CN212218523U - Snatch and put device and snatch and put robot - Google Patents
Snatch and put device and snatch and put robot Download PDFInfo
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- CN212218523U CN212218523U CN202020455831.9U CN202020455831U CN212218523U CN 212218523 U CN212218523 U CN 212218523U CN 202020455831 U CN202020455831 U CN 202020455831U CN 212218523 U CN212218523 U CN 212218523U
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Abstract
The utility model relates to a municipal construction technical field especially relates to a snatch and put device and snatch and put robot. The gripping and placing device comprises a supporting beam, a clamping jaw mechanism and a top limiting part, wherein the clamping jaw mechanism comprises a clamping jaw assembly and a translation driving part, the two clamping jaw assemblies are movably arranged on the supporting beam along a first direction, and the translation driving part can drive the two clamping jaw assemblies to move towards or away from each other along the first direction so as to grip or release brick-shaped materials; every clamping jaw subassembly all corresponds and is provided with the top locating part, and at least part clamping jaw subassembly is located the below of top locating part, the top locating part can with the top surface looks butt of brick shape material, so that the height of the position of two clamping jaw subassemblies centre gripping brick shape material is the same, thereby can guarantee that clamping jaw subassembly can grab firmly brick shape material stably, reduce the risk that brick shape material dropped at the transfer in-process, and the clamping position that makes clamping jaw mechanism snatch arbitrary brick shape material is all the same, improve the operating efficiency.
Description
Technical Field
The utility model relates to a municipal construction technical field especially relates to a snatch and put device and snatch and put robot.
Background
At present, gardens curb is spread and is pasted mainly to use traditional manual work to spread and paste as the owner, and various construction tools are for assisting, need a large amount of manual works and supporting simple and easy instrument equipment, and this kind of construction mode has increased artificial intensity of labour intangibly, also has certain influence to workman's physical and mental health.
In order to reduce the labor intensity of workers, a curb clamp is generally adopted to grab a curb for paving. Because the position of curb is unset and there is not corresponding positioning mechanism on the curb anchor clamps, the curb anchor clamps can not snatch the curb well, cause and snatch the curb at the curb anchor clamps and remove the in-process, have the risk that the curb dropped.
Therefore, a new grasping and placing device is needed to solve the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a snatch and put device can grab firm curb steadily, and can reduce the risk that the curb dropped at the removal in-process.
Another object of the utility model is to provide a snatch and put robot, through using the above-mentioned device of putting that snatchs, can grab firm curb steadily, and can reduce the risk that the curb dropped at the removal in-process, reduce artifical intensity of labour, improve the operating efficiency.
In order to realize the purpose, the following technical scheme is provided:
in one aspect, a grabbing and placing device is provided, which includes:
a support beam;
the clamping jaw mechanism comprises clamping jaw assemblies and a translation driving piece, the two clamping jaw assemblies are movably arranged on the supporting cross beam along a first direction, and the translation driving piece can drive the two clamping jaw assemblies to move towards or away from each other along the first direction so as to clamp or release brick-shaped materials;
the top locating part is arranged on the supporting beam or the clamping jaw assembly, each clamping jaw assembly is correspondingly provided with the top locating part, at least part of the clamping jaw assembly is located below the top locating part, and the top locating part can be abutted to the top surface of the brick-shaped material, so that the clamping jaw assemblies clamp the brick-shaped material with the same height.
As a preferred scheme of the grasping and placing device, the grasping and placing device further comprises:
and the side limiting part is arranged on the supporting beam, the side limiting part can be abutted against the side surface of the brick-shaped material in the second direction, and the second direction is perpendicular to the first direction, so that the two clamping jaw assemblies can clamp the central position of the brick-shaped material in the second direction.
As a preferred embodiment of the grasping and placing device, the top limiting member includes:
a mount mounted on the jaw assembly;
the limiting guide wheel is rotatably installed on the installation part and can be abutted to the top surface of the brick-shaped material.
As a preferable scheme of the grabbing and placing device, the mounting position of the side limiting piece on the supporting beam is adjustable along the second direction, so as to adjust the distance between the side limiting piece and the clamping jaw assembly in the second direction.
As a preferable scheme of the grasping and placing device, the side limiting member includes:
the adjusting part is arranged on the supporting cross beam;
the limiting part is connected with the adjusting part, the limiting part can be abutted to the side face of the brick-shaped material, and the mounting position of the adjusting part on the supporting beam is adjustable along the second direction so as to adjust the distance between the limiting part and the clamping jaw assembly in the second direction.
As the preferred scheme of the grabbing and placing device, the limiting part and the adjusting part are arranged in parallel.
As a preferred scheme of the grabbing and placing device, the side position limiting part further comprises a handle part, two ends of the handle part are respectively connected with the limiting part and the adjusting part, and the limiting part and the adjusting part are both perpendicular to the handle part.
As a preferable scheme of the grabbing and placing device, the clamping jaw assembly comprises:
the telescopic arm is movably arranged on the supporting cross beam, the output end of the translational driving piece is connected with the telescopic arm, and the top limiting piece is arranged on the telescopic arm;
the clamping jaw is installed on the telescopic arm, and the translation driving piece can drive the telescopic arm to move along the supporting beam so as to drive the clamping jaw to move.
As a preferable scheme of the grabbing and placing device, the grabbing and placing device further comprises a suspension head, the suspension head is configured to be connected with the mobile operation device, and the suspension head is connected with the supporting beam through an iron chain.
As a preferable scheme of the grabbing and placing device, the grabbing and placing device further comprises a handrail, wherein the handrail is installed on the supporting beam, and the installation angle of the handrail is adjustable.
As the preferred scheme of the grabbing and placing device, a protective cover is arranged on the supporting beam and covers the outer side of the translation driving piece.
In another aspect, a robot for grabbing and placing is provided, which includes a mobile manipulator and a grabbing and placing device as described above, where the grabbing and placing device is mounted on the mobile manipulator, and the mobile manipulator can move and adjust the position of the grabbing and placing device.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a grabbing and placing device, including supporting beam, clamping jaw mechanism and top locating part, clamping jaw mechanism includes clamping jaw subassembly and translation driving piece, and two clamping jaw subassemblies are movably set up on supporting beam along the first direction, and translation driving piece can drive two clamping jaw subassemblies to move along the first direction in opposite directions or back to centre gripping or release brick-shaped material; every clamping jaw subassembly all corresponds and is provided with the top locating part, and at least part clamping jaw subassembly is located the below of top locating part, the top locating part can with the top surface looks butt of brick shape material, so that the height of the position of two clamping jaw subassemblies centre gripping brick shape material is the same, thereby can guarantee that clamping jaw subassembly can grab firmly brick shape material stably, reduce the risk that brick shape material dropped at the transfer in-process, and the clamping position that makes clamping jaw mechanism snatch arbitrary brick shape material is all the same, improve the operating efficiency.
The utility model provides a snatch and put robot, through using the above-mentioned device of putting that snatchs, can grab jail curb steadily, and can reduce the risk that the curb dropped at the removal in-process, reduce artifical intensity of labour, improve the operating efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural view of a grasping and placing device provided in an embodiment of the present invention;
fig. 2 is a cross-sectional view of a grasping and placing device provided in the embodiment of the present invention;
fig. 3 is a schematic structural view of a suspension head according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a supporting beam according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a telescopic boom according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a clamping jaw provided in an embodiment of the present invention;
fig. 7 is a schematic structural view of a top position limiting member according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a side position limiting part according to an embodiment of the present invention.
Reference numerals:
100-brick shaped material;
1-supporting a beam; 11-a guide groove; 12-a limiting plate; 13-a protective cover; 14-adjusting part guide sleeve; 141-a locking member; 15-handrail mounting support; 151-fastener mounting holes; 16-iron chain mounting support;
2-a gripper mechanism; 21-a translational drive member; 22-telescopic arm; 221-a bump; 2211-mounting holes; 222-driver attachment hole; 23-a clamping jaw; 231-a fixing member; 2311-a first fixing hole; 2312-a first snap groove; 232-a clamping plate;
3-a top stop; 31-a mounting member; 311-second fixing hole; 312-a second snap groove; 32-limit guide wheels;
4-side stops; 41-a limiting part; 42-an adjustment section; 43-grip part;
5-a handrail;
6-hanging the head; 61-a suspension plate; 611-hanging pin holes; 62-iron chain hanging parts; 621-iron chain locking pin hole;
7-iron chain.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution of the present invention is further described below by referring to the drawings and the detailed description.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that are usually placed when the product is used, and are only for convenience of description of the present invention, and do not indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", and the like are used for descriptive purposes only or to distinguish between different structures or components and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-2, the embodiment provides a grasping and placing device, which includes a supporting beam 1, a clamping jaw mechanism 2 and a top limiting member 3, wherein the clamping jaw mechanism 2 includes a clamping jaw assembly and a translational driving member 21, the two clamping jaw assemblies are movably disposed on the supporting beam 1 along a first direction, and the translational driving member 21 can drive the two clamping jaw assemblies to move toward or away from each other along the first direction, so as to clamp or release a brick-shaped material 100; every clamping jaw subassembly all corresponds and is provided with top locating part 3, and at least part clamping jaw subassembly is located the below of top locating part 3, top locating part 3 can with the top surface looks butt of brick shape material 100, so that the height of the position of two clamping jaw subassembly centre gripping brick shape material 100 is the same, thereby can guarantee that clamping jaw subassembly can stably grab firmly brick shape material 100, reduce the risk that brick shape material 100 drops at the transfer in-process, and make clamping jaw mechanism 2 snatch the clamping position homogeneous phase of any brick shape material 100, can improve the operating efficiency under the prerequisite of assurance clamping effect.
Optionally, the top limiting part 3 may be installed on the supporting beam 1, or may be installed on the clamping jaw assemblies, as long as it is ensured that each clamping jaw assembly is correspondingly provided with the top limiting part 3. Further, each clamping jaw assembly can be correspondingly provided with one top limiting part 3 and also can be correspondingly provided with a plurality of top limiting parts 3, and the specific number can be designed according to the requirement.
The brick-shaped material 100 provided by the embodiment can be curb stone or other brick-shaped materials. The grabbing and placing device can be used for paving and inlaying the round forest curb.
Optionally, the grabbing and placing device further comprises a side limiting part 4, the side limiting part 4 is arranged on the supporting beam 1, the side limiting part 4 can abut against the side face of the brick-shaped material 100 in the second direction, and the second direction is perpendicular to the first direction, so that the two clamping jaw assemblies can clamp the central position of the brick-shaped material 100 in the second direction, and the clamping jaw assemblies can stably grab the brick-shaped material 100.
Further, the installation position of the side limiting piece 4 on the supporting beam 1 is adjustable along the second direction, so that the distance between the side limiting piece 4 and the clamping jaw assembly in the second direction can be conveniently adjusted, and the brick-shaped materials 100 with different sizes can be adapted.
When the grabbing and placing device grabs the brick-shaped material 100, the top limiting part 3 is firstly abutted against the top surface of the brick-shaped material 100, then the side limiting part 4 is abutted against the side surface of the brick-shaped material 100 in the second direction, and finally the two clamping jaw assemblies are driven to move oppositely to clamp the brick-shaped material 100, so that the two clamping jaw assemblies can stably clamp the brick-shaped material 100 in the first direction and the second direction, and the falling risk of the brick-shaped material 100 is reduced.
Optionally, the grabbing and placing device further comprises a suspension head 6, the suspension head 6 is configured to be connected with a loader, so that the grabbing and placing device is convenient to install on the existing loader, the grabbing and placing device is convenient to operate, and the labor intensity is reduced.
Further, as shown in fig. 3, a suspension plate 61 is provided on the suspension head 6, and the suspension plate 61 is used for connecting with a mobile manipulator such as a loader or an excavator. Illustratively, the suspension plate 61 is provided with a suspension pin hole 611 to facilitate connection of the suspension plate 61 to a loader or excavator.
Preferably, as shown in fig. 3 in combination with fig. 1, the suspension head 6 is connected with the supporting beam 1 through an iron chain 7, so that when the brick-shaped material 100 is laid or embedded, the position of the grabbing and placing device can be adjusted slightly, and the construction quality is improved.
Further, an iron chain hanger 62 is arranged on the suspension head 6, and the iron chain hanger 62 is used for connecting the suspension head 6 and the iron chain 7. The iron chain hanger 62 is provided with an iron chain locking pin hole 621 for inserting an iron chain pin to fix the iron chain 7.
Illustratively, as shown in fig. 4, an iron chain mounting support 16 is arranged on the supporting beam 1, so as to mount and fix the iron chain 7, and ensure the stability of the grasping and placing device.
Optionally, in order to adjust the position of the grabbing and placing device during construction, as shown in fig. 1, the grabbing and placing device further includes a handrail 5, and the handrail 5 is disposed on the supporting beam 1, so that a worker can hold the handrail 5 to move the grabbing and placing device to a position where construction is needed, and fine-adjust a construction site.
Preferably, the handrail 5 is rotatably provided on the supporting beam 1, and the angle of the handrail 5 can be adjusted according to the restriction of a construction site and the height of a constructor, so that the constructor can conveniently hold the operation.
Further, as shown in fig. 4, the support beam 1 is provided with an armrest mounting support 15, and the armrest 5 is mounted on the armrest mounting support 15, and the mounting angle is adjustable.
Exemplarily, the armrest 5 is rotatably arranged on the support beam 1 about a first axis, and the first axis is parallel to the second direction. The armrest mounting support 15 is further provided with a fastener mounting hole 151, and after the angle of the armrest 5 is adjusted, the armrest 5 is fixed on the armrest mounting support 15 by a fastener, so that the armrest 5 is prevented from rotating relative to the armrest mounting support 15 during operation. When the angle of the handrail 5 needs to be adjusted, the fastening piece is loosened, and then the handrail 5 is rotated around the first axis to be adjusted to the required angle.
Preferably, as shown in fig. 5 in combination with fig. 2, the clamping jaw assembly includes a telescopic arm 22 and a clamping jaw 23, the telescopic arm 22 is movably disposed on the supporting beam 1, the clamping jaw 23 is mounted on the telescopic arm 22, and an output end of the translational driving member 21 is connected to the telescopic arm 22 to drive the telescopic arm 22 to move along the supporting beam 1 and drive the clamping jaw 23 to move.
Furthermore, the telescopic arm 22 is provided with a driving member connecting hole 222, the pin shaft passes through the driving member connecting hole 222, and the output end of the translational driving member 21 is rotatably connected with the pin shaft.
Alternatively, the telescopic arm 22 is a cylindrical housing structure, and the translational drive member 21 is disposed within the telescopic arm 22.
Illustratively, as shown in fig. 4, the supporting beam 1 is provided with a guide groove 11, and the telescopic arm 22 is movably disposed in the guide groove 11. Further, the two ends of the guide groove 11 are provided with limit plates 12, and the limit plates 12 are used for limiting the moving stroke of the telescopic arm 22. Preferably, the limit plate 12 can also limit the minimum adjustment angle of the armrest 5.
Further, the translational driving member 21 is a standard double-acting hydraulic cylinder, and the translational driving member 21 has two output ends, and the two output ends are respectively connected to a telescopic arm 22, so as to simultaneously drive the two jaw assemblies to move towards or away from each other by using one translational driving member 21, so as to clamp or release the brick-shaped material 100. Specifically, the cylinder body hinge bore of a standard double acting hydraulic cylinder is hinged to one telescopic boom 22 and the piston rod hinge bore of a standard double acting hydraulic cylinder is hinged to the other telescopic boom 22.
In other embodiments, translation drive 21 may also be a standard double acting cylinder, which also achieves the above described results. Of course, the translational driving member 21 may also be a standard single-acting hydraulic cylinder, at this time, two translational driving members 21 are required, and the output ends of the two translational driving members 21 are respectively connected to one telescopic arm 22, so that the function of simultaneously driving the two jaw assemblies to move towards or away from each other can also be realized.
Illustratively, a protective cover 13 is arranged on the supporting beam 1, and the protective cover 13 is covered outside the translation driving member 21 to protect the translation driving member 21.
Preferably, as shown in fig. 6, the clamping jaw 23 includes a fixing member 231 and a clamping plate 232, the fixing member 231 is fixedly mounted on the telescopic arm 22, and the clamping plate 232 is fixedly mounted on the fixing member 231.
Further, a first fixing hole 2311 is formed in the fixing member 231, a mounting hole 2211 is formed in the telescopic arm 22, and a fastening pin penetrates through the first fixing hole 2311 and the mounting hole 2211 to fixedly connect the fixing member 231 and the telescopic arm 22.
Preferably, the telescopic arm 22 is provided with a plurality of mounting holes 2211, and the plurality of mounting holes 2211 are arranged at intervals along the length direction of the telescopic arm 22, so that the fixing member 231 can be selectively mounted at any one of the mounting holes 2211 on the telescopic arm 22, and the distance between the two clamping jaws 23 is convenient according to the size of the brick-shaped material 100.
Optionally, the telescopic arm 22 is provided with a protrusion 221, and the fixing member 231 is provided with a first fastening groove 2312, when the fixing member 231 is mounted on the telescopic arm 22, the first fastening groove 2312 on the fixing member 231 is fastened on the protrusion 221 on the telescopic arm 22, so as to improve the stability of the fixing member 231, and when the clamping jaw 23 clamps the brick-shaped material 100, the fixing member 231 can be effectively prevented from moving downwards due to the gravity of the brick-shaped material 100.
Illustratively, the mounting holes 2211 are formed in the projections 221, and the projections 221 are spaced apart from each other along the length direction of the telescopic arm 22 to facilitate adjustment of the mounting position of the fixing member 231.
Preferably, as shown in fig. 7, the top limiting member 3 comprises a mounting member 31 and a limiting guide wheel 32, wherein the mounting member 31 is mounted on the clamping jaw assembly; the limiting guide wheel 32 is rotatably mounted on the mounting member 31, and the limiting guide wheel 32 can abut against the top surface of the brick-shaped material 100. When the brick-shaped material 100 is clamped, the limiting guide wheel 32 can roll on the top surface of the brick-shaped material 100, so that the friction force between the limiting guide wheel 32 and the brick-shaped material 100 is reduced, and the position of the grabbing and placing device can be conveniently adjusted at any time.
Illustratively, the mounting member 31 is mounted on the telescopic arm 22, and at least part of the clamping jaws 23 is located below the limiting guide wheel 32, so as to ensure that the clamping jaws 23 can clamp the brick-shaped material 100 after the limiting guide wheel 32 positions the brick-shaped material 100.
Further, the mounting member 31 is provided with a second fixing hole 311, and a fastening pin passes through the second fixing hole 311 and the mounting hole 2211 to fixedly connect the mounting member 31 and the telescopic arm 22.
Optionally, the mounting member 31 is further provided with a second latching groove 312, and the second latching groove 312 can be latched on the protrusion 221 of the telescopic arm 22 to improve the connection strength between the mounting member 31 and the telescopic arm 22.
Further, the mounting member 31 includes a hooking fixing portion and a guide wheel mounting portion, wherein the second fixing hole 311 and the second fastening groove 312 are both disposed on the hooking fixing portion, and the limit guide wheel 32 is rotatably disposed on the guide wheel mounting portion. Preferably, two hitching fixing parts are arranged at intervals along the length direction of the guide wheel mounting part, and both the two hitching fixing parts can be fixedly connected with the telescopic arm 22.
Preferably, the second catching grooves 312 are all hook-shaped so that the mounting member 31 is hung on the protrusion 221 of the telescopic arm 22. Illustratively, the protrusion 221 is cylindrical.
Illustratively, the structures of the fixing member 231 and the mounting member 31 are the same, and the structure of the fixing member 231 will not be described herein.
Preferably, as shown in fig. 8, the side position-limiting member 4 includes a position-limiting portion 41 and an adjusting portion 42 which are parallel to each other, the position-limiting portion 41 can abut against the side surface of the brick-shaped material 100, and the adjusting portion 42 is movably disposed on the supporting beam 1 along the second direction to adjust the distance between the position-limiting portion 41 and the clamping jaw assembly in the second direction. Can adjust spacing portion 41 and clamping jaw assembly distance in the second direction according to the width of brick shape material 100, for example, when the width of brick shape material 100 is great, can suitably increase spacing portion 41 and clamping jaw assembly distance in the second direction to guarantee clamping jaw 23's centre gripping and the width center coincidence of brick shape material 100, improve the centre gripping effect.
Further, the side position limiting member 4 further includes a handle portion 43, two ends of the handle portion 43 are respectively connected with the limiting portion 41 and the adjusting portion 42, and both the limiting portion 41 and the adjusting portion 42 are perpendicular to the handle portion 43. The holding portion 43 facilitates the worker to hold the side position limiting member 4, on one hand, facilitates the position limiting portion 41 to abut against the side surface of the brick-shaped material 100, and on the other hand, facilitates the constructor to finely adjust the construction position of the brick-shaped material 100 when the brick-shaped material 100 is laid or embedded, so as to meet the construction requirement.
In addition, the lateral limiting part 4 of the embodiment can also improve the verticality of clamping or placing the brick-shaped material 100 by abutting the limiting part 41 against the lateral surface of the brick-shaped material 100, thereby improving the construction quality.
Illustratively, as shown in fig. 4, the supporting beam 1 is further provided with an adjusting part guide sleeve 14, the adjusting part guide sleeve 14 is disposed at the upper end of the supporting beam 1, and the adjusting part 42 of the side limiting member 4 is movably disposed on the adjusting part guide sleeve 14 so as to adjust the distance between the limiting part 41 of the side limiting member 4 and the clamping jaw 23 in the second direction.
Preferably, the adjusting part guide sleeve 14 is provided with a locking member 141, the locking member 141 is screwed on the adjusting part guide sleeve 14, and the locking member 141 can be screwed into the adjusting part guide sleeve 14 and abuts against the adjusting part 42 to lock the adjusting part 42, i.e. the side limiting member 4. When the side limiting piece 4 needs to be adjusted, the locking piece 141 is released; the locking member 141 is locked when the brick shaped material 100 is gripped. In this embodiment, the locker 141 is screw-coupled to the upper end of the adjusting part guide sleeve 14.
The embodiment also provides a grabbing and placing robot, which comprises a moving control device and the grabbing and placing device, wherein the grabbing and placing device is installed on the moving control device, and the moving control device can move and adjust the position of the grabbing and placing device. This snatch puts robot, through using above-mentioned snatching to put the device, can grab firm curb steadily, and can reduce the risk that the curb dropped at the removal in-process, reduce artifical intensity of labour, improve the operating efficiency.
The mobile manipulator may be, for example, a loader or an excavator.
For convenience of understanding, the working process of the grabbing and placing robot provided by the embodiment is as follows:
And 3, adjusting the distance between the limiting part 41 of the side limiting part 4 and the clamping jaw 23 in the second direction according to the width size of the brick-shaped material 100, ensuring that the width center of the brick-shaped material 100 is overlapped with the width center of the clamping jaw 23, enabling the limiting part 41 to be in contact with the brick-shaped material 100, and then locking the side limiting part 4.
And 4, paving. Specifically, the grabbing and placing robot moves to the placing area of the brick-shaped material 100, the top limiting part 3 and the side limiting part 4 sequentially contact the brick-shaped material 100, then the brick-shaped material 100 is clamped, the brick-shaped material 100 is transferred to a place to be laid, the side limiting part 4 is operated by a constructor to lay or inlay the brick-shaped material 100 to the construction place, and finally the brick-shaped material 100 is released. And (5) repeating the step (4) until the construction is finished.
In step 4, whether other construction workers need to intervene in the auxiliary operation handrail 5 or not can be considered according to the clinker degree of the operator.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. The utility model provides a snatch and put device which characterized in that includes:
a support beam;
the clamping jaw mechanism comprises clamping jaw assemblies and a translation driving piece, the two clamping jaw assemblies are movably arranged on the supporting cross beam along a first direction, and the translation driving piece can drive the two clamping jaw assemblies to move towards or away from each other along the first direction so as to clamp or release brick-shaped materials;
the top locating part is arranged on the supporting beam or the clamping jaw assembly, each clamping jaw assembly is correspondingly provided with the top locating part, at least part of the clamping jaw assembly is located below the top locating part, and the top locating part can be abutted to the top surface of the brick-shaped material, so that the clamping jaw assemblies clamp the brick-shaped material with the same height.
2. The device of claim 1, further comprising:
and the side limiting part is arranged on the supporting beam, the side limiting part can be abutted against the side surface of the brick-shaped material in the second direction, and the second direction is perpendicular to the first direction, so that the two clamping jaw assemblies can clamp the central position of the brick-shaped material in the second direction.
3. The grasping and placing device according to claim 1, wherein the top stopper comprises:
a mount mounted on the jaw assembly;
the limiting guide wheel is rotatably installed on the installation part and can be abutted to the top surface of the brick-shaped material.
4. The device of claim 2, wherein the mounting position of the side stop on the support beam is adjustable along the second direction to adjust the distance between the side stop and the jaw assembly along the second direction.
5. The grasping and placing device according to claim 4, wherein said side position-limiting member comprises:
the adjusting part is arranged on the supporting cross beam;
the limiting part is connected with the adjusting part, the limiting part can be abutted to the side face of the brick-shaped material, and the mounting position of the adjusting part on the supporting beam is adjustable along the second direction so as to adjust the distance between the limiting part and the clamping jaw assembly in the second direction.
6. The grasping and placing device according to claim 1, wherein the jaw assembly comprises:
the telescopic arm is movably arranged on the supporting cross beam, the output end of the translational driving piece is connected with the telescopic arm, and the top limiting piece is arranged on the telescopic arm;
the clamping jaw is installed on the telescopic arm, and the translation driving piece can drive the telescopic arm to move along the supporting beam so as to drive the clamping jaw to move.
7. The device of any one of claims 1-6, further comprising a suspension head configured to be coupled to the mobile manipulator, the suspension head being coupled to the support beam via an iron chain.
8. The device of any one of claims 1-6, further comprising a handrail, wherein the handrail is mounted on the supporting beam and the mounting angle is adjustable.
9. The grasping and placing device according to any one of claims 1 to 6, wherein a protective cover is provided on the support beam, the protective cover being disposed outside the translational drive member.
10. A pick-and-place robot comprising a mobile manipulator and a pick-and-place device according to any of claims 1-9, said pick-and-place device being mounted on said mobile manipulator, said mobile manipulator being capable of moving and adjusting the position of said pick-and-place device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020455831.9U CN212218523U (en) | 2020-04-01 | 2020-04-01 | Snatch and put device and snatch and put robot |
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| CN202020455831.9U CN212218523U (en) | 2020-04-01 | 2020-04-01 | Snatch and put device and snatch and put robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246167A (en) * | 2021-06-27 | 2021-08-13 | 广东寻米科技有限公司 | Industrial robot with a plurality of clamping action points |
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246167A (en) * | 2021-06-27 | 2021-08-13 | 广东寻米科技有限公司 | Industrial robot with a plurality of clamping action points |
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
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