CN111392595A - Novel heavy object snatchs device - Google Patents

Abstract

The invention discloses a novel heavy object grabbing device which comprises a grabbing mechanism for moving an object and a hoisting tool matched with the grabbed object, wherein the grabbing mechanism comprises an installation seat, a first hook, a second hook and an anti-rotating pin are arranged on the installation seat at intervals from top to bottom, a first hanging hole is formed in the hoisting tool corresponding to the first hook, a second hanging hole is formed in the hoisting tool corresponding to the second hook, and an anti-rotating hole is formed in the hoisting tool corresponding to the anti-rotating pin; the first hanging hole and the second hanging hole are at least partially narrowed from bottom to top in width, and the anti-rotation pin is an elastic telescopic pin which can be stretched in the direction in which the anti-rotation pin is inserted into the anti-rotation hole. This scheme novel heavy object grabbing device, its cooperation with jack-up frock makes the in-process counterpoint of grabbing article very convenient and avoided grabbing back article simultaneously and rocked the potential danger that brings.

Description

Novel heavy object snatchs device

Technical Field

The invention relates to the technical field of automation equipment, in particular to a novel heavy object grabbing device.

Background

The traditional rail transit platform door is installed and debugged manually on site by distributing parts and part bodies to the site, and the mode has a series of problems of low efficiency, poor quality stability, severe construction environment, difficult site management and the like. The modularization of platform doors is an effective way to solve these problems, and at present, major platform door manufacturers have successively developed the development of modularized platform doors, which are the inevitable trend.

The modular platform door is wide, flat and high in appearance, a single module weighs more than 1 ton, and installation through manual movement is unrealistic, and specialized equipment is required to be adopted. Therefore, it is necessary to design a hoisting device capable of well transporting heavy objects to carry the modular platform door.

Disclosure of Invention

The embodiment of the invention aims to: the utility model provides a novel heavy object grabbing device, its counterpoint when snatching that can be convenient to avoid snatching back article and rock.

In order to achieve the purpose, the invention adopts the following technical scheme:

the novel heavy object grabbing device comprises a grabbing mechanism for moving objects and a hoisting tool matched with the grabbed objects, wherein the grabbing mechanism comprises a mounting seat, a first hook, a second hook and an anti-rotating pin are arranged on the mounting seat at intervals from top to bottom, a first hanging hole is formed in the hoisting tool corresponding to the first hook, a second hanging hole is formed in the hoisting tool corresponding to the second hook, and an anti-rotating hole is formed in the hoisting tool corresponding to the anti-rotating pin; the first hanging hole and the second hanging hole are at least partially narrowed from bottom to top in width, and the anti-rotation pin is an elastic telescopic pin which can be stretched in the direction in which the anti-rotation pin is inserted into the anti-rotation hole.

As an optimal technical scheme of the novel heavy object grabbing device, the first hanging hole is of a triangular structure, a trapezoidal structure, a 'convex' shape structure or an '8' shape structure, and the second hanging hole is of a triangular structure, a trapezoidal structure, a 'convex' shape structure or an '8' shape structure.

As a preferable technical solution of the novel weight grabbing device, a distance between the top of the first hanging hole and the top of the second hanging hole is smaller than a distance between the top of the first hook and the top of the second hook.

As a preferable technical solution of the novel weight grabbing device, the first hook has an upward first supporting surface, and the first supporting surface has an arc-shaped structure, so that the first hook is in line contact with the inner wall of the first hanging hole.

As an optimized technical scheme of the novel heavy object grabbing device, the anti-rotation pin comprises a pin main body and a shaft sleeve sleeved outside the pin main body, and a compression spring is arranged between the shaft sleeve and the pin main body.

As an optimal technical scheme of the novel heavy object grabbing device, an anti-rotation pin mounting plate is arranged on the mounting seat, and the anti-rotation pin is movably mounted on the anti-rotation pin mounting plate through the shaft sleeve.

As a preferable technical solution of the novel weight grabbing device, the shaft sleeve has a first opening and a second opening, the size of the first opening is larger than the size of the second opening, the anti-rotation pin includes a pin body and a boss, the size of the pin body is smaller than the size of the second opening, and the size of the boss is between the first opening and the second opening.

As an optimized technical scheme of the novel weight grabbing device, the anti-rotation pin is installed inside the shaft sleeve, and the compression spring is sleeved on the pin main body and is positioned between the boss and the second opening.

As a preferable technical scheme of the novel weight grabbing device, a baffle is arranged at the end part, away from the first opening, of the shaft sleeve, the second opening is arranged on the baffle, and the compression spring is abutted to the baffle.

As a preferable technical solution of the novel weight grabbing device, a mounting flange is provided on the shaft sleeve and at the periphery of the first opening, and the shaft sleeve is fixedly mounted on the anti-rotation pin mounting plate through the mounting flange.

The invention has the beneficial effects that: this scheme novel heavy object grabbing device, its cooperation with jack-up frock makes the in-process counterpoint of grabbing article very convenient and avoided grabbing back article simultaneously and rocked the potential danger that brings.

Drawings

The invention is explained in more detail below with reference to the figures and examples.

Fig. 1 is a schematic diagram of a positional relationship between a mobile workbench and a platform for installation of a modular platform door according to an embodiment of the present invention.

Fig. 2 is a perspective view of a mobile workbench for installation of a modular platform door according to an embodiment of the present invention.

Fig. 3 is a schematic perspective view of a three-axis moving mechanism according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of another perspective view of the three-axis moving mechanism according to the embodiment of the present invention (with the roller exposed).

Fig. 5 is a schematic view of a three-axis moving mechanism according to another perspective structure (with rollers exposed) of the embodiment of the invention.

Fig. 6 is an enlarged view of the mounting position of the Z-direction drive rod according to the embodiment of the present invention.

Fig. 7 is an enlarged view of the mounting position of the X-direction drive gear according to the embodiment of the invention.

Fig. 8 is a schematic perspective view of a Y-axis moving mechanism and a Z-axis moving mechanism according to an embodiment of the invention.

Fig. 9 is a schematic perspective view of a gripping mechanism according to an embodiment of the present invention.

FIG. 10 is a perspective view of an X-axis moving mechanism according to an embodiment of the present invention

FIG. 11 is a perspective view of an anti-rotation pin according to an embodiment of the present invention.

FIG. 12 is a schematic view of an installation state of the anti-rotation pin according to the embodiment of the invention.

FIG. 13 is a schematic view of the anti-rotation pin according to the embodiment of the present invention in an exploded state.

Fig. 14 is a schematic view of an assembled state of the Y-direction driving gear and the Y-direction driving rack according to the embodiment of the present invention.

Fig. 15 is a schematic perspective view of a grabbing mechanism according to an embodiment of the present invention before grabbing.

Fig. 16 is a schematic perspective view of a grabbed three-dimensional structure of the grabbing mechanism according to the embodiment of the invention.

Fig. 17 is a schematic view of a structure of a single roller engaged with a U-shaped rail according to an embodiment of the present invention.

Fig. 18 is a schematic view of a structure of the dual rollers and the U-shaped guide rail according to the embodiment of the present invention.

Fig. 19 is a schematic view of a structure of a double single roller and an I-shaped guide rail according to an embodiment of the present invention.

Fig. 20 is a schematic view of a structure of the combination roller and the U-shaped guide rail according to the embodiment of the present invention.

In the figure:

1000. a gate unit; 2000. a platform door tray; 3000. a platform door moving bracket; 3100. a three-axis moving mechanism; 3200. an X-axis moving mechanism; 3201. a first I-shaped guide rail; 3202. a second I-shaped guide rail; 3203. a ninth roller; 3204. a tenth roller; 3205. an eleventh roller; 3206. a twelfth roller; 3207. an X portal frame; 3208. the X-direction driving rack; 3209. an X-direction driving gear; 3210. an X bearing support; 3211. an X-direction driving motor; 3300. a Y-axis moving mechanism; 3301. a first U-shaped guide rail; 3302. a second U-shaped guide rail; 3303. a fifth roller; 3304. a sixth roller; 3305. a seventh roller; 3306. an eighth roller; 3307. a Y bracket; 3308. a Y-direction driving rack; 3309. a Y-direction driving gear; 3310. a Y-direction driving motor; 3400. a Z-axis moving mechanism; 3401. a third U-shaped guide rail; 3402. a fourth U-shaped guide rail; 3403. a first roller; 3404. a second roller; 3405. a third roller; 3406. a fourth roller; 3407. a Z bracket; 3408. a Z-direction drive rod; 3409. a Z-direction driving motor; 3500. a control hand wheel; 3600. a fixed base; 3610. a base beam; 3620. a base support plate; 4000. a grabbing mechanism; 4100. a mounting seat; 4101. a first hook; 4102. a second hook; 4103. a first hanging hole; 4104. a second hanging hole; 4105. an anti-rotation hole; 4200. an anti-rotation pin mounting plate; 4210. an anti-rotation pin; 4211. a pin body; 4212. a shaft sleeve; 4213. a compression spring; 4214. a boss; 5100. a single roller; 5200. double rollers; 5300. assembling rollers; 5400. a U-shaped guide rail; 5500. a type I guide rail; 6000. the vehicle is confined.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "fixed" are to be understood broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following description will be given by taking the application of the above-mentioned novel weight gripping device in the installation of a modular platform door as an example, in the following embodiments, the novel weight gripping device includes a gripping mechanism for moving an object and a lifting tool matched with the object to be gripped, the lifting tool is combined with a door unit, it should be noted that the lifting tool described in the present embodiment is used for fixing a weight, that is, the novel weight gripping device selectively cooperates with the lifting tool in the working process to grip and move the lifting tool and the weight together, after moving to a corresponding position, the lifting tool can be separated from the weight or used together with the weight, and is not limited herein, and the lifting tool can be a part of the weight to be transported.

As shown in fig. 1-20, the present embodiment provides a mobile workbench for installation of a modular platform door, including a platform door tray 2000 for placing a door unit 1000 and two platform door mobile brackets 3000 symmetrically disposed on two sides of the platform door tray 2000, where the platform door mobile bracket 3000 includes a three-axis moving mechanism 3100 and a grabbing mechanism 4000, and the three-axis moving mechanism 3100 may drive the grabbing mechanism 4000 to move in a spatial rectangular coordinate system, so as to drive the grabbing mechanism 4000 to selectively grab the door unit 1000 and move to an installation position.

The movable workbench for installing the modular platform door is installed on a track flat car matched with a track of a place where the platform door is applied for use, the door unit 1000 and the movable workbench for installing the modular platform door can be transported to an installation position along the track through the track flat car, the grabbing mechanism 4000 is controlled by the three-axis moving mechanism 3100 to move so as to grab the door unit 1000, and after the grabbing mechanism 4000 grabs the door unit 1000, the grabbing mechanism 4000 and the door unit 1000 are driven by the three-axis moving mechanism 3100 to move to the installation position of the door unit 1000 for installation. The platform door unit 1000 can thereby be easily installed.

This scheme is applicable to the installation of large-scale door structures such as track traffic platform door, and the highest height that platform door movable support 3000 drove the door unit and remove can not be higher than vehicle clearance 6000 in its course of the work, consequently more is fit for using in the limited installation scene in space for example underground platform department.

In this embodiment, the number of the door units 1000 disposed on the platform door tray 2000 is three for example, it should be noted that the number of the door units 1000 disposed on the platform door tray 2000 is not limited to this embodiment, and the number of the door units 1000 disposed on the platform door tray 2000 may be one, two, four or more than four in other embodiments.

Each set of work platform and a plurality of platform door units 1000 fixed on the same pallet are transported to the position of the platform to be installed by a mobile workshop through railways. The work table sequentially moves the door unit 1000 from the initial position to the final position.

The three-axis moving mechanism 3100 comprises a fixed base 3600, an X-axis moving mechanism 3200, a Y-axis moving mechanism 3300 and a Z-axis moving mechanism 3400, wherein the moving directions of the X-axis moving mechanism 3200, the Y-axis moving mechanism 3300 and the Z-axis moving mechanism 3400 are mutually perpendicular, and the grabbing mechanism 4000 is arranged on the Z-axis moving mechanism 3400; the X-axis moving mechanism 3200 comprises an X-direction guide rail and an X-direction roller set matched with the X-direction guide rail, the Y-axis moving mechanism 3300 comprises a Y-direction guide rail and a Y-direction roller set matched with the Y-direction guide rail, and the Z-axis moving mechanism 3400 comprises a Z-direction guide rail and a Z-direction roller set matched with the Z-direction guide rail; the X-axis moving mechanism 3200, the Y-axis moving mechanism 3300, and the Z-axis moving mechanism 3400 have different wheel-rail matching manners.

Specifically, the wheel-rail matching manner of the X-axis moving mechanism 3200 in this embodiment specifically refers to the structural configuration of the X-direction guide rail and the X-direction roller set;

the wheel track matching mode of the Y-axis moving mechanism 3300 specifically refers to the structural form of the Y-direction guide rail and the Y-direction roller group;

the wheel track matching mode of the Z-axis moving mechanism 3400 specifically refers to the structural form of the Z-direction guide rail and the Z-direction roller group;

the different wheel-rail matching manners of the X-axis moving mechanism 3200, the Y-axis moving mechanism 3300, and the Z-axis moving mechanism 3400 mean that the guide rails or the roller groups between the X-axis moving mechanism 3200, the Y-axis moving mechanism 3300, and the Z-axis moving mechanism 3400 have different structures and/or different matching manners.

It should be noted that the X, Y, Z direction described in this embodiment is only a corresponding description of the corresponding direction shown in the drawings, and it does not refer to a specific direction, so it does not constitute a limitation to a specific direction, and in other embodiments, other terms may also be used to refer to the corresponding direction.

Specifically, the platform door tray 2000 is symmetrically provided with fixing bases 3600 at both sides thereof, the fixing bases 3600 include two base beams 3610 parallel to each other, and base support plates 3620 connecting the two base beams 3610 between the two base beams 3610.

The X-direction guide rail is fixedly arranged on a fixed base 3600, two ends of the X-direction guide rail are respectively and fixedly connected with the two base cross beams 3610, the X-direction guide rail comprises a first I-shaped guide rail 3201 and a second I-shaped guide rail 3202 which are parallel to each other, and an X-direction roller set consisting of two pairs of single rollers is respectively installed on the first I-shaped guide rail 3201 and the second I-shaped guide rail 3202 in a matched manner.

The X-axis moving mechanism 3200 further includes an X-portal 3207, and the X-direction roller train is disposed on the X-portal 3207. An X-direction driving rack 3208 is further disposed on the fixed base 3600, an X-direction driving gear 3209 is disposed on the X-direction gantry 3207 and corresponds to the X-direction driving rack 3208, and the X-direction driving gear 3209 can drive the X-direction gantry 3207 to move along the X-axis direction by being driven by the X-direction driving motor 3211.

Specifically, the X portal 3207 includes two X columns respectively with first I type guide rail 3201 and second I type guide rail 3202 matched with, the X is installed in the below of X column to the roller train, the X sets up to drive rack 3208 on base backup pad 3620, two be provided with the connecting plate between the X column, the X sets up to driving motor 3211 on the connecting plate, the X passes through the commutator transmission connection to driving motor 3211's power take off the X to drive gear 3209.

In this embodiment, the number of the X-direction driving gear 3209 and the number of the X-direction driving rack 3208 are two, and the two X-direction driving gear 3209 and the X-direction driving rack 3208 are respectively located at two ends of the X-direction driving motor 3211, and the two X-direction driving gear 3209 and the X-direction driving rack 3208 are symmetrically arranged at two ends of the X-direction driving motor 3211, so that the moving direction of the X gantry 3207 in the moving process is ensured not to be inclined, and the phenomenon that the X-axis moving mechanism 3200 is jammed is.

In this embodiment, the commutator is connected to the X-direction drive gears 3209 at both ends through the transmission shaft, and since the transmission shaft is long, a support bearing is disposed below the transmission shaft to support the transmission shaft, the number of the support bearings is two in this embodiment, but the arrangement of two support bearings does not limit the present embodiment, and the number of the specific support bearings can be adjusted according to the length of the transmission shaft.

Still including being used for placing in this scheme support bearing's bearing frame, and be used for the installation the bearing bracket of bearing frame, the bearing frame passes through bolt fixed mounting and is in on the bearing bracket, the both ends fixed connection of bearing bracket is in on the connecting plate.

The top of the two X upright columns is provided with an X cross beam, and two ends of the X cross beam are respectively and fixedly connected with the two X upright columns.

Y is fixed to be set up on the X axle moving mechanism 3200, specific for setting up on the X crossbeam, it includes first U type guide rail 3301 and second U type guide rail 3302 that are parallel to each other, first U type guide rail 3301 with second U type guide rail 3302's opening sets up mutually on the back mutually, it sets up being close to snatch mechanism 4000 one side of first U type guide rail 3301, first U type guide rail 3301 and set up two Y gyro wheels respectively on the second U type guide rail 3302 and constitute Y direction roller train sets up the Y gyro wheel of first U type guide rail 3301 department includes at least one double roller, and all the other Y gyro wheels all adopt single roller.

The Y-axis moving mechanism 3300 further includes a Y-bracket 3307, and the Y-direction roller set is disposed on the Y-bracket 3307.

A Y-direction driving rack 3308 is further disposed on the X gantry 3207, a Y-direction driving gear 3309 is disposed on the Y bracket 3307 corresponding to the Y-direction driving rack 3308, and the Y-direction driving gear 3309 is driven by a Y-direction driving motor 3310 to drive the Y bracket 3307 to move along the Y-axis direction.

Specifically, the Y bracket 3307 includes a Y-axis base and a Y-axis column, the Y-axis base is a hollow structure, the Y-direction driving motor 3310 is disposed in the Y-axis base and can move together with the Y-axis base, and the Y-direction driving rack 3308 is fixedly disposed on the X gantry 3207.

Z is fixed to be set up on Y axle moving mechanism 3300, specifically for setting up on Y axle stand, including third U type guide rail 3401 and fourth U type guide rail 3402 that are parallel to each other, it is being close to snatch mechanism 4000 sets up one side of third U type guide rail 3401, third U type guide rail 3401 and set up two Z gyro wheels constitution on the fourth U type guide rail 3402 respectively Z is to the roller train, sets up on the third U type guide rail 3401 and lean on the Z gyro wheel of below and set up and be in on the fourth U type guide rail 3402 and lean on the Z gyro wheel of top for the combination gyro wheel, all the other Z gyro wheels all adopt the single gyro wheel.

The Z-axis moving mechanism 3400 further comprises a Z support 3407, the Z-direction roller group is arranged on one side of the Z support 3407, and the grabbing mechanism 4000 is arranged on the other side, opposite to the Z-direction roller group, of the Z support 3407.

Rotatable Z to drive gear that is provided with on the Y support 3307, Z support 3407 with Z is connected with Z to drive gear transmission and is followed the actuating lever 3408, Z is followed the actuating lever 3408 with be spherical hinged joint between the Z support 3407, Z passes through Z to drive gear and can drive to driving motor 3409Z support 3407 removes along Z axle direction.

By adopting the spherical hinge connection, the problem of jamming in movement caused by factors such as processing and mounting errors, uneven stress, uneven abrasion, incomplete synchronous movement of the two platform door moving supports 3000 and the like can be avoided.

The X-direction driving gear 3209, the Y-direction driving gear 3309 and the Z-direction driving gear are respectively connected with a control hand wheel 3500 in a transmission manner, and the control hand wheel 3500 can control the rotation of the corresponding driving gear. Under the condition of electrical fault and fine adjustment, all directions can be manually driven by controlling the hand wheel 3500.

The double-roller is characterized in that two rollers are arranged on a single mounting plate, the axes of the two rollers are parallel to each other, the combined roller is provided with two rollers on the single mounting plate, and the axes of the two rollers are perpendicular to each other.

The wheel-rail matching mode is obtained based on the following stress analysis:

in the scheme, each direction moving module is provided with 4 rollers, wherein a first roller 3403, a second roller 3404, a third roller 3405 and a fourth roller 3406 are arranged in a Z direction moving mechanism, a fifth roller 3303, a sixth roller 3304, a seventh roller 3305 and an eighth roller 3306 are arranged in a Y direction moving mechanism, a ninth roller 3203, a tenth roller 3204, an eleventh roller 3205 and a twelfth roller 3206 are arranged in an X direction moving mechanism, under the setting position of the grabbing mechanism 4000 in the embodiment, because a load acting point of the door unit 1000 and each roller form a cantilever structure, the magnitude of some force arms constantly changes along with the movement of each direction moving module. According to the moment balance, the stress condition of each roller is roughly analyzed as follows:

first and third rollers 3403 and 3405: in addition to the X-direction load, the bearing device also bears the Y-direction load;

second and fourth rollers 3404 and 3406: bearing the load in the X direction;

fifth and seventh rollers 3303, 3305: the load in the Z direction is borne, the directions of the X-direction moment balance load and the Y-direction moment balance load are opposite, the smaller load is offset by the larger load, and the direction is consistent with the larger load;

sixth roller 3304 and eighth roller 3306: bearing the load in the Z direction, wherein the directions of the moment balance loads in the X direction and the Y direction are the same, and the moment balance loads are superposed;

ninth and tenth rollers 3203 and 3204: and bearing the Z-direction load, wherein the load is continuously changed along with the movement of the Y-direction moving module.

It can be seen that even if the modules are moved in the same direction, there may be a large difference in the magnitude and direction of the load on each roller. In order to meet the load requirement, the roller guide rail form adopted by each roller is as follows:

first wheel 3403 and third wheel 3405: a combined roller 5300 and a U-shaped guide rail 5400 are adopted, a small roller vertical to the large roller is arranged on the combined roller 5300, and the rotating shaft of the large roller can bear certain axial force by arranging the small roller;

second and fourth rollers 3404 and 3406: adopting a single roller 5100 wheel and a U-shaped guide rail 5400;

fifth, sixth, seventh, and eighth rollers 3303, 3304, 3305, 3306: the specification of the roller guide rail is increased to meet the requirement of the maximum load, so that the bearing capacity of the roller at the position of the small load is wasted, the abrasion of the roller is seriously uneven, and the weight and the cost are greatly increased. Therefore, the U-shaped guide rail 5400 is adopted, the double-roller 5200 is adopted at the position with large load, and the single-roller 5100 is adopted at the position with small load.

A ninth roller 3203, a tenth roller 3204, an eleventh roller 3205, and a twelfth roller 3206: because the span of the two rows of rollers is larger, in order to increase the stability and improve the safety, a double-side single roller 5100+ I-shaped guide rail 5500 is adopted.

To sum up, 4 different roller guide rail schemes are adopted at different positions.

In this embodiment, the grabbing mechanism 4000 includes an installation seat 4100, a first hook 4101, a second hook 4102 and an anti-rotation pin 4210 are arranged on the installation seat 4100 at intervals from top to bottom, a first hanging hole 4103 is arranged on the door unit 1000 corresponding to the first hook 4101, a second hanging hole 4104 is arranged on the door unit 1000 corresponding to the second hook 4102, and an anti-rotation hole 4105 is arranged on the door unit corresponding to the anti-rotation pin 4210; the first hanging hole 4103 and the second hanging hole 4104 are each at least partially narrowed from bottom to top in width, and the rotation preventing pin 4210 is an elastic retractable pin which can be retracted in a direction in which the rotation preventing pin is inserted into the rotation preventing hole 4105.

Since the first hook 4101 and the second hook 4102 need to be inserted into the corresponding first hanging hole 4103 and second hanging hole 4104, respectively, and the anti-rotation pin 4210 needs to be inserted into the anti-rotation hole 4105 in the grabbing state, the first hanging hole 4103 and the second hanging hole 4104 are arranged in such a way that the wider part of the mechanism with the narrowed width from bottom to top can adapt to a certain relative inclination, so that certain non-parallelism is allowed in the grabbing process, but the anti-rotation hole 4105 needs to be as small as possible, so that the rotation with a larger angle after being lifted up is avoided, therefore, the unavoidable small non-parallelism can cause the first hook 4101 and the second hook 4102 to align with the corresponding lower cavity with a larger width, the anti-rotation pin 4210 cannot align with the corresponding anti-rotation hole 4105, so that the anti-rotation pin 4210 is arranged in an elastic telescopic structure, so that the anti-rotation pin 4210 can contract without aligning with the anti-rotation hole 4105, and the first hook 4101 cannot be prevented from being inserted into the lower cavity of the first hanging hole 4103 and the second hook 4102, which is inserted into the wider hanging hole 4104 The lower cavity.

As the grasping mechanism 4000 is driven to rise by the three-axis moving mechanism 3100, the first hook 4101 reaches the narrower portion of the first hanging hole 4103, the second hook 4102 reaches the narrower portion of the second hanging hole 4104, and the originally large relative deflection angle is corrected at the narrower portion at the wide position, so that the rotation preventing pin 4210 is ensured to fall into the corresponding region of the rotation preventing hole 4105, and is inserted into the rotation preventing hole 4105 to prevent rotation.

This scheme can effectually reduce the counterpoint degree of difficulty of snatching the in-process, can reduce the machining precision requirement to the product to a certain extent, realizes good the preventing effect of changeing simultaneously after snatching.

The first hanging holes 4103 are triangular, trapezoidal, embossed or 8-shaped, and the second hanging holes 4104 are triangular, trapezoidal, embossed or 8-shaped.

Specifically, in this embodiment, the implementation of the present invention is exemplified by taking the first hanging hole 4103 and the second hanging hole 4104 as "8" shaped structures, and the anti-rotation hole 4105 as a rectangular hole.

Preferably, in this embodiment, a distance between the top of the first hanging hole 4103 and the top of the second hanging hole 4104 is smaller than a distance between the top of the first hanging hole 4101 and the top of the second hanging hole 4102.

In this embodiment, the first hook 4101 plays a main role of supporting force, the second hook 4102 plays a role of safety, and when the first hook 4101 is damaged and cannot normally bear the weight of the door unit 1000, the door unit 1000 moves downward, and the second hook 4102 abuts against the top of the second hanging hole 4104 to bear the weight of the door unit 1000.

Specifically, after the grabbing, the first hooks 4101 contact with the upper edge of the 8-shaped hole on the door unit 1000 to play a supporting role; a certain gap is formed between the second hook 4102 and the upper edge of the 8-shaped hole on the door unit 1000, so that a safety function is realized; the rotation preventing pin 4210 functions to prevent the door unit 1000 from rotating a large angle after being lifted up because the center of gravity is not located on the connecting line of the first hook 4101 and the rotation preventing pin 4210.

The space between the first hook 4101 and the second hook 4102 is small, and the size of the cavity in the 8-shaped hole is larger than that of the hook, so that the hook can adapt to certain relative inclination. Before grasping, the first and second hooks 4101 and 4102 approach the door unit 1000 to align with the corresponding "8" -shaped cavities. The larger distance between the first hook 4101 and the anti-rotation pin 4210 can reduce the rotation angle after grabbing, but also brings a problem that the anti-rotation pin 4210 cannot align with the corresponding rectangular hole when the first hook 4101 and the second hook 4102 align with the corresponding cavity of the 8-shaped hole due to inevitable small non-parallelism.

In order to solve this problem, a compression spring 4213 is provided at the anti-rotation pin 4210, and when the first and second hooks 4101 and 4102 are inserted into the corresponding cavities of the 8-shaped holes, if the anti-rotation pin 4210 abuts against the side wall of the door unit 1000 provided with the anti-rotation hole 4105, the spring is compressed, and the anti-rotation pin 4210 retracts into the shaft sleeve 4212, so as not to hinder the insertion of the hook A, B. As the Z-shift module rises, the greater relative angle of deflection of the hook A, B as it passes through the narrower portion of the middle of the "8" shaped hole is corrected to ensure that the anti-rotation pin 4210 falls into the corresponding rectangular hole area, its back compression spring 4213 is released and the anti-rotation pin 4210 is inserted into the anti-rotation hole 4105.

Specifically, in this embodiment, the first hook 4101 has an upward first supporting surface, and the first supporting surface is in an arc structure, so that the first supporting surface is in line contact with the inner wall of the first hanging hole 4103.

The anti-rotation pin 4210 comprises a pin body 4211 and a shaft sleeve 4212 sleeved outside the pin body 4211, and a compression spring 4213 is arranged between the shaft sleeve 4212 and the pin body 4211.

An anti-rotation pin mounting plate 4200 is provided on the mounting seat 4100, and the anti-rotation pin 4210 is movably mounted on the anti-rotation pin mounting plate 4200 through the boss 4212.

The boss 4212 has a first opening and a second opening, the size of the first opening is larger than that of the second opening, the anti-rotation pin 4210 includes a pin body 4211 and a boss 4214, the size of the pin body 4211 is smaller than that of the second opening, and the boss 4214 is sized between the first opening and the second opening. The anti-rotation pin 4210 is installed inside the shaft sleeve 4212, and the compression spring 4213 is sleeved on the pin body 4211 and located between the boss 4214 and the second opening.

The end part, far away from the first opening, of the shaft sleeve 4212 is provided with a baffle plate, the second opening is arranged on the baffle plate, and the compression spring 4213 is abutted to the baffle plate. A mounting flange is arranged on the shaft sleeve 4212 and positioned at the periphery of the first opening, and the shaft sleeve 4212 is fixedly mounted on the anti-rotation pin mounting plate 4200 through the mounting flange.

In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in an orientation or positional relationship based on that shown in the drawings, and are used for convenience of description and simplicity of operation only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art will be able to make the description as a whole, and the embodiments may be combined as appropriate, to form other embodiments as will be apparent to those skilled in the art.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (10)

1. A novel heavy object grabbing device comprises a grabbing mechanism used for moving objects and a hoisting tool matched with the grabbed objects, and is characterized in that the grabbing mechanism comprises a mounting seat, wherein a first hook, a second hook and an anti-rotation pin are arranged on the mounting seat at intervals from top to bottom; the first hanging hole and the second hanging hole are at least partially narrowed from bottom to top in width, and the anti-rotation pin is an elastic telescopic pin which can be stretched in the direction in which the anti-rotation pin is inserted into the anti-rotation hole.

2. The novel weight grabbing device of claim 1, wherein the first hanging hole is a triangular structure, a trapezoidal structure, a "convex" structure or an "8" structure, and the second hanging hole is a triangular structure, a trapezoidal structure, a "convex" structure or an "8" structure.

3. The novel weight grabbing device of claim 2, wherein the distance between the top of the first hanging hole and the top of the second hanging hole is less than the distance between the top of the first hook and the top of the second hook.

4. The novel weight grabbing device of claim 3, wherein the first hook has an upward first support surface, and the first support surface is in an arc structure so as to be in line contact with the inner wall of the first hanging hole.

5. The novel weight grabbing device of claim 4, wherein the rotation prevention pin comprises a pin body and a shaft sleeve sleeved outside the pin body, and a compression spring is arranged between the shaft sleeve and the pin body.

6. The novel weight grabbing device of claim 5, wherein the mounting seat is provided with an anti-rotation pin mounting plate, and the anti-rotation pin is movably mounted on the anti-rotation pin mounting plate through the shaft sleeve.

7. The novel weight gripping arrangement of claim 6, wherein the bushing has a first opening and a second opening, the first opening being larger in size than the second opening, the anti-rotation pin including a pin body having a size smaller than the second opening and a boss sized between the first opening and the second opening.

8. The novel weight grabbing device of claim 7, wherein the rotation prevention pin is installed inside the shaft sleeve, and the compression spring is sleeved on the pin body and located between the boss and the second opening.

9. The novel weight grabbing device of claim 8, wherein the end of the shaft sleeve away from the first opening is provided with a baffle plate, the second opening is provided on the baffle plate, and the compression spring abuts against the baffle plate.

10. The novel weight grabbing device of claim 9, wherein the axle sleeve is provided with a mounting flange at the periphery of the first opening, and the axle sleeve is fixedly mounted on the anti-rotation pin mounting plate through the mounting flange.

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