top different
Shape gear continues to move down, by the engagement of special shape gear and polygon rack, drivening rod and handgrip action, works as handgrip
When blocking the lifting ring edge of barrel class lifting part, the magnetic-type proximity switch feedback card folder status signal on the inside of dop, control
The main frame of device processed sends promotion signal；
4）Grabbing device is lifted：Movable pulley fixed mount drives part and the lifting object Synchronous liftings such as hanging beam, lifts to specified
Position；
5）Grabbing device moves back hook：Continue to transfer the device such as movable pulley fixed mount and hanging beam, by special shape gear and polygon rack
Engagement, special shape gear is rotated further, and drives handgrip to open, until the upper cover plate of polygon rack is moved up to limes superiors position
Put, touch microswitch, top compact electromagnetic sucker is powered and suck polygon rack, while being grabbed to the main frame feedback of control device
The full opening of signal of hand, main frame is received after this signal, sends the instruction of sky hook lancet, is lifted by movable pulley fixed mount whole
Cover grabbing device；
6）Grabbing device resets：A whole set of grabbing device is promoted to after specified altitude assignment, the power-off demagnetization of compact electromagnetic sucker, polygon
Rack moves down into lower limit position in the presence of hoist block, into the circulation of next lifting operation.
Beneficial effect：The present invention compared with prior art, changes traditional Grasp Modes, passes through common machine driving
Mode realizes the automatic crawl of gripping apparatus, and the folding condition and force-bearing situation of automatic detection each handgrip, crawl and uninstall process
Without personnel on site's operation, intensity of workers is reduced, the efficiency of loading and unloading is improved, and overall cost is relatively low, and security can
It is high by property.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation upward view of the embodiment of the present invention one；
Fig. 2 a are the special shape gear and polygon rack mesh schematic representation of the embodiment of the present invention one；
Fig. 2 b are Fig. 2 a of the present invention A-A schematic cross-sectional views；
Fig. 3 is the structural representation upward view of the embodiment of the present invention two；
Fig. 3 a are the special shape gear and polygon rack mesh schematic representation of the embodiment of the present invention two；
Fig. 3 b are Fig. 3 a of the present invention B-B schematic cross-sectional views；
Fig. 4 a are the schematic diagram of working condition one of the invention；
Fig. 4 b are the schematic diagram of working condition two of the invention；
Fig. 4 c are the schematic diagram of working condition three of the invention；
Fig. 4 d are the schematic diagram of working condition four of the invention；
Fig. 4 e are the schematic diagram of working condition five of the invention.
In figure：1 movable pulley fixed mount, 2 special shape gears, 3 connecting rods, 4 handgrips, 5 polygon racks, 51 upper end covers, 52 bottom end covers,
6 hoist blocks, 7 hanging beams, 71 cylinders, 72 crossbeams, 73 otic placodes, 8 magnetic-type proximity switches, 9 compact electromagnetic suckers, 10 microswitches.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is specifically described to the present invention.
Fig. 1 show the structural representation of the present invention.
The present invention includes hanging beam 7, hoist block 6, polygon rack 5, heterotypic gear 2, connecting rod 3, handgrip 4 and control device.
The hanging beam 7 includes cylinder 71, crossbeam 72 and otic placode 73, and the crossbeam 72 is provided with more than one piece, is uniformly distributed and is welded on
The lower end of cylinder 71, crossbeam 72 is welded with otic placode 73 with the junction of cylinder 71, and the top of the otic placode 73 is provided with axis hole, the ear
Elongate slots are provided with the cylinder 71 of the top of plate 73.
The upper top surface in the inside of cylinder 71 is fixed with compact electromagnetic sucker 9 and position limit device, and middle part is filled equipped with lower limit
Put.
The section of polygon rack 5 is polygon, and rack is processed at interval, and the rack number is counted unanimously with otic placode 73.
The top of the polygon rack 5 is provided with upper end cover 51, and its bottom is provided with bottom end cover 52.
The hoist block 6 is articulated with the bottom end cover 52 of polygon rack 5, and the top of polygon rack 5 penetrates cylinder 71.
The upper end cover 51 of the polygon rack 5 is provided with microswitch 10.
The gear end of the heterotypic gear 2 is hinged centrally through bearing pin with otic placode 73, and with the polygon engaged transmission of rack 5,
The other end of heterotypic gear 2 is hinged by bearing pin with connecting rod 3, and the other end and the handgrip 4 of connecting rod 3 are hinged.
Magnetic-type proximity switch 8 is installed on the inside of the dop of the handgrip 4.
The magnetic-type proximity switch 8, compact electromagnetic sucker 9 and microswitch 10 are connected with control device.
The hanging beam 7 is fixed on hoisting machinery running block fixed mount 1 by cylinder 71.
Embodiment one：
Fig. 2 show the structural representation upward view of the embodiment of the present invention one.
The grabbing device, provided with three sets of special shape gears 2, connecting rod 3 and the device of handgrip 4, is being grabbed in 360 degree of spatial dimensions
Acted simultaneously during taking.
Fig. 2 a show the special shape gear and polygon rack mesh schematic representation of the embodiment of the present invention one.
Fig. 2 b show Fig. 2 a of the present invention A-A schematic cross-sectional views.
The cross section of polygon rack 5 is hexagon, and three sides of interval are processed into rack, engaged with three special shape gears 2.
The present embodiment one is used to hang cylindric or hexagon post class thing.
Embodiment two：
Fig. 3 show the structural representation upward view of the embodiment of the present invention two.
The grabbing device, provided with four sets of special shape gears 2, connecting rod 3 and the device of handgrip 4, is being grabbed in 360 degree of spatial dimensions
Acted simultaneously during taking.
Fig. 3 a show the special shape gear and polygon rack mesh schematic representation of the embodiment of the present invention two.
Fig. 3 b show Fig. 3 a of the present invention B-B schematic cross-sectional views.
The cross section of polygon rack 5 is quadrangle, and four sides are processed into rack, engaged with four special shape gears 2.
The present embodiment two is used to hang quadrangle or octagon hanging object.
For other polygon hanging objects, it can be realized by adjusting rack side number.
The grasping means of the present invention specifically includes following steps：
Grabbing device prepares（As shown in fig. 4 a）：Under the Action of Gravity Field of hoist block 6, polygon rack 5 is as under drive end
Lower limit position is moved to, polygon rack 5 is engaged with heterotypic gear 2, drive special shape gear 2 to rotate supreme pendulum extreme position, driven
Connecting rod 3 and handgrip 4 are swung, and open handgrip 4, the microswitch 10 that this state passes through the polygon upper end cover lower flange position of rack 5
Detected, start movable pulley fixed mount 1 and drive grabbing device descending；
Grabbing device is descending：Movable pulley fixed mount 1 drives grabbing device to come downwards to hoist block 6 and contacted with bucket class lifting part；
Grabbing device is captured：After hoist block 6 is contacted with bucket class lifting part（As shown in Figure 4 b）, movable pulley fixed mount 1 drives
Hanging beam 7 and top special shape gear 2 continue to move down, and pass through the engagement of special shape gear 2 and polygon rack 5, drivening rod 3
And handgrip 4 is acted；When handgrip 4 blocks the lifting ring edge of barrel class lifting part（As illustrated in fig. 4 c）, the magnetic on the inside of dop
The feedback card of power formula proximity switch 8 presss from both sides status signal, and the main frame of control device sends promotion signal；
Grabbing device is lifted：Movable pulley fixed mount 1 drives the grade part of hanging beam 7 and lifting object Synchronous lifting, lifts to specified
Position；
Grabbing device moves back hook：Continue to transfer movable pulley fixed mount 1 and the grade device of hanging beam 7, by special shape gear 2 and polygon rack
5 engagement, special shape gear 2 is rotated further, and drives handgrip 4 to open（As shown in figure 4d）, until the upper cover plate of polygon rack 5
51 move up to upper extreme position, touch microswitch 10, top compact electromagnetic sucker 9 is powered and suck polygon rack 5, while to
The main frame feedback full opening of signal of handgrip 4 of control device, main frame is received after this signal, sends the instruction of sky hook lancet,
A whole set of grabbing device is lifted by movable pulley fixed mount 1；
Grabbing device resets：A whole set of grabbing device is promoted to after specified altitude assignment（As shown in fig 4e）, compact electromagnetic sucker 9 break
Electric demagnetization, polygon rack 5 moves down into lower limit position in the presence of hoist block 6, into the circulation of next lifting operation.
The present invention compared with prior art, changes traditional Grasp Modes, Action of Gravity Field and support by hoist block
Effect, drives polygon rack to be moved to extreme position downward or upward, and special shape gear is driven by the engagement of rack-and-pinion
Rotation, so that drivening rod and handgrip are swung, realizes handgrip opening or the state of clamping, each position coordinates magnetic-type to approach
The signal feedback of switch and microswitch, realizes that overall process is measurable and controllable, improves the safety and reliability of handling, crawl and
Uninstall process is operated without personnel on site, reduces intensity of workers, improves the efficiency of loading and unloading, and overall cost is relatively low,
Security reliability is high.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is by present invention encirclement.
Claims (4)
1. a kind of fully-automatic intelligent grabbing device, it is characterised in that：Including hanging beam (7), hoist block (6), polygon rack (5), different
Type gear (2), connecting rod (3), handgrip (4) and control device, the hanging beam (7) include cylinder (71), crossbeam (72) and otic placode
(73), the crossbeam (72) is provided with more than one piece, is uniformly distributed the lower end for being welded on cylinder (71), crossbeam (72) is connected with cylinder (71)
Place is welded with otic placode (73), and cylinder (71) place that the top of the otic placode (73) is provided with above axis hole, the otic placode (73) is provided with
Top surface is fixed with compact electromagnetic sucker (9) and position limit device on elongate slots, cylinder (71) inside, and middle part is equipped with lower limit
Device；Polygon rack (5) section is polygon, and rack is processed at interval, and the rack number is consistent with otic placode (73) number, institute
The top for stating polygon rack (5) is provided with upper end cover (51), and its bottom is provided with bottom end cover (52), and hoist block (6) is articulated with many heel teeths
On the bottom end cover (52) of bar (5), the top of polygon rack (5) penetrates cylinder (71), and its upper end cover (51) is provided with microswitch
(10)；The gear end of the heterotypic gear (2) is hinged centrally through bearing pin with otic placode (73), and engages biography with polygon rack (5)
Dynamic, the other end of heterotypic gear (2) is hinged by bearing pin with connecting rod (3), and the other end and the handgrip (4) of connecting rod (3) are hinged；It is described
Magnetic-type proximity switch (8) is installed on the inside of the dop of handgrip (4)；The magnetic-type proximity switch (8), compact electromagnetic sucker
(9) it is connected with microswitch (10) with control device；The hanging beam (7) is fixed in hoisting machinery running block by cylinder (71)
On fixed mount (1).
2. fully-automatic intelligent grabbing device according to claim 1, it is characterised in that：The grabbing device is empty at 360 degree
Between in the range of provided with three sets special shape gears (2), connecting rod (3) and handgrip (4) device, polygon rack (5) cross section is six sides
Rack is processed on shape, three sides of interval, is engaged with three special shape gears (2).
3. fully-automatic intelligent grabbing device according to claim 1, it is characterised in that：The grabbing device is empty at 360 degree
Between in the range of provided with four sets special shape gears (2), connecting rod (3) and handgrip (4) device, polygon rack (5) cross section is four sides
Rack is processed on shape, four sides, is engaged with four special shape gears (2).
4. the grasping means of fully-automatic intelligent grabbing device described in a kind of utilization claim 1,2 or 3, it is characterised in that including
Following steps：
1) grabbing device prepares：Under the Action of Gravity Field of hoist block (6), polygon rack (5) is displaced downwardly to limit inferior as drive end
Position, polygon rack (5) is engaged with heterotypic gear (2), drives special shape gear (2) to rotate supreme pendulum extreme position, drivening rod
(3) and handgrip (4) is swung, open handgrip (4), this state opened by the fine motion of polygon rack (5) upper end cover lower flange position
Close (10) to be detected, start movable pulley fixed mount (1) and drive grabbing device descending；
2) grabbing device is descending：Movable pulley fixed mount (1) drives grabbing device to come downwards to hoist block (6) and connect with bucket class lifting part
Touch；
3) grabbing device is captured：After hoist block (6) is contacted with bucket class lifting part, movable pulley fixed mount (1) drive hanging beam (7) and on
Portion's special shape gear (2) continues to move down, and passes through the engagement of special shape gear (2) and polygon rack (5), drivening rod (3)
And handgrip (4) action, when handgrip (4) blocks the lifting ring edge of barrel class lifting part, the magnetic-type on the inside of dop is approached
(8) feedback card folder status signal is switched, the main frame of control device sends promotion signal；
4) grabbing device is lifted：Movable pulley fixed mount (1) drives part and the lifting object Synchronous liftings such as hanging beam (7), and lifting extremely refers to
Positioning is put；
5) grabbing device moves back hook：Continue to transfer movable pulley fixed mount (1) and the device such as hanging beam (7), by special shape gear (2) with it is polygon
The engagement of rack (5), special shape gear (2) is rotated further, and drives handgrip (4) to open, until the upper cover plate of polygon rack (5)
(51) move up to upper extreme position, touch microswitch (10), top compact electromagnetic sucker (9) is powered and suck polygon rack
(5), while feeding back handgrip (4) full opening of signal to the main frame of control device, main frame is received after this signal, sends sky hook
The instruction of lancet, lifts a whole set of grabbing device by movable pulley fixed mount (1)；
6) grabbing device resets：A whole set of grabbing device is promoted to after specified altitude assignment, compact electromagnetic sucker (9) power-off demagnetization, polygon
Rack (5) moves down into lower limit position in the presence of hoist block (6), into the circulation of next lifting operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510929558.2A CN105417360B (en) | 2015-12-11 | 2015-12-11 | A kind of fully-automatic intelligent grabbing device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510929558.2A CN105417360B (en) | 2015-12-11 | 2015-12-11 | A kind of fully-automatic intelligent grabbing device and method |
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| CN105417360A CN105417360A (en) | 2016-03-23 |
| CN105417360B true CN105417360B (en) | 2017-08-11 |
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| CN106697924A (en) * | 2017-01-20 | 2017-05-24 | 星路智能包装（昆山）有限公司 | Multifunctional material gripper |
| CN106898404A (en) * | 2017-03-22 | 2017-06-27 | 武汉海王新能源工程技术有限公司 | A kind of concrete high integrality container automatic sealing equipment |
| CN107571272B (en) * | 2017-09-30 | 2020-03-17 | 迈克医疗电子有限公司 | Grabbing device state detection method, device and system |
| CN112726714A (en) * | 2020-12-18 | 2021-04-30 | 安徽丰达园林工程有限公司 | Periodic dredging device for pool bottom |
| CN114851844A (en) * | 2022-07-05 | 2022-08-05 | 北京中科原动力科技有限公司 | Automatic driving control device, automatic driving system and automatic driving agricultural machine |
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