Gripping device

Abstract

The utility model provides a 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. Background Art

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

[0003] Traditional solutions typically use underground monorail cranes to transport equipment and packaged materials. However, once the equipment and materials have been transported to the ground, they must be re-handled and stacked to the sides of the tunnel, preventing rapid stacking. This creates safety hazards, reduces work efficiency, and increases workload. Utility Model Content

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

[0005] In a first aspect, some embodiments of the present application provide a gripping device connected to a monorail crane, the gripping device comprising: a fixing mechanism comprising a top supporting portion, a bottom supporting portion and a top rail connecting portion, the top rail connecting portion being connected to the monorail crane, the top supporting portion being connected to the top of the space, the bottom supporting portion being connected to the bottom of the space, so that the fixing mechanism is fixed in the space, and the top supporting portion and the top rail connecting portion are located on the upper side of the bottom supporting portion; a rotating mechanism being sleeved on the fixing mechanism, and the rotating mechanism being rotatable on the fixing mechanism; a connecting arm being connected to the rotating mechanism; and a manipulator being connected to the end of the connecting arm for gripping objects.

[0006] The grasping device provided in the embodiment of the present application can be fixed in the space by the top support part and the bottom support 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 move flexibly within the grasping area to realize the grasping, transportation and stacking of items. 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 handheld portion, disposed above the grasping forceps and used to move the position of the grasping forceps; a grasping button, disposed on the handheld portion, the grasping button being used to control the contraction and expansion of the grasping forceps.

[0008] By arranging a hand-held portion and a grabbing button on the manipulator, it is convenient for the 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 grabbing clamp through the grabbing 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. 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 setting the primary arm to be rotatably connected to the rotating mechanism and the secondary arm to be rotatably connected to the primary arm, the grabbing device can rotate within multiple angles, thereby achieving 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 portion, the balance of the grasping device can be maintained by changing the counterweight of the counterweight portion when the grasping device grasps an object.

[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, the hydraulic cylinder, the primary arm and the rotating mechanism form a triangular structure. When the grabbing device grabs a heavy object, the heavy object can be lifted by the action of the hydraulic cylinder, thereby realizing the grabbing and moving of the heavy object by the grabbing 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 located inside the hydraulic strut for locking the hydraulic strut when a set pressure is reached, thereby fixing the longitudinal length of the hydraulic strut.

[0020] By configuring the top and bottom support parts as hydraulic struts, and providing self-locking units within the hydraulic struts, when the grabbing device is placed in a space, the top support part contacts the top of the space, and the bottom support part contacts the bottom of the space (e.g., the ground). When the pressure of the hydraulic struts reaches a set pressure, the self-locking units within the hydraulic struts lock the hydraulic struts, fixing their longitudinal lengths. This generates significant friction between the top support part and the top of the space, and between the bottom support part and the bottom of the space, securing the grabbing device within 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 is 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 hydraulic strut structure is configured to include a first connecting rod, a second connecting rod, and a support plate, with the second connecting rod being sleeved onto the first connecting rod. This allows the hydraulic strut length to be adjusted. 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, which contacts both the top and bottom of the space. The larger area of ​​the support plate increases the contact area between the top support portion and the top of the space, thereby increasing the friction between the top support portion and the top of the space. Furthermore, the contact area between the bottom support portion and the bottom of the space can be increased, thereby increasing the contact area between the bottom support portion 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 connecting portion between the two top supporting portions, the fixing mechanism can be more firmly fixed and the supporting effects of the two top supporting portions can be more balanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the implementation methods in the embodiments of the present application or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0026] Figure 1 shows one of the structural schematic diagrams of a gripping device according to some embodiments;

[0027] Figure 2 FIG2 shows a second structural schematic diagram of a gripping device according to some embodiments;

[0028] Figure 3 FIG3 shows a third structural schematic diagram of a gripping device according to some embodiments;

[0029] Figure 4 FIG4 shows a fourth structural schematic diagram of a gripping device according to some embodiments;

[0030] Figure 5 A schematic structural diagram of a hydraulic support according to some embodiments is shown. DETAILED DESCRIPTION

[0031] In order to make the purpose and implementation of this application clearer, the exemplary implementation of this application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only part of the embodiments of this application, not all of the embodiments.

[0032] It should be noted that the brief descriptions of terms in this application are only for the purpose of facilitating the understanding of the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their ordinary and usual meanings.

[0033] In the specification and claims of this application and the accompanying drawings, the terms "first," "second," "third," etc. are used to distinguish similar or similar objects or entities, and are not necessarily intended to limit a particular order or sequence, unless otherwise noted. It should be understood that the terms used in this manner are interchangeable under appropriate circumstances.

[0034] The terms "comprise," "include," and "have," 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.

[0035] 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.

[0036] like Figure 1 As shown, in some embodiments of the present application, a grasping device is provided, which is connected to a monorail crane. 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.

[0037] 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 with the help of 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 within the grasping area to realize the grasping, transportation and stacking of items. The grasping device provided in the embodiment of the present application can effectively reduce manpower and improve the safety factor of the mining area.

[0038] In some embodiments, as Figure 2 As shown, the manipulator 04 includes: a grasping forceps 41. A handheld portion 42, provided above the grasping forceps 41, for moving the grasping forceps 41. A grasping button, provided on the handheld portion 42, for controlling the contraction and expansion of the grasping forceps 41.

[0039] By providing a handheld portion 42 and a grabbing button on the manipulator 04 , the user can conveniently control the manipulator 04 . The user can hold the handheld 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.

[0040] In some embodiments, as Figure 2 As shown, the manipulator 04 also includes a transverse link 43 and a longitudinal link 44. There are two gripping pliers 41 and two hand grips 42. The two gripping pliers 41 are located at either end of the transverse link 43. One end of the longitudinal link 44 is connected to the center of the transverse link 43, while the other end is rotatably connected to the connecting arm 03. The two hand grips 42 are located between the two gripping pliers 41 and connect to the two side faces of the transverse link 43.

[0041] 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.

[0042] In some embodiments, as 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.

[0043] 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.

[0044] 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.

[0045] 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 rotated and moved in all directions, making it easier for the manipulator 04 to grab objects around the fixed mechanism 01.

[0046] In some embodiments, as Figure 2As 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.

[0047] By setting up a 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.

[0048] In some embodiments, as Figure 2 As 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, one at each end of the connecting plate. A top rail connecting portion 13 is connected to the upper side of the connecting plate and is located between the two top support portions 11.

[0049] By arranging the top rail connection portion 13 between the two top support portions 11 , the fixing mechanism 01 can be more firmly fixed and the supporting effects of the two top support portions 11 can be more balanced.

[0050] In some embodiments, as Figure 3 As shown, the primary arm 31 includes: a first connecting portion 311, a second connecting portion 312 and an arm body 313. The first connecting portion 311 is rotatably connected to the rotating mechanism 02, the second connecting portion 312 is rotatably connected to the secondary arm 32, and the arm body 313 is located between the first connecting portion 311 and the second connecting portion 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 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 3114. The arm 313 is connected to the middle portion of the connecting cross bar 3113.

[0051] 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.

[0052] In some embodiments, the first connecting portion 311 further 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 via a connecting crossbar 3113. The seventh and eighth connecting rods are connected to the sixth connecting rod via 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, four connecting crossbars 3113 are provided. Two connecting crossbars 3113 connect the third connecting rod 3111 and the fourth connecting rod 3112. The other two connecting crossbars 3113 connect the seventh connecting rod and the eighth connecting rod. This provides a more stable connection between the third connecting rod 3111 and the fourth connecting rod 3112, and a more stable connection between the seventh connecting rod and the eighth connecting rod.

[0053] By providing the counterweight portion 3114 , the balance of the grasping device can be maintained by changing the counterweight of the counterweight portion 3114 when the grasping device grasps an object.

[0054] In some embodiments, the top support portion 11 and the bottom support portion 12 are hydraulic struts, and the fixing mechanism 01 further includes a self-locking unit located inside the hydraulic strut for locking the hydraulic strut when a set pressure is reached, thereby fixing the longitudinal length of the hydraulic strut.

[0055] By configuring the top support portion 11 and the bottom support portion 12 as hydraulic struts, and providing self-locking units within the hydraulic struts, when the grabbing device is placed in a space, the top support portion 11 contacts the top of the space, and the bottom support portion 12 contacts the bottom of the space (e.g., the ground). When the pressure of the hydraulic struts reaches a set pressure, the self-locking units within the hydraulic struts lock the hydraulic struts, fixing the longitudinal length of the hydraulic struts. This generates a significant frictional force between the top support portion 11 and the top of the space, and a significant frictional force between the bottom support portion 12 and the bottom of the space, thereby securing the grabbing device within the space.

[0056] In some embodiments, as Figure 5 As shown, the hydraulic support includes 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.

[0057] The hydraulic support structure is configured to include a first connecting rod 111, a second connecting rod 112, and a support plate 113, with the second connecting rod 112 sleeved onto the first connecting rod 111. This allows the length of the hydraulic support to 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. The support plate 113 contacts the top and bottom of the space. Due to the large area of ​​the support plate 113, the contact area between the top support portion 11 and the top of the space can be increased, thereby increasing the friction between the top support portion 11 and the top of the space. The contact area between the bottom support portion 12 and the bottom of the space can also be increased, thereby increasing the contact area between the bottom support portion 12 and the bottom of the space.

[0058] In some embodiments of the present application, a method for using a gripping device is further provided, which is applied to the gripping device provided in the present application, and the method includes:

[0059] Pull the robot 04 so that the robot 04 is positioned above the item.

[0060] 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, and the primary arm 31 of the connecting arm 03 is rotatably connected relative to the secondary arm 32. 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 movement flexibility is higher.

[0061] Press 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.

[0062] 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.

[0063] Pull the robot 04 to move it to the area where the item is placed.

[0064] After the item 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 an area where the item is placed. The area where the item is placed can be a certain area on the ground, or above other items.

[0065] Press the grab button on the manipulator 04 to control the grabbing clamp 41 of the manipulator 04 to open, so that the object can be separated from the manipulator 04.

[0066] After the manipulator 04 is moved to the area where the item is placed, the grabbing button on the manipulator 04 is pressed to control the grabbing clamp 41 of the manipulator 04 to open. The item is then separated from the manipulator 04 and placed in the area where the item is placed. The manipulator 04 can have two grabbing buttons, 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 manipulator 04 can have only one grabbing button, and different control methods can be used to achieve different controls through one grabbing button. For example, pressing the grabbing button once controls the retraction of the grabbing clamp 41, while pressing the grabbing button twice controls the opening of the grabbing clamp 41.

[0067] When using the gripping device, the gripping device can grasp the object by pulling the manipulator 04 so that the manipulator 04 is positioned above the object and pressing the gripping button on the manipulator 04 to control the gripping clamp 41 of the manipulator 04 to retract. The object can be separated from the manipulator 04 by pulling the manipulator 04 to move it to the area where the object is placed and pressing the gripping button on the manipulator 04 to control the gripping clamp 41 of the manipulator 04 to open, thereby enabling the gripping device to carry or stack the object.

[0068] 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 portion 3114 to maintain the balance of the gripping device.

[0069] By adjusting the counterweight of the counterweight portion 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.

[0070] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that they may modify the technical solutions described in the aforementioned embodiments or replace some or all of the technical features therein with equivalents. However, such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the various embodiments of this application.

[0071] For ease of explanation, the above description has been made with reference to specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations are possible. The above embodiments are selected and described to better explain the principles and practical applications, so that those skilled in the art can better utilize 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 includes: The fixing mechanism includes a top support portion, a bottom support portion, and a top rail connecting portion, wherein the top rail connecting portion is connected to the monorail crane, the top support portion is connected to the top of the space in which it is located, and the bottom support portion is connected to the bottom of the space in which it is located, so that the fixing mechanism is fixed in the space in which it is located, and the top support portion and the top rail connecting portion are located above the bottom support portion; A rotating mechanism is 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 is connected to the end of the connecting arm and is used for grabbing objects.

2. The gripping device according to claim 1, characterized in that The manipulator comprises: Grasping forceps; A hand-held portion, disposed above the grasping forceps, and used for moving the grasping forceps; A grabbing button is provided on the handheld portion and is used to control the contraction and expansion of the grabbing forceps.

3. The gripping device according to claim 2, characterized in that The manipulator further comprises a transverse connecting rod and a longitudinal connecting rod; There are two grasping 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 includes 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 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.

6. 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 connecting portion is rotatably connected to the rotating mechanism, the second connecting portion is rotatably connected to the secondary arm, and the arm body is located between the first connecting portion and the second connecting portion; The first connecting portion includes a third connecting rod, a fourth connecting rod, a connecting cross bar and a counterweight portion; 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 via the connecting cross bar, and the other end of the third connecting rod and the fourth connecting rod are connected via the counterweight portion; The arm body is connected to the middle portion of the connecting cross bar.

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

8. The gripping device according to claim 1, characterized in that The top support portion and the bottom support portion are hydraulic struts, and the fixing mechanism further includes 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.

9. The gripping device according to claim 8, characterized in that The hydraulic support comprises 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.

10. The gripping device according to claim 1, characterized in that The fixing mechanism further 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 supporting parts, and the two top supporting parts are respectively located at two 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 supporting portions.

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