CN111196553A - Intelligent gravity type slab clamp and control method thereof - Google Patents
Intelligent gravity type slab clamp and control method thereof Download PDFInfo
- Publication number
- CN111196553A CN111196553A CN202010042569.XA CN202010042569A CN111196553A CN 111196553 A CN111196553 A CN 111196553A CN 202010042569 A CN202010042569 A CN 202010042569A CN 111196553 A CN111196553 A CN 111196553A
- Authority
- CN
- China
- Prior art keywords
- clamp
- detection device
- gravity type
- type slab
- cross beam
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention provides an intelligent gravity type slab clamp and a control method thereof, which are used for solving the problem that the prior art can not realize automatic operation. The invention provides an intelligent gravity type slab clamp which comprises at least two groups of clamping groups, wherein one clamping group comprises a pair of clamp arms which are arranged in a crossed mode, the two clamp arms are connected in a rotating mode, a clamp opening result is formed at the lower ends of the clamp arms, a slab can be clamped when the opening degree of the clamp opening is reduced, clamping detection devices are arranged at the tail ends of the left clamp arm and the right clamp arm, and the clamping detection devices are used for detecting the clamping state of the clamp opening to the slab. Through the arrangement of the clamping detection device, the clamping state of the clamp is detected, and real-time feedback is provided for the automatic action of the clamp, so that closed-loop control is realized, the reliability of control is improved, and the safety of the clamp in work is improved.
Description
Technical Field
The invention relates to the field of metallurgy, in particular to an intelligent gravity type slab clamp and a control method thereof.
Background
The slab crown block is used as important special equipment for slab transportation in a slab warehouse of a large-scale steel mill, and bears important work tasks such as online loading, offline loading and stacking in the warehouse area. With the development of the times, an overhead travelling crane unmanned system is produced, corresponding mechanical equipment is required to be used as a support for realizing the unmanned overhead travelling crane of the slab warehouse, and a clamp is a crucial item. The existing slab clamp is mainly divided into a gravity type slab clamp and an electric translation type slab clamp, and the two clamps have obvious and serious defects when applied to an unmanned travelling crane: the gravity type slab clamp has a simple and reliable structure, but no sensor is arranged on the clamp to feed back the state of clamping the slab by the clamp, so that the safety is not guaranteed in an automatic system; the electric translation type clamp has a complex structure, more relative fault points, troublesome maintenance and higher manufacturing cost and maintenance cost, so the existing plate blank clamp is not suitable for an unmanned overhead travelling crane system.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide an intelligent gravity type slab clamp and a control method thereof, which can solve the problem that the prior art cannot be automated.
In order to achieve the above objects and other related objects, the present invention provides an intelligent gravity type slab clamp, comprising at least two clamping groups, wherein one clamping group comprises a pair of crossed clamp arms, the two clamp arms are rotatably connected, the lower ends of the clamp arms form a clamp opening result, when the opening degree of the clamp opening is reduced, the slab clamp can be clamped,
and the tail end of the left clamp arm and the tail end of the right clamp arm are both provided with clamping detection devices, and the clamping detection devices are used for detecting the clamping state of the jaws on the plate blank.
Optionally, the clamping detection device ejects the trigger end of the clamping detection device out of the inner side of the jaw through an elastic structure.
Optionally, the clamping detection device includes a jaw trigger, a first pin, a first elastic element, and a first trigger switch, the middle of the jaw trigger is rotatably mounted on the left or right clamp arm through the first pin, the first elastic element enables one end of the jaw trigger to have a tendency of protruding from the inner side of the jaw, and the first trigger switch is mounted on a rotation path of the first elastic element.
Optionally, the intelligent gravity type slab clamp further comprises an upper beam, a lower beam and a shutter, wherein the shutter is used for controlling the locking state of the relative positions of the upper beam and the lower beam;
the intelligent gravity type slab clamp further comprises a second trigger switch, and the second trigger switch is used for detecting the opening and closing state of the switch.
Optionally, the clamp further comprises a jaw opening degree detection device, and the jaw opening degree detection device is used for detecting the opening degree of a jaw formed by the left clamp arm and the right clamp arm.
Optionally, the clamp comprises a clamp opening degree detection device, and the clamp opening degree detection device reflects the opening degree of a clamp opening formed by the left clamp arm and the right clamp arm by detecting the distance between the upper beam and the lower beam.
Optionally, the intelligent gravity type slab clamp further comprises an upper beam, a lower beam and a shutter, wherein the shutter is used for controlling the locking state of the relative positions of the upper beam and the lower beam;
the jaw opening degree detection device comprises a stay cord encoder and a stay cord, the stay cord encoder is arranged on the upper cross beam, one end of the stay cord is matched with the stay cord encoder, and the other end of the stay cord is arranged on the lower cross beam.
Optionally, the clamp floor detection device is used for detecting whether the jaw reaches the clamping position of the slab, and when the clamp floor detection devices are multiple, each clamp floor detection device can correspond to multiple positions of the slab.
Optionally, the intelligent gravity type slab clamp further comprises an upper beam, a lower beam and a shutter, wherein the shutter is used for controlling the locking state of the relative positions of the upper beam and the lower beam;
the clamp falls to ground detection device includes reference column, second elastic component and third trigger switch, the reference column runs through in the vertical direction the bottom end rail, the second elastic component lets the reference column lower extreme has the trend of ejecting downwards, the lower extreme of reference column is towards the slab when the centre gripping, the third trigger switch install on the ascending route of reference column.
Optionally, the vertical position of the positioning column is adjustable.
Optionally, the vertical position of the positioning column is adjustable through a switching mechanism;
the switching mechanism includes:
a driving member for driving the driving member to rotate,
the vertical telescopic assemblies comprise shaft sleeves and lead screws, the driving pieces drive the shaft sleeves to rotate, the shaft sleeves are rotatably mounted on the lower cross beam, axial displacement of the shaft sleeves is limited, the lead screws comprise threaded parts and spline parts which are coaxially arranged, the threaded parts are in threaded fit with inner holes of the shaft sleeves, and the spline parts are matched with the lower cross beam through a spline connecting structure;
the lead screw is equipped with first axial hole and second axial hole, first axial hole with second axial hole intercommunication forms through-hole structure, the aperture of first axial hole is greater than the aperture in second axial hole, the fixed screens head that is equipped with in reference column upper end, the screens head is arranged in the second axial is downthehole, the reference column axial penetrates in the second axial hole, the downthehole installation of second axial second elastic component, the lead screw upper end can be dismantled fixedly and be equipped with the tapered end, second elastic component one end with the cooperation of screens head, the second elastic component other end with the tapered end cooperation.
Optionally, the switching mechanism further includes:
the driving piece drives the power shaft to rotate;
the first output shaft and the second output shaft are parallel to the power shaft and are in transmission connection with the power shaft, and the first output shaft and the second output shaft are respectively positioned on two sides of the power shaft;
the first output shaft and the second output shaft respectively drive the shaft sleeves to rotate.
Optionally, the intelligent gravity type slab clamp further comprises an inclination angle detection sensor, and the inclination angle detection sensor is used for detecting the inclination angles of the intelligent gravity type slab clamp and the horizontal plane.
A control method of an intelligent gravity type slab clamp comprises the following steps: the clamp comprises a clamping detection device, a second trigger switch, a jaw opening degree detection device and a clamp landing detection device, wherein the height of the detection end of the clamp landing detection device is adjustable;
the control method of the intelligent gravity type slab clamp comprises the following steps:
when the clamp is about to hang and take the slab, the shutter is closed, the detection device of the shutter is not triggered, and the jaw is in an open state;
when the clamp reaches the position above the target plate blank, the clamp determines the number of the clamped plate blanks through a system command, and the detection end position of the clamp floor detection device is adjusted according to the number of the clamped plate blanks required;
controlling the clamp to start descending, when the clamp is decelerated and continues descending and a shutter of the clamp is opened until the detection end of the clamp falling detection device is contacted with the upper surface of the plate blank, and the second trigger switch detects that the shutter is opened and triggers the clamp to stop descending and then ascend;
when the clamp rises to the trigger of the clamping detection device, the clamp finishes the clamping work, and at the moment, the opening degree detection device collects opening degree data, namely the width of the plate blank;
and comparing the width of the plate blank detected by the opening degree detection device with the known width of the plate blank in the system, and giving an alarm when the comparison result is inconsistent.
Optionally, the intelligent gravity type slab clamp further comprises: a tilt angle detection sensor;
the control method of the intelligent gravity type slab clamp further comprises the following steps:
and when the inclination angle detection sensor detects that the clamp posture is inclined, the clamp performs posture adjustment or the system suddenly stops.
As described above, the intelligent gravity type slab clamp and the control method thereof according to the present invention have at least the following beneficial effects:
through the arrangement of the clamping detection device, the clamping state of the clamp is detected, and real-time feedback is provided for the automatic action of the clamp, so that closed-loop control is realized, the reliability of control is improved, and the safety of the clamp in work is improved.
Drawings
Fig. 1 shows a schematic front view of an intelligent gravity type slab clamp of the present invention.
Fig. 2 is a schematic side view of an intelligent gravity type slab clamp of the present invention.
Fig. 3 is a schematic view showing the switching mechanism and the lower cross member of the present invention.
Fig. 4 is a schematic diagram of the switching mechanism of the present invention.
Element number description: the clamp comprises an upper crossbeam 1, a lower crossbeam 2, a left tong arm 3, a right tong arm 4, a shutter 5, a clamping detection device 6, a jaw trigger 61, a first pin shaft 62, a first elastic piece 63, a first trigger switch 64, a second trigger switch 51, a jaw opening degree detection device 7, a pull rope encoder 71, a pull rope 72, a clamp landing detection device 8, a positioning column 81, a second elastic piece 82, a third trigger switch 83, a switching mechanism 9, a driving piece 91, a power shaft 92, a first output shaft 93, a second output shaft 94, a vertical telescopic assembly 95, a shaft sleeve 951, a screw rod 952, a thread portion 9521, a spline portion 9522, a first axial hole 9523, a second axial hole 9524, a clamping head 811, a lock 9525 and a bearing 9511.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 4. It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions of the present disclosure, so as to be understood and read by those skilled in the art, and therefore, the present disclosure is not limited to the conditions of the present disclosure, and any modifications of the structures, the changes of the ratios, or the adjustments of the sizes, should fall within the scope of the present disclosure without affecting the functions and the achievable purposes of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
Referring to fig. 1 to 2, the present invention provides an embodiment of an intelligent gravity type slab clamp, including an upper beam 1, a lower beam 2, a left clamp arm 3, a right clamp arm 4 and a shutter 5, wherein the specific matching form of the upper beam 1, the lower beam 2, the left clamp arm 3, the right clamp arm 4 and the shutter 5 is not the focus of the present application, the following matching form is only for illustration, the upper beam 1 and the lower beam 2 are arranged in parallel and spaced, the upper beam 1 can be matched with a traveling crane through a steel cable, the shutter 5 is installed between the upper beam 1 and the lower beam 2, the left clamp arm 3 and the right clamp arm 4 are installed in a crossed and rotated manner to form a set of two-finger clamping structure, the upper ends of the left clamp arm 3 and the right clamp arm 4 are both provided with a strip-shaped groove, a pin shaft is inserted into the strip-shaped groove to realize the rotational installation, the positions of the strip-shaped groove and the pin shaft are changed relatively in the opening and closing process of the left clamp arm, the lower beam 2 is located the left tong arm 3 and the lower side of the intersection of the right tong arm 4, one upper beam 1 and one lower beam 2 are correspondingly provided with a plurality of groups of two-finger clamping structures to clamp the plate blank, when the shutter 5 is in a closed state, the jaw is in an open state, when the shutter is closed and opened, the upper beam 1 is lifted upwards, and the left tong arm 3 and the right tong arm 4 rotate inwards to clamp the plate blank. The tail end of the left clamp arm 3 and the tail end of the right clamp arm 4 are both provided with a clamping detection device 6, and the clamping detection device 6 is used for detecting the clamping state of a jaw formed by the left clamp arm 3 and the right clamp arm 4. Through the arrangement of the clamping detection device 6, the clamping state of the clamp is detected, and real-time feedback is provided for the automatic action of the clamp, so that closed-loop control is realized, the reliability of control is improved, and the safety of the clamp in work is improved.
Referring to fig. 1, in an embodiment of the clamping detection device 6, the clamping detection device 6 includes a jaw trigger 61, a first pin 62, a first elastic member 63, and a first trigger switch 64, a middle portion of the jaw trigger 61 is rotatably mounted on the left or right jawarm 3 or 4 through the first pin 62, the first elastic member 63 enables one end of the jaw trigger 61 to have a tendency of protruding from an inner side of the jaw, and the first trigger switch 64 is mounted on a rotation path of the first elastic member 63. The jaw trigger 61 is rotatably connected through a first pin 62, so that when one side of the jaw trigger 61 protruding from the inner side of the jaw contacts with a slab and generates a mutual force, one end of the jaw trigger 61 accepts and overcomes the elastic force of the first elastic member 63 and then rotates around the first pin 62, the rotation of the other end of the jaw trigger 61 triggers a first trigger switch 64, the first trigger switch 64 transmits data of a clamping state to the controller, and when the jaw is opened, the jaw trigger 61 is reset by the first elastic member 63.
Referring to fig. 2, the present invention provides an embodiment of an intelligent gravity type slab clamp, further comprising a second trigger switch 51, where the second trigger switch 51 is used to detect an open/close state of the shutter 5. Avoiding misoperation in automatic operation.
The invention provides an embodiment of an intelligent gravity type slab clamp, which further comprises a clamp opening degree detection device 7, wherein the clamp opening degree detection device is used for detecting the opening degree of a clamp opening formed by a left clamp arm 3 and a right clamp arm 4. And detecting the distance between the clamping jaws at the two sides, thereby indirectly measuring the width of the clamped plate blank.
Referring to fig. 2, the present invention provides an embodiment of an intelligent gravity type slab clamp, further comprising a clamp opening degree detection device 7, wherein the clamp opening degree detection device reflects the opening degree of a clamp opening formed by the left clamp arm 3 and the right clamp arm 4 by detecting the distance between the upper beam 1 and the lower beam 2. And detecting the distance between the clamping jaws at the two sides, thereby indirectly measuring the width of the clamped plate blank. The jaw opening degree detection device 7 comprises a pull rope encoder 71 and a pull rope 72, wherein the pull rope 72 encoder 71 is fixed on the upper cross beam 1, one end of the pull rope is matched with the pull rope 72 encoder 71, and the other end of the pull rope 72 is fixed on the lower cross beam 2. The width result of the clamped plate blank is reflected by the distance between the upper cross beam 1 and the lower cross beam 2, the measurement is more accurate, and the measurement is convenient, and if the experimental scheme of the opening degree of the jaw is directly measured, the experimental scheme is complex.
Referring to fig. 2, 3 and 4, the present invention provides an embodiment of an intelligent gravity type slab clamp, further comprising at least one clamp falling detection device 8, where the clamp falling detection device 8 is configured to detect whether a jaw of the clamp reaches a clamping position of a slab, and when there are a plurality of clamp falling detection devices 8, each clamp falling detection device 8 can correspond to a plurality of positions of the slab. Optionally, the clamp floor detection device 8 includes a positioning column 81, a second elastic member 82 and a third trigger switch 83, the positioning column 81 vertically penetrates through the lower cross beam 2, the second elastic member 82 allows the lower end of the positioning column 81 to have a downward ejection trend, the lower end of the positioning column 81 faces the slab during clamping, and the third trigger switch 83 is installed on an upward path of the positioning column 81. When the lower part of the positioning column 81 is in contact with the upper surface of the slab, if the clamp moves downwards continuously, the positioning column 81 moves upwards relatively, the positioning column 81 triggers the third trigger switch 83, and after the controller receives a signal of the second trigger switch 51, the controller can control the clamp to stop descending, so that the next lifting motion is started.
Referring to fig. 3 and 4, in an embodiment of the clamp floor detection device 8, a vertical position of the positioning column 81 is adjustable, and a vertical position of the positioning column 81 is adjustable through the switching mechanism 9; the switching mechanism 9 includes: the device comprises a driving piece 91, a power shaft 92, a first output shaft 93, a second output shaft 94 and two vertical telescopic assemblies 95, wherein the driving piece 91 drives the power shaft 92 to rotate; the first output shaft 93 and the second output shaft 94 are both parallel to the power shaft 92 and are in transmission connection with the power shaft 92, and the first output shaft 93 and the second output shaft 94 are respectively positioned on two sides of the power shaft 92; the vertical telescopic assembly 95 comprises a shaft sleeve 951 and a screw rod 952, the shaft sleeve 951 is rotatably mounted on the lower cross beam 2, the axial displacement of the shaft sleeve 951 is limited, the first output shaft 93 and the second output shaft 94 respectively drive the shaft sleeve 951 to rotate, the screw rod 952 comprises a threaded portion 9521 and a spline portion 9522 which are coaxially arranged, the threaded portion 9521 is in threaded fit with an inner hole of the shaft sleeve 951, and the spline portion 9522 is in fit with the lower cross beam 2 through a spline connection structure; the screw 952 is provided with a first axial hole 9523 and a second axial hole 9524, the first axial hole 9523 and the second axial hole 9524 are communicated to form a through hole structure, the aperture of the first axial hole 9523 is larger than that of the second axial hole 9524, the upper end of the positioning column 81 is fixedly provided with a clamping head 811, the clamping head 811 is arranged in the second axial hole 9524, the positioning column 81 axially penetrates through the second axial hole 9524, the second elastic member 82 is arranged in the second axial hole 9524, the upper end of the screw 952 is detachably and fixedly provided with a locking head 9525, one end of the second elastic member 82 is matched with the clamping head 811, and the other end of the second elastic member 82 is matched with the locking head 9525. In fig. 3, the locking head 9525 can be a bolt and the retaining head 811 can be a nut. When the positioning column 81 is pushed upwards, the positioning column 81 compresses the second elastic part 82, the second elastic part 82 can be a spring, the positioning column 81 triggers the third trigger switch 83 in the ascending process, and when the lower part of the positioning column 81 is separated from the upper surface of the slab, the second elastic part 82 pushes the positioning column 81 downwards to realize automatic reset. Can adjust the high realization adaptation of reference column 81 when needs are to the slab of different thickness or need snatch the slab of different quantity, the quantity of slab can be measured through the degree of opening detection device 7 of keeping silent that the above embodiment mentioned, also can manual input, the adjustment process of the vertical position of reference column 81 is: the driving member 91 drives the power shaft 92 to rotate, the power shaft 92 drives the first output shaft 93 and the second output shaft 94 to rotate, the first output shaft 93 and the second output shaft 94 respectively drive the two shaft sleeves 951 to rotate, axial displacement of the shaft sleeves 951 is limited, so that the shaft sleeves 951 rotate in situ, the threaded portions 9521 of the screw rods 952 are matched with inner holes of the shaft sleeves 951, and rotational displacement of the screw rods 952 is limited by a spline structure, so that the screw rods 952 can only do vertical linear motion, in fig. 3, the driving member 91 can be a motor, the driving member 91 is coaxial with the power shaft 92, the first output shaft 93 and the second output shaft 94 are in gear transmission, of course, other transmission modes can be adopted, chain wheels are sleeved on the first output shaft 93 and the second output shaft 94, a chain wheel is coaxially fixed on the shaft sleeves 951, transmission among the shaft sleeves 951, the first output shaft 93 and the second output shaft 94 is in matched, in fig. 3 and 4, the inner side of the sprocket is provided with threads, i.e. the sprocket itself can be called as a shaft sleeve 951, a bearing 9511 is fixed at the lower end of the sprocket, the shaft sleeve 951 is embedded into the lower cross beam 2 to limit the axial displacement of the shaft sleeve 951, of course, a shaft sleeve 951 can be independently arranged, and the sprocket and the shaft sleeve 951 can synchronously rotate to achieve the same function.
In this embodiment, a control method for an intelligent gravity type slab clamp includes: the clamp is characterized by comprising a clamping detection device 6, a second trigger switch 51, a jaw opening degree detection device 7 and a clamp landing detection device 8, wherein the height of the detection end of the clamp landing detection device 8 is adjustable;
the control method of the intelligent gravity type slab clamp comprises the following steps:
when the clamp is about to hang and take the slab, the shutter 5 is closed, the detection device of the shutter 5 is not triggered, and the jaw is in an open state;
when the clamp reaches the position above the target plate blank, the clamp determines the number of the clamped plate blanks through a system command, and the detection end position of the clamp floor detection device 8 is adjusted according to the number of the clamped plate blanks required;
controlling the clamp to start descending, when the clamp is decelerated and continues descending and opens the shutter 5 of the clamp when the detection end of the clamp falling detection device 8 is contacted with the upper surface of the plate blank, and the second trigger switch 51 detects that the shutter 5 is opened and triggers the clamp to stop descending and then ascend;
when the clamp ascends to the clamping detection device 6 and is triggered by a signal, the clamp finishes the clamping work, and at the moment, the opening degree detection device acquires opening degree data, namely the width of the plate blank;
and comparing the width of the plate blank detected by the opening degree detection device with the known width of the plate blank in the system, and giving an alarm when the comparison result is inconsistent.
In this embodiment, intelligent gravity type slab clamp still includes: a tilt angle detection sensor;
the control method of the intelligent gravity type slab clamp further comprises the following steps:
and when the inclination angle detection sensor detects that the clamp posture is inclined, the clamp performs posture adjustment or the system suddenly stops.
In conclusion, the clamp state detection of the clamp is realized through the arrangement of the clamp detection device 6, and real-time feedback is provided for the automatic action of the clamp, so that closed-loop control is realized, the control reliability is improved, and the safety of the clamp work is improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (15)
1. The utility model provides an intelligence gravity type slab clamp, includes at least two sets of centre gripping groups, one the centre gripping group is including a pair of alternately arranged's tong arm, two the tong arm rotates to be connected, the tong arm lower extreme forms the result of keeping silent, can be to when keeping silent the aperture diminishes the slab centre gripping, its characterized in that:
and the tail end of the left clamp arm and the tail end of the right clamp arm are both provided with clamping detection devices, and the clamping detection devices are used for detecting the clamping state of the jaws on the plate blank.
2. The intelligent gravity type slab clamp of claim 1, wherein: the clamping detection device ejects the trigger end of the clamping detection device out of the inner side of the jaw through an elastic structure.
3. The intelligent gravity type slab clamp of claim 2, wherein: the clamping detection device comprises a jaw trigger, a first pin shaft, a first elastic piece and a first trigger switch, wherein the middle of the jaw trigger is rotatably installed on the left tong arm or the right tong arm through the first pin shaft, one end of the jaw trigger can have a trend of protruding out of the inner side of the jaw through the first elastic piece, and the first trigger switch is installed on a rotating path of the first elastic piece.
4. The intelligent gravity type slab clamp of claim 1, wherein: the intelligent gravity type slab clamp further comprises an upper cross beam, a lower cross beam and a shutter, wherein the shutter is used for controlling the locking state of the relative positions of the upper cross beam and the lower cross beam;
the intelligent gravity type slab clamp further comprises a second trigger switch, and the second trigger switch is used for detecting the opening and closing state of the switch.
5. The intelligent gravity type slab clamp of claim 1, wherein: the clamp comprises a left clamp arm and a right clamp arm, and is characterized by further comprising a clamp opening degree detection device, wherein the clamp opening degree detection device is used for detecting the opening degree of a clamp opening formed by the left clamp arm and the right clamp arm.
6. The intelligent gravity type slab clamp of claim 1, wherein: the clamp comprises an upper cross beam, a lower cross beam and a left clamp arm and also comprises a jaw opening degree detection device, wherein the jaw opening degree detection device reflects the opening degree of a jaw formed by the left clamp arm and the right clamp arm by detecting the distance between the upper cross beam and the lower cross beam.
7. The intelligent gravity type slab clamp of claim 6, wherein: the intelligent gravity type slab clamp further comprises an upper cross beam, a lower cross beam and a shutter, wherein the shutter is used for controlling the locking state of the relative positions of the upper cross beam and the lower cross beam;
the jaw opening degree detection device comprises a stay cord encoder and a stay cord, the stay cord encoder is connected to the upper cross beam, one end of the stay cord is matched with the stay cord encoder, and the other end of the stay cord is connected to the lower cross beam.
8. The intelligent gravity type slab clamp of claim 1, wherein: the clamp floor detection device is used for detecting whether the jaw reaches the clamping position of the plate blank, and when the clamp floor detection device is multiple, the clamp floor detection device can correspond to multiple positions of the plate blank.
9. The intelligent gravity type slab clamp of claim 7, wherein: the intelligent gravity type slab clamp further comprises an upper cross beam, a lower cross beam and a shutter, wherein the shutter is used for controlling the locking state of the relative positions of the upper cross beam and the lower cross beam;
the clamp falls to ground detection device includes reference column, second elastic component and third trigger switch, the reference column runs through in the vertical direction the bottom end rail, the second elastic component lets the reference column lower extreme has the trend of ejecting downwards, the lower extreme of reference column is towards the slab when the centre gripping, the third trigger switch install on the ascending route of reference column.
10. The intelligent gravity type slab clamp of claim 9, wherein: the vertical position of the positioning column is adjustable.
11. The intelligent gravity type slab clamp of claim 10, wherein: the vertical position of the positioning column is adjustable through the switching mechanism;
the switching mechanism includes:
a driving member for driving the driving member to rotate,
the vertical telescopic assemblies comprise shaft sleeves and lead screws, the driving pieces drive the shaft sleeves to rotate, the shaft sleeves are rotatably mounted on the lower cross beam, axial displacement of the shaft sleeves is limited, the lead screws comprise threaded parts and spline parts which are coaxially arranged, the threaded parts are in threaded fit with inner holes of the shaft sleeves, and the spline parts are matched with the lower cross beam through a spline connecting structure;
the lead screw is equipped with first axial hole and second axial hole, first axial hole with second axial hole intercommunication forms through-hole structure, the aperture of first axial hole is greater than the aperture in second axial hole, the fixed screens head that is equipped with in reference column upper end, the screens head is arranged in the second axial is downthehole, the reference column axial penetrates in the second axial hole, the downthehole installation of second axial second elastic component, the lead screw upper end can be dismantled fixedly and be equipped with the tapered end, second elastic component one end with the cooperation of screens head, the second elastic component other end with the tapered end cooperation.
12. The intelligent gravity type slab clamp of claim 11, wherein: the switching mechanism further includes:
the driving piece drives the power shaft to rotate;
the first output shaft and the second output shaft are parallel to the power shaft and are in transmission connection with the power shaft, and the first output shaft and the second output shaft are respectively positioned on two sides of the power shaft;
the first output shaft and the second output shaft respectively drive the shaft sleeves to rotate.
13. The intelligent gravity type slab clamp of claim 1, wherein: the intelligent gravity type slab clamp is characterized by further comprising an inclination angle detection sensor, wherein the inclination angle detection sensor is used for detecting the inclination angles of the intelligent gravity type slab clamp and the horizontal plane.
14. A control method of an intelligent gravity type slab clamp is characterized by comprising the following steps: the clamp comprises a clamping detection device, a second trigger switch, a jaw opening degree detection device and a clamp landing detection device, wherein the height of the detection end of the clamp landing detection device is adjustable;
the control method of the intelligent gravity type slab clamp comprises the following steps:
when the clamp is about to hang and take the slab, the shutter is closed, the detection device of the shutter is not triggered, and the jaw is in an open state;
when the clamp reaches the position above the target plate blank, the clamp determines the number of the clamped plate blanks through a system command, and the detection end position of the clamp floor detection device is adjusted according to the number of the clamped plate blanks required;
controlling the clamp to start descending, when the clamp is decelerated and continues descending and a shutter of the clamp is opened until the detection end of the clamp falling detection device is contacted with the upper surface of the plate blank, and the second trigger switch detects that the shutter is opened and triggers the clamp to stop descending and then ascend;
when the clamp rises to the trigger of the clamping detection device, the clamp finishes the clamping work, and at the moment, the opening degree detection device collects opening degree data, namely the width of the plate blank;
and comparing the width of the plate blank detected by the opening degree detection device with the known width of the plate blank in the system, and giving an alarm when the comparison result is inconsistent.
15. The method of controlling intelligent gravity type slab clamp of claim 14, further comprising: a tilt angle detection sensor;
the control method of the intelligent gravity type slab clamp further comprises the following steps:
and when the inclination angle detection sensor detects that the clamp posture is inclined, the clamp performs posture adjustment or the system suddenly stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010042569.XA CN111196553B (en) | 2020-01-15 | 2020-01-15 | Intelligent gravity type slab clamp and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010042569.XA CN111196553B (en) | 2020-01-15 | 2020-01-15 | Intelligent gravity type slab clamp and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111196553A true CN111196553A (en) | 2020-05-26 |
| CN111196553B CN111196553B (en) | 2021-05-28 |
Family
ID=70744689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010042569.XA Active CN111196553B (en) | 2020-01-15 | 2020-01-15 | Intelligent gravity type slab clamp and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111196553B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112010174A (en) * | 2020-09-24 | 2020-12-01 | 萧县奥新农业科技有限公司 | Electromechanical equipment installation device and use method thereof |
| CN113399633A (en) * | 2021-06-25 | 2021-09-17 | 宝钢湛江钢铁有限公司 | Method for efficiently regulating and controlling clamp to clamp slab of thick plate production line |
| CN114179116A (en) * | 2021-11-10 | 2022-03-15 | 商乐琪 | Gravity type clamp |
| CN114871956A (en) * | 2022-06-01 | 2022-08-09 | 沈阳飞机工业（集团）有限公司 | Aircraft canopy constant force clamp with intelligent detection and calibration device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201463867U (en) * | 2009-09-09 | 2010-05-12 | 山西太钢不锈钢股份有限公司 | Device for measuring slab width |
| CN103121621A (en) * | 2012-11-28 | 2013-05-29 | 大连钛鼎重工有限公司 | Motor-driven spacing slab stack clamp |
| CN204938356U (en) * | 2015-09-29 | 2016-01-06 | 安徽中烟工业有限责任公司 | Tobacco bale clamping machine clamping detection mechanism |
| CN106241608A (en) * | 2016-08-31 | 2016-12-21 | 大连宝信起重技术有限公司 | A kind of intelligence slab clamp controls equipment |
-
2020
- 2020-01-15 CN CN202010042569.XA patent/CN111196553B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201463867U (en) * | 2009-09-09 | 2010-05-12 | 山西太钢不锈钢股份有限公司 | Device for measuring slab width |
| CN103121621A (en) * | 2012-11-28 | 2013-05-29 | 大连钛鼎重工有限公司 | Motor-driven spacing slab stack clamp |
| CN204938356U (en) * | 2015-09-29 | 2016-01-06 | 安徽中烟工业有限责任公司 | Tobacco bale clamping machine clamping detection mechanism |
| CN106241608A (en) * | 2016-08-31 | 2016-12-21 | 大连宝信起重技术有限公司 | A kind of intelligence slab clamp controls equipment |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112010174A (en) * | 2020-09-24 | 2020-12-01 | 萧县奥新农业科技有限公司 | Electromechanical equipment installation device and use method thereof |
| CN113399633A (en) * | 2021-06-25 | 2021-09-17 | 宝钢湛江钢铁有限公司 | Method for efficiently regulating and controlling clamp to clamp slab of thick plate production line |
| CN113399633B (en) * | 2021-06-25 | 2022-07-19 | 宝钢湛江钢铁有限公司 | Method for efficiently regulating and controlling clamp to clamp slab of thick plate production line |
| CN114179116A (en) * | 2021-11-10 | 2022-03-15 | 商乐琪 | Gravity type clamp |
| CN114179116B (en) * | 2021-11-10 | 2023-08-29 | 商乐琪 | Gravity type clamp |
| CN114871956A (en) * | 2022-06-01 | 2022-08-09 | 沈阳飞机工业（集团）有限公司 | Aircraft canopy constant force clamp with intelligent detection and calibration device |
| CN114871956B (en) * | 2022-06-01 | 2023-06-27 | 沈阳飞机工业（集团）有限公司 | Aircraft cockpit lid force clamp with intelligent detection and calibration device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111196553B (en) | 2021-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111196553B (en) | Intelligent gravity type slab clamp and control method thereof | |
| CN113921457B (en) | Grabbing device and air transport vehicle | |
| CN112302547B (en) | Automatic elevator of sucker rod capable of realizing automatic alignment function and use method | |
| CN113716444B (en) | Four-axis synchronous lifting light multifunctional lifting appliance | |
| CN109352674B (en) | I-shaped wheel double clamping jaw mechanism | |
| CN109626277B (en) | A transfer robot of safe and reliable's stable form for commodity circulation | |
| CN112227269B (en) | Highway guardrail mounting device and using method thereof | |
| CN110722343A (en) | Hydraulic pressure end cap pressure equipment machine with visual detection function | |
| CN207840548U (en) | A kind of elevator column reinforcing rib positioning device | |
| CN109129540B (en) | Manipulator clamp | |
| KR101350463B1 (en) | Central limit device | |
| CN108188638A (en) | A kind of elevator column reinforcing rib positioning device | |
| CN114873426A (en) | Unmanned grabbing segmental beam lifting appliance and construction method thereof | |
| CN219566359U (en) | Safety anti-falling device of four-way shuttle | |
| CN114229708B (en) | Aerogel back-end production line | |
| CN220664572U (en) | Elevator wire rope safety inspection device | |
| CN212513573U (en) | Detection apparatus for it is not hard up that standard festival fixing bolt | |
| KR100607133B1 (en) | A device for keeping horizontal level of a movable workbench | |
| KR20170000856A (en) | Apparatus for moving a slab and method thereof | |
| CN2877936Y (en) | Automatic threading machine | |
| CN216471865U (en) | Adjustable automatic lifting appliance | |
| CN114655809B (en) | Weightlessness lifting device | |
| CN220618211U (en) | Hoisting equipment | |
| CN221111801U (en) | Automatic overturning manipulator for production | |
| CN117819370B (en) | Foundry goods hoist device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 401329 No. 5-6, building 2, No. 66, Nongke Avenue, Baishiyi Town, Jiulongpo District, Chongqing Patentee after: MCC CCID information technology (Chongqing) Co.,Ltd. Address before: Building 1, No. 11, Huijin Road, North New District, Yubei District, Chongqing Patentee before: CISDI CHONGQING INFORMATION TECHNOLOGY Co.,Ltd. |