CN113879959B

CN113879959B - Grabbing device and grabbing machine

Info

Publication number: CN113879959B
Application number: CN202111129608.0A
Authority: CN
Inventors: 李家雄
Original assignee: Hunan Sany Port Equipment Co Ltd; Sany Marine Heavy Industry Co Ltd
Current assignee: Hunan Sany Port Equipment Co Ltd; Sany Marine Heavy Industry Co Ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2024-03-26
Anticipated expiration: 2041-09-26
Also published as: CN113879959A

Abstract

The application relates to the technical field of material safe transportation, in particular to a grabbing device and a grabbing machine. The grabbing device includes: a main beam; the first main hook component is arranged at one end of the main beam; the second main hook component is arranged at one end of the main beam, which is far away from the first main hook component, and the second main hook component is arranged opposite to the first main hook component; wherein the lengths of the first main hook component and the second main hook component are unequal; because the lengths of the first main hook component and the second main hook component are different, when the quality of the materials is uneven, one end far away from the gravity center is grabbed by using one longer main hook component, one end near the gravity center is grabbed by using one shorter main hook component, so that the degree of gravity center deviation of the materials is relieved, the shaking amplitude of the materials in the lifting process is reduced, the difficulty of the materials in the lifting process is reduced, and the lifting efficiency is improved.

Description

Grabbing device and grabbing machine

Technical Field

The application relates to the technical field of material safe transportation, in particular to a grabbing device and a grabbing machine.

Background

The grabbing machine is equipment for grabbing materials, and the grabbed materials are generally steel materials and the like. After grabbing materials, the grabbing machine can stack the materials to the appointed position. In the material grabbing process, positioning, transferring and placing of materials are important links.

In the prior art, grab the material machine and include operation panel, tie-beam and hoist, the hoist sets up on the connection, controls the removal of hoist through the operation panel. However, in the actual construction site, materials such as steel materials generally have the condition of uneven quality, namely the weights of two ends of the steel materials are different, and at the moment, when the steel materials are lifted by the lifting appliance, the steel materials are easy to shake in the lifting process due to the deviation of the gravity center, so that the lifting process difficulty is increased, and the efficiency is reduced.

Content of the application

In view of this, this application embodiment provides a grabbing device and grabs material machine, has solved or has improved when snatching the material, because focus skew leads to the handling process degree of difficulty to increase, the problem that efficiency reduces.

In a first aspect, the present application provides a gripping device, the gripping device comprising: a main beam; the first main hook component is arranged at one end of the main beam; the second main hook component is arranged at one end of the main beam, which is far away from the first main hook component, and the second main hook component is arranged opposite to the first main hook component; wherein the first main hook component and the second main hook component are unequal in length.

This application improves grabbing device, when snatching the material, earlier remove the girder to the material top, utilize first main hook component to snatch the one end of material, the second main hook component snatchs the other end of material, and rethread pulling girder removes and drives first main hook component and second main hook component simultaneously and remove to snatch the material smoothly and remove. Because the lengths of the first main hook component and the second main hook component are different, when the quality of the materials is uneven, one end far away from the gravity center is grabbed by using one longer main hook component, one end near the gravity center is grabbed by using one shorter main hook component, so that the degree of gravity center deviation of the materials is relieved, the shaking amplitude of the materials in the lifting process is reduced, the difficulty of the materials in the lifting process is reduced, and the lifting efficiency is improved.

With reference to the first aspect, in one possible implementation manner, the first main hook component includes: the first bracket comprises a first fixing part, a first connecting part and a first hook part, wherein the first fixing part is connected with the main beam, the first connecting part is connected with the bottom wall of the first fixing part, and the first hook part is positioned at the bottom of the first connecting part; a first guard disposed inside the first connection portion; and the first bearing piece is arranged on the inner side of the first hook part, and the top wall of the first bearing piece, the side surface of the first protection piece and the bottom wall of the first fixing part jointly enclose a first grabbing gap.

With reference to the first aspect, in one possible implementation manner, the second main hook component includes: the length of the second bracket is smaller than that of the first bracket, the second bracket comprises a second fixing part, a second connecting part and a second hook part, the second fixing part is connected with the main beam, the second connecting part is connected with the bottom wall of the second fixing part, and the second hook part is positioned at the bottom of the second connecting part; a second guard provided on an inner side of the second connection portion; and the second bearing piece is arranged on the inner side of the second hook part, the top wall of the second bearing piece, the side surface of the second protection piece and the bottom wall of the second fixing part jointly enclose a second grabbing gap, and the second grabbing gap is opposite to the first grabbing gap.

With reference to the first aspect, in a possible implementation manner, the gripping device further includes: two telescopic components, one of them telescopic component sliding connection is in the one end of girder, another one of them telescopic component sliding connection is in the other end of girder, two telescopic components follow the axis direction reciprocating sliding of girder, first main hook component sets up in one of them telescopic component, the second main hook component sets up in another one of them telescopic component is last.

With reference to the first aspect, in one possible implementation manner, the telescopic assembly includes: the telescopic beam is connected with the main beam in a sliding way; the driving piece is arranged on the main beam and connected with the telescopic beam to drive the telescopic beam to slide relative to the main beam; the first main hook component is connected with one telescopic beam, and the second main hook component is connected with the other telescopic beam.

With reference to the first aspect, in one possible implementation manner, the first main hook component and the second main hook component are connected with the telescopic component through a pin shaft.

With reference to the first aspect, in a possible implementation manner, the gripping device further includes: the detecting piece is in communication connection with the telescopic component so as to detect the pressure value of the telescopic component; the control part is in communication connection with the detection part to acquire the pressure value; and the indication piece is in communication connection with the control piece.

With reference to the first aspect, in a possible implementation manner, the gripping device further includes: the support assembly is arranged on the main beam, one side, close to the material, of the support assembly extends out of the main beam, and a positioning gap is formed by the support assembly and the main beam in a surrounding mode.

With reference to the first aspect, in a possible implementation manner, the supporting device includes: the two support brackets are oppositely arranged; and the support protection piece is arranged on the opposite side surfaces of the two support brackets, and the positioning gap is enclosed by the support protection piece, the opposite side surfaces of the two support brackets and the bottom wall of the main beam.

With reference to the first aspect, in a possible implementation manner, the gripping device further includes: the rotating piece is connected with the grabbing machine through a pin shaft and is configured to drive the main beam to rotate.

In a second aspect, the present application also provides a gripper, the gripper comprising: a grabbing machine body; the grabbing device of the first aspect of the application is connected with the grabbing machine body.

According to the material grabbing machine, when grabbing materials, the grabbing devices grab the materials with uneven quality, and the adaptation range of the material grabbing machine is improved.

Drawings

The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.

Fig. 1 is a schematic front view of a gripping device according to some embodiments of the present application.

Fig. 2 is a schematic view of a bearing structure of a gripping device according to some embodiments of the present application.

Fig. 3 is a schematic structural view of a first primary hook component in some embodiments of the present application.

Fig. 4 is a schematic structural view of a second main hook component according to some embodiments of the present application.

Fig. 5 is a schematic diagram illustrating connection between a detecting member and a telescopic beam according to some embodiments of the present application.

Fig. 6 is a schematic diagram of the detection member, the control member, and the indicator according to some embodiments of the present application.

Fig. 7 is a schematic structural view of a support assembly according to some embodiments of the present application.

Fig. 8 is a schematic flow chart of a grabbing method according to some embodiments of the present application.

Fig. 9 is a schematic diagram illustrating the construction of a grasping system according to some embodiments of the present application.

Fig. 10 is a schematic diagram of an electronic device according to some embodiments of the present application.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Summary of the application

The grabbing machine is a material grabbing device, and when materials are transported in a concentrated mode, the grabbing machine is needed to grab the materials into a specified container and stack the materials so as to pack and transport the materials. The material grabbing machine is generally composed of a connecting beam and two lifting slings, and when grabbing materials, the two lifting slings are respectively fixedly connected with two ends of the materials, so that the materials are grabbed. However, when the quality of the grabbed materials is uneven, the lifting appliance can lead to the deviation of the whole gravity center of the materials and the lifting appliance when the two ends of the materials are fixed, and the materials can shake greatly when being lifted, so that the lifting process difficulty is increased.

In the prior art, the lifting appliance is connected with the connecting beam by adopting flexible materials such as a steel wire rope, when the texture of the lifted materials is uneven, as the steel wire rope has certain deformability, the relative positions of the two lifting appliances can deviate to a certain extent along with the deviation of the gravity centers of the materials, the shaking caused by the deviation of the gravity centers can be relieved to a certain extent, but when wind force and the like are met, the materials still can drive the steel wire rope to shake easily, and the deviation amplitude of the gravity centers of the materials is increased, so that the shaking amplitude of the materials is continuously increased.

The application provides a grabbing device and grab material machine through the length adjustment with two hoists to with hoist and roof beam fixed connection, thereby both can alleviate centrobaric offset degree, also can avoid the material to take place the possibility that rocks after leaving ground, effectively reduced the handling degree of difficulty of material, improved efficiency.

Exemplary gripping device

Fig. 1 is a schematic front view of a gripping device according to some embodiments of the present application. Fig. 2 is a schematic view of a bearing structure of a gripping device according to some embodiments of the present application. Referring to fig. 1 and 2, the grasping device includes a main girder 100, a first main hook assembly 200, and a second main hook assembly 300. The first main hook assembly 200 is disposed at one end of the main beam 100. The second main hook assembly 300 is disposed at an end of the main beam 100 remote from the first main hook assembly 200, and the second main hook assembly 300 is disposed opposite to the first main hook assembly 200; wherein the lengths of the first and second main hook assemblies 200 and 300 are not equal. For example, the first main hook assembly 200 has a larger dimension in the vertical direction than the second main hook assembly 300.

When the material is lifted, the first main hook component 200 is fixed with one end of the material far from the gravity center, the second main hook component 300 is fixed with one end of the material near to the gravity center, and the first main hook component 200 and the second main hook component 300 are connected with the material at the same time. Thereafter, the main beam 100 is lifted by the lifting device, and the main beam 100 drives the first main hook assembly 200 and the second main hook assembly 300 to lift at the same time, so as to drive the material to lift.

Because the length of the first main hook component 200 is longer than that of the second main hook component 300, the whole body deflects to one side of the first main hook component 200 during lifting, and the gravity center of the material deflects to the second main hook component 300, so that the pressure born by the first main hook component 200 and the second main hook component 300 can be balanced, the degree of the gravity center deflection of the material is relieved, and the possibility of shaking the material during lifting is reduced.

In some embodiments of the present application, both the first and second main hook assemblies 200, 300 may be detachably connected to the main beam 100 to facilitate the installation of different types of first and second main hook assemblies 200, 300 for different materials. Meanwhile, the first main hook component 200 and the second main hook component 300 can be connected with the main beam 100 through flexible connection modes such as a steel wire rope, and the like, so that the materials can be manually assisted to be fixed when being grabbed, and the grabbing requirements on the materials are lower at this moment, such as uniform quality of the materials, slower grabbing speed, uniform length of the materials and the like.

Fig. 3 is a schematic structural view of a first primary hook component in some embodiments of the present application. Referring to fig. 3, the first main hook assembly 200 includes a first bracket 210, a first guard 220, and a first load bearing member 230. The first bracket 210 includes a first fixing portion 211, a first connecting portion 212, and a first hook portion 213. The first fixing portion 211 is connected to the main beam 100, the first connecting portion 212 is connected to the bottom wall of the first fixing portion 211, and the first hook portion 213 is located at the bottom of the first connecting portion 212. The first prevention piece 220 is disposed inside the first connection portion 212. The first bearing member 230 is disposed inside the first hook 213, and the top wall of the first bearing member 230, the side surface of the first protection member 220, and the bottom wall of the first fixing portion 211 together enclose a first capturing gap 240.

Specifically, the first capturing gap 240 is type, and the first bracket 210 can be integrally formed to improve the overall bearing capacity. The first guard 220 may be directly adhered to the first bracket 210, or may be fixed to the first bracket 210 by means of screws or the like. The first load bearing member 230 has a bar-like plate shape and is fixed to the first hook 213 by a screw or the like.

When the first main hook assembly 200 grabs the material, the first grabbing gap 240 is aligned to one end of the material, the top wall of the first bearing member 230 is attached to the inner side wall of the material, the first protecting member 220 is attached to the end wall of the material, and therefore the first main hook assembly 200 is fixed to the material, and when the main beam 100 ascends, the main beam 100 pulls the first fixing portion 211 to ascend, and accordingly one end of the material is pulled to ascend.

Fig. 4 is a schematic structural view of a second main hook component according to some embodiments of the present application. Referring to fig. 2, the second main hook assembly 300 includes a second bracket 310, a second guard 320, and a second load bearing member 330. The second bracket 310 has a length smaller than that of the first bracket 210, and the second bracket 310 includes a second fixing portion 311, a second connecting portion 312, and a second hook portion 313. The second fixing portion 311 is connected to the main beam 100, the second connecting portion 312 is connected to the bottom wall of the second fixing portion 311, and the second hook portion 313 is located at the bottom of the second connecting portion 312. The second guard 320 is disposed on the inner side of the second connection portion 312. The second bearing member 330 is disposed inside the second hook 313, and the top wall of the second bearing member 330, the side surface of the second protection member 320, and the bottom wall of the second fixing portion 311 enclose a second capturing gap 340, where the second capturing gap 340 is opposite to the first capturing gap 240.

Specifically, the second grabbing gap 340 is type, and the second support 310 may be integrally formed to improve the overall bearing capacity. The second guard 320 may be directly adhered to the second bracket 310 or may be fixed by screws equal to the second bracket 310. The second load bearing member 330 has a bar-like plate shape and is fixed to the second hook 313 by a screw or the like.

When the second main hook assembly 300 grabs the material, the second grabbing gap 340 is aligned with the other end of the material, namely, the end close to the gravity center, the top wall of the second bearing member 330 is attached to the inner side wall of the material, the second protecting member 320 is attached to the end wall of the material, so that the second main hook assembly 300 is fixed with the material, and when the main beam 100 ascends, the main beam 100 pulls the second fixing portion 311 to ascend, and accordingly, the end close to the gravity center of the material is pulled to ascend.

Referring to fig. 1, in some embodiments of the present application, the grasping device further includes two telescoping assemblies 400. One of the telescopic assemblies 400 is slidably connected to one end of the main beam 100, the other telescopic assembly 400 is slidably connected to the other end of the main beam 100, and the two telescopic assemblies 400 are reciprocally slid along the axial direction of the main beam 100. The first main hook assembly 200 is disposed on one of the telescopic assemblies 400, and the second main hook assembly 300 is disposed on the other telescopic assembly 400.

Before lifting the material, the first main hook assembly 200 and the second main hook assembly 300 are respectively slid by using the two telescopic assemblies 400 to extend relative to the main beam 100, and when the distance between the first main hook assembly 200 and the second main hook assembly 300 is greater than the distance between the materials, the main beam 100 is close to the materials. After the main beam 100 approaches to the material, the first main hook assembly 200 and the second main hook assembly 300 are pulled to retract by the two telescopic assemblies 400 at the same time, and the first grabbing gap 240 and the second grabbing gap 340 are smoothly inserted into the material, so that grabbing of the material is smoothly completed.

Referring to fig. 1 and 2, in some embodiments of the present application, a telescoping assembly 400 includes a telescoping beam 410 and a driver 420. The telescoping beams 410 are slidably connected to the main beams 100. A driving member 420 is provided on the main beam 100, and the driving member 420 is connected to the telescopic beam 410 to drive the telescopic beam 410 to slide with respect to the main beam 100. Wherein the first main hook assembly 200 is coupled to one of the telescopic beams 410 and the second main hook assembly 300 is coupled to the other of the telescopic beams 410.

Specifically, the driving member 420 may be a hydraulic cylinder to power the sliding of the telescopic beam 410, or may be a hydraulic motor to drive a connection structure such as a screw rod to drive the sliding of the telescopic beam 410; meanwhile, the driving member 420 can also be driven pneumatically or electrically to generate power, and the specific driving member 420 can be selected according to the actual installation situation. And the driving member 420 may be fixed to the top wall of the main beam 100 by bolts or the like. The main beam 100 has a cavity therein, and the telescopic beam 410 is partially slidably coupled within the cavity, and the driving member 420 is fixedly coupled to an end of the telescopic beam 410 located outside the cavity.

When the telescopic girder 410 is driven to slide, power is supplied by the driving member 420 to pull one end of the telescopic girder 410 to move, and the telescopic girder 410 is thereby slid in the cavity to realize the movement of the driving first and second main hook assemblies 200 and 300.

In some embodiments of the present application, the first main hook assembly 200 and the second main hook assembly 300 are both connected to the telescopic assembly 400 through pins. Specifically, the end of the telescopic beam 410 located outside the cavity has a pin hole, and the first fixing portion 211 and the second fixing portion 311 are provided with fixing holes that are in butt joint with the pin hole. The first main hook assembly 200 and the second main hook assembly 300 are both fixed on the telescopic beam 410 through pin shaft connection, and the telescopic beam 410 and the main beam 100 can only slide, so that the materials are difficult to shake when the materials are lifted.

Fig. 5 is a schematic diagram illustrating connection between a detecting member and a telescopic beam according to some embodiments of the present application. Fig. 6 is a schematic diagram of the detection member, the control member, and the indicator according to some embodiments of the present application. Referring to fig. 5 and 6, the grasping apparatus further includes a detecting member 500, a control member 600, and an indicating member 700. The sensing element 500 is communicatively coupled to the retraction assembly 400 to sense a pressure value of the retraction assembly 400. For example, the sensing member 500 may be a pressure sensor coupled to the driving member 420 to sense a pressure value of the driving member 420. The control member 600 is communicatively connected to the detecting member 500 to obtain a pressure value. For example, the control 600 may be a PLC controller that may receive the pressure signal and determine and convert the pressure signal. The indicator 700 is communicatively coupled to the control 600. For example, the indicator 700 may be an indicator light that lights up when the pressure signal exceeds a standard value.

When the material is gripped, the detecting member 500 detects the pressure value of the driving member 420 to determine the pressure value received by the telescopic beam 410, and when the first main hook assembly 200 and the second main hook assembly 300 grip the material, the pressure value may be suddenly increased due to the extrusion between the material and the first main hook assembly 200 and the second main hook assembly 300. And when the control member 600 receives the pressure value and judges that the pressure value is greater than the standard value, the control member indicates that the material has been gripped, and at this time, the control indicator lights up to generate an indication signal. Therefore, the state of grabbing materials is automatically judged, and the overall degree of automation is improved.

Fig. 7 is a schematic structural view of a support assembly according to some embodiments of the present application. Referring to fig. 2 and 7, the grasping device further includes a support assembly 800. The supporting component 800 is disposed on the main beam 100, the main beam 100 extends from a side of the supporting component 800, which is close to the material, and the supporting component 800 and the main beam 100 enclose a positioning gap 810.

As the main beam 100 approaches the material, the material will enter the positioning gap 810 to facilitate stacking the main beam 100 and the material together.

In some embodiments of the present application, the inner wall of the positioning gap 810 may be configured as a single circular arc or other shapes that are adapted to the shape of the material.

Referring to fig. 7, in some embodiments of the present application, the support assembly 800 includes two support brackets 820 and two support shields 830. The two support brackets 820 are disposed opposite to each other. The support shields 830 are disposed on opposite sides of the two support brackets 820, and the two support shields 830, the opposite sides of the two support brackets 820, and the bottom wall of the main beam 100 enclose a positioning gap 810.

Specifically, the positioning gap 810 presents a n-shape. The support bracket 820 may be directly welded to the main beam 100, or may be fixed to the main beam 100 by means of bolts or the like. The support guard 830 may be adhered to the support bracket 820 by using glue or the like, or may be fixed to the support bracket 820 by using bolts or the like.

When the main beam 100 is close to the material, the material can enter the positioning gap 810, and the supporting protection piece 830 can be abutted against the side surface of the material, so that the main beam 100 and the material can be positioned conveniently, and the moving range of the material can be limited effectively.

In some embodiments of the present application, a plurality of support assemblies 800 may be provided, and the plurality of support assemblies 800 are distributed along the axial direction of the girder 100. In the embodiment of the present application, the number of the support assemblies 800 may be selected according to the length of the main beam 100, and the number of the support assemblies 800 is not limited in the present application.

Referring to fig. 1, in some embodiments of the present application, the gripping device further comprises a rotating member 110. The rotating member 110 is connected to the grabbing machine through a pin, and the rotating member 110 is configured to drive the main beam 100 to rotate. Specifically, the rotary 110 may be a hydraulic motor; meanwhile, the rotating piece 110 can be directly arranged on the main beam 100, and then is fixedly connected with the grabbing machine through a pin shaft, the rotating piece 110 can also be directly arranged on an arm support of the grabbing machine, and is fixed through the pin shaft and then is connected with the main beam 100, and the mounting mode of the specific rotating piece can be selected according to actual conditions, so that the material grabbing machine is not limited.

Before grabbing the material, the main beam 100 may be driven to rotate by the rotating member 110, so as to drive the first main hook assembly 200 and the second main hook assembly 300 to rotate. Thereby not only adjusting the position of the first and second main hook assemblies 200, 300 relative to the material, but also facilitating the connection of the second main hook assembly 300 to the end of the material near the center of gravity. The stability among the rotating piece 110, the grabbing machine and the main beam 100 which are connected through the pin shafts is higher, and the shaking of materials can be further effectively relieved.

Exemplary Material grabbing machine

The gripper comprises a gripper body and a gripping device as described in any of the embodiments above. The grabbing device is arranged on the grabbing machine body and connected.

When grabbing the material through grabbing the material machine, can snatch the material through grabbing device to reduce the rocking range of material in handling in-process, improve handling efficiency.

The above-mentioned grabbing machine is provided with the above-mentioned grabbing device, so that the above-mentioned grabbing machine has all the technical effects of the above-mentioned grabbing device, and is not described in detail herein.

Exemplary grabbing method

Fig. 8 is a schematic flow chart of a grabbing method according to some embodiments of the present application. Referring to fig. 8, the grasping method includes:

step 010: and acquiring material position information, and adjusting the position of the grabbing device according to the material position information.

Step 020: when the gripping device is positioned above the material, the two telescopic assemblies 400 are driven to slide relative to the main beam 100, so that the first main hook assembly 200 and the second main hook assembly 300 are far away from each other, and the gripping device is controlled to move towards the side close to the material;

step 030: when the distance between the gripping device and the material is less than the preset threshold, the two telescopic assemblies 400 are controlled to slide relative to the main beam 100, so as to achieve that the first main hook assembly 200 and the second main hook assembly 300 are close to each other, so as to clamp the material.

In some embodiments of the present application, the step 010 includes: when the gripping device is located above the material, the rotary member 110 is controlled to drive the main beam 100 to rotate, so as to enable the first main hook assembly 200 to correspond to one end of the material, and the second main hook assembly 300 to correspond to the other end of the material.

In some embodiments of the present application, the step 020 specifically includes: when the gripping device is brought close to the material, the support assembly 800 is used to define the relative positions of the main beam 100 and the material.

In some embodiments of the present application, the step 030 specifically includes: the pressure value to which the retraction assembly 400 is subjected is detected. When the pressure value is greater than the preset pressure value, it is confirmed that the first and second main hook assemblies 200 and 300 clamp the material.

Exemplary grasping System

Fig. 9 is a schematic diagram illustrating the construction of a grasping system according to some embodiments of the present application. Referring to fig. 9, the grasping system includes: scheduling module 001, telescoping module 002 and clamping module 003. The scheduling module 001 is used for acquiring material position information and adjusting the position of the grabbing device according to the material position information. The telescopic module 002 is in communication connection with the dispatching module 001, and the telescopic module 002 is configured such that when the gripping device is located above the material, the telescopic module 002 controls the two telescopic assemblies 400 to slide relative to the main beam 100, so as to achieve that the first main hook assembly 200 and the second main hook assembly 300 are far away from or close to each other, and control the gripping device to move towards the side close to the material. The clamping module 003 is communicatively connected to the telescopic module 002, and the clamping module 003 is configured to obtain the state of the telescopic assembly 400 to confirm that the first main hook assembly 200 and the second main hook assembly 300 clamp the material when the first main hook assembly 200 and the second main hook assembly 300 approach each other to grasp the material.

Exemplary electronic device

Fig. 10 is a schematic diagram of an electronic device according to some embodiments of the present application. As shown in fig. 10, the electronic device 910 includes: one or more processors 9101 and memory 9102; and computer program instructions stored in the memory 9102 that, when executed by the processor 9101, cause the processor 9101 to perform the crawling method of any of the embodiments described above.

The processor 9101 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

The memory 9102 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 9101 to perform the steps in the crawling methods of the various embodiments of the present application and/or other desired functions as described above. Information such as vehicle acceleration, road condition information, and vehicle hydraulic pressure may also be stored in the computer readable storage medium.

In one example, the electronic device 910 may further include: input devices 9103 and output devices 9104 are interconnected by a bus system and/or other forms of connection (not shown in fig. 10).

Of course, only some of the components of the electronic device 910 that are relevant to the present application are shown in fig. 10 for simplicity, with components such as buses, input/output interfaces, etc. omitted. In addition, the electronic device 910 may include any other suitable components depending on the particular application.

Exemplary computer program product and computer readable storage Medium

In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the crawling method of any of the embodiments described above.

The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages, to perform the operations of embodiments of the present application. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the steps of the gripping method according to the various embodiments of the present application described in the above section of the present description "exemplary gripping method".

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory ((RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.

The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.

The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A gripping device, the gripping device comprising:

a main beam (100);

the first main hook component (200) is arranged at one end of the main beam (100); and

the second main hook component (300) is arranged at one end of the main beam (100) far away from the first main hook component (200), and the second main hook component (300) is arranged opposite to the first main hook component (200);

the rotating piece (110) is connected with the grabbing machine through a pin shaft, and the rotating piece (110) is configured to drive the main beam (100) to rotate;

the support assembly (800) is arranged on the main beam (100), one side of the support assembly (800) extends out of the main beam (100) towards the side close to the material, and a positioning gap (810) is formed by the support assembly (800) and the main beam (100) in a surrounding mode;

wherein the length of the first main hook assembly (200) is greater than the length of the second main hook assembly (300) to offset the main beam (100) toward the first main hook assembly (200); the gravity centers of the materials grabbed by the first main hook component (200) and the second main hook component (300) are biased to the second main hook component (300) so as to balance the pressure born by the first main hook component (200) and the second main hook component (300), and therefore the gravity center offset of the materials is adjusted.

2. The gripping device according to claim 1, characterized in that the first main hook assembly (200) comprises:

the first bracket (210) comprises a first fixing part (211), a first connecting part (212) and a first hook part (213), wherein the first fixing part (211) is connected with the main beam (100), the first connecting part (212) is connected with the bottom wall of the first fixing part (211), and the first hook part (213) is positioned at the bottom of the first connecting part (212);

a first guard (220) disposed inside the first connection portion (212); and

the first bearing piece (230) is arranged on the inner side of the first hook part (213), and a first grabbing gap (240) is formed by the top wall of the first bearing piece (230), the side surface of the first protection piece (220) and the bottom wall of the first fixing part (211) in a surrounding mode.

3. The gripping device according to claim 2, characterized in that the second main hook assembly (300) comprises:

the length of the second bracket (310) is smaller than that of the first bracket (210), the second bracket (310) comprises a second fixing part (311), a second connecting part (312) and a second hook part (313), the second fixing part (311) is connected with the main beam (100), the second connecting part (312) is connected with the bottom wall of the second fixing part (311), and the second hook part (313) is positioned at the bottom of the second connecting part (312);

a second guard (320) disposed on an inner side of the second connection portion (312); and

the second bearing piece (330) is arranged on the inner side of the second hook part (313), a second grabbing gap (340) is formed by the top wall of the second bearing piece (330), the side face of the second protection piece (320) and the bottom wall of the second fixing part (311) in a surrounding mode, and the second grabbing gap (340) and the first grabbing gap (240) are arranged oppositely.

4. A gripping device according to any of claims 1 to 3, characterised in that the gripping device further comprises:

two telescopic components (400), one of them telescopic component (400) sliding connection is in the one end of girder (100), and wherein another telescopic component (400) sliding connection is in the other end of girder (100), two telescopic components (400) are followed the axis direction reciprocal slip of girder (100), first main hook component (200) set up in one of them telescopic component (400), second main hook component (300) set up in another of them telescopic component (400).

5. The gripping device according to claim 4, wherein the telescopic assembly (400) comprises:

a telescopic girder (410) which is in sliding connection with the main girder (100); and

the driving piece (420) is arranged on the main beam (100), and the driving piece (420) is connected with the telescopic beam (410) to drive the telescopic beam (410) to slide relative to the main beam (100);

wherein the first main hook assembly (200) is connected with one of the telescopic beams (410), and the second main hook assembly (300) is connected with the other telescopic beam (410).

6. The gripping device according to claim 4, characterized in that the first main hook assembly (200) and the second main hook assembly (300) are both connected to the telescopic assembly (400) by means of pins.

7. The grasping device according to claim 4, wherein the grasping device further comprises:

a detecting member (500) in communication with the telescoping assembly (400) for detecting a pressure value of the telescoping assembly (400);

a control member (600) in communication with the detecting member (500) to obtain the pressure value; and

an indicator (700) in communication with the control member (600).

8. The grasping device according to claim 1, wherein the support member includes:

two support brackets (820), the two support brackets (820) being disposed opposite; and

support guard (830) are disposed on opposite sides of the two support brackets (820), and the support guard (830), the opposite sides of the two support brackets (820), and the bottom wall of the main beam (100) enclose the positioning gap (810).

9. A material grabbing machine, characterized in that the material grabbing machine comprises:

a grabbing machine body;

the gripping device of any one of claims 1 to 8, being connected to the gripper body.