WO2021062617A1 - 一种抓取装置及其控制方法 - Google Patents

一种抓取装置及其控制方法 Download PDF

Info

Publication number
WO2021062617A1
WO2021062617A1 PCT/CN2019/109419 CN2019109419W WO2021062617A1 WO 2021062617 A1 WO2021062617 A1 WO 2021062617A1 CN 2019109419 W CN2019109419 W CN 2019109419W WO 2021062617 A1 WO2021062617 A1 WO 2021062617A1
Authority
WO
WIPO (PCT)
Prior art keywords
grasping
cylinder
grabbing
driving member
rods
Prior art date
Application number
PCT/CN2019/109419
Other languages
English (en)
French (fr)
Inventor
邬承基
方红星
俞佳莺
程铿
王勇
蒋学文
Original Assignee
上海成业智能科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海成业智能科技股份有限公司 filed Critical 上海成业智能科技股份有限公司
Priority to CN201980099374.4A priority Critical patent/CN114269527A/zh
Priority to PCT/CN2019/109419 priority patent/WO2021062617A1/zh
Publication of WO2021062617A1 publication Critical patent/WO2021062617A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • This article relates to the technical field of mechanical devices, such as a grasping device and its control method.
  • the container can be loaded with goods for transportation, and it is convenient to use mechanical equipment for loading and unloading.
  • Containers have many advantages, among which the biggest advantage is the ability to standardize products and the establishment of a complete set of transportation systems through standardized products.
  • the establishment of a complete transportation system can standardize a behemoth with a load of tens of tons, and on this basis, gradually realize the global scale of ships, ports, routes, roads, transfer stations, bridges, tunnels, and multimodal transportation.
  • Logistics system Therefore, the application of containers is more and more widespread.
  • the lock pin is an important component of the container.
  • lock pins on containers are very complicated. There is no uniform standard for the specific structure of lock pins, and there are many types. There are at least six categories including more than one hundred kinds. At the same time, the types of container lock pins on the same transportation line are not the same; for the container lock pins on the same transportation line, the newly added lock pins may not be the same as the original lock pins, resulting in containers on the same transportation line. The lock pins are also different. Therefore, in the process of container loading and unloading operations, especially in automated terminal operations, in some of the existing automated container lock pin assembly and disassembly systems planned to be implemented, the automatic lock pin grabbing devices or fixtures are not fully compatible with most locks.
  • the structure of the pin does not allow the lock pins with different structures to be firmly grasped and placed or installed to the designated position.
  • the versatility is extremely low, and it is necessary to manually judge the results of the grasping, which leads to the loading and unloading of the container lock pins. The job cannot be automated.
  • This paper proposes a grasping device, which has strong device versatility and low production cost.
  • a grabbing device comprising: a grab bar base, a driving member and two grab bars, the two grab bars are symmetrically arranged, and the middle parts of the two grab bars are respectively rotatably connected to both sides of the grab bar base, Both ends of the driving member are provided with a piston rod, the first ends of the two grasping rods are respectively rotatably connected with the two piston rods, the second end of the grasping rod is provided with a grasping claw, and the driving The member is configured to drive the two piston rods to move away from or close to each other, so that the claws on the two grasping rods cooperate to grasp or release the member to be grasped.
  • This article also proposes a control method for the grabbing device, which can determine whether the grabbing device re-executes the grab or release command according to the grabbing result of the grab.
  • a control method of a grabbing device includes the following steps:
  • the driving member After receiving the grasping instruction, the driving member drives the two grasping claws to grasp the piece to be grasped, and controls whether the grasping device re-executes the grasping action according to whether the grasping claws successfully grasp the piece to be grasped.
  • Figure 1 is a cross-sectional view of the grasping device provided by the first embodiment of the present invention (the grasping claws of two grasping rods are in a state of close to each other);
  • Figure 2 is a cross-sectional view of the grasping device provided by the first embodiment of the present invention (the grasping claws of two grasping rods are in a state of being far away from each other);
  • Fig. 3 is a top view of the grasping device provided by the first embodiment of the present invention.
  • Figure 4 is a cross-sectional view along line A-A in Figure 3;
  • Figure 5 is a cross-sectional view of the grasping device provided by the second embodiment of the present invention (the grasping claws of the two grasping rods are in a state of being close to each other);
  • Figure 6 is a cross-sectional view of the grasping device provided by the second embodiment of the present invention (the grasping claws of two grasping rods are in a state of being far away from each other);
  • Fig. 7 is a flowchart of a control method of a grabbing device provided in the third embodiment of the present invention.
  • Figure 1 is a cross-sectional view of the grasping device provided in the first embodiment of the present invention (the grippers of the two grasping rods are close to each other)
  • Figure 2 is a cross-sectional view of the grasping device provided in the first embodiment of the present invention (the two grasping rods The grippers are in a state of being far away from each other)
  • Figure 3 is a top view of the grasping device provided in the first embodiment of the present invention
  • Figure 4 is a cross-sectional view along the line AA in Figure 3
  • Figure 5 is a view of the grasping device provided in the second embodiment of the present invention Cross-sectional view (the grippers of the two grab bars are close to each other)
  • Figure 6 is a cross-sectional view of the grasping device provided by the second embodiment of the present invention (the grippers of the two grab bars are in a state of being away from each other)
  • Figure 7 is an implementation of the present invention
  • Example 3 provides a flow chart of the control method of the grabbing device.
  • the container can be loaded with goods for transportation, and it is convenient to use mechanical equipment for loading and unloading.
  • Containers have many advantages, among which the biggest advantage is the ability to standardize products and the establishment of a complete set of transportation systems through standardized products.
  • the establishment of a complete transportation system can standardize a behemoth with a load of tens of tons, and on this basis, gradually realize the global scale of ships, ports, routes, roads, transfer stations, bridges, tunnels, and multimodal transportation.
  • Logistics system Therefore, the application of containers is more and more widespread.
  • the lock pin is an important component of the container.
  • the current situation of the lock pin on the container is very complicated. There is no uniform standard for the structure of the lock pin, and there are many types. There are at least six categories including more than one hundred kinds. At the same time, the types of container lock pins on the same transportation line are not the same; for the container lock pins on the same transportation line, the newly added lock pins may not be the same as the original lock pins, resulting in containers on the same transportation line. The lock pins are also different. Therefore, in the process of container loading and unloading operations, especially in automated terminal operations, in some of the existing container lock pin assembly and disassembly systems planned to be implemented, the automatic lock pin grasping devices or fixtures are not fully compatible with most lock pins.
  • the lock pins with different structures cannot be firmly grasped and placed or installed in the designated position, the versatility is extremely low, and the results of the grasping are required to be manually judged, resulting in the loading and unloading of the container lock pins. Realize automation.
  • the grasping device includes a grasping rod seat 2, a driving member and two grasping rods 9.
  • the grab bar base 2 is fixedly connected to the driving part by a fastener 12, and two grab bars 9 are symmetrically arranged on both sides of the grab bar base 2.
  • the middle parts of the two grab rods 9 are respectively rotatably connected to both sides of the grab rod seat 2, and both ends of the driving part are provided with a piston rod 5, and the first ends 13 of the two grab rods 9 are respectively connected to the two piston rods of the driving part. 5 Rotating connection, the second ends 14 of the two grab bars 9 are both provided with a grab claw 1.
  • the driving member is configured to drive the two piston rods 5 to move away or close to each other. Since the middle parts of the two grab rods 9 are connected to both sides of the grab rod seat 2 respectively, the grab rods 9 are connected by the middle part. The point is the point of rotation.
  • the two piston rods 5 drive the first ends 13 of the two grasping rods 9 to move away from or close to each other, correspondingly, due to the rotation, the second ends 14 of the two grasping rods 9 move closer to each other or Far away, the two grippers 1 on the two gripping rods 9 cooperate with each other to grip or release the piece to be gripped.
  • a sensor 22 is also provided on the grab bar base 2, and the sensor 22 is configured to detect whether a piece to be grasped is grasped between the two grasping claws 1, or whether to release the piece to be grasped, to determine Whether the two grippers 1 successfully grab or release the parts to be grabbed.
  • the sensor 22 is set in the middle position of the grab bar base 2.
  • the sensor 22 is an infrared sensor.
  • the infrared sensor can sense whether the two grabbers 1 have successfully grabbed or released the object to be grabbed, otherwise it will feedback The failure signal is given to the system to make the grabbing device re-execute the grabbing or releasing the object to be grabbed.
  • the sensor 22 may also be a photoelectric sensor.
  • the piece to be grabbed is a lock pin on the container. In the process of grasping the container, the two grasping claws 1 abut against the lock pins on the container to realize the grasping or release of the container.
  • the parts to be grasped may also be parts of other structures.
  • the driving part includes a cylinder 7, a cylinder head 8 and two pistons 6.
  • the two pistons 6 are slidably arranged in the cylinder 7, and the two piston rods 5 are connected with the two pistons 6 respectively.
  • the piston rod 5 and the piston 6 are integrally formed.
  • the other end of the piston rod 5 away from the piston 6 is rotatably connected to the first end 13 of the grasping rod 9.
  • Both ends of the cylinder body 7 are provided with a cylinder head 8.
  • the cylinder head 8 is provided with a through hole allowing the piston rod 5 to pass through.
  • the piston rod 5 and the cylinder head 8 are slid and sealed to allow the entry of the piston 6 and the cylinder head 8.
  • the driving member is a double-piston rod hydraulic cylinder.
  • the driving member may also be a double-piston rod pneumatic cylinder.
  • the grasping device further includes two first through mandrels 3.
  • the first ends 13 of the two grab rods 9 are each provided with a first circular hole
  • the two piston rods 5 are provided with a second circular hole on the side close to the first end 13, the first circular hole and the second circular hole The holes coincide, and the first through-mandrel 3 is inserted into the coincident holes.
  • the first end 13 of the grasping rod 9 and the piston rod 5 can be rotatably connected through the first through-mandrel 3.
  • the gripping device also includes two second threading shafts 4. Both sides of the grasping rod seat 2 are provided with a third round hole, and the middle of the two grasping rods 9 are both provided with a fourth round hole.
  • the third round hole coincides with the fourth round hole, and the second round hole is inserted into the overlapping hole.
  • the middle part of the grab bar 9 can be rotatably connected with one side of the grab bar base 2 through the second threaded shaft 4.
  • the cylinder 7 is also provided with a first injection port 10 through which hydraulic oil or high-pressure gas is injected into the cavity formed between the two pistons 6 in the cylinder 7 , In order to push the two pistons 6 away from each other, so that the two grippers 1 are close to each other to realize the clamping of the parts to be grasped.
  • the cylinder 7 is also provided with a second injection port 11 through which hydraulic oil or high-pressure gas is injected into the cavity formed between the piston 6 and the cylinder head 8 in the cylinder 7 to push the two pistons 6 Move closer to each other to make the two grippers 1 move away from each other to realize the loosening of the piece to be grasped.
  • the gripper 1 includes an inner hook provided at the second end 14, and the inner hook is bent toward the first end 13.
  • the gripper 1 includes two inner hooks, the two inner hooks are arranged side by side and spaced apart, and the four inner hooks cooperate with each other to clamp or loosen the object to be grasped.
  • the inner hooks arranged side by side and spaced apart can grab the parts to be grabbed with different diameters.
  • the inner sides of the two inner hooks on the same grab bar 9 can always be caught on the outer periphery of the parts to be grabbed, which is convenient for grabbing the parts to be grabbed. Picking up makes the gripping device more versatile.
  • the number of inner hooks on the gripper 1 can also be set to one or three. The number of settings and the shape of the gripper 1 need to be determined according to the structure of the piece to be gripped and the actual working conditions.
  • the grasping device when the piece to be grasped needs to be grasped, the grasping device is moved to the position of the piece to be grasped at this time, and then the grasping device is activated to realize the clamping of the piece to be grasped.
  • the grasping device inject hydraulic oil or high-pressure gas into the first injection port 10 to make the two pistons 6 move away from each other, and the second ends 14 of the two grab bars 9 move closer to each other, so that the four inner hooks simultaneously abut the grabbing member. Realize the clamping of the parts to be grabbed.
  • the grasping device When the four inner hooks clamp the piece to be grasped to the designated position, and the piece to be grasped needs to be released, the grasping device is activated at this time to realize the loosening of the piece to be grasped. First, inject hydraulic oil or high-pressure gas into the second injection port 11 to make the two pistons 6 move closer to each other, and the second ends 14 on the two grab bars 9 to move away from each other, so that the four inner hooks simultaneously loosen the parts to be grabbed , Realize the release of the parts to be grasped, and place the parts to be grasped in the designated position.
  • the driving member can drive the two piston rods 5 to move away from or move closer to each other, so that the first ends 13 of the grasping rod 9 move away from or move closer to each other, and then The first ends 13 of the two grasping rods 9 respectively drive the two grasping claws 1 on the second end 14 to cooperate with each other, and the two grasping claws 1 can cooperate with each other to grasp or release the object to be grasped.
  • the driving part can control the expansion and contraction of the two piston rods 5, and then adjust the grabbing space to grab the parts to be grabbed. It is no longer necessary to replace the grabbing device as a whole. The production cost is reduced, and the versatility of the grabbing device is better.
  • the driving member includes a motor 16 and two lead screws. Both sides of the motor 16 are provided with output shafts 17, and the two lead screws are respectively connected to the two output shafts 17. Further, the driving member further includes two sleeves, the two sleeves are respectively connected with the two screw screws, the sleeves can move along the length direction of the screw, and the first end 13 of the grab rod 9 is connected with the sleeves.
  • the outer sides of the two lead screws are provided with first threads, and the inner walls of the two sleeves are provided with second threads that match the first threads. They are screwed together so that the two sleeves are screwed on the two lead screws respectively. Among them, two lead screws are respectively connected with two output shafts 17 through couplings.
  • the output shaft 17 rotates.
  • the output shaft 17 drives the lead screw to rotate through the coupling.
  • the sleeve screwed on the lead screw moves along the length of the lead screw to make the first part of the grab bar 9
  • the end 13 moves along the length of the screw.
  • the two lead screws include a forward lead screw 18 and a reverse lead screw 19, the direction of the first thread on the forward lead screw 18 is clockwise, and the direction of the first thread on the reverse lead screw 19 is Counterclockwise.
  • the first end 13 of the grab bar 9 is connected with a sleeve.
  • the first end 13 of the grab bar 9 is provided with a through hole, and the sleeve can pass through the through hole.
  • the driving member further includes a positioning pin 21, a slot is provided on the outer side of the sleeve, and the positioning pin 21 can partially extend into the slot.
  • the first end 13 of the grab bar 9 is also provided with a strip hole 20, the strip hole 20 can communicate with the through hole, so that the positioning pin 21 can partially extend into the slot after passing through the strip hole 20, so that The positioning pin 21 is clamped in the card slot.
  • the positioning pin 21 After the positioning pin 21 passes through the strip hole 20, it partially extends into the slot.
  • the first end 13 of the grab bar 9 can be accurately positioned on the sleeve.
  • the positioning pin 21 can drive the first end 13 of the grab bar 9 to move, so that the first end 13 of the grab bar 9 and the sleeve move synchronously; on the other hand, when the first end 13 of the grab bar 9 moves along the length of the screw
  • the trajectory of the positioning pin 21 can only be within the range of the strip hole 20, thereby limiting the maximum and minimum moving distance of the first end 13 of the grab bar 9 along the length of the screw, so that the two grabs
  • the grasping space between the claws 1 can be matched with the size of the piece to be grasped, so that the grasping space is not too large or too small, and the grasping is not firm, or the grasping piece cannot be grasped.
  • the output shafts 17 on both sides of the motor 16 rotate at the same time.
  • One output shaft 17 drives the positive screw 18 to rotate clockwise through the coupling.
  • the sleeve is in the positive screw.
  • the other output shaft 17 drives the reverse screw 19 to rotate counterclockwise through the coupling.
  • the positioning pin 21 drives the first ends 13 of the two grab bars 9 to move together with the sleeve, so that the first ends 13 of the two grab bars 9 are far away from each other.
  • the second ends 14 on the two grab bars 9 are close to each other, so that the two grab claws 1 on the two grab bars 9 can cooperate with each other to grab the object to be grabbed.
  • the motor 16 can drive the forward lead screw 18 and the reverse lead screw 19 to rotate clockwise or counterclockwise, so that the first ends 13 of the grab bars 9 move away from or close to each other, and then the first ends 13 of the two grab bars 9
  • the two grippers 1 on the second end 14 are respectively driven to cooperate with each other, and the two grippers 1 can cooperate with each other to grasp or release the object to be grasped.
  • the grabbing space is adjusted to grab the parts to be grabbed, and there is no need to replace the grabbing as a whole
  • the device greatly reduces the production cost, and at the same time makes the gripping device more versatile.
  • the control method of the grabbing device includes the following steps: after receiving the grabbing instruction, the driving member drives two grabbing claws 1 to grab the grabbing piece, and according to whether the grabbing claw 1 successfully grabs the grabbing piece. Pickup controls whether the grabbing device re-executes the grabbing action.
  • the grabbing device executes the grabbing program, and the grabbing program includes: a programmable logic controller (Programmable Logic Controller, PLC for short) in the grabbing device sends out Grabbing drive.
  • PLC Programmable Logic Controller
  • the grasping device moves to the part to be grasped according to the instruction to start grasping.
  • the driving part drives the first end 13 of the grasping rod 9 to move away from each other to drive the two grasping claws on the second end 14 1 move closer to each other, and the two grippers 1 grab the piece to be grabbed.
  • the sensor 22 detects the grabbing result.
  • the result of the grabbing is detected by the sensor 22.
  • other types of sensing elements can also be used to detect the grabbing results.
  • the grasping device activates the sensor 22 for detection. If it is found that there is no piece to be grasped between the two graspers 1, the sensor 22 transmits the signal of the grasping failure back to the system. At this time, the grasping The device returns to start the grasping program again, until the sensor 22 can successfully detect that the piece to be grasped is grasped between the two grasping claws 1. When the sensor 22 detects that there is a piece to be grasped between the two grippers 1, it transmits a signal of successful grasping back to the system, and at this time, the grasping device moves the piece to be grasped to a designated position.
  • the control method of the grasping device further includes the following steps: after receiving the release instruction, the driving member drives the two grasping claws 1 to release the parts to be grasped, and controls whether the grasping device is restarted according to whether the grasping claws 1 successfully release the parts to be grasped Perform a release action.
  • the release procedure includes: when the grasping device receives the release instruction given by the system, the driving member drives the first end 13 of the grasping rod 9 to move closer to each other to drive the two grasping claws on the second end 14 1 move away from each other, and the two grippers 1 are respectively released outwards to release the parts to be grasped. Then the sensor 22 detects the release result.
  • the grasping device activates the sensor 22 for detection. If it is found that there is still a piece to be grasped between the two graspers 1, the sensor 22 will transmit the release failure signal back to the system. At this time, the grasping device Return to start the release procedure again until the sensor 22 can successfully detect that there is no piece to be grasped between the two grippers 1. When the sensor 22 detects that there is no piece to be grasped between the two grippers 1, it transmits a signal of successful grasping back to the system. At this time, the grasping device returns to the original position, and all grasping processes are ended.
  • the control method of the grabbing device can determine whether the grabbing device needs to re-execute the grabbing or releasing instruction according to the detection result of the sensor 22, and it is no longer necessary to manually monitor whether the grabbing or releasing is successful or not, so as to realize the grabbing.
  • the automatic control of release or release saves labor costs; and it does not continue to execute other instructions after the capture or release fails, which saves time and cost, greatly improves work efficiency, and no longer requires manual judgment and capture. As a result, the safety of the grabbing device during the grabbing process is improved.
  • This article provides a grasping device and its control method.
  • the driving member can drive the two piston rods to move away from or close to each other, so that the grasping claws on the two grasping rods can cooperate to clamp or Release the piece to be grabbed.
  • the driving part can control the expansion and contraction of the two piston rods, and then adjust the grabbing space to grab the parts to be grabbed. It is no longer necessary to replace the grabbing device as a whole, which greatly reduces The production cost is reduced, and at the same time, the gripping device is compatible with various types of parts to be gripped, and the versatility of the device is better.
  • the control method of the grasping device has the beneficial effects: it can determine whether the grasping device needs to re-execute the grasping or release instruction according to the grasping result of the grasping claw, realizes the automatic control of the grasping and releasing action, and does not need to pass
  • the manual way of judging the grabbing result of the gripper improves the safety of the grabbing device in the grabbing process, and at the same time improves the work efficiency and saves time and cost.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种抓取装置及其控制方法，该抓取装置包括：抓杆座（2）、驱动件和两个抓杆（9），两个所述抓杆（9）对称设置，两个所述抓杆（9）的中部分别转动连接在所述抓杆座（2）的两侧，所述驱动件的两端均设置有一活塞杆（5），两个所述抓杆（9）的第一端（13）分别与两个所述活塞杆（5）转动连接，所述抓杆（9）的第二端（14）设置有抓爪（1），所述驱动件被配置为驱动两个所述活塞杆（5）相互远离或靠拢，以使两个所述抓杆（9）上的所述抓爪（1）相配合抓取或释放待抓取件。

Description

一种抓取装置及其控制方法 技术领域
本文涉及机械装置技术领域，例如涉及一种抓取装置及其控制方法。
背景技术
集装箱能够装载货物进行运输，并且便于使用机械设备进行装卸搬运。集装箱具有很多优点，其中最大的优点是能够使产品标准化并且通过标准化的产品能够建立一整套完整的运输体系。建立的完整的运输体系能够让一个载重几十吨的庞然大物实现标准化，并且以此为基础逐步实现全球范围内的船舶、港口、航线、公路、中转站、桥梁、隧道以及多式联运相配套的物流系统。因此，集装箱应用越来越广泛。其中，锁销是集装箱上重要的组成部件。
目前的集装箱上的锁销的使用情况十分复杂，锁销的具体构造没有统一标准，且种类繁多，至少有六大类包含一百余种。同时在同一运输线上的集装箱锁销形式也不尽相同；对于同一运输线上的集装箱锁销耗损后新补充的锁销也未必与原来的锁销相同，造成了同一运输线上装有的集装箱锁销也不相同。所以在集装箱装卸作业的过程中，尤其是自动化码头作业，在现有的部分计划实施的集装箱自动化锁销装拆系统中，其自动化锁销抓取装置或夹具，也不能够完全兼容大多数锁销的结构，不能将具有不同结构的锁销牢固地抓取并置放或安装到指定位置，通用性极低，且均需要通过人工的方式进行判断抓取的结果，导致集装箱锁销的装卸作业无法实现自动化。
综上所述，亟需设计一种抓取装置及其控制方法，来解决上述问题。
发明内容
本文提出一种抓取装置，其具有较强的装置通用性和较低的生产成本。
本文采用以下技术方案：
一种抓取装置，包括：抓杆座、驱动件和两个抓杆，两个所述抓杆对称设置，两个所述抓杆的中部分别转动连接在所述抓杆座的两侧，所述驱动件的两端均设置有一活塞杆，两个所述抓杆的第一端分别与两个所述活塞杆转动连接，所述抓杆的第二端设置有抓爪，所述驱动件被配置为驱动两个所述活塞杆相互远离或靠拢，以使两个所述抓杆上的所述抓爪相配合抓取或释放待抓取件。
本文还提出一种抓取装置的控制方法，可以根据抓爪的抓取结果，以判断抓取装置是否重新执行抓取或释放指令。
本文采用以下技术方案：
一种抓取装置的控制方法，包括以下步骤：
收到抓取指令后，驱动件驱动两个抓爪抓取待抓取件，根据所述抓爪是否成功抓取所述待抓取件来控制所述抓取装置是否重新执行抓取动作。
附图说明
图1是本发明实施例一提供的抓取装置的剖视图(两个抓杆的抓爪处于相互靠拢状态)；
图2是本发明实施例一提供的抓取装置的剖视图(两个抓杆的抓爪处于相互远离状态)；
图3是本发明实施例一提供的抓取装置的俯视图；
图4是图3中沿A-A线的剖视图；
图5是本发明实施例二提供的抓取装置的剖视图(两个抓杆的抓爪处于相互靠拢状态)；
图6是本发明实施例二提供的抓取装置的剖视图(两个抓杆的抓爪处于相互远离状态)；
图7是本发明实施例三提供的抓取装置的控制方法的流程图。
附图标记说明：
图中：
1-抓爪；2-抓杆座；3-第一穿心轴；4-第二穿心轴；5-活塞杆；6-活塞；7-缸体；8-缸盖；9-抓杆；10-第一注入口；11-第二注入口；12-紧固件；13-第一端；14-第二端；15-限位凸台；16-电机；17-输出轴；18-正向丝杠；19-反向丝杠；20-条形孔；21-定位销；22-传感器。
具体实施方式
本说明书中公开的所有特征，或公开的所有方法或过程中的步骤，除了互相排斥的特征和/或步骤以外，均可以以任何方式组合。
本说明书中公开的任一特征，除非特别叙述，均可被其他等效或具有类似目的的替代特征加以替换。即，除非特别叙述，每个特征只是一系列等效或类似特征中的一个例子而己。在整个说明书中，同样的附图标记指示同样的元件。
下面结合附图并通过具体实施方式来进一步说明本文的技术方案。
图1是本发明实施例一提供的抓取装置的剖视图(两个抓杆的抓爪处于相互靠拢状态)，图2是本发明实施例一提供的抓取装置的剖视图(两个抓杆的抓爪处于相互远离状态)，图3是本发明实施例一提供的抓取装置的俯视图，图4是图3中沿A-A线的剖视图，图5是本发明实施例二提供的抓取装置的剖视图(两个抓杆的抓爪处于相互靠拢状态)，图6是本发明实施例二提供的抓取装置的剖视图(两个抓杆的抓爪处于相互远离状态)，图7是本发明实施例三提供的抓取装置的控制方法的流程图。
集装箱能够装载货物进行运输，并且便于使用机械设备进行装卸搬运。集装箱具有很多优点，其中最大的优点是能够使产品标准化并且通过标准化的产品能够建立一整套完整的运输体系。建立的完整的运输体系能够让一个载重几十吨的庞然大物实现标准化，并且以此为基础逐步实现全球范围内的船舶、港口、航线、公路、中转站、桥梁、隧道以及多式联运相配套的物流系统。因此，集装箱应用越来越广泛。其中，锁销是集装箱上重要的组成部件。
目前的集装箱上的锁销的使用情况十分复杂，锁销的构造没有统一标准，且种类繁多，至少有六大类包含一百余种。同时在同一运输线上的集装箱锁销形式也不尽相同；对于同一运输线上的集装箱锁销耗损后新补充的锁销也未必与原来的锁销相同，造成了同一运输线上装有的集装箱锁销也不相同。所以在集装箱装卸作业的过程中，尤其是自动化码头作业，在现有部分计划实施的集装箱锁销装拆系统中，其自动化锁销抓取装置或夹具，也不能够完全兼容大多数锁销的结构，不能将具有不同结构的锁销牢固地抓取并置放或安装到指定位置，通用性极低，且均需要通过人工的方式进行判断抓取的结果，导致集装箱锁销的装卸作业无法实现自动化。
实施例一
为了解决以上问题，本实施例一中，提出一种抓取装置。如图1和图2所示，该抓取装置包括抓杆座2、驱动件和两个抓杆9。其中，抓杆座2通过紧固件12固定连接在驱动件上，两个抓杆9对称设置在抓杆座2的两侧。两个抓杆9的中部分别转动连接在抓杆座2的两侧，驱动件的两端均设置有一活塞杆5， 两个抓杆9的第一端13分别与驱动件的两个活塞杆5转动连接，两个抓杆9的第二端14上均设置有抓爪1。
在一些实施例中，驱动件被配置为驱动两个活塞杆5相互远离或靠拢，由于两个抓杆9的中部分别转动连接在抓杆座2的两侧，则抓杆9以中部的连接点为转动点，当两个活塞杆5分别驱动两个抓杆9的第一端13相互远离或靠拢时，相应的，由于转动作用，两个抓杆9上的第二端14相互靠拢或远离，则两个抓杆9上的两个抓爪1相互配合能够抓取或释放待抓取件。
本实施例一中，抓杆座2上还设置有传感器22，传感器22被配置为检测两个抓爪1之间是否抓取有待抓取件，或者是否将待抓取件进行释放，以判断两个抓爪1是否成功抓取或释放待抓取件。在其它实施例中，还可以通过设置其它类型的感应件，对两个抓爪1之间是否抓取或释放待抓取件进行检测，然后再进行判断两个抓爪1是否成功抓取或释放待抓取件。
本实施例一中，传感器22设置在抓杆座2的中间位置，传感器22为红外传感器，红外传感器能够感应两个抓爪1之间是否已经成功抓取或释放待抓取件，否则将反馈失败的信号给系统，使抓取装置重新执行抓取或释放待抓取件的动作。在其它实施例中，传感器22还可以为光电传感器。本实施例一中，待抓取件为集装箱上的锁销。在抓取集装箱的过程中，两个抓爪1与集装箱上的锁销相抵接，以实现集装箱的抓取或释放。在其它实施例中，待抓取件还可以为其它结构的零部件。
可选地，驱动件包括缸体7、缸盖8及两个活塞6。两个活塞6均滑动设置在缸体7内，且两个活塞杆5分别与两个活塞6相连接。在本实施例一中，活塞杆5与活塞6一体成型。同时活塞杆5上远离活塞6的另一端转动连接于抓杆9的第一端13。缸体7的两端均设置有缸盖8，缸盖8上设置有允许活塞杆5穿过的通孔，活塞杆5与缸盖8滑动且密封连接，能够使进入活塞6与缸盖8之间的高压气体或液压油不外泄，然后使两个活塞6能够相互靠拢或者远离。进一步地，缸体7内还设置有限位凸台15，限位凸台15被配置为对活塞6进行限位，以使两个活塞6在相互靠拢的过程中，不会相互撞击。本实施例一中，驱动件为双活塞杆液压缸。在其它实施例中，驱动件还可以为双活塞杆气压缸。
在一些实施例中，抓取装置还包括两个第一穿心轴3。两个抓杆9的第一端13上均设置有第一圆孔，两个活塞杆5在靠近第一端13的一侧上均设置有第二圆孔，第一圆孔与第二圆孔相重合，在重合的孔内插入第一穿心轴3。通过第一 穿心轴3能够将抓杆9的第一端13与活塞杆5转动连接。
抓取装置还包括两个第二穿心轴4。抓杆座2的两侧均设置有第三圆孔，两个抓杆9的中部均设置有第四圆孔，第三圆孔与第四圆孔相重合，在重合的孔内插入第二穿心轴4。通过第二穿心轴4能够将抓杆9的中部与抓杆座2的一侧转动连接。
进一步地，如图3所示，缸体7上还设置有第一注入口10，通过第一注入口10向缸体7内两个活塞6之间形成的空腔处注入液压油或者高压气体，以推动两个活塞6相互远离，以使两个抓爪1相互靠拢，实现待抓取件的夹持。缸体7上还设置有第二注入口11，通过第二注入口11向缸体7内活塞6与缸盖8之间形成的空腔处注入液压油或者高压气体，以推动两个活塞6相互靠拢，以使两个抓爪1相互远离，实现待抓取件的松开。
进一步地，如图4所示，本实施例一中，抓爪1包括设置于第二端14的内钩，内钩向第一端13弯曲。抓爪1包括两个内钩，两个内钩并列且间隔设置，四个内钩相互配合能够夹持或松开待抓取件。并列且间隔设置的内钩能够在抓取不同直径的待抓取件的过程中，同一抓杆9上的两个内钩的内侧始终能够卡于待抓取件的外周，便于抓取待抓取件，使抓取装置的通用性更强。在其它实施例中，还可以将抓爪1上的内钩数量设置为一个或者三个。设置数量和抓爪1形状需要根据待抓取件的结构以及实际的工作情况而定。
在一些实施例中，当需要抓取待抓取件时，此时抓取装置被移动至待抓取件的位置处，然后启动抓取装置以实现待抓取件的夹持。首先，在第一注入口10注入液压油或者高压气体，使两个活塞6相互远离，两个抓杆9上的第二端14相互靠拢，以使四个内钩同时抵接待抓取件，实现待抓取件的夹持。
当四个内钩将待抓取件夹持至指定位置后，需要松开待抓取件时，此时启动抓取装置以实现待抓取件的松开。首先，在第二注入口11注入液压油或者高压气体，使两个活塞6相互靠拢，两个抓杆9上的第二端14相互远离，以使四个内钩同时松开待抓取件，实现待抓取件的松开，将待抓取件放置在指定位置。
通过在两个对称的抓杆9的第二端14上设置抓爪1，驱动件能够驱动两个活塞杆5相互远离或靠拢，以使抓杆9的第一端13相互远离或靠拢，然后两个抓杆9的第一端13分别带动第二端14上的两个抓爪1相互配合，两个抓爪1相互配合能够抓取或者松开待抓取件。当抓取不同结构大小的待抓取件时，驱动件能够控制两个活塞杆5的伸缩量，进而调整抓取空间以抓取待抓取件，不 再需要整体更换抓取装置，极大地降低了生产成本，同时使抓取装置的通用性更好。
实施例二
本实施例二中，提出了一种抓取装置。本实施例二与实施例一的不同之处，在于驱动件的结构不相同。如图5所示，驱动件包括电机16及两个丝杠，电机16的两侧均设置有输出轴17，两个丝杠分别连接于两个输出轴17。进一步地，驱动件还包括两个套筒，两个套筒分别与两个丝杠螺纹连接，套筒能够沿丝杠的长度方向移动，抓杆9的第一端13与套筒连接。在一些实施例中，两个丝杠的外侧均设置有第一螺纹，在两个套筒的内壁上均设置有与第一螺纹相匹配的第二螺纹，通过将第一螺纹与第二螺纹相旋接，使两个套筒分别套旋在两个丝杠上。其中，两个丝杠通过联轴器分别与两个输出轴17相连接。
当电机16转动时，输出轴17转动，此时输出轴17通过联轴器带动丝杠转动，套旋在丝杠上的套筒沿丝杠的长度方向移动，以使抓杆9的第一端13沿丝杠的长度方向移动。其中，两个丝杠包括一个正向丝杠18和一个反向丝杠19，正向丝杠18上的第一螺纹的方向为顺时针，反向丝杠19上的第一螺纹的方向为逆时针。通过将正向丝杠18和反向丝杠19上的第一螺纹的方向设置不同，能够使两个抓杆9的第一端13同时沿丝杠的长度方向相互远离或者相互靠拢地移动。
抓杆9的第一端13与套筒连接，在一些实施例中，抓杆9的第一端13上设置有通孔，套筒能够穿过通孔。进一步地，驱动件还包括定位销21，套筒的外侧上设置有卡槽，定位销21能够部分伸入于卡槽内。抓杆9的第一端13上还设置有条形孔20，条形孔20能够与通孔连通，以使定位销21穿过条形孔20后，能够部分伸入于卡槽内，使定位销21卡接在卡槽内。
将定位销21穿过条形孔20后，使其部分伸入于卡槽内，一方面能够将抓杆9的第一端13准确定位在套筒上，当套筒移动时，通过定位销21能够带动抓杆9的第一端13移动，以使抓杆9的第一端13与套筒进行同步运动；另一方面，当抓杆9的第一端13沿丝杠的长度方向移动时，定位销21的运动轨迹只能在条形孔20的范围内，从而限定了抓杆9的第一端13沿丝杠的长度方向的最大移动距离和最小移动距离，以使两个抓爪1之间的抓取空间能够与待抓取件的尺寸大小相匹配，使抓取空间不会太大或者太小，避免抓取不牢固，或者无法对待抓取件进行抓取。
当电机16进行顺时针转动时，电机16上的两侧的输出轴17同时进行转动，一个输出轴17通过联轴器带动正向丝杠18进行顺时针转动，此时套筒在正向丝杠18的顺时针转动的带动下，沿着丝杠的长度方向向图5中的右侧移动；另一个输出轴17通过联轴器带动反向丝杠19进行逆时针转动，此时套筒在反向丝杠19的逆时针转动的带动下，沿着丝杠的长度方向向图5中的左侧移动。通过定位销21带动两个抓杆9的第一端13随着套筒一起进行移动，以使两个抓杆9的第一端13之间相互远离。相应的，由于转动作用，两个抓杆9上的第二端14相互靠拢，则使两个抓杆9上的两个抓爪1相互配合能够抓取待抓取件。
如图6所示，当电机16进行逆时针转动时，电机16上的两侧的输出轴17同时进行转动，一个输出轴17通过联轴器带动正向丝杠18进行逆时针转动，此时套筒在正向丝杠18的逆时针转动的带动下，沿着丝杠的长度方向向图6中的左侧移动；另一个输出轴17通过联轴器带动反向丝杠19进行顺时针转动，此时套筒在反向丝杠19的顺时针转动的带动下，沿着丝杠的长度方向向图6中的右侧移动。通过定位销21带动两个抓杆9的第一端13随着套筒一起进行移动，以使两个抓杆9的第一端13之间相互靠拢。相应的，由于转动作用，两个抓杆9上的第二端14相互远离，则使两个抓杆9上的两个抓爪1相互配合能够释放待抓取件。
通过电机16能够驱动正向丝杠18和反向丝杠19进行顺时针或者逆时针转动，以使抓杆9的第一端13相互远离或靠拢，然后两个抓杆9的第一端13分别带动第二端14上的两个抓爪1相互配合，两个抓爪1相互配合能够抓取或者释放待抓取件。当抓取不同结构大小的待抓取件时，通过控制正向丝杠18和反向丝杠19的转动量，进而调整抓取空间以抓取待抓取件，不再需要整体更换抓取装置，极大地降低了生产成本，同时使抓取装置的通用性更好。
实施例三
本实施例三中提出了一种抓取装置的控制方法。如图7所示，该抓取装置的控制方法，包括以下步骤：收到抓取指令后，驱动件驱动两个抓爪1抓取待抓取件，根据抓爪1是否成功抓取待抓取件控制抓取装置是否重新执行抓取动作。
在一些实施例中，当抓取装置收到系统给出的抓取指令后，执行抓取程序，抓取程序包括：抓取装置中的可编程逻辑控制器(Programmable Logic Controller，简称PLC)发出抓取驱动，此时抓取装置依照指令移动至待抓取件处，开始进 行抓取，驱动件驱动抓杆9的第一端13相互远离，以带动第二端14上的两个抓爪1相互靠拢，两个抓爪1抓取待抓取件。
然后传感器22对抓取结果进行探测。本实施例三中，通过传感器22探测抓取的结果。在其它实施例中，还可以通过其它类型的感应件，进行探测抓取的结果。
当抓取动作完成时，抓取装置启动传感器22进行探测，若发现两个抓爪1之间并无待抓取件时，传感器22将抓取失败的信号的传递回系统，此时抓取装置返回再次启动抓取程序，直至传感器22能够成功探测到两个抓爪1之间抓取有待抓取件。当传感器22探测到两个抓爪1之间抓取有待抓取件时，则将抓取成功的信号传递回系统，此时抓取装置将待抓取件移动至指定位置。
该抓取装置的控制方法，还包括以下步骤：收到释放指令后，驱动件驱动两个抓爪1释放待抓取件，根据抓爪1是否成功释放待抓取件控制抓取装置是否重新执行释放动作。
在一些实施例中，释放程序包括：当抓取装置收到系统给出的释放指令后，驱动件驱动抓杆9的第一端13相互靠拢，以带动第二端14上的两个抓爪1相互远离，两个抓爪1分别向外松开，以释放待抓取件。然后传感器22对释放结果进行探测。
当释放动作完成时，抓取装置启动传感器22进行探测，若发现两个抓爪1之间还抓取有待抓取件时，传感器22将释放失败的信号的传递回系统，此时抓取装置返回再次启动释放程序，直至传感器22能够成功探测到两个抓爪1之间没有待抓取件。当传感器22探测到两个抓爪1之间没有待抓取件时，则将抓取成功的信号传递回系统，此时抓取装置回归原位，至此所有的抓取流程结束。
该抓取装置的控制方法，能够根据传感器22的探测结果，进行判断抓取装置是否需要重新执行抓取或释放指令，不再需要通过人工监测的方式检测抓取或释放是否成功，实现抓取或释放的自动控制，节约了人工成本；且不会出现抓取或释放失败后仍继续执行其它指令，节约了时间成本，极大地提高了工作效率，且不再需要通过人工的方式进行判断抓取的结果，提高了抓取装置在抓取过程中的安全性。
本文的有益效果为：
本文提供了一种抓取装置及其控制方法。该抓取装置中，通过在两个对称的抓杆的第二端设置抓爪，驱动件能够驱动两个活塞杆相互远离或靠拢，能够 使两个抓杆上的抓爪相配合夹持或松开待抓取件。当抓取不同结构大小的待抓取件时，驱动件能够控制两个活塞杆的伸缩量，进而调整抓取空间以抓取待抓取件，不再需要整体更换抓取装置，极大地降低了生产成本，同时使抓取装置能兼容各种类型的待抓取件，装置的通用性更好。
该抓取装置的控制方法的有益效果：能够根据抓爪的抓取结果，然后判断抓取装置是否需要重新执行抓取或释放指令，实现了抓取和释放动作的自动化控制，不再需要通过人工的方式进行判断抓爪的抓取结果，提高了抓取装置在抓取过程中的安全性，同时提高了工作效率，节约了时间成本。
本文内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本文内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。

Claims (18)

  1. 一种抓取装置，包括：抓杆座(2)、驱动件和两个抓杆(9)，两个所述抓杆(9)对称设置，两个所述抓杆(9)的中部分别转动连接在所述抓杆座(2)的两侧，所述驱动件的两端均设置有一活塞杆(5)，两个所述抓杆(9)的第一端(13)分别与两个所述活塞杆(5)转动连接，所述抓杆(9)的第二端(14)设置有抓爪(1)，所述驱动件被配置为驱动两个所述活塞杆(5)相互远离或靠拢，以使两个所述抓杆(9)上的所述抓爪(1)相配合抓取或释放待抓取件。
  2. 如权利要求1所述的抓取装置，其中，所述抓爪(1)包括设置于所述第二端(14)的内钩，所述内钩向所述第一端(13)弯曲。
  3. 如权利要求2所述的抓取装置，其中，所述抓爪(1)包括两个所述内钩，两个所述内钩并列且间隔设置。
  4. 如权利要求1所述的抓取装置，其中，所述驱动件包括缸体(7)和两个活塞(6)，两个所述活塞(6)均滑动设置在所述缸体(7)内，两个所述活塞杆(5)分别连接于两个所述活塞(6)。
  5. 如权利要求4所述的抓取装置，其中，所述缸体(7)内还设置有限位凸台(15)，所述限位凸台(15)被配置为对所述活塞(6)进行限位。
  6. 如权利要求4所述的抓取装置，其中，所述驱动件还包括缸盖(8)，所述缸体(7)的两端均设置有所述缸盖(8)，所述缸盖(8)上设置有允许所述活塞杆(5)穿过的通孔，所述活塞杆(5)与所述缸盖(8)滑动且密封连接。
  7. 如权利要求4所述的抓取装置，其中，所述缸体(7)上还设置有第一注入口(10)，通过所述第一注入口(10)向所述缸体(7)内注入液压油或者高压气体，以推动两个所述活塞(6)相互远离。
  8. 如权利要求4所述的抓取装置，其中，所述缸体(7)上还设置有第二注入口(11)，通过所述第二注入口(11)向所述缸体(7)内注入液压油或者高压气体，以推动两个所述活塞(6)相互靠拢。
  9. 如权利要求1所述的抓取装置，所述抓取装置还包括第一穿心轴(3)，所述第一端(13)上设置有第一圆孔，所述活塞杆(5)靠近所述第一端(13)的一端设置有第二圆孔，所述第一穿心轴(3)穿设于所述第一圆孔和所述第二圆孔。
  10. 如权利要求1所述的抓取装置，其中，所述驱动件包括电机(16)及两个丝杠，所述电机(16)的两侧均设置有输出轴(17)，两个丝杠分别连接于两个所述输出轴(17)。
  11. 如权利要求10所述的抓取装置，其中，所述驱动件还包括两个套筒，两个所述套筒分别与两个所述丝杠螺纹连接，所述套筒能够沿所述丝杠的长度方向移动，所述抓杆(9)的第一端(13)与所述套筒连接。
  12. 如权利要求10所述的抓取装置，其中，两个所述丝杠包括一正向丝杠(18)和一反向丝杠(19)。
  13. 如权利要求11所述的抓取装置，其中，所述抓杆(9)的第一端(13)上设置有通孔，所述套筒穿过所述通孔。
  14. 如权利要求11所述的抓取装置，其中，所述驱动件还包括定位销(21)，所述套筒的外侧上设置有卡槽，所述定位销(21)部分伸入于所述卡槽内；所述抓杆(9)的第一端(13)上还设置有条形孔(20)，所述定位销(21)穿过所述条形孔(20)后，部分伸入于所述卡槽内。
  15. 如权利要求1所述的抓取装置，其中，所述抓杆座(2)上设置有传感器(22)，所述传感器(22)被配置为检测两个所述抓爪(1)之间是否有所述待抓取件。
  16. 如权利要求1所述的抓取装置，所述抓取装置还包括第二穿心轴(4)，所述抓杆座(2)的两侧上设置有第三圆孔，所述抓杆(9)的中部设置有第四圆孔，所述第二穿心轴(4)穿设于所述第三圆孔和所述第四圆孔。
  17. 一种抓取装置的控制方法，包括以下步骤：
    收到抓取指令后，驱动件驱动两个抓爪(1)抓取待抓取件，根据所述抓爪(1)是否成功抓取所述待抓取件来控制所述抓取装置是否重新执行抓取动作。
  18. 如权利要求17所述的抓取装置的控制方法，还包括以下步骤：
    收到释放指令后，所述驱动件驱动两个所述抓爪(1)释放所述待抓取件，根据所述抓爪(1)是否成功释放所述待抓取件来控制所述抓取装置是否重新执行释放动作。
PCT/CN2019/109419 2019-09-30 2019-09-30 一种抓取装置及其控制方法 WO2021062617A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980099374.4A CN114269527A (zh) 2019-09-30 2019-09-30 一种抓取装置及其控制方法
PCT/CN2019/109419 WO2021062617A1 (zh) 2019-09-30 2019-09-30 一种抓取装置及其控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/109419 WO2021062617A1 (zh) 2019-09-30 2019-09-30 一种抓取装置及其控制方法

Publications (1)

Publication Number Publication Date
WO2021062617A1 true WO2021062617A1 (zh) 2021-04-08

Family

ID=75336752

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/109419 WO2021062617A1 (zh) 2019-09-30 2019-09-30 一种抓取装置及其控制方法

Country Status (2)

Country Link
CN (1) CN114269527A (zh)
WO (1) WO2021062617A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113414939A (zh) * 2021-07-10 2021-09-21 温州三宸塑料有限公司 一种镶嵌式自动化注塑抓取设备及其使用方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170291306A1 (en) * 2016-04-07 2017-10-12 Biomet Manufacturing, Llc Method and apparatus for processing orthopedic components
CN108161960A (zh) * 2018-02-07 2018-06-15 南京科远自动化集团股份有限公司 一种用于装卸集装箱锁具的高可靠性夹具
CN208358844U (zh) * 2018-06-15 2019-01-11 广东美的智能机器人有限公司 夹爪机构和机器人
CN109292453A (zh) * 2018-12-01 2019-02-01 上海成业智能科技股份有限公司 集装箱锁销磁控智能分拣装置及其控制方法
CN109849038A (zh) * 2017-11-30 2019-06-07 李雄昭 一种机械拾取装置
CN209175770U (zh) * 2018-12-07 2019-07-30 廊坊天龙意航汽车部件有限公司 气动夹持钳

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201720848U (zh) * 2010-05-14 2011-01-26 上海普莱克斯自动设备制造有限公司 气缸内置式二爪抓手
CN104385290A (zh) * 2014-10-30 2015-03-04 周卫荣 一种连杆杠杆式抓取装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170291306A1 (en) * 2016-04-07 2017-10-12 Biomet Manufacturing, Llc Method and apparatus for processing orthopedic components
CN109849038A (zh) * 2017-11-30 2019-06-07 李雄昭 一种机械拾取装置
CN108161960A (zh) * 2018-02-07 2018-06-15 南京科远自动化集团股份有限公司 一种用于装卸集装箱锁具的高可靠性夹具
CN208358844U (zh) * 2018-06-15 2019-01-11 广东美的智能机器人有限公司 夹爪机构和机器人
CN109292453A (zh) * 2018-12-01 2019-02-01 上海成业智能科技股份有限公司 集装箱锁销磁控智能分拣装置及其控制方法
CN209175770U (zh) * 2018-12-07 2019-07-30 廊坊天龙意航汽车部件有限公司 气动夹持钳

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113414939A (zh) * 2021-07-10 2021-09-21 温州三宸塑料有限公司 一种镶嵌式自动化注塑抓取设备及其使用方法
CN113414939B (zh) * 2021-07-10 2023-08-15 浙江三宸科技有限公司 一种镶嵌式自动化注塑抓取设备及其使用方法

Also Published As

Publication number Publication date
CN114269527A (zh) 2022-04-01

Similar Documents

Publication Publication Date Title
CN106041971B (zh) 具有可重组端部操作器组件的机器人系统
US5419027A (en) Puller
WO2021062617A1 (zh) 一种抓取装置及其控制方法
CN109415175B (zh) 一种智能上下料系统及其工作方法
US20130008644A1 (en) Tongs triggering method
US12006779B2 (en) Robotic system for making or breaking a riser
CN109573596A (zh) 一种搬运机器人
CN112475841A (zh) 钢丝螺套自动装配系统
CN103114821B (zh) 一种深井辐射环境下管道剪切遥控维护设备及其维护工艺
CN211072480U (zh) 打螺钉工件的输送设备和打螺钉系统
CN105625962B (zh) 油管钳远程控制装置及其使用方法
CN110217256A (zh) 一种列车车钩摘钩装置
CN111633930B (zh) 一种基于模具识别定位的高精度合模系统
CN211615651U (zh) 机器人末端工具快速接换装置
CN111975138A (zh) 一种加工装置
CN208361358U (zh) 一种丝饼夹具
CN208218204U (zh) 碳碳加工专用吊装工具
CN109732634B (zh) 一种用于捻打堵漏的机械臂末端执行器
CN112031682A (zh) 动力钳控制系统及其操作方法和包括其的修井机
CN212329911U (zh) 一种加工装置
CN201613535U (zh) 3pc-270型柱塞泵柱塞拉出器
CN110919681A (zh) 机器人末端工具快速接换装置及接换方法
EP3158161B1 (en) An elevator device for drilling systems
CN105600675B (zh) 一种用于货箱转运的吊具
CN103057955B (zh) 搬运夹持器及其在三通阀门搬运过程中的应用

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19947825

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19947825

Country of ref document: EP

Kind code of ref document: A1