CN117963518A - Flexible grabbing mechanism and grabbing method for plate-shaped objects - Google Patents
Flexible grabbing mechanism and grabbing method for plate-shaped objects Download PDFInfo
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- CN117963518A CN117963518A CN202410151050.3A CN202410151050A CN117963518A CN 117963518 A CN117963518 A CN 117963518A CN 202410151050 A CN202410151050 A CN 202410151050A CN 117963518 A CN117963518 A CN 117963518A
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- clamping jaw
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- lifting
- platform
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention provides a flexible grabbing mechanism for plate-shaped objects, which comprises the following components: the device comprises a horizontal connecting seat, a lifting table, a clamping claw frame, a horizontal in-place sensor and a vertical in-place sensor; the horizontal connecting seat is provided with a lifting seat and a first hydraulic cylinder; one end of the lifting table is vertically and slidably assembled in the lifting seat, a second hydraulic cylinder is arranged on the lifting seat, and the extending end of the second hydraulic cylinder is connected with the lifting table; the clamping jaw frame is connected to the front end of the lifting table, a clamping jaw platform is arranged in the middle of the clamping jaw frame, a rear clamping jaw is arranged at the rear end of the lower part of the clamping jaw platform, a grabbing cylinder is longitudinally and horizontally arranged at the upper part of the clamping jaw frame, and the end part of the grabbing cylinder is connected with a front clamping jaw; the horizontal in-place sensor is transversely arranged on the rear clamping jaw, and a T-shaped trigger rod with one end facing the horizontal in-place sensor is hinged on the rear clamping jaw; the vertical position sensor is vertically arranged on the clamping jaw platform. The invention also provides a plate-shaped object flexible grabbing method which is implemented by adopting the plate-shaped object flexible grabbing mechanism.
Description
Technical Field
The invention belongs to the field of mine car preparation, and particularly relates to a flexible grabbing mechanism and a grabbing method for plate-shaped objects.
Background
In the mine construction process, the connecting chain between two mine cars is required to be frequently unhooked, the type and the size of the connecting chain between the two mine cars are different due to the different types of the mine cars in the mine, the connecting chain between the two mine cars is possibly placed in an uneven state due to inaccurate mine car positioning, the thickness and the position of the connecting chain in the length-width direction are also changed, the overall outline of the connecting chain is equivalent to plate-shaped objects with uncertain sizes, and the connecting chain is required to be adapted by a grabbing mechanism, so that final grabbing is completed.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide a flexible gripping mechanism and gripping method for sheet-like objects, which overcomes or at least partially solves or alleviates the above-mentioned problems.
The invention provides a flexible grabbing mechanism for plate-shaped objects, which comprises the following components:
The lifting seat and the first hydraulic cylinder are arranged on the horizontal connecting seat, and the first hydraulic cylinder can push the lifting seat to longitudinally move;
The lifting platform is vertically and slidably assembled in the lifting seat, a second hydraulic cylinder is arranged on the lifting seat, and the extending end of the second hydraulic cylinder is connected with the lifting platform;
The clamping jaw frame is connected to the front end of the lifting platform, a clamping jaw platform is arranged in the middle of the clamping jaw frame, a rear clamping jaw is arranged at the rear end of the lower part of the clamping jaw platform, a grabbing cylinder is longitudinally and horizontally arranged at the upper part of the clamping jaw frame, a front clamping jaw is connected to the end part of the grabbing cylinder, and the lower end of the front clamping jaw is inwards bent and faces the rear clamping jaw;
the horizontal in-place sensor is transversely arranged on the rear clamping jaw, a T-shaped trigger rod is hinged to the rear clamping jaw, and one end of the T-shaped trigger rod faces the horizontal in-place sensor;
The vertical in-place sensor is vertically arranged on the clamping jaw platform, the detection end of the vertical in-place sensor extends out of the clamping jaw platform downwards, and a transverse plate is vertically arranged on the lower side of the clamping jaw platform in a sliding manner.
The invention also has the following optional features.
Optionally, the clamping jaw frame with the front end of elevating platform rotates to be connected, clamping jaw frame one side with be provided with swing traction mechanism between the elevating platform, clamping jaw frame's opposite side with be provided with the extension spring between the elevating platform.
Optionally, the swing traction mechanism includes:
the third hydraulic cylinder is transversely arranged on the lifting table, the end part of the third hydraulic cylinder is connected with a steel cable, and the lifting table is also provided with a guide wheel;
The wire sleeve and the connector are arranged on the upper portion of one side of the clamping claw frame, and the steel cable passes through the wire sleeve after bypassing the guide wheel and is connected with the connector.
Optionally, a pair of first guide rods are longitudinally arranged on the horizontal connecting seat, a pair of first guide sleeves are longitudinally arranged at the lower end of the lifting seat, and the two first guide sleeves are respectively matched with the two guide rods.
Optionally, a plurality of second guide rods are vertically arranged in the lifting seat, a plurality of second guide sleeves are vertically arranged at the rear end of the lifting table, and each second guide sleeve is respectively matched with one second guide rod.
Optionally, a guide plate is vertically arranged at the front end of the clamping jaw frame, a third guide rod is longitudinally arranged at the front end of the guide plate, a third guide sleeve is arranged on the front clamping jaw, and the third guide sleeve is matched with the third guide rod.
Optionally, a fourth guide rod is vertically arranged on the upper side of the transverse plate, a fourth guide sleeve is arranged on the clamping jaw platform, and the fourth guide sleeve is matched with the fourth guide rod.
The invention also provides a plate-shaped object flexible grabbing method which is implemented by adopting the plate-shaped object flexible grabbing mechanism, and comprises the following steps of:
S001: a first hydraulic cylinder on the horizontal connecting seat pushes the lifting seat to move above the plate-shaped object, and the grabbing cylinder stretches out to drive the front clamping jaw to open;
S002: the second hydraulic cylinder on the lifting seat extends downwards to push the lifting table to descend, so that the plate-shaped object enters between the front clamping jaw and the rear clamping jaw;
s003: the grabbing cylinder retracts to drive the front clamping jaw to move towards the rear clamping jaw, so that the plate-shaped object is grabbed.
The flexible grabbing mechanism and the grabbing method for the plate-shaped object push the lifting seat to move above the plate-shaped object through the first hydraulic cylinder, and the grabbing cylinder drives the front clamping jaw to open; the second hydraulic cylinder pushes the lifting platform to descend so that the plate-shaped object enters between the front clamping jaw and the rear clamping jaw until the plate-shaped object triggers the vertical sensor; then the grabbing cylinder drives the front clamping jaw to move towards the rear clamping jaw to grab the plate-shaped object until the plate-shaped object triggers the horizontal in-place sensor, and at the moment, the grabbing cylinder stops, so that the front clamping jaw and the rear clamping jaw completely grab the plate-shaped object. The flexible grabbing mechanism and the grabbing method for the plate-shaped objects can grab the plate-shaped objects which are not horizontally placed, have different thicknesses and have variable dimensions in the length-width direction.
Drawings
FIG. 1 is an overall block diagram of a flexible gripping mechanism for a plate-like object of the present invention;
FIG. 2 is a gripping state diagram of the flexible gripping mechanism for a plate-like object of the present invention;
Fig. 3 is a block diagram of the jaw platform of fig. 1 and 2.
In the above figures: 1. a horizontal connecting seat; 2. a lifting seat; 3. a first hydraulic cylinder; 4. a lifting table; 5. a clamping claw frame; 6. a jaw platform; 7. a rear clamping jaw; 8. a level in place sensor; 9. grabbing an air cylinder; 10. a front clamping jaw; 11. a T-shaped trigger lever; 12. a vertical position sensor; 13. a transverse plate; 14. a tension spring; 15. a third hydraulic cylinder; 16. a guide wheel; 17. a wire sleeve; 18. a connector; 19. a first guide bar; 20. the first guide sleeve; 21. a second guide bar; 22. a second guide sleeve; 23. a guide plate; 24. a third guide bar; 25. a third guide sleeve; 26. a fourth guide bar; 27. a fourth guide sleeve; 28. a chain; 29. and a second hydraulic cylinder.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Detailed Description
Example 1
Referring to fig. 1,2 and 3, an embodiment of the present invention proposes a plate-like object flexible gripping mechanism comprising: the device comprises a horizontal connecting seat 1, a lifting table 4, a clamping jaw frame 5, a horizontal in-place sensor 8 and a vertical in-place sensor 12; the horizontal connecting seat 1 is provided with a lifting seat 2 and a first hydraulic cylinder 3, and the first hydraulic cylinder 3 can push the lifting seat 2 to move longitudinally; one end of the lifting table 4 is vertically and slidably assembled in the lifting seat 2, a second hydraulic cylinder 29 is arranged on the lifting seat 2, and the extending end of the second hydraulic cylinder 29 is connected with the lifting table 4; the clamping claw frame 5 is connected to the front end of the lifting table 4, a clamping claw platform 6 is arranged in the middle of the clamping claw frame 5, a rear clamping claw 7 is arranged at the rear end of the lower part of the clamping claw platform 6, a grabbing cylinder 9 is longitudinally and horizontally arranged at the upper part of the clamping claw frame 5, a front clamping claw 10 is connected to the end part of the grabbing cylinder 9, and the lower end of the front clamping claw 10 is inwards bent and faces the rear clamping claw 7; the horizontal in-place sensor 8 is transversely arranged on the rear clamping jaw 7, a T-shaped trigger rod 11 is hinged on the rear clamping jaw 7, and one end of the T-shaped trigger rod 11 faces the horizontal in-place sensor 8; the vertical position sensor 12 is vertically arranged on the clamping jaw platform 6, the detection end of the vertical position sensor extends out of the clamping jaw platform 6 downwards, and the lower side of the clamping jaw platform 6 is vertically provided with a transverse plate 13 in a sliding manner.
When the mechanism works, the mechanical arm with a large stroke moves the mechanism to the position of the chain 28 similar to a plate-shaped object, then the first hydraulic cylinder 3 on the horizontal connecting seat 1 pushes the lifting seat 2 to move above the chain 28, the grabbing cylinder 9 stretches out, and the front clamping jaw 10 is driven to stretch; the second hydraulic cylinder 29 on the lifting seat 2 extends downwards to push the lifting table 4 to descend, so that the chain 28 enters between the front clamping jaw 10 and the rear clamping jaw 7 until the chain 28 contacts the transverse plate 13, and the transverse plate 13 is driven to ascend until the vertical position sensor 12 is triggered, and then the second hydraulic cylinder 29 stops; the grabbing cylinder 9 retracts to drive the front clamping jaw 10 to move towards the rear clamping jaw 7 to grab the chain 28, the chain 28 pushes the T-shaped trigger rod 11 on the rear clamping jaw 7 to swing backwards, one end of the T-shaped trigger rod 11 triggers the horizontal in-place sensor 8, and at the moment, the grabbing cylinder 9 stops retracting, and the front clamping jaw 10 and the rear clamping jaw 7 completely grab the chain 28.
Example 2
Referring to fig. 1 and 2, on the basis of embodiment 1, a jaw frame 5 is rotatably connected to the front end of a lifting table 4, a swing traction mechanism is provided between one side of the jaw frame 5 and the lifting table 4, and a tension spring 14 is provided between the other side of the jaw frame 5 and the lifting table 4.
If the plate-shaped object such as the chain 28 is wholly inclined, the swing traction mechanism can control the clamping jaw frame 5 to rotate for a certain angle relative to the lifting platform 4, so that the clamping jaw platform 6 on the clamping jaw frame 5 is kept parallel to the plate-shaped object along with swinging for a certain angle, and after the grabbing is completed, the swing traction mechanism releases the clamping jaw frame 5, and the clamping jaw frame 5 returns to the original position under the traction of the tension spring 14.
Example 3
Referring to fig. 1 and 2, on the basis of embodiment 2, the swing traction mechanism includes: the third hydraulic cylinder 15, the wire sleeve 17 and the connector 18; the third hydraulic cylinder 15 is transversely arranged on the lifting platform 4, the end part of the third hydraulic cylinder 15 is connected with a steel cable, and the lifting platform 4 is also provided with a guide wheel 16; the wire sleeve 17 and the connector 18 are arranged at the upper part of one side of the clamping jaw frame 5, and the steel cable passes through the wire sleeve 17 after passing through the guide wheel 16 and is connected with the connector 18.
In the initial state, the third hydraulic cylinder 15 pulls the steel cable in advance for a moving distance, so that the tension of the steel cable pulling connector 18 and the tension of the tension spring 14 pulling the gripper frame 5 keep balance after the steel cable bypasses the guide wheel 16, and the gripper frame 5 keeps neutral at the moment;
When the gripper frame 5 is required to swing to the side where the guide wheel 16 is located, the third hydraulic cylinder 15 continuously retracts, and swings to the side of the guide wheel 16 through the steel cable traction connector 18 to drive the whole gripper frame 5 to swing to the side of the guide wheel;
When the gripper frame 5 is required to swing towards the side where the tension spring 14 is located, the third hydraulic cylinder 15 stretches out a certain distance, a section of steel cable is released, and the tension spring 14 pulls the whole gripper frame 5 to swing towards the side of the tension spring 14.
Example 4
Referring to fig. 1, on the basis of embodiment 2, a pair of first guide rods 19 are longitudinally provided on the horizontal connection base 1, a pair of first guide sleeves 20 are longitudinally provided at the lower end of the lifting base 2, and the two first guide sleeves 20 are respectively matched with the two guide rods 19.
The horizontal connecting seat 1 is connected with a large-stroke mechanical arm, a pair of first guide rods 19 are longitudinally and horizontally arranged on the horizontal connecting seat 1, and the lifting seat 2 can be longitudinally guided by matching the two first guide rods 19 with two first guide sleeves 20 at the lower part of the lifting seat 2.
Example 5
Referring to fig. 1, on the basis of embodiment 1, a plurality of second guide rods 21 are vertically disposed in the lifting seat 2, and a plurality of second guide sleeves 22 are vertically disposed at the rear end of the lifting table 4, and each second guide sleeve 22 is respectively matched with one second guide rod 21.
The upper portion of lifting seat 2 is frame structure, and four second guide arms 21 are vertically set up in the lifting seat 2, and the rear end of elevating platform 4 sets up four second guide pin bushing 22, and four second guide pin bushing 22 overlap respectively on four second guide arms 21, and second pneumatic cylinder 3 sets up at the top of lifting seat 2, and its end of stretching out is connected with the rear end of elevating platform 4, drives elevating platform 4 along four second guide arms 21 vertical movement.
Example 6
Referring to fig. 1,2 and 3, on the basis of embodiment 1, the front end of the jaw frame 5 is vertically provided with a guide plate 23, the front end of the guide plate 23 is longitudinally provided with a third guide rod 24, the front jaw 10 is provided with a third guide sleeve 25, and the third guide sleeve 25 is matched with the third guide rod 24.
The front side of the guide plate 23 is longitudinally and horizontally provided with two third guide rods 24, and two third guide sleeves 25 on the front clamping jaw 10 are respectively matched with the two third guide rods 24, so that when the grabbing cylinder 9 pushes the front clamping jaw 10 to open, the front clamping jaw 10 moves along the two third guide rods 24 through the two third guide sleeves 25.
Example 7
Referring to fig. 3, on the basis of embodiment 1, a fourth guide rod 26 is vertically disposed on the upper side of the transverse plate 13, and a fourth guide sleeve 27 is disposed on the jaw platform 6, and the fourth guide sleeve 27 is matched with the fourth guide rod 26.
The transverse plate 13 cooperates with two fourth guide sleeves 27 on the jaw platform 6 by means of two vertical fourth guide rods 26, and when the transverse plate 13 contacts the chain 28, the transverse plate 13 is pushed upwards by the chain 28 until the transverse plate 13 contacts the vertical in-place sensor 12.
Example 8
Referring to fig. 1,2 and 3, an embodiment of the present invention further provides a flexible grabbing method for a plate-shaped object, which is implemented by using the flexible grabbing mechanism for a plate-shaped object, and includes the following steps: s001: a first hydraulic cylinder 3 on the horizontal connecting seat 1 pushes the lifting seat 2 to move above the plate-shaped object, and a grabbing cylinder 9 stretches out to drive the front clamping jaw 10 to stretch; s002: the second hydraulic cylinder 3 on the lifting seat 2 extends downwards to push the lifting table 4 to descend, so that the plate-shaped object enters between the front clamping jaw 10 and the rear clamping jaw 7; s003: the grabbing cylinder 9 is retracted to drive the front clamping jaw 10 to move towards the rear clamping jaw 7, so that the plate-shaped object is grabbed.
In S001, the horizontal connecting seat 1 is connected to a large-stroke mechanical arm, the mechanical arm firstly moves the horizontal connecting seat 1 to the upper part of a chain 28 connected between two mine cars, and if the chain 28 is deflected, the swing traction mechanism controls the gripper frame 5 to rotate for a certain angle relative to the lifting table 4, so that the gripper platform 6 on the gripper frame 5 is parallel to the chain 28 along with swinging for a certain angle; in S002, as the lifting platform 4 drives the jaw platform 6 to descend, the chain 28 contacts the transverse plate 13 first, and pushes the transverse plate 13 to move upwards relative to the jaw platform 6 until the vertical position sensor 12 is triggered, and the second hydraulic cylinder 3 stops extending; in S003, the gripping cylinder 9 drives the front gripper 10 to pick up the chain 28 toward the rear gripper 7, so that the chain 28 pushes the T-shaped trigger rod 11 on the rear gripper 7 to swing backward, one end of the T-shaped trigger rod 11 triggers the horizontal in-place sensor 8, the gripping cylinder 9 stops retracting, and the front gripper 10 and the rear gripper 7 completely grip the chain 28.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The components and structures not specifically described in this embodiment are well known in the art and are not described in detail herein.
Claims (8)
1. The utility model provides a flexible mechanism that snatchs of slab stock object which characterized in that includes:
the lifting device comprises a horizontal connecting seat (1), wherein a lifting seat (2) and a first hydraulic cylinder (3) are arranged on the horizontal connecting seat (1), and the first hydraulic cylinder (3) can push the lifting seat (2) to longitudinally move;
the lifting platform (4), one end of the lifting platform (4) is vertically and slidably assembled in the lifting seat (2), a second hydraulic cylinder (29) is arranged on the lifting seat (2), and the extending end of the second hydraulic cylinder (29) is connected with the lifting platform (4);
The clamping claw frame (5), the clamping claw frame (5) is connected to the front end of the lifting table (4), a clamping claw platform (6) is arranged in the middle of the clamping claw frame (5), a rear clamping claw (7) is arranged at the rear end of the lower part of the clamping claw platform (6), a grabbing cylinder (9) is longitudinally and horizontally arranged at the upper part of the clamping claw frame (5), a front clamping claw (10) is connected to the end part of the grabbing cylinder (9), and the lower end of the front clamping claw (10) is inwards bent and faces the rear clamping claw (7);
The horizontal in-place sensor (8), the horizontal in-place sensor (8) is transversely arranged on the rear clamping jaw (6), a T-shaped trigger rod (11) is hinged on the rear clamping jaw (7), and one end of the T-shaped trigger rod (11) faces the horizontal in-place sensor (8);
The vertical in-place sensor (12) is vertically arranged on the clamping jaw platform (6), the detection end of the vertical in-place sensor (12) extends out of the clamping jaw platform (6) downwards, and a transverse plate (13) is vertically arranged on the lower side of the clamping jaw platform (6) in a sliding manner.
2. The flexible grabbing mechanism for plate-shaped objects according to claim 1, wherein the clamping jaw frame (5) is rotatably connected with the front end of the lifting table (4), a swing traction mechanism is arranged between one side of the clamping jaw frame (5) and the lifting table (4), and a tension spring (14) is arranged between the other side of the clamping jaw frame (5) and the lifting table (4).
3. The flexible gripping mechanism for plate-like objects according to claim 2, wherein said swinging traction mechanism comprises:
The third hydraulic cylinder (15), the third hydraulic cylinder (15) is transversely arranged on the lifting platform (4), the end part of the third hydraulic cylinder (15) is connected with a steel cable, and the lifting platform (4) is also provided with a guide wheel (16);
The wire sleeve (17) and the connector (18), the wire sleeve (17) and the connector (18) are arranged on the upper portion of one side of the clamping jaw frame (5), and the steel cable passes through the wire sleeve (17) after bypassing the guide wheel (16) and is connected with the connector (18).
4. The flexible grabbing mechanism for plate-shaped objects according to claim 1, wherein a pair of first guide rods (19) are longitudinally arranged on the horizontal connecting seat (1), a pair of first guide sleeves (20) are longitudinally arranged at the lower end of the lifting seat (2), and the two first guide sleeves (20) are respectively matched with the two guide rods (19).
5. The flexible grabbing mechanism for plate-shaped objects according to claim 1, wherein a plurality of second guide rods (21) are vertically arranged in the lifting seat (2), a plurality of second guide sleeves (22) are vertically arranged at the rear end of the lifting table (4), and each second guide sleeve (22) is respectively matched with one second guide rod (21).
6. The flexible grabbing mechanism for plate-shaped objects according to claim 1, wherein a guide plate (23) is vertically arranged at the front end of the clamping jaw frame (5), a third guide rod (24) is longitudinally arranged at the front end of the guide plate (23), a third guide sleeve (25) is arranged on the front clamping jaw (10), and the third guide sleeve (25) is matched with the third guide rod (24).
7. The flexible grabbing mechanism for plate-shaped objects according to claim 1, wherein a fourth guide rod (26) is vertically arranged on the upper side of the transverse plate (13), a fourth guide sleeve (27) is arranged on the clamping jaw platform (6), and the fourth guide sleeve (27) is matched with the fourth guide rod (26).
8. A method for flexibly grabbing a plate-shaped object, which is implemented by the plate-shaped object flexible grabbing mechanism as claimed in any one of claims 1 to 7, and is characterized by comprising the following steps:
s001: a first hydraulic cylinder (3) on the horizontal connecting seat (1) pushes the lifting seat (2) to move above the plate-shaped object, and a grabbing cylinder (9) stretches out to drive the front clamping jaw (10) to open;
S002: a second hydraulic cylinder (3) on the lifting seat (2) extends downwards to push the lifting table (4) to descend, so that a plate-shaped object enters between the front clamping jaw (10) and the rear clamping jaw (7);
S003: the grabbing cylinder (9) retracts to drive the front clamping jaw (10) to move towards the rear clamping jaw (7) so as to grab the plate-shaped object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410151050.3A CN117963518A (en) | 2024-02-02 | 2024-02-02 | Flexible grabbing mechanism and grabbing method for plate-shaped objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410151050.3A CN117963518A (en) | 2024-02-02 | 2024-02-02 | Flexible grabbing mechanism and grabbing method for plate-shaped objects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117963518A true CN117963518A (en) | 2024-05-03 |
Family
ID=90845795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410151050.3A Pending CN117963518A (en) | 2024-02-02 | 2024-02-02 | Flexible grabbing mechanism and grabbing method for plate-shaped objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117963518A (en) |
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2024
- 2024-02-02 CN CN202410151050.3A patent/CN117963518A/en active Pending
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