Gripping device and using method for gripping device

Abstract

The invention provides a grabbing device and a using method for the grabbing device. Relates to the technical field of machinery, the grabbing device is connected with a monorail crane, the grabbing device comprises a fixing mechanism, the fixing mechanism comprises a top supporting part, a bottom supporting part and a top rail connecting part, the top rail connecting part is connected with the monorail crane, the top supporting part is connected with the top of a space where the top supporting part is located, and the bottom supporting part is connected with the bottom of the space where the bottom supporting part is located, so that the fixing mechanism is fixed in the space; the top supporting part and the top rail connecting part are located on the upper side of the bottom supporting part. The rotating mechanism is connected to the fixing mechanism in a sleeving mode, and the rotating mechanism can rotate on the fixing mechanism; the connecting arm is connected with the rotating mechanism; and the manipulator is connected to the tail end of the connecting arm and is used for grabbing objects. The grabbing device can be fixed in the space through the top supporting part and the bottom supporting part of the fixing mechanism from two directions, and it is guaranteed that the position of the grabbing device is stable. And meanwhile, the mechanical arm can flexibly move in the grabbing area, and grabbing, carrying and stacking of the objects are achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of mechanical technology, and in particular to a gripping device and a method for using the gripping device. Background Art

[0002] In mines, there is often a need to transport equipment and packaged materials. The equipment and materials are usually heavy, and it is difficult to move them by manpower, which leads to low work efficiency and is easy to cause personal injury.

[0003] In traditional solutions, equipment and packaged materials are usually transported through underground monorail cranes. However, after the equipment and materials are transported to the ground by the monorail crane, operators need to carry out secondary transportation and stack them on both sides of the tunnel, which cannot be achieved quickly. This not only poses a safety hazard, reduces work efficiency, but also increases the workload of personnel. Summary of the invention

[0004] The exemplary embodiment of the present application provides a grabbing device and a method for using the grabbing device, which can realize the transportation and stacking of objects and improve the safety factor of the mining area.

[0005] In a first aspect, in some embodiments of the present application, a grasping device is provided, which is connected to a monorail crane, and the grasping device comprises: a fixing mechanism, comprising a top supporting part, a bottom supporting part and a top rail connecting part, the top rail connecting part is connected to the monorail crane, the top supporting part is connected to the top of the space, and the bottom supporting part is connected to the bottom of the space, so that the fixing mechanism is fixed in the space, and the top supporting part and the top rail connecting part are located on the upper side of the bottom supporting part; a rotating mechanism, which is sleeved on the fixing mechanism, and the rotating mechanism can rotate on the fixing mechanism; a connecting arm, which is connected to the rotating mechanism; a manipulator, which is connected to the end of the connecting arm, and is used to grasp objects.

[0006] The grasping device provided in the embodiment of the present application can be fixed in the space by the top supporting part and the bottom supporting part of the fixing mechanism, and can be fixed from two directions to ensure the stability of the position of the grasping device. At the same time, the top connecting part of the fixing mechanism is connected to the monorail crane, and the position of the grasping device can be further limited with the help of the monorail crane. The rotating mechanism is sleeved on the fixing mechanism, the connecting arm is connected to the rotating mechanism, and the manipulator is connected to the end of the connecting arm, so that the manipulator can be flexibly moved in the grasping area to realize the grasping, handling and stacking of objects. The grasping device provided in the embodiment of the present application can effectively reduce manpower and improve the safety factor of the mining area.

[0007] In some embodiments, the manipulator includes: a grasping forceps; a hand-held portion, disposed above the grasping forceps and used to move the position of the grasping forceps; a grasping button, disposed on the hand-held portion, and the grasping button is used to control the contraction and opening of the grasping forceps.

[0008] By arranging a hand-held portion and a grasping button on the manipulator, it is convenient for a user to control the manipulator. The user can hold the hand-held portion to move the manipulator, and the user can control the contraction and opening of the grasping forceps through the grasping button.

[0009] In some embodiments, the manipulator further includes a transverse link and a longitudinal link; there are two grasping clamps and two hand-held parts; the two grasping clamps are located at both ends of the transverse link; one end of the longitudinal link is connected to the center of the transverse link, and the other end of the longitudinal link is rotatably connected to the connecting arm; the two hand-held parts are located between the two grasping clamps, and the two hand-held parts are connected to the two sides of the transverse link.

[0010] By providing two grabbing clamps at both ends of the transverse connecting rod, the grabbing of the object can be made more secure, and by providing two hand-held parts, two workers can work together to move the grabbing clamps, making the operation of the grabbing device more convenient.

[0011] In some embodiments, the connecting arm includes a primary arm and a secondary arm, one end of the primary arm is rotationally connected to the rotating mechanism, and the other end of the primary arm is rotationally connected to the secondary arm; one end of the secondary arm is rotationally connected to the primary arm, and the other end of the secondary arm is rotationally connected to the manipulator.

[0012] By arranging the primary arm to be rotationally connected with the rotating mechanism and the secondary arm to be rotationally connected with the primary arm, the grabbing device can rotate within multiple angles, thereby realizing flexible movement within the grabbing area.

[0013] In some embodiments, the maximum rotation angle of the manipulator relative to the secondary arm is 360 degrees, the maximum rotation angle of the secondary arm relative to the primary arm is 360 degrees, and the maximum rotation angle of the rotating mechanism relative to the fixed mechanism is 360 degrees.

[0014] By setting the maximum rotation angle of the manipulator relative to the secondary arm to 360 degrees, the maximum rotation angle of the secondary arm relative to the primary arm to 360 degrees, and the maximum rotation angle of the rotating mechanism relative to the fixed mechanism to 360 degrees, the manipulator can be fully rotated and moved, making it easier for the manipulator to grab objects around the fixed mechanism.

[0015] In some embodiments, the primary arm includes: a first connecting part, a second connecting part and an arm body; the first connecting part is rotationally connected to the rotating mechanism, the second connecting part is rotationally connected to the secondary arm, and the arm body is located between the first connecting part and the second connecting part; the first connecting part includes a third connecting rod, a fourth connecting rod, a connecting cross bar and a counterweight; the third connecting rod is connected to one side of the rotating mechanism, and the fourth connecting rod is connected to the other side of the rotating mechanism; one end of the third connecting rod and the fourth connecting rod are connected by a connecting cross bar, and the other end of the third connecting rod and the fourth connecting rod are connected by a counterweight; the arm body is connected to the middle part of the connecting cross bar.

[0016] By providing the counterweight part, when the grasping device grasps an object, the balance of the grasping device can be maintained by changing the counterweight of the counterweight part.

[0017] In some embodiments, the connecting arm further includes a hydraulic cylinder, and both ends of the hydraulic cylinder are respectively connected to the primary arm and the rotating mechanism; the hydraulic cylinder, the primary arm and the rotating mechanism form a triangular structure.

[0018] By setting up a hydraulic cylinder so that the hydraulic cylinder, the primary arm and the rotating mechanism form a triangular structure, when the grasping device grasps a heavy object, the heavy object can be lifted by the action of the hydraulic cylinder, thereby realizing the grasping and moving of the heavy object by the grasping device.

[0019] In some embodiments, the top support portion and the bottom support portion are hydraulic struts, and the fixing mechanism further includes a self-locking unit, which is located inside the hydraulic strut and is used to lock the hydraulic strut when a set pressure is reached, so that the longitudinal length of the hydraulic strut is fixed.

[0020] By setting the top support part and the bottom support part as hydraulic pillars, and setting a self-locking unit in the hydraulic pillars, when the grabbing device is placed in the space, the top support part contacts the top of the space, and the bottom support part contacts the bottom of the space (such as the ground), and the pressure of the hydraulic pillar reaches the set pressure, the self-locking unit in the hydraulic pillar locks the hydraulic pillar to fix the longitudinal length of the hydraulic pillar. The top support part generates a large friction force with the top of the space, and the bottom support part generates a large friction force with the bottom of the space, so that the grabbing device is fixed in the space.

[0021] In some embodiments, the hydraulic support includes a first connecting rod, a second connecting rod and a support plate; the second connecting rod is hollow and sleeved on the first connecting rod; one end of the first connecting rod is connected to the second connecting rod, and the other end of the first connecting rod is connected to the support plate.

[0022] The structure of the hydraulic support is set to include a first connecting rod, a second connecting rod and a support plate, and the second connecting rod is sleeved on the first connecting rod, so that the length of the hydraulic support can be adjusted, and one end of the first connecting rod is connected to the second connecting rod, and the other end of the first connecting rod is connected to the support plate, and the support plate contacts the top of the space and the bottom of the space. Since the area of ​​the support plate is large, the contact area between the top support part and the top of the space can be increased, thereby increasing the friction between the top support part and the top of the space. The contact area between the bottom support part and the bottom of the space can also be increased, thereby increasing the contact area between the bottom support part and the bottom of the space.

[0023] In some embodiments, the fixing mechanism also includes a connecting plate; the connecting plate is located between the top support portion and the bottom support portion; the top support portion is connected to the upper side of the connecting plate; the bottom support portion is connected to the lower side of the connecting plate; there are two top support portions, and the two top support portions are respectively located at both ends of the connecting plate; the top rail connecting portion is connected to the upper side of the connecting plate, and the top rail connecting portion is located between the two top support portions.

[0024] By arranging the top rail connection part between the two top support parts, the fixing mechanism can be more firmly fixed and the supporting effects of the two top support parts can be more balanced.

[0025] In a second aspect, in some embodiments of the present application, a method for using a grasping device is also provided, which is applied to the grasping device provided in the first aspect of the present application, and the method includes: pulling the manipulator so that the manipulator is located above the object; pressing the grasping button on the manipulator to control the grasping clamp of the manipulator to retract so that the object is fixed on the manipulator; pulling the manipulator to move the manipulator to the area where the object is placed; pressing the grasping button on the manipulator to control the grasping clamp of the manipulator to open so that the object is separated from the manipulator.

[0026] When using the grabbing device, the grabbing device can grab the object by pulling the manipulator to place the manipulator above the object, pressing the grab button on the manipulator to control the grabbing clamp of the manipulator to retract, and then the grabbing device can grab the object. The manipulator can be pulled to move the manipulator to the area where the object is placed, and the grab button on the manipulator can be pressed to control the grabbing clamp of the manipulator to open, so that the object can be separated from the manipulator, and the grabbing device can carry or stack the object.

[0027] In some embodiments, the method for using the gripping device provided in the embodiments of the present application further includes: adjusting the counterweight of the counterweight part to maintain the balance of the gripping device.

[0028] By adjusting the counterweight of the counterweight part, the grasping device can be kept balanced when grasping an object, thereby reducing the phenomenon of the grasping device tilting due to the grasping of an overweight object. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the implementation methods in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technology descriptions. Obviously, the drawings described below are some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0030] Figure 1 One of the structural schematic diagrams of a grasping device according to some embodiments is shown;

[0031] Figure 2A second structural schematic diagram of a grasping device according to some embodiments is shown;

[0032] Figure 3 A third structural schematic diagram of a gripping device according to some embodiments is shown;

[0033] Figure 4 A fourth structural schematic diagram of a grasping device according to some embodiments is shown;

[0034] Figure 5 A schematic structural diagram of a hydraulic prop according to some embodiments is shown;

[0035] Figure 6 A flow chart of a method for using a gripping device according to some embodiments is shown. DETAILED DESCRIPTION

[0036] In order to make the purpose and implementation method of the present application clearer, the exemplary implementation method of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0037] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0038] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0039] The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0040] The exemplary embodiment of the present application provides a grabbing device and a method for using the grabbing device, which can realize the transportation and stacking of objects and improve the safety factor of the mining area.

[0041] like Figure 1As shown, in some embodiments of the present application, a grasping device is provided, and the grasping device is connected to the monorail crane, and the grasping device includes: a fixing mechanism 01, including a top support portion 11, a bottom support portion 12 and a top rail connection portion 13, the top rail connection portion 13 is connected to the monorail crane, the top support portion 11 is connected to the top of the space, and the bottom support portion 12 is connected to the bottom of the space, so that the fixing mechanism 01 is fixed in the space, and the top support portion 11 and the top rail connection portion 13 are located on the upper side of the bottom support portion 12. The rotating mechanism 02 is sleeved on the fixing mechanism 01, and the rotating mechanism 02 can rotate on the fixing mechanism 01. The connecting arm 03 is connected to the rotating mechanism 02. The manipulator 04 is connected to the end of the connecting arm, and is used to grasp objects.

[0042] The grasping device provided in the embodiment of the present application can be fixed in the space by the top support part 11 and the bottom support part 12 of the fixing mechanism 01, and can be fixed from two directions to ensure the stability of the position of the grasping device. At the same time, the top connecting part of the fixing mechanism 01 is connected to the monorail crane, and the position of the grasping device can be further limited by the monorail crane. The rotating mechanism 02 is sleeved on the fixing mechanism 01, the connecting arm 03 is connected to the rotating mechanism 02, and the manipulator 04 is connected to the end of the connecting arm 03, so that the manipulator 04 can be flexibly moved in the grasping area to realize the grasping, handling and stacking of objects. The grasping device provided in the embodiment of the present application can effectively reduce manpower and improve the safety factor of the mining area.

[0043] In some embodiments, Figure 2 As shown, the manipulator 04 includes: a grasping forceps 41. A handheld portion 42, which is arranged above the grasping forceps 41 and is used to move the position of the grasping forceps 41. A grasping button, which is arranged on the handheld portion 42 and is used to control the grasping forceps 41 to retract and open.

[0044] By providing a hand-held portion 42 and a grabbing button on the manipulator 04 , it is convenient for the user to control the manipulator 04 . The user can hold the hand-held portion 42 to move the manipulator 04 , and the user can control the contraction and opening of the grabbing forceps 41 through the grabbing button.

[0045] In some embodiments, Figure 2 As shown, the manipulator 04 further includes a transverse link 43 and a longitudinal link 44. There are two gripping pliers 41 and two hand-held parts 42. The two gripping pliers 41 are located at both ends of the transverse link 43. One end of the longitudinal link 44 is connected to the center of the transverse link 43, and the other end of the longitudinal link 44 is rotatably connected to the connecting arm 03. The two hand-held parts 42 are located between the two gripping pliers 41, and the two hand-held parts 42 are connected to the two side surfaces of the transverse link 43.

[0046] By providing two grasping clamps 41 at both ends of the transverse connecting rod 43, the grasping of the object can be made more secure. By providing two hand-held parts 42, two workers can work together to move the grasping clamps 41, making the operation of the grasping device more convenient.

[0047] In some embodiments, Figure 2 As shown, the connecting arm 03 includes a primary arm 31 and a secondary arm 32. One end of the primary arm 31 is rotationally connected to the rotating mechanism 02, and the other end of the primary arm 31 is rotationally connected to the secondary arm 32. One end of the secondary arm 32 is rotationally connected to the primary arm 31, and the other end of the secondary arm 32 is rotationally connected to the manipulator 04.

[0048] By setting the primary arm 31 to be rotationally connected to the rotating mechanism 02 and the secondary arm 32 to be rotationally connected to the primary arm 31, it can rotate within multiple angles, thereby realizing flexible movement of the grasping device within the grasping area.

[0049] In some embodiments, the maximum rotation angle of the manipulator 04 relative to the secondary arm 32 is 360 degrees, the maximum rotation angle of the secondary arm 32 relative to the primary arm 31 is 360 degrees, and the maximum rotation angle of the rotating mechanism 02 relative to the fixed mechanism 01 is 360 degrees.

[0050] By setting the maximum rotation angle of the manipulator 04 relative to the secondary arm 32 to 360 degrees, the maximum rotation angle of the secondary arm 32 relative to the primary arm 31 to 360 degrees, and the maximum rotation angle of the rotating mechanism 02 relative to the fixed mechanism 01 to 360 degrees, the manipulator 04 can be fully rotated and moved, making it easier for the manipulator 04 to grab objects around the fixed mechanism 01.

[0051] In some embodiments, Figure 2 As shown, the connecting arm 03 further includes a hydraulic cylinder 33, and both ends of the hydraulic cylinder 33 are respectively connected to the primary arm 31 and the rotating mechanism 02. The hydraulic cylinder 33, the primary arm 31 and the rotating mechanism 02 form a triangular structure.

[0052] By setting up the hydraulic cylinder 33, the hydraulic cylinder 33, the primary arm 31 and the rotating mechanism 02 form a triangular structure. When the grasping device grasps a heavy object, the heavy object can be lifted by the action of the hydraulic cylinder 33, thereby realizing the grasping and moving of the heavy object by the grasping device.

[0053] In some embodiments, Figure 2As shown, the fixing mechanism 01 also includes a connecting plate 14. The connecting plate is located between the top support portion 11 and the bottom support portion 12. The top support portion 11 is connected to the upper side of the connecting plate. The bottom support portion 12 is connected to the lower side of the connecting plate. There are two top support portions 11, and the two top support portions 11 are respectively located at both ends of the connecting plate. The top rail connecting portion 13 is connected to the upper side of the connecting plate, and the top rail connecting portion 13 is located between the two top support portions 11.

[0054] By arranging the top rail connection portion 13 between the two top support portions 11 , the fixing mechanism 01 can be fixed more firmly and the supporting effects of the two top support portions 11 can be more balanced.

[0055] In some embodiments, Figure 3 As shown, the primary arm 31 includes: a first connection part 311, a second connection part 312 and an arm body 313. The first connection part 311 is rotatably connected to the rotating mechanism 02, the second connection part 312 is rotatably connected to the secondary arm 32, and the arm body 313 is located between the first connection part 311 and the second connection part 312. Figure 4 As shown, the first connecting portion 311 includes a third connecting rod 3111, a fourth connecting rod 3112, a connecting cross bar 3113 and a counterweight portion 3114. The third connecting rod 3111 is connected to one side of the rotating mechanism 02, and the fourth connecting rod 3112 is connected to the other side of the rotating mechanism 02. One end of the third connecting rod 3111 and the fourth connecting rod 3112 are connected by the connecting cross bar 3113, and the other end of the third connecting rod 3111 and the fourth connecting rod 3112 are connected by the counterweight portion 3114. The arm body 313 is connected to the middle part of the connecting cross bar 3113.

[0056] In some embodiments, the arm body 313 may be composed of two parallel connecting rods. In some embodiments, the arm body 313 includes a fifth connecting rod and a sixth connecting rod. The sixth connecting rod is located at the lower side of the fifth connecting rod and is connected to the hydraulic cylinder 33.

[0057] In some embodiments, the first connecting portion 311 also includes a seventh connecting rod and an eighth connecting rod. The third connecting rod 3111 and the fourth connecting rod 3112 are connected to the fifth connecting rod through a connecting crossbar 3113. The seventh connecting rod and the eighth connecting rod are connected to the sixth connecting rod through a connecting crossbar 3113. One end of the seventh connecting rod is connected to the connecting crossbar 3113, and the other end is connected to the rotating mechanism 02. One end of the eighth connecting rod is connected to the connecting crossbar 3113, and the other end is connected to the rotating mechanism 02. In some embodiments, a total of four connecting crossbars 3113 are provided. Two connecting crossbars 3113 connect the third connecting rod 3111 and the fourth connecting rod 3112. Another two connecting crossbars 3113 connect the seventh connecting rod and the eighth connecting rod. So that the connection between the third connecting rod 3111 and the fourth connecting rod 3112 is more stable, and the connection between the seventh connecting rod and the eighth connecting rod is more stable.

[0058] By providing the counterweight part 3114 , when the grasping device grasps an object, the balance of the grasping device can be maintained by changing the counterweight of the counterweight part 3114 .

[0059] In some embodiments, the top support portion 11 and the bottom support portion 12 are hydraulic struts, and the fixing mechanism 01 also includes a self-locking unit, which is located inside the hydraulic strut and is used to lock the hydraulic strut when a set pressure is reached to fix the longitudinal length of the hydraulic strut.

[0060] By setting the top support part 11 and the bottom support part 12 as hydraulic pillars, and setting a self-locking unit in the hydraulic pillars, when the grabbing device is placed in the space, the top support part 11 contacts the top of the space, and the bottom support part 12 contacts the bottom of the space (such as the ground). The pressure of the hydraulic pillar reaches the set pressure, and the self-locking unit in the hydraulic pillar locks the hydraulic pillar to fix the longitudinal length of the hydraulic pillar. The top support part 11 generates a large friction force with the top of the space, and the bottom support part 12 generates a large friction force with the bottom of the space, so that the grabbing device is fixed in the space.

[0061] In some embodiments, Figure 5 As shown, the hydraulic support comprises a first connecting rod 111, a second connecting rod 112 and a support plate 113. The second connecting rod 112 is hollow and sleeved on the first connecting rod 111. One end of the first connecting rod 111 is connected to the second connecting rod 112, and the other end of the first connecting rod 111 is connected to the support plate 113.

[0062] By setting the structure of the hydraulic support to include a first connecting rod 111, a second connecting rod 112 and a support plate 113, the second connecting rod 112 is sleeved on the first connecting rod 111, so that the length of the hydraulic support can be adjusted, one end of the first connecting rod 111 is connected to the second connecting rod 112, and the other end of the first connecting rod 111 is connected to the support plate 113, and the support plate 113 contacts the top of the space and the bottom of the space. Since the area of ​​the support plate 113 is large, the contact area between the top support part 11 and the top of the space can be increased, thereby increasing the friction between the top support part 11 and the top of the space. The contact area between the bottom support part 12 and the bottom of the space can also be increased, thereby increasing the contact area between the bottom support part 12 and the bottom of the space.

[0063] like Figure 6 As shown, in some embodiments of the present application, a method for using a gripping device is also provided, which is applied to the gripping device provided in the present application, and the method includes:

[0064] S100, pull the robot arm 04 so that the robot arm 04 is located above the object.

[0065] When using the grasping device provided in the embodiment of the present application, the staff can hold the hand-held part 42 to drive the manipulator 04 to move. Since the manipulator 04 is connected to the connecting arm 03, the manipulator 04 is rotatably connected relative to the connecting arm 03, the primary arm 31 of the connecting arm 03 is rotatably connected relative to the secondary arm 32, and the primary arm 31 of the connecting arm 03 is rotatably connected to the rotating mechanism. Therefore, the movable area of ​​the manipulator 04 is larger and the mobility is higher.

[0066] S200 , pressing the grab button on the manipulator 04 to control the grabbing clamp 41 of the manipulator 04 to retract, so that the object is fixed on the manipulator 04 .

[0067] A grab button is provided on the hand-held part 42 of the manipulator 04. When the staff presses the grab button, the grabbing clamp 41 of the manipulator 04 can be controlled to retract, thereby fixing the object on the manipulator 04, so that the object can be moved by the manipulator 04.

[0068] S300, pull the robot 04 to move the robot 04 to the area where the items are placed.

[0069] After the object is fixed on the manipulator 04, the staff can hold the handheld portion 42 to drive the manipulator 04 to move, so that the manipulator 04 moves to the area where the object is placed. The area where the object is placed can be a certain area on the ground, or above other objects.

[0070] S400, pressing the grab button on the manipulator 04 to control the grabbing clamp 41 of the manipulator 04 to open, so that the object is separated from the manipulator 04.

[0071] After the manipulator 04 is moved to the area where the object is placed, the grabbing button on the manipulator 04 is pressed to control the grabbing clamp 41 of the manipulator 04 to open, and the object is separated from the manipulator 04 and placed in the area where the object is placed. The grabbing button on the manipulator 04 can be set to two, one for controlling the retraction of the grabbing clamp 41, and the other for controlling the opening of the grabbing clamp 41. In some embodiments, the grabbing button of the manipulator 04 can be set to one, and different controls can be achieved through one grabbing button through different control methods, for example, pressing the grabbing button once controls the retraction of the grabbing clamp 41, and pressing the grabbing button twice controls the opening of the grabbing clamp 41.

[0072] When using the grabbing device, the grabbing device can grab the object by pulling the manipulator 04 so that the manipulator 04 is located above the object, pressing the grabbing button on the manipulator 04 to control the grabbing clamp 41 of the manipulator 04 to retract. The object can be separated from the manipulator 04 by pulling the manipulator 04 to move the manipulator 04 to the area where the object is placed, pressing the grabbing button on the manipulator 04 to control the grabbing clamp 41 of the manipulator 04 to open, and the grabbing device can carry or stack the object.

[0073] In some embodiments, the method for using the grasping device provided in the embodiment of the present application further includes: adjusting the counterweight of the counterweight portion 3114 to maintain the balance of the grasping device.

[0074] By adjusting the counterweight of the counterweight part 3114, the grasping device can be kept balanced when grasping an object, thereby reducing the phenomenon of the grasping device tilting due to the grasping of an overweight object.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

[0076] For the convenience of explanation, the above description has been made in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are to better explain the principles and practical applications, so that those skilled in the art can better use the embodiments and various different variations of the embodiments suitable for specific use considerations.

Claims

1. A gripping device, characterized in that: The grabbing device is connected to the monorail crane, and the grabbing device comprises: The fixing mechanism comprises a top supporting part, a bottom supporting part and a top rail connecting part, wherein the top rail connecting part is connected to the monorail crane, the top supporting part is connected to the top of the space, and the bottom supporting part is connected to the bottom of the space, so that the fixing mechanism is fixed in the space, and the top supporting part and the top rail connecting part are located on the upper side of the bottom supporting part; A rotating mechanism, sleeved on the fixing mechanism, and the rotating mechanism can rotate on the fixing mechanism; A connecting arm connected to the rotating mechanism; A manipulator, connected to the end of the connecting arm, is used for grabbing objects.

2. The gripping device according to claim 1, characterized in that: The manipulator comprises: Grasping forceps; A hand-held part, arranged above the grabbing forceps, and used for moving the position of the grabbing forceps; A grabbing button is arranged on the hand-held part, and the grabbing button is used to control the contraction and opening of the grabbing forceps.

3. The gripping device according to claim 2, characterized in that: The manipulator also includes a transverse connecting rod and a longitudinal connecting rod; There are two grabbing pliers and two hand-held parts; The two grabbing clamps are located at both ends of the transverse connecting rod; One end of the longitudinal link is connected to the center of the transverse link, and the other end of the longitudinal link is rotatably connected to the connecting arm; The two hand-held parts are located between the two grabbing pliers, and the two hand-held parts are connected to two side surfaces of the transverse connecting rod.

4. The gripping device according to claim 1, characterized in that: The connecting arm comprises a primary arm and a secondary arm, one end of the primary arm is rotatably connected to the rotating mechanism, and the other end of the primary arm is rotatably connected to the secondary arm; One end of the secondary arm is rotatably connected to the primary arm, and the other end of the secondary arm is rotatably connected to the manipulator.

5. The gripping device according to claim 4, characterized in that: The primary arm comprises: a first connecting portion, a second connecting portion and an arm body; The first connection part is rotationally connected to the rotating mechanism, the second connection part is rotationally connected to the secondary arm, and the arm body is located between the first connection part and the second connection part; The first connecting part includes a third connecting rod, a fourth connecting rod, a connecting cross rod and a counterweight; The third connecting rod is connected to one side of the rotating mechanism, and the fourth connecting rod is connected to the other side of the rotating mechanism; One end of the third connecting rod and the fourth connecting rod are connected through the connecting cross bar, and the other end of the third connecting rod and the fourth connecting rod are connected through the counterweight part; The arm body is connected to the middle portion of the connecting cross bar.

6. The gripping device according to claim 4, characterized in that: The connecting arm further comprises a hydraulic cylinder, and two ends of the hydraulic cylinder are respectively connected to the primary arm and the rotating mechanism; The hydraulic cylinder, the primary arm and the rotating mechanism form a triangle structure.

7. The gripping device according to claim 1, characterized in that: The top supporting part and the bottom supporting part are hydraulic struts. The fixing mechanism further comprises a self-locking unit. The self-locking unit is located inside the hydraulic strut and is used to lock the hydraulic strut when a set pressure is reached, so that the longitudinal length of the hydraulic strut is fixed.

8. The gripping device according to claim 1, characterized in that: The fixing mechanism also includes a connecting plate; The connecting plate is located between the top supporting portion and the bottom supporting portion; The top support portion is connected to the upper side of the connecting plate; The bottom support portion is connected to the lower side of the connecting plate; There are two top supporting parts, and the two top supporting parts are respectively located at two ends of the connecting plate; The top rail connection portion is connected to the upper side of the connection plate, and the top rail connection portion is located between the two top supporting portions.

9. A method for using a grabbing device, characterized in that: Applied to the gripping device according to any one of claims 1 to 8, the method comprises: Pulling the manipulator so that the manipulator is located above the object; Pressing the grabbing button on the manipulator controls the grabbing clamp of the manipulator to retract so that the object is fixed on the manipulator; Pulling the manipulator to move the manipulator to an area where the object is placed; Pressing the grabbing button on the manipulator controls the grabbing clamp of the manipulator to open so that the object is separated from the manipulator.

10. The method of use according to claim 9, characterized in that: The method further comprises: The counterweight of the counterweight part is adjusted to keep the grasping device balanced.

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