CN212403190U

CN212403190U - Electric drive power-assisted gripping apparatus

Info

Publication number: CN212403190U
Application number: CN202020381180.3U
Authority: CN
Inventors: 明晓亮; 张华�; 王龙刚; 杨洪生
Original assignee: SICHUAN ENVIRONMENTAL PROTECTION ENGINEERING CO LTD CNNC
Current assignee: China Nuclear environmental protection Co.,Ltd.; SICHUAN ENVIRONMENTAL PROTECTION ENGINEERING Co.,Ltd. CNNC
Priority date: 2020-03-23
Filing date: 2020-03-23
Publication date: 2021-01-26
Anticipated expiration: 2030-03-23

Abstract

The utility model discloses an electricity drives and helps tongs, including boosting mechanism, tongs, power, pretightning force transfinite alarm device, remote control signal generator, remote control signal receiver, PLC main control unit and driving motor, the tongs is installed boosting mechanism's lower extreme, boosting mechanism's upper end fixed connection jack-up machinery or extension instrument, driving motor's output with boosting mechanism connects, driving motor's input with PLC main control unit connects, and pretightning force transfinite alarm device and remote control signal receiver all with PLC main control unit signal connection, remote control signal generator and remote control signal receiver signal connection, the power passes through DC-DC voltage conversion module and is connected with PLC main control unit signal, and the power provides the power for driving motor. The gripping apparatus is not required to be directly contacted with an object by personnel, is not required to be externally connected with a hydraulic pipeline, a pneumatic pipeline and a cable, is arranged on a hoisting machine or an extension tool on the site, and can finish the gripping and hoisting work of the object through remote control operation.

Description

Electric drive power-assisted gripping apparatus

Technical Field

The utility model relates to a hoist and mount machinery technical field, concretely relates to electricity drives and helps tongs.

Background

The prior gripping apparatus generally has four driving modes of hydraulic driving, electric driving, pneumatic driving and gravity driving. The hydraulic drive can be divided into an integrated type and a split type, and the integrated hydraulic drive gripping apparatus is heavy as a whole and needs an external power supply; the split type hydraulic drive gripping apparatus needs to be externally connected with a hydraulic oil pipe; the electric drive gripper needs an external power supply; the pneumatic gripping apparatus needs to be connected with a compressed gas pipeline; the gravity-driven gripping apparatus is realized by completely depending on a mechanical structure, and either manual cooperation of personnel is required or a mechanism is specially designed according to the shape of an object. If people can not go down aiming at irregular objects randomly stacked in pits in a factory building, a large hydraulic machine can not go in, the load of a hoisting machine in the factory building is limited, and an external cable, a hydraulic oil pipe or a compressed gas pipeline can cause inconvenient operation and potential safety hazard.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an electricity drives and helps tongs, neither need personnel direct contact object, also need external pipeline and cable, install on-the-spot hoisting machinery, can accomplish snatching and the hoist and mount work of object through remote control operation to solve the problem that points out among the background art.

The purpose of the utility model is realized through the following technical scheme:

the utility model provides an electricity drives gripping apparatus that helps, includes boosting mechanism, tongs, power, pretightning force transfinites alarm device, remote control signal generator, remote control signal receiver, PLC main control unit and driving motor, the tongs is installed boosting mechanism's lower extreme, boosting mechanism's upper end fixed connection jack-up machinery or extension instrument, driving motor's output with boosting mechanism connects, driving motor's input with PLC main control unit connects, pretightning force transfinites alarm device and remote control signal receiver all with PLC main control unit signal connection, remote control signal generator and remote control signal receiver signal connection, power installation boosting mechanism goes up and is connected with PLC main control unit signal through DC-DC voltage conversion module, the power provides the power for driving motor.

Further, the boosting mechanism comprises a gravity clamping mechanism and an electric telescopic handle, the gravity clamping mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is hinged to one end of the third connecting rod through a first hinged seat, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the third connecting rod is hinged to one end of the fourth connecting rod, the other end of the second connecting rod is hinged to the other end of the fourth connecting rod through a second hinged seat, one end of the electric telescopic handle is installed on the first hinged seat, the other end of the electric telescopic handle is installed on the second hinged seat, and the first hinged seat is used for fixedly installing and connecting hoisting machinery or an extension tool.

Further, the tongs comprise a left arm and a right arm, one end of the left arm is fixedly connected with the extending part of the fourth connecting rod, one end of the right arm is fixedly connected with the extending part of the second connecting rod, and the other ends of the left arm and the right arm are arc-shaped tongs arms.

Further, electric telescopic handle is including flexible upper boom and flexible lower beam, flexible upper boom and flexible lower beam are the drum pole, flexible upper boom and flexible lower beam threaded connection, flexible upper boom with driving motor's output is connected.

Further, the driving motor is a permanent magnet direct current motor.

Further, the power supply is connected with the driving motor through a direct current motor driving module.

Further, pretightning force transfinite alarm device includes pressure sensor and warning light, all be equipped with pressure sensor on first connecting rod, second connecting rod, third connecting rod and the fourth connecting rod, the warning light is installed on the first articulated seat, pressure sensor with PLC main control unit signal input part connects, PLC main control unit signal output part with the warning light is connected.

The utility model has the advantages that:

1) the utility model discloses an electricity drives helping hand gripping apparatus, its battery that utilizes the gripping apparatus to take certainly through remote control signal control electric putter action, accomplishes the centre gripping that has certain pretightning force of tongs to the object. In the grabbing process, under the action of the weight of the object, the grab can generate further clamping force on the object, so that the object is grabbed and hoisted; after the object is in place, the PLC main controller gives a reset signal, and the gripper is released, so that the long-distance object grabbing and hoisting work can be completed; compared with the hydraulic, pneumatic or electric gripping apparatus with the same functions, the gripping apparatus has the advantages of simple and compact structure, light overall weight, no need of direct contact of personnel with objects, no need of external pipelines and cables, only need of being installed on hoisting machinery or extension tools on site, capability of completing the grabbing and hoisting work of the objects through remote control operation, wide application range, and is particularly suitable for the environment where the personnel do not conveniently operate in a close range under the assistance of video monitoring.

2) The utility model discloses a gripping apparatus does not need artificial direct auxiliary operation to the clamp of object, and the pretightning force size is controllable, both can snatch small-size object, also can snatch large-scale object, realizes remote control operation easily. Electric putter's use has played the effect that promotes the tongs and open and shut and the pretension, and electric putter and remote control unit low price as complete sets easily acquire, compare and realize other grabs of the same function, the utility model discloses a cost is minimum.

Drawings

Fig. 1 is a schematic view of the overall structure of the gripper of the present invention;

FIG. 2 is a control schematic diagram of the present invention;

in the figure, 1-boosting mechanism, 101-electric telescopic rod, 102-first connecting rod, 103-second connecting rod, 104-third connecting rod, 105-fourth connecting rod, 106-first hinged seat, 107-second hinged seat, 2-gripper, 201-left arm, 202-right arm, 3-power supply, 4-pretightening force overrun alarm device, 401-pressure sensor, 402-warning light, 5-remote control signal generator, 6-remote control signal receiver, 7-PLC main controller, 8-driving motor, 9-DC-DC voltage conversion module and 10-DC motor driving module.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

Example 1

Referring to fig. 1-2, the present invention provides a technical solution:

referring to fig. 1-2, an electrically-driven assisted gripper comprises a boosting mechanism 1, a gripper 2, a power supply 3, a pre-tightening force overrun alarm device 4, a remote control signal generator 5, a remote control signal receiver 6, a PLC main controller 7 and a driving motor 8, wherein the gripper 2 is installed at the lower end of the boosting mechanism 1, a hoisting machine or an extension tool is fixedly connected to the upper end of the boosting mechanism 1, the output end of the driving motor 8 is connected to the boosting mechanism 1, the input end of the driving motor 8 is connected to the PLC main controller 7, the overrun alarm device 4 and the remote control pre-tightening force signal receiver are both in signal connection with the PLC main controller 7, the remote control signal generator 5 is in signal connection with the remote control signal receiver 6, the power supply 3 is installed on the boosting mechanism 1 and is in signal connection with the PLC main controller 7 through a DC-DC voltage conversion module 9, the power supply 3 supplies power to the drive motor 8.

Preferably, the driving motor 8 is a permanent magnet dc motor.

Preferably, the power supply 3 is connected to the driving motor 8 through a dc motor driving module 10, and the battery can be installed at a suitable position of the boosting mechanism 1.

The gripping apparatus of the utility model utilizes the power supply 3 provided by itself, generally adopts a battery to provide power source for the boosting mechanism 1 and the PLC main controller 7, the driving motor 8 can drive the boosting mechanism 1 to drive the gripper 2 to grip the object, the remote control signal receiver 6 receives the remote control signal and then transmits the signal to the PLC main controller 7, the PLC main controller 7 controls the direct current motor driving module 10 to drive the permanent magnet direct current motor to rotate forwards or reversely to drive the boosting mechanism 1 to extend upwards and downwards, the boosting mechanism 1 extends upwards and downwards to drive the gripper 2 to unfold or grasp an object with a certain force, the device is pulled, under the action of gravity, the object is further grasped, so that the object can be grabbed, after the object is in place, a reset signal is given by the PLC main controller 7, the permanent magnet direct current motor is driven to rotate reversely or forwardly until the grabbing hand 2 is released, and then the grabbing and hoisting work of the remote object can be completed.

The battery can be a 24V or 12V battery, the DC-DC voltage conversion module 9 mainly converts the voltage of the battery into the voltage required by a circuit and a PLC main controller 7 system, and the battery can be directly arranged on the boosting mechanism 1.

Referring to fig. 1, the boosting mechanism 1 includes a gravity clamping mechanism and an electric telescopic rod 101, the gravity clamping mechanism includes a first connecting rod 102, a second connecting rod 103, a third connecting rod 104 and a fourth connecting rod 105, one end of the first connecting rod 102 is hinged to one end of the third connecting rod 104 through a first hinge seat 106, the other end of the first connecting rod 102 is hinged to one end of the second connecting rod 103, the other end of the third connecting rod 104 is hinged to one end of the fourth connecting rod 105, the other end of the second connecting rod 103 is hinged to the other end of the fourth connecting rod 105 through a second hinge seat 107, one end of the electric telescopic rod 101 is mounted on the first hinge seat 106, the other end of the electric telescopic rod 101 is mounted on the second hinge seat 107, and the first hinge seat 106 is used for fixedly mounting and connecting a hoisting machine or an extension tool.

The top end of the first hinged seat 106 is connected with a hanging ring, and the boosting mechanism 1 can be installed on a hoisting machine or an extension tool through the hanging ring.

Preferably, the gripper 2 includes a left arm 201 and a right arm 202, one end of the left arm 201 is fixedly connected with the extending portion of the fourth link 105, one end of the right arm 202 is fixedly connected with the extending portion of the second link 103, and the other ends of the left arm 201 and the right arm 202 are arc-shaped gripper arms.

Preferably, electric telescopic handle 101 includes flexible upper boom and flexible lower beam, flexible upper boom and flexible lower beam are the drum pole, flexible upper boom and flexible lower beam threaded connection, flexible upper boom with driving motor 8's output is connected.

The utility model discloses a boosting mechanism 1 is not restricted to above form, and other boosting mechanisms that can realize the drive through the power and snatch all can.

The utility model discloses a 1 theory of operation of boosting mechanism as follows: firstly, starting a driving permanent magnet direct current motor to drive an electric telescopic rod 101 of a boosting mechanism 1 to contract into a preparation state, enabling an included angle between a first connecting rod 102 and a second connecting rod 103 and an included angle between a third connecting rod 104 and a fourth connecting rod 105 to be a small angle, enabling a left arm 201 and a right arm 202 of a hand grip 2 to be opened at a large angle, operating a hoisting machine or an extension tool to move the gripping tool to a relevant part of an object to be gripped, driving the driving permanent magnet direct current motor to drive the electric telescopic rod 101 of the boosting mechanism 1 to gradually stretch, wherein as the first hinging seat 106 is fixedly installed and connected on the hoisting machine, the second hinging seat 107 can move, pushing a connecting part of the first connecting rod 102 and the second connecting rod 103 to move downwards, a connecting part of the third connecting rod 104 and the fourth connecting rod 105 to simultaneously move downwards, and enabling an included angle between the first connecting rod 102 and the second connecting rod 103 and an included angle between the third connecting rod 104 and the fourth, until the object is clamped by the quadrilateral deformation formed by the four connecting rods moving towards the middle, the gripper 2 acts on the surface of the object and forms a certain pre-tightening force, the object is pulled by operating a hoisting machine or an extension tool, along with the tendency that the gripper 2 moves the object, the clamping force of the gripper 2 acting on the surface of the object is gradually increased under the action of gravity, and finally the object is clamped, so that the object is moved. And the reverse operation drives the opening action of the gripper 2 to realize the separation of the object surface.

Preferably, the pre-tightening force overrun alarm device 4 comprises a pressure sensor 401 and a warning light 402, the pressure sensor 401 is arranged on each of the first connecting rod 102, the second connecting rod 103, the third connecting rod 104 and the fourth connecting rod 105, the warning light 402 is arranged on the first hinged seat 106, the pressure sensor 401 is connected with a signal input end of the PLC main controller 7, and a signal output end of the PLC main controller 7 is connected with the warning light 402.

The pre-tightening force overrun alarm device 4 is not limited to be realized by the cooperation of the pressure sensor 401 and the warning lamp 402, and other devices capable of detecting the gripping force of the gripper can be used.

The utility model discloses a pressure sensor 401 output pressure signal gives PLC main control unit 7, by the inside ADC sampling of PLC main control unit 7, sets up the threshold value of grabbing power in PLC main control unit 7, and PLC main control unit 7 is than early warning power limit value, in case exceed the threshold value just immediately control warning light 402 and report to the police. The utility model discloses to rely on the mechanism that gravity produced the clamp force to constitute a whole, receive remote control signal generator 5 signal that sends, control electric putter's action when the pretightning force surpasses the setting value, can send light warning, reminds operating personnel to stop the pretensioning operation, avoids pressing from both sides bad object or damaging electric telescopic handle.

The utility model can complete the grabbing and separating of objects only by simply installing the device on the hoisting machinery or the extension tool on site and starting the related operation, and when in use, the device can be used by one grabbing tool alone or a plurality of grabbing tools in combination; the utility model discloses compare with current hydraulic pressure, pneumatic and electronic gripping apparatus of equal function, the utility model discloses a gripping apparatus simple structure is compact, and whole light in weight need not external hydraulic pressure oil pipe, compressed gas pipeline or power cable, can snatch the shape and the weight of object as required, and shape, quantity and the arrangement of design tongs 2 still can a plurality of combination uses, and application scope is wide, under video monitoring's assistance, the inconvenient environment of closely operating of specially adapted personnel.

The foregoing is illustrative of the preferred embodiments of the present invention, and it is to be understood that the invention is not limited to the precise forms disclosed herein, and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the invention as defined by the appended claims. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims

1. An electrically-driven power-assisted gripping apparatus is characterized in that: the device comprises a boosting mechanism (1), a gripper (2), a power supply (3), a pretightening force overrun alarm device (4), a remote control signal generator (5), a remote control signal receiver (6), a PLC (programmable logic controller) main controller (7) and a driving motor (8), wherein the gripper (2) is installed at the lower end of the boosting mechanism (1), a hoisting machine or an extension tool is fixedly connected to the upper end of the boosting mechanism (1), the output end of the driving motor (8) is connected with the boosting mechanism (1), the input end of the driving motor (8) is connected with the PLC main controller (7), the pretightening force overrun alarm device (4) and the remote control signal receiver are in signal connection with the PLC main controller (7), the remote control signal generator (5) is in signal connection with the remote control signal receiver (6), the power supply (3) is installed on the boosting mechanism (1) and is in signal connection with the PLC main controller (7) through a DC-DC voltage conversion module (9) And the power supply (3) supplies power to the driving motor (8).

2. The electrically driven assist grip of claim 1, wherein: the boosting mechanism (1) comprises a gravity clamping mechanism and an electric telescopic rod (101), the gravity clamping mechanism comprises a first connecting rod (102), a second connecting rod (103), a third connecting rod (104) and a fourth connecting rod (105), one end of the first connecting rod (102) is hinged with one end of the third connecting rod (104) through a first hinge seat (106), the other end of the first connecting rod (102) is hinged with one end of the second connecting rod (103), the other end of the third connecting rod (104) is hinged with one end of the fourth connecting rod (105), the other end of the second connecting rod (103) is hinged with the other end of the fourth connecting rod (105) through a second hinge seat (107), one end of the electric telescopic rod (101) is arranged on the first hinging seat (106), the other end of the electric telescopic rod (101) is arranged on a second hinged seat (107), the first hinge base (106) is used for fixedly mounting and connecting a hoisting machine or an extension tool.

3. The electrically driven assist grip of claim 2, wherein: the gripper (2) comprises a left arm (201) and a right arm (202), one end of the left arm (201) is fixedly connected with the extending portion of the fourth connecting rod (105), one end of the right arm (202) is fixedly connected with the extending portion of the second connecting rod (103), and the other ends of the left arm (201) and the right arm (202) are arc-shaped gripper arms.

4. The electrically driven assist grip of claim 2, wherein: electric telescopic handle (101) are the drum pole including flexible upper boom and flexible lower beam, flexible upper boom and flexible lower beam threaded connection, flexible upper boom with the output of driving motor (8) is connected.

5. The electrically driven assist grip of claim 1, wherein: the driving motor (8) is a permanent magnet direct current motor.

6. The electrically driven assist grip of claim 5, wherein: the power supply (3) is connected with the driving motor (8) through a direct current motor driving module (10).

7. The electrically driven assist grip of claim 2, wherein: pretightning force transfinite alarm device (4) include pressure sensor (401) and warning light (402), all be equipped with pressure sensor (401) on first connecting rod (102), second connecting rod (103), third connecting rod (104) and fourth connecting rod (105), warning light (402) are installed on first articulated seat (106), pressure sensor (401) with PLC main control unit (7) signal input part connects, PLC main control unit (7) signal output part with warning light (402) are connected.