CN108082931A - A kind of safety device of automatic grasper device - Google Patents
A kind of safety device of automatic grasper device Download PDFInfo
- Publication number
- CN108082931A CN108082931A CN201810147162.6A CN201810147162A CN108082931A CN 108082931 A CN108082931 A CN 108082931A CN 201810147162 A CN201810147162 A CN 201810147162A CN 108082931 A CN108082931 A CN 108082931A
- Authority
- CN
- China
- Prior art keywords
- box set
- plate
- seat
- pulling force
- force sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 210000005069 ears Anatomy 0.000 claims description 4
- 230000003827 upregulation Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002421 anti-septic effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0223—Heavy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/40—Safety features of loads, equipment or persons
Abstract
The invention discloses a kind of safety devices of automatic grasper device, including upper adjusting seat, lower adjusting seat, pulling force sensor, plate pin and elastic spacing component, upper adjusting seat includes top plate and the upper box set being connected on the downside of it, lower adjusting seat includes bottom plate and the lower box set for being attached to side, lower box set is placed on box set outer wall, the lower part of lower box set is connected with the plate pin for traversing box set, the rectangular opening along vertical plane is provided on the length direction median plane of plate pin, pulling force sensor is located in upper box set, upper end is connected on the top plate of box set, lower end is connected with flap seat, the lower end of flap seat is connected with the horizontal pin shaft through rectangular opening on plate pin, upper box set can be moved up and down compared with lower box set, vertically arranged elastic spacing component is connected between upper box set and lower box set.Gripping apparatus in the course of work for being promoted and being declined, control system by pulling force sensor whether in tension state come judge to transport fixture whether in stove slot it is in place or landed.
Description
Technical field
The present invention relates to a kind of gripping apparatus, and in particular to a kind of safety device of automatic grasper device.
Background technology
Metal parts is present with corrosion within the service life phase, so as to influence product quality, reduces the service life, influences zero
Part structural strength, so when part produces surface antirust treatment need to be carried out to it.
The antirust treatment of piece surface generally uses the treatment measures such as paint, nigrescence, zinc-plated, chromium plating, PIP at present, wherein
PIP technologies are green pollution-free and a kind of excellent aseptic technic of antiseptic property, it uses kinds of processes method, by non-gold
Belong to element and minor metallic element penetrates into metal surface, form the MULTILAYER COMPOSITE being made of metal oxide and nonmetalloid
Infiltration layer so that being formed simultaneously anticorrosion antiwear layer inside and outside product entirety, is merged with metal surface completely.
When carrying out PIP techniques, it is necessary to which processed part to be put into a series of stove of high temperature and the gaseous volatilization that is corrosive
It is handled in slot, the transhipment of part at present is that staff is operated by traditional driving, since operating environment temperature is high and has
Corrosive gaseous volatilization, long-term place in this environment can generate human body certain harm.
When transporting part, part is placed on transhipment fixture, and the weight for transporting fixture is larger, especially for some big
Type part, the weight for transporting fixture are even up to thousands of kilograms.Transhipment fixture is lifted using suspension hook by tradition driving at present,
Judge that transhipment fixture in place may there are errors in stove slot by human eye, that is to say, that transhipment fixture may really
Position, so when suspension hook departs from transhipment fixture, transhipment fixture may generate impact to stove slot, and the safe handling of stove slot is made
Into influence.Also to ground, there may be impacts when part is transported after handling well.
The content of the invention
It is a primary object of the present invention to provide a kind of transhipment fixture can be avoided to generate impact to stove slot or ground automatically
Safety device, make automatic grasper device realize safe and intelligentization operation.
The safety device of this automatic grasper device provided by the invention, including upper adjusting seat, lower adjusting seat, pull sensing
Device, plate pin and elastic spacing component；Upper adjusting seat includes top plate and the upper box set being connected on the downside of it, and lower adjusting seat includes bottom plate
With the lower box set for being attached to side, lower box set is placed on box set outer wall；The lower part of lower box set is connected with the plate for traversing box set
It sells, rectangular opening vertically is provided on the length direction median plane of plate pin；Pulling force sensor is located in upper box set, upper end
It is connected on the top plate of box set, lower end is connected with flap seat, and the lower end of flap seat is connected with the horizontal pin through rectangular opening on plate pin
Axis；Upper box set and lower box set can relatively move up and down, make horizontal pin shaft that can be moved up and down along the rectangular opening on plate pin, upper box set and
Vertically arranged elastic spacing component is connected between lower box set.
The pulling force sensor is square S-shaped pulling force sensor, and there is connecting screw hole at both ends respectively.
The upper box set and lower box set are rectangular sleeve, and the lower end of upper box set and the upper end of lower box set are openend；Institute
Pulling force sensor is stated to be located on the vertical median plane of two boxes set.
One end of the plate pin is vertically connected with end plate, and a pair of sidewalls lower part that lower box covers is provided with corresponding to plate pin size
Mounting hole, side-wall outer side corresponds to and connecting plate is both provided at mounting hole, sets corresponding mounting hole on connecting plate, the one of plate pin
End is inserted in the mounting hole in one side wall, and the other end is fastened by connecting plate and bolt.
What the upper box set side wall corresponded to the plate pin is provided with rectangular opening of the size more than plate pin size through place.
A pair of sidewalls top of the lower box set is connected with guide pad, and the outer end of guide pad is connected with installing plate, installing plate
It is fastened by bolts with the connecting plate of lower box set side wall.
The inner end of the guide pad passes through the respective side walls of the upper box set, and being provided with size on the side wall of upper box set is more than
It is oriented to the vertical rectangular opening of block size.
The elastic spacing component includes the pipe being fixed on the lower adjusting seat bottom plate and the pressure for being placed on circular tube external wall
Spring, the original length of compression spring are equal to the maximum range between the upper adjusting seat top plate and lower adjusting seat bottom plate, the length of pipe
No more than the length of lower box set.
The flap seat includes fixed seat and sliding seat, and fixed seat and sliding seat are ears panel seat, and the top plate of fixed seat connects
It is connected to the lower end of the pulling force sensor, the lower part between two otic placodes is connected with articulated shaft, and the upper end of sliding seat passes through hinge hole
It is hung on the articulated shaft of fixed seat otic placode lower part, the horizontal pin shaft is connected between two otic placodes of sliding seat lower part.
For gripping apparatus in the course of work for being promoted and being declined, whether control system is in tension shape by pulling force sensor
State come judge to transport fixture whether in stove slot it is in place or landed.When pulling force sensor is in tension state, control
System judges that gripping apparatus is in and promotes working condition, that is to say, that part is in transport process；When pulling force sensor is in
During non-tension state, control system judges that transhipment fixture is in place in stove slot or lands, while gripping apparatus is controlled to stop
Only continue to decline.Since fixture is in place or to land be control system by the stress of pulling force sensor come automatic decision,
So it on the one hand can guarantee that really in place either land can avoid the prior art may be to stove slot or ground to transhipment fixture
The defects of generating impact, another aspect operating personnel only need to carry out push-botton operation in control centre, without existing into part processing
, it can avoid generating harm to body.The setting of elastic spacing component makes box set with lower box set in upper limit, and has certain
Pretightning force, such gripping apparatus it is no crawl weight when will not generate swing, make pulling force sensor from the shadow of lateral force
It rings.
Description of the drawings
Fig. 1 is the structure diagram of one embodiment of the invention.
Fig. 2 is the A-A schematic diagrames in Fig. 1.
Fig. 3 is the B-B schematic diagrames in Fig. 1.
Fig. 4 is the enlarged structure schematic diagram of upper adjusting seat in Fig. 1.
Fig. 5 is the schematic side view of Fig. 4.
Fig. 6 is the enlarged structure schematic diagram of lower adjusting seat in Fig. 1.
Fig. 7 is the schematic side view of Fig. 6.
Specific embodiment
The safety device of this automatic grasper device with reference to disclosed in Fig. 1 to Fig. 3 can be seen that the present embodiment, including upper
Adjustment seat 1, lower adjusting seat 2, pulling force sensor 3, plate pin 4, compression spring 5, pipe 6, fixed seat 7, sliding seat 8, guide pad 9, level
Axis pin 10.
Can be seen that upper adjusting seat 1 with reference to Fig. 1, Fig. 2, Fig. 4 and Fig. 5 includes top plate 11 and the upper box being welded on the downside of it
Set 12.Top plate 11 is rectangular slab, and upper box set 12 is rectangular aperture set.
Can be seen that lower adjusting seat 2 with reference to Fig. 1, Fig. 2, Fig. 4 and Fig. 5 includes bottom plate 21 and the lower box of welding side thereon
Set 22.Bottom plate 21 is rectangular slab, and lower box set 22 is rectangular aperture set.
Lower box, which is can be seen that, with reference to Fig. 1, Fig. 2, Fig. 6 and Fig. 7 covers 22 outer walls for being placed on upper box set 21.Under lower box set 22
Portion is connected with the plate pin 4 for traversing box set 12, and rectangular opening vertically is provided on the length direction median plane of plate pin 4
41。
Figure it is seen that 3 use side's S-shaped pulling force sensor of pulling force sensor of the present embodiment, there is company at both ends respectively
Connect screw hole.Pulling force sensor 3 is located on the vertical median plane in upper box set 12, and the upper end is bolted to box set 12
On top plate 11, fixed seat 7, the lower end connection sliding seat 8 of fixed seat 7 is bolted in lower end.Fixed seat 7 and sliding seat 8 are equal
For ears panel seat.The top plate of fixed seat 7 is connected to the lower end of pulling force sensor 3, and the lower part between two otic placodes is connected with articulated shaft.
The upper end of sliding seat 8 is hung on by hinge hole on the articulated shaft of 7 otic placode lower part of fixed seat, is connected between two otic placodes of sliding seat lower part
It is connected to horizontal pin shaft 10.Horizontal pin shaft 10 is more than horizontal pin shaft 10 through the rectangular opening 41 on plate pin 4, the length of rectangular opening 41
Diameter.
Pulling force sensor 3 is located on the vertical median plane in upper box set 12, makes 3 stress equalization of pulling force sensor, can both prevent
Only unbalance loading, and structure space can be saved so that compact-sized, good appearance.
The upper end of pulling force sensor 3 is fixedly connected, and lower end flexible connection uses articulated shaft between fixed seat 7 and sliding seat 8
Connection, is connected, such structure can both disappear between sliding seat 8 and plate pin 4 by horizontal pin shaft 10 vertically arranged with articulated shaft
Except lateral stressed in horizontal plane, longitudinal stress that can also be in elimination of level face so that pulling force sensor is only subject to vertical side
To power, can be influenced to avoid be subject to transverse load, so as to which pulling force sensor be avoided to be subject to signal interference, ensure its to control be
The accuracy for transmission signal of uniting.
The present embodiment sets the rectangular opening of size and 4 matched of plate pin in a pair of sidewalls of lower box set 22, in lower box set
Equal welded and installed plate, sets identical rectangular opening on a mounting board on the outside of 22 two side.One end vertical welding end of plate pin 4
Plate, the end-plate-free end of plate pin 4 is covered from lower box to be passed through in the rectangular opening in a pair of sidewalls, and the other end covers side wall by end plate and lower box
Installing plate be fastened by bolts.
Installing plate is respectively provided in a pair of sidewalls of lower box set 22, so that the fixed-direction of plate pin 4 is more flexible.Upper box set 12
Two side respective panels pin 4 is provided with rectangular opening of the size more than 4 height dimension of plate pin through place, so that upper box set 12 can be upper and lower
It is mobile.The lower guide member that plate pin 4 is moved up and down as upper box set 12.
A pair of sidewalls top of lower box set 22 symmetrically connects guide pad 9, and the outer end of guide pad 9 is connected with installing plate, installation
The connecting plate that plate covers 22 side walls with lower box is fastened by bolts.The inner end of guide pad 9 covers 12 respective side walls, upper box through upper box
Size is set to be more than the rectangular opening of 9 size of guide pad on the side wall of set 12, is oriented to the offer top that moves up and down of upper box set.It is excellent
Guide pad 9 is selected to be set perpendicular to the orientation of plate pin 4, so makes moving up and down for box set 12 more stable.
Upper box set 12 is sleeved in lower box set 22, is made upper and lower box set that can only move up and down, can be subject to avoid pulling force sensor
The influence of transverse load.
Pair of horns of the present embodiment on 2 bottom plate of lower adjusting seat sets two pipes 6, and compression spring 5 is covered on pipe 6 and is formed
Vertical elastic spacing component.During original state, the both ends of compression spring 5 are individually fixed in the bottom plate of lower adjusting seat 2 and upper adjusting seat 1
Top plate between, the length of pipe 6 is less than the length of compression spring 5, and the length of pipe 6 is at most concordant with the upper end of lower box set 22.
Elastic spacing component causes box set 12 in normal state always in upper limit position, lower box set 22 can have it is enough under
Row space.
When pulling force sensor is when being vertically connected with bolt failure, due to there is the setting of plate pin 4 and guide pad 9, lower box covers 22
12 will not be covered with upper box to depart from, can drop to avoid gripping apparatus.
The upper adjusting seat of the present apparatus is connected with lower adjusting seat by pulling force sensor, flap seat, plate pin and horizontal pin shaft,
Rectangular opening is provided on the length direction median plane of plate pin, the lower end of flap seat is connected with the horizontal pin through rectangular opening on plate pin
Axis makes horizontal pin shaft that can be moved up and down in the rectangular opening on plate pin, and the rectangular opening of upper box set side wall, length is more than the height of plate pin
Degree is sleeved in lower box set so as to fulfill upper box and slides up and down, and can also be in connection pulling force sensor and the bolt of upper adjusting seat
During unexpected fracture, it is ensured that upper box set will not spin off from lower box set, play a very good protection.Upper box set and lower box set
Between connect vertically arranged elastic spacing component so that upper box set, in upper limit, and has certain preload with lower box set
Power, such gripping apparatus will not run inertia force and generate swing when no crawl weight, and pulling force sensor will not be by
To the influence of lateral force.
Intrinsic safety full device is installed on gripping apparatus, and gripping apparatus is realized by hoisting mechanism and lifted.
When the transhipment fixture that gripping apparatus clamping is loaded with part is promoted, pulling force sensor tension, pulling force sensor output
Current signal is judged as promotion state to control system, and when transhipment fixture lands, pulling force sensor does not stress, and believes without electric current
Number output, control system is not received by the current signal of pulling force sensor at this time, is judged to transporting fixture in stove slot
In place or land.Continuing to decline if there is abnormal conditions gripping apparatus, the spring of elastic spacing component is compressed at this time,
Upper box is sleeved on slide downward in lower box set, during sliding into lower limit in rectangular opening of the horizontal pin shaft in plate pin, passes
Sensor does not all stress, and control system can be prompted, if at this time operating personnel could not manual intervention emergent stopping, fixture also continuing
Decline, pulling force sensor is pressurized at this time, and pulling force sensor sends different current signals, and control system is while alarm, meeting
Lock the hoisting mechanism of gripping apparatus upper end so that gripping apparatus stops declining, so as to which protection hoisting mechanism avoids it well
It is damaged.
Claims (9)
1. a kind of safety device of automatic grasper device, it is characterised in that：The device includes upper adjusting seat, lower adjusting seat, pulling force
Sensor, plate pin and elastic spacing component；Upper adjusting seat includes top plate and the upper box set being connected on the downside of it, and lower adjusting seat includes
Bottom plate and the lower box set for being attached to side, lower box set are placed on box set outer wall；The lower part of lower box set, which is connected with, traverses box set
Plate pin, rectangular opening vertically is provided on the length direction median plane of plate pin；Pulling force sensor is located in upper box set,
Upper end is connected on the top plate of box set, and lower end is connected with flap seat, and the lower end of flap seat is connected with the water through rectangular opening on plate pin
Flat-sale axis；Upper box set and lower box set can relatively move up and down, make horizontal pin shaft that can be moved up and down along the rectangular opening on plate pin, upper box
Vertically arranged elastic spacing component is connected between set and lower box set.
2. the safety device of automatic grasper device as described in claim 1, it is characterised in that：The pulling force sensor is side S
There is connecting screw hole at shape pulling force sensor, both ends respectively.
3. the safety device of automatic grasper device as described in claim 1, it is characterised in that：The upper box set and lower box set are equal
For rectangular sleeve, the lower end of upper box set and the upper end of lower box set are openend；The pulling force sensor is located at the vertical of two boxes set
On median plane.
4. the safety device of automatic grasper device as claimed in claim 3, it is characterised in that：One end of the plate pin vertically connects
End plate is connected to, a pair of sidewalls lower part of lower box set is provided with mounting hole corresponding with plate pin size, and side-wall outer side corresponds to mounting hole
Place is both provided with connecting plate, and corresponding mounting hole is set on connecting plate, and one end of plate pin is inserted the mounting hole in one side wall
In, the other end is fastened by connecting plate and bolt.
5. the safety device of automatic grasper device as claimed in claim 3, it is characterised in that：The upper box set side wall corresponds to institute
That states plate pin is provided with rectangular opening of the size more than plate pin size through place.
6. the safety device of automatic grasper device as claimed in claim 3, it is characterised in that：A pair of sidewalls of the lower box set
Top is connected with guide pad, and the outer end of guide pad is connected with installing plate, and the connecting plate of installing plate and lower box set side wall passes through bolt
Fastening.
7. the safety device of automatic grasper device as claimed in claim 6, it is characterised in that：The inner end of the guide pad passes through
The respective side walls of the upper box set are provided with size on the side wall of upper box set and are more than the vertical rectangular opening for being oriented to block size.
8. the safety device of automatic grasper device as claimed in claim 3, it is characterised in that：The elastic spacing component includes
The pipe being fixed on the lower adjusting seat bottom plate and the compression spring for being placed on circular tube external wall, the original length of compression spring are equal to the up-regulation
The maximum range between seat top plate and lower adjusting seat bottom plate is saved, the length of pipe is not more than the length of lower box set.
9. the safety device of automatic grasper device as described in claim 1, it is characterised in that：The flap seat include fixed seat and
Sliding seat, fixed seat and sliding seat are ears panel seat, and the top plate of fixed seat is connected to the lower end of the pulling force sensor, two ears
Lower part between plate is connected with articulated shaft, and the upper end of sliding seat is hung on by hinge hole on the articulated shaft of fixed seat otic placode lower part,
The horizontal pin shaft is connected between two otic placodes of sliding seat lower part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147162.6A CN108082931B (en) | 2018-02-12 | 2018-02-12 | Safety device of automatic gripping apparatus device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147162.6A CN108082931B (en) | 2018-02-12 | 2018-02-12 | Safety device of automatic gripping apparatus device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108082931A true CN108082931A (en) | 2018-05-29 |
| CN108082931B CN108082931B (en) | 2024-02-13 |
Family
ID=62193940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147162.6A Active CN108082931B (en) | 2018-02-12 | 2018-02-12 | Safety device of automatic gripping apparatus device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082931B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0929678A (en) * | 1995-07-25 | 1997-02-04 | Hitachi Metals Ltd | Workpiece unloading |
| WO1997044646A1 (en) * | 1996-05-22 | 1997-11-27 | Naeslund Esbjoern | Load simulator for testing the load-limiting means of lifting devices |
| DE202006014324U1 (en) * | 2006-09-14 | 2006-11-23 | Dinse Gmbh | Safety system for joiner robot to prevent collision with other objects includes test gas pipe and sensor monitoring gas pressure or rate of flow to send switch-off signal when pressure drops or flow rate rises |
| JP4087886B1 (en) * | 2007-05-22 | 2008-05-21 | 勝 津田 | Electric robot hand |
| CN104330202A (en) * | 2011-05-07 | 2015-02-04 | 河南送变电工程公司 | Tensile force measuring connector |
| CN204689393U (en) * | 2015-06-10 | 2015-10-07 | 上海浦高地基基础工程有限公司 | A kind of crane hanging hook assembly structure |
| CN104973508A (en) * | 2014-04-01 | 2015-10-14 | 铃鹿工程株式会社 | Method for lifting and conveying bale rubber and device for same |
| CN205709607U (en) * | 2016-07-01 | 2016-11-23 | 湖北鄂南起重运输机械有限公司 | A kind of steel wire end fixing device of belt sensor |
| CN208008023U (en) * | 2018-02-12 | 2018-10-26 | 湖南祥瑞智能机器有限公司 | A kind of safety device of automatic grasper device |
-
2018
- 2018-02-12 CN CN201810147162.6A patent/CN108082931B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0929678A (en) * | 1995-07-25 | 1997-02-04 | Hitachi Metals Ltd | Workpiece unloading |
| WO1997044646A1 (en) * | 1996-05-22 | 1997-11-27 | Naeslund Esbjoern | Load simulator for testing the load-limiting means of lifting devices |
| DE202006014324U1 (en) * | 2006-09-14 | 2006-11-23 | Dinse Gmbh | Safety system for joiner robot to prevent collision with other objects includes test gas pipe and sensor monitoring gas pressure or rate of flow to send switch-off signal when pressure drops or flow rate rises |
| JP4087886B1 (en) * | 2007-05-22 | 2008-05-21 | 勝 津田 | Electric robot hand |
| CN104330202A (en) * | 2011-05-07 | 2015-02-04 | 河南送变电工程公司 | Tensile force measuring connector |
| CN104973508A (en) * | 2014-04-01 | 2015-10-14 | 铃鹿工程株式会社 | Method for lifting and conveying bale rubber and device for same |
| CN204689393U (en) * | 2015-06-10 | 2015-10-07 | 上海浦高地基基础工程有限公司 | A kind of crane hanging hook assembly structure |
| CN205709607U (en) * | 2016-07-01 | 2016-11-23 | 湖北鄂南起重运输机械有限公司 | A kind of steel wire end fixing device of belt sensor |
| CN208008023U (en) * | 2018-02-12 | 2018-10-26 | 湖南祥瑞智能机器有限公司 | A kind of safety device of automatic grasper device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108082931B (en) | 2024-02-13 |
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