Precise positioning and grabbing equipment for crane and working method of precise positioning and grabbing equipment
阅读说明：本技术 一种起重机精准定位抓取设备及其工作方法 (Precise positioning and grabbing equipment for crane and working method of precise positioning and grabbing equipment ) 是由 梁大伟 于 2019-10-29 设计创作，主要内容包括：本发明公开了一种起重机精准定位抓取设备,包括安装座和抓取机构,安装座的底面两侧分别设置有长条的固定板,两组的固定板底面的两侧分别设置有抓取机构；安装板设置在固定板的底面上,且安装板顶面远离安装座的一侧上活动设置有第一液压缸,第一液压缸的输出端与连接板活动连接,安装板设置有与连接板相适配的通孔,连接板的中部套设在连接轴上,连接轴的两侧分别通过轴承座设置在安装板的底面上,一组的固定板侧壁的两侧分别设置有壳体,壳体内设置有锁死机构,连接轴的两侧分别套设有摆臂,摆臂的另一端与连接座连接,连接座通过变距机构与抓爪本体连接；本发明具有精准定位进行抓取、且抓取时的安全稳定性能高的优点。(The invention discloses accurate positioning and grabbing equipment for a crane, which comprises an installation seat and grabbing mechanisms, wherein strip-shaped fixed plates are respectively arranged on two sides of the bottom surface of the installation seat, and the grabbing mechanisms are respectively arranged on two sides of the bottom surfaces of two groups of fixed plates; the mounting plate is arranged on the bottom surface of the fixing plate, a first hydraulic cylinder is movably arranged on one side, away from the mounting seat, of the top surface of the mounting plate, the output end of the first hydraulic cylinder is movably connected with the connecting plate, the mounting plate is provided with a through hole matched with the connecting plate, the middle part of the connecting plate is sleeved on the connecting shaft, two sides of the connecting shaft are respectively arranged on the bottom surface of the mounting plate through bearing seats, two sides of the side walls of a group of fixing plates are respectively provided with a shell, a locking mechanism is arranged in each shell, two sides of the connecting shaft are respectively sleeved with a swing arm, the other end of each swing; the invention has the advantages of precise positioning for grabbing and high safety and stability during grabbing.)
1. The precise positioning and grabbing equipment for the crane is characterized by comprising an installation base (1) and grabbing mechanisms, wherein strip-shaped fixing plates (2) are arranged on two sides of the bottom surface of the installation base (1) respectively, and the grabbing mechanisms are arranged on two sides of the bottom surfaces of the two groups of fixing plates (2) respectively;
the grabbing mechanism comprises a mounting plate (3), a first hydraulic cylinder (4), a connecting plate (5), a connecting shaft (6), a swing arm (7), a connecting seat (8) and a grabbing claw body (9), wherein the mounting plate (3) is arranged on the bottom surface of the fixing plate (2), the first hydraulic cylinder (4) is movably arranged on one side, away from the mounting seat (1), of the top surface of the mounting plate (3), the output end of the first hydraulic cylinder (4) is movably connected with the connecting plate (5), the mounting plate (3) is provided with a through hole matched with the connecting plate (5), the middle part of the connecting plate (5) is sleeved on the connecting shaft (6), two sides of the connecting shaft (6) are respectively arranged on the bottom surface of the mounting plate (3) through bearing seats, two sides of the side wall of one group of the fixing plates (2) are respectively provided with a shell (16), a locking mechanism is arranged in the shell (16, the two sides of the connecting shaft (6) are respectively sleeved with a swing arm (7), the other end of the swing arm (7) is connected with a connecting seat (8), and the connecting seat (8) is connected with a gripper body (9) through a variable-pitch mechanism.
2. The crane precise positioning and grabbing device of claim 1, wherein the connecting seat (8) is a hollow structure with an opening on one side, the pitch varying mechanism comprises a second hydraulic cylinder (10), a second hydraulic column (11), sliding shafts (12), sliding seats (13), a folding telescopic rod (14) and a fixed seat (15), two sets of sliding shafts (12) are arranged on the inner wall of the connecting seat (8) in parallel, a plurality of sets of sliding seats (13) are sleeved on the sliding shafts (12) in parallel and are respectively connected with the plurality of sets of sliding seats (13) in a sliding manner, a fixed seat (15) is fixedly sleeved on one end of each sliding shaft (12) far away from the second hydraulic cylinder (10), the fixed seat (15) and the plurality of sets of sliding seats (13) are connected through the folding telescopic rod (14), and the sliding seat (13) near the second hydraulic cylinder (10) is connected with the second hydraulic column (11), the other end of the second hydraulic column (11) penetrates through the side wall of the connecting seat (8) and is connected with the output end of the second hydraulic cylinder (10), and the sliding seat (13) and the fixing seat (15) are respectively provided with a gripper body (9) on the side wall far away from the folding telescopic rod (14).
3. The crane accurate positioning and grabbing device of claim 1, wherein the locking mechanism comprises a housing (16), a sliding block (17), a motor (18), a screw (19), a limiting plate (20) and rollers (21), one end of a connecting shaft (6) extends into the housing (16) and is rotatably connected with the housing (16), the rollers (21) are sleeved on one end of the connecting shaft (6), the motor (18) is installed on the inner wall of the housing (16), the output end of the motor (18) is connected with the screw (19), opposite threads are respectively arranged on two sides of the screw (19), the sliding block (17) is respectively sleeved on two sides of the screw (19), the top of the sliding block (17) is slidably connected with the inner wall of the housing (16), the limiting plate (20) is respectively arranged on two sides of the rollers (21), a limiting groove matched with the rollers (21) is arranged on one side of the limiting plate (20) close to the rollers (21), the upper end and the lower end of the limiting plate (20) are respectively fixedly connected with the sliding block (17) and slidably connected with the inner wall of the shell (16) through connecting rods.
4. The crane precise positioning and grabbing equipment according to claim 1, wherein the grabbing body (9) comprises a spring tongue (22), a grabbing claw (23), a micro-motion sensing switch (24), a micro-motion head (25), a contact block (26) and a spring (27), the inner side wall of the grabbing claw (23) is provided with a sinking groove, the spring tongue (22) is located in the sinking groove in a sliding mode and matched with the sinking groove, the spring tongue (22) is connected with the grabbing claw (23) through the spring (27), the micro-motion sensing switch (24) is arranged in the grabbing claw (23), the micro-motion sensing switch (24) is provided with the micro-motion head (25), the grabbing claw (23) is provided with a through hole, the micro-motion head (25) is located in the through hole, and the inner side wall, close to the grabbing claw (23), of the spring tongue (22) is provided with the contact block (26) matched with the micro-motion head (.
5. The precise positioning and grabbing equipment of the crane according to claim 1, wherein the side of the two sets of mounting plates (3) far away from the first hydraulic cylinder (4) is provided with a third hydraulic cylinder (28), the output end of the third hydraulic cylinder (28) is connected with a pressure plate (29), and the bottom surface of the pressure plate (29) is provided with a pressure sensor.
6. The precise positioning and grabbing equipment of the crane according to claim 1, wherein the bottom surface of the mounting plate (3) is provided with a displacement sensor, the displacement sensor is in communication connection with the second hydraulic cylinder (10) through a PLC (programmable logic controller), the pressure sensor is in communication connection with the third hydraulic cylinder (28) through the PLC, and the micro-motion induction switch (24) is in communication connection with the motor (18) through the PLC.
7. The working method of the precise positioning and grabbing equipment of the crane is characterized by comprising the following steps:
s1, a worker installs the grabbing mechanism on a grabbing arm of the crane through the installation seat (1), and then controls the grabbing mechanism to move above equipment needing grabbing through an operating system of the crane;
s2, the length of equipment needing to be grabbed is sensed by a displacement sensor on the bottom surface of the mounting plate (3), then the signal is transmitted to a PLC controller, the PLC controller controls a second hydraulic cylinder (10) to work, the second hydraulic cylinder (10) drives a sliding seat (13) to move along a sliding shaft (12) through a second hydraulic column (11), the distance between the sliding seat (13) close to the second hydraulic cylinder (10) and a fixed seat (15) is enabled to be matched with the length of the equipment needing to be grabbed, and therefore the grabbing claw bodies (9) are evenly distributed on the outer wall of the equipment needing to be grabbed;
s3, controlling the first hydraulic cylinder (4) to work, driving the connecting shaft (6) to rotate along the bearing seat through the connecting plate (5), enabling the gripper bodies (9) to be close to each other and fold, clamping and gripping the equipment to be gripped, controlling the third hydraulic cylinder (28) to work, driving the pressing plate (29) to compress and limit the equipment to be gripped, and controlling the operating system of the crane to move the gripping mechanism of the object to a specified position and place the gripping mechanism;
s4, when the grabbing mechanism grabs a product again, the elastic tongue (22) in the grabbing claw body (9) is pressed into the sinking groove, so that the contact block (26) of the elastic tongue (22) presses the micro-motion head (25) on the micro-motion induction switch (24), the on-off state of the micro-motion induction switch (24) is changed, and the PLC connected with the micro-motion induction switch (24) can monitor the state change of the micro-motion induction switch (24); when the grabbing claw body (9) is mistakenly grabbed, grabbed insecurely or grabbed and moved in-process looseness, the PLC controller controls the motor (18) to rotate positively according to the state change of the micro-induction switch (24) to drive the screw rod (19) to rotate, so that the two groups of limiting plates (20) are close to each other to move and tighten the roller (21), and the connecting shaft (6) is locked and cannot rotate.
Technical Field
The invention belongs to the technical field of cranes, and relates to grabbing equipment and a working method thereof, in particular to precise positioning grabbing equipment for a crane and a working method thereof.
Background
The grab bucket is a special tool for grabbing dry and scattered goods by a crane.
The reference document CN201720731358.0 discloses a crane grabbing mechanism, which comprises a grabbing mechanism body, wherein the grabbing mechanism body comprises a telescopic arm, a guide hydraulic rod, a fixed plate, a main hydraulic cylinder, a main claw and a fixed shaft, the middle part of the upper end of the fixed plate is connected below the telescopic arm through a hinge structure, the lower end of the telescopic arm is connected to two sides of the upper end of the fixed plate through the guide hydraulic rod, supporting rods penetrate through the upper ends of the main claws arranged on one side, two ends of each supporting rod are fixed through nuts, and the middle part of each buffer claw is sleeved on the fixed shaft;
Disclosure of Invention
The invention aims to solve the problems that in the prior art, when a crane performs grabbing work, an operator continuously adjusts and controls the position of a gripper, so that the gripper can be more convenient and more uniformly distributed on the gripper, equipment and articles of the gripper are firmer and more stable, but when the crane is manually operated, the grabbing work consumes more manpower and material resources, and the equipment to be grabbed cannot be accurately positioned and grabbed; when the grabbing claw can mistakenly grab and grab or grab insecure or grab and move loose in the grabbing and moving process, the potential safety hazard can exist, certain damage can be caused to equipment needing to be grabbed, and the normal use of the equipment needing to be grabbed is influenced, so that the accurate positioning grabbing equipment for the crane and the working method thereof are provided.
The purpose of the invention can be realized by the following technical scheme:
the precise positioning and grabbing equipment for the crane comprises a mounting seat and grabbing mechanisms, wherein strip-shaped fixed plates are arranged on two sides of the bottom surface of the mounting seat respectively, and the grabbing mechanisms are arranged on two sides of the bottom surfaces of two groups of fixed plates respectively;
snatch the mechanism and include the mounting panel, first pneumatic cylinder, the connecting plate, the connecting axle, the swing arm, connecting seat and gripper body, the mounting panel sets up on the bottom surface of fixed plate, and the activity is provided with first pneumatic cylinder on one side that the mounting panel top surface kept away from the mounting panel, the output and the connecting plate swing joint of first pneumatic cylinder, the mounting panel is provided with the through-hole with the looks adaptation of connecting plate, the middle part cover of connecting plate is established on the connecting axle, the both sides of connecting axle set up on the bottom surface of mounting panel through the bearing frame respectively, the both sides of a set of fixed plate lateral wall are provided with the casing respectively, be provided with locking mechanism in the casing, and be connected with the connecting axle through locking mechanism, the both sides of connecting axle are overlapped respectively and.
Preferably, the connecting seat is one side open-ended hollow structure, displacement mechanism includes the second hydraulic cylinder, the second hydraulic column, the sliding shaft, the sliding seat, folding telescopic link and fixing base, be provided with two sets of sliding shafts on the inner wall of connecting seat side by side, the cover is equipped with the multiunit sliding seat on the sliding shaft side by side, and respectively with the sliding seat sliding connection of multiunit, the sliding shaft is kept away from one of second hydraulic cylinder and is served fixed cover and be equipped with the fixing base, connect through folding telescopic link between fixing base and the multiunit sliding seat, be close to the sliding seat and the second hydraulic column connection of second hydraulic cylinder, the other end of second hydraulic column passes the lateral wall of connecting seat, and be connected with the output of second hydraulic cylinder, be provided with the gripper body on the lateral wall that folding telescopic link was kept.
Preferably, locking mechanism includes the casing, the slider, including a motor, an end cap, a controller, and a cover plate, the screw rod, limiting plate and gyro wheel, the one end of connecting axle extends to in the casing, and rotate with the casing and be connected, the cover is equipped with the gyro wheel in one end of connecting axle, install the motor on the inner wall of casing, the output and the screw rod of motor are connected, the both sides of screw rod are provided with opposite screw thread respectively, the both sides of screw rod are threaded sleeve respectively and are equipped with the slider, the top of slider and the inner wall sliding connection of casing, limiting plate is located the both sides of gyro wheel respectively, one side that limiting plate is close to the gyro wheel is provided with the spacing groove with gyro wheel looks adaptation, the.
Preferably, the gripper body includes bullet tongue, gripper, fine motion inductive switch, fine motion head, touch multitouch, spring, the inside wall of gripper be provided with heavy groove, the slip of bullet tongue is located heavy inslot to with heavy groove looks adaptation, through spring coupling between bullet tongue and the gripper, be provided with fine motion inductive switch in the gripper, be provided with the fine motion head on the fine motion inductive switch, be provided with the through-hole on the gripper, the fine motion head is located the through-hole, be provided with on the inside wall that the bullet tongue is close to the gripper with fine motion head complex touch multitouch.
Preferably, one side of the two groups of mounting plates, which is far away from the first hydraulic cylinder, is provided with a third hydraulic cylinder, the output end of the third hydraulic cylinder is connected with the pressing plate, and the bottom surface of the pressing plate is provided with a pressure sensor.
Preferably, the bottom surface of mounting panel is provided with displacement sensor, and displacement sensor passes through PLC controller and second pneumatic cylinder communication connection, and pressure sensor passes through PLC controller and third pneumatic cylinder communication connection, and micro-gap inductive switch passes through PLC controller and motor communication connection.
A working method of crane accurate positioning and grabbing equipment specifically comprises the following steps:
s1, a worker installs the grabbing mechanism on a grabbing arm of the crane through the installation seat, and then controls the grabbing mechanism to move above equipment needing grabbing through an operating system of the crane;
s2, sensing the length of the equipment to be grabbed by a displacement sensor on the bottom surface of the mounting plate, transmitting a signal to a PLC controller, controlling a second hydraulic cylinder to work by the PLC controller, driving a sliding seat to move along a sliding shaft through a second hydraulic cylinder, and enabling the distance between the sliding seat and a fixed seat close to the second hydraulic cylinder to be matched with the length of the equipment to be grabbed, so that the grabbing claw bodies are uniformly distributed on the outer wall of the equipment to be grabbed;
s3, controlling the first hydraulic cylinder to work, driving the connecting shaft to rotate along the bearing seat through the connecting plate, enabling the gripper bodies to be close to each other, clamping and gripping the equipment to be gripped, controlling the third hydraulic cylinder to work, driving the pressing plate to compress and limit the equipment to be gripped, and controlling the operating system of the crane to enable the gripping mechanism for carrying the object to move to a specified position and place the gripping mechanism;
s4, when the grabbing mechanism grabs the product again, the elastic tongue in the grabbing claw body is pressed into the sinking groove, so that the contact block of the elastic tongue presses the micro-gap on the micro-gap induction switch, the on-off state of the micro-gap induction switch is changed, and the PLC connected with the micro-gap induction switch can monitor the state change of the micro-gap induction switch; when the phenomenon that the grabbing claw body is grabbed by mistake, grabbed insecurely or is grabbing the removal in-process not hard up appears, the PLC controller controls the motor corotation according to the state change of micro-motion inductive switch, drives the screw rod and rotates for two sets of limiting plates are close to each other and are removed and step up the gyro wheel, make the connecting axle lock die and can not take place to rotate.
The invention has the beneficial effects that:
a worker installs the grabbing mechanism on a grabbing arm of the crane through the installation seat, and then controls the grabbing mechanism to move above equipment needing grabbing through an operating system of the crane; the displacement sensor on the bottom surface of the mounting plate senses the length of equipment to be grabbed, and then transmits a signal to the PLC controller, the PLC controller controls a second hydraulic cylinder to work, the second hydraulic cylinder drives a sliding seat to move along a sliding shaft through a second hydraulic column, and the distance between the sliding seat and a fixed seat close to the second hydraulic cylinder is matched with the length of the equipment to be grabbed, so that the grabbing claw bodies are uniformly distributed on the outer wall of the equipment to be grabbed, the grabbing position of the grabbing equipment can be accurately positioned, and grabbing force applied by each grabbing claw body is uniformly distributed on the equipment, and further the grabbing mechanism has the advantages of being capable of accurately positioning to grab and being more firm in grabbing;
the first hydraulic cylinder is controlled to work, the connecting shaft is driven to rotate along the bearing seat through the connecting plate, the gripper bodies are close to each other and folded, so that equipment to be grabbed is clamped and grabbed, the third hydraulic cylinder is controlled to work, the pressing plate is driven to compress and limit the equipment to be grabbed, the grabbing mechanism is more stable in the moving process, the phenomenon of deviation cannot be found, the safety of the grabbing mechanism in the grabbing process is improved, the grabbing mechanism carrying objects is moved to a specified position and placed through the control of an operating system of the crane, and grabbing work can be finished;
when the grabbing mechanism grabs a product again, the elastic tongue in the grabbing claw body is pressed into the sinking groove, so that the contact block of the elastic tongue presses the micro-motion head on the micro-motion induction switch, the on-off state of the micro-motion induction switch is changed, and the PLC connected with the micro-motion induction switch can monitor the state change of the micro-motion induction switch; when the grabbing claw body is grabbed by mistake, grab insecure or when grabbing the not hard up phenomenon of removal in-process, the PLC controller controls motor corotation according to the change of state of micro-gap inductive switch, drive the screw rod and rotate, make two sets of limiting plates be close to each other and remove and step up the gyro wheel, make the connecting axle lock die and can not take place to rotate, thereby can not take place the phenomenon of activity to connecting epaxial grabbing claw body yet, thereby make and grab the mechanism and carry out real-time monitoring to the condition of grabbing in the in-process of grabbing the product, and eliminate the mistake of grabbing claw and grab, grab insecure or snatch the not hard up phenomenon of removal in-process, effectively protect the product and improved stability and security performance when snatching greatly.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of the grasping mechanism of the present invention;
FIG. 3 is a side view of the grasping mechanism of the present invention;
FIG. 4 is a schematic view of the pitch mechanism of the present invention;
FIG. 5 is a schematic view of the deadlocking mechanism of the present invention;
FIG. 6 is an overall view of the gripper body according to the present invention;
fig. 7 is a structural view showing a connection relationship of the gripper and the latch according to the present invention.
In the figure: 1. a mounting seat; 2. a fixing plate; 3. mounting a plate; 4. a first hydraulic cylinder; 5. a connecting plate; 6. a connecting shaft; 7. swinging arms; 8. a connecting seat; 9. a gripper body; 10. a second hydraulic cylinder; 11. a second hydraulic column; 12. a sliding shaft; 13. a sliding seat; 14. folding the telescopic rod; 15. a fixed seat; 16. a housing; 17. a slider; 18. a motor; 19. a screw; 20. a limiting plate; 21. a connecting rod; 22. a spring tongue; 23. a gripper; 24. a micro-motion induction switch; 25. a micro-motion head; 26. a contact block; 27. a spring; 28. a third hydraulic cylinder; 29. and (7) pressing a plate.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-7, a precise positioning and grabbing device for a crane comprises an installation base 1 and grabbing mechanisms, wherein two sides of the bottom surface of the installation base 1 are respectively provided with a long fixing plate 2, and two sides of the bottom surfaces of two groups of fixing plates 2 are respectively provided with the grabbing mechanisms;
the grabbing mechanism comprises a mounting plate 3, a first hydraulic cylinder 4, a connecting plate 5, a connecting shaft 6, a swing arm 7, a connecting seat 8 and a grabbing claw body 9, the mounting plate 3 is arranged on the bottom surface of the fixing plate 2, and one side of the top surface of the mounting plate 3, which is far away from the mounting seat 1, is movably provided with a first hydraulic cylinder 4, the output end of the first hydraulic cylinder 4 is movably connected with a connecting plate 5, the mounting plate 3 is provided with a through hole matched with the connecting plate 5, the middle part of the connecting plate 5 is sleeved on a connecting shaft 6, two sides of the connecting shaft 6 are respectively arranged on the bottom surface of the mounting plate 3 through bearing seats, two sides of the side wall of one group of the fixing plates 2 are respectively provided with a shell 16, a locking mechanism is arranged in, and is connected with connecting axle 6 through locking mechanism, and the both sides of connecting axle 6 are overlapped respectively and are equipped with swing arm 7, and the other end and the connecting seat 8 of swing arm 7 are connected, and connecting seat 8 is connected with gripper body 9 through displacement mechanism.
Connecting seat 8 is one side open-ended hollow structure, displacement mechanism includes second
Locking mechanism includes
The gripper body 9 comprises a spring tongue 22, a gripper 23, a micro-motion induction switch 24, a micro-motion head 25, a contact block 26 and a spring 27, the inner side wall of the gripper 23 is provided with a sinking groove, the spring tongue 22 is positioned in the sinking groove in a sliding way, and is matched with the sunk groove, the elastic tongue 22 is connected with the gripper 23 through a spring 27, a micro-motion induction switch 24 is arranged in the gripper 23, a micro-motion head 25 is arranged on the micro-motion induction switch 24, a through hole is arranged on the gripper 23, the micro-motion head 25 is positioned in the through hole, a contact block 26 matched with the micro-motion head 25 is arranged on the inner side wall of the elastic tongue 22 close to the gripper 23, when the grabbing mechanism grabs the product again, the elastic tongue 22 in the grabbing claw body 9 is pressed into the sinking groove, the contact block 26 of the latch 22 is pressed against the micro-motion head 25 of the micro-motion induction switch 24, thereby changing the on-off state of the micro-motion induction switch 24, so that the PLC controller connected with the micro-motion induction switch 24 can monitor the state change of the micro-motion induction switch 24; when the phenomenon that the gripper body 9 is mistakenly gripped, is insecure to be gripped or is loosened in the gripping and moving process, the PLC controller controls the motor 18 to rotate positively according to the state change of the micro-induction switch 24, the screw rod 19 is driven to rotate, the two groups of limiting plates 20 are enabled to move close to each other and tighten the roller 21, the connecting shaft 6 is enabled to be locked and cannot rotate, the phenomenon that the gripper body 9 on the connecting shaft 6 cannot move is avoided, the gripping mechanism can monitor the gripping condition in real time in the product gripping process, the phenomenon that the gripper 23 is mistakenly gripped, is insecure to be gripped or is loosened in the gripping and moving process is eliminated, the product is effectively protected, and the stability and the safety performance in the gripping process are greatly improved.
One side of the two groups of mounting plates 3, which is far away from the first hydraulic cylinder 4, is provided with a third
A displacement sensor is arranged on the bottom surface of the mounting plate 3, the displacement sensor is in communication connection with the second hydraulic cylinder 10 through a PLC (programmable logic controller), the pressure sensor is in communication connection with the third hydraulic cylinder 28 through the PLC, the micro-motion induction switch 24 is in communication connection with the motor 18 through the PLC, and the model of the PLC is FX3U-128 MR; therefore, the length of the equipment to be grabbed is monitored in a sensing mode through the displacement sensor, and the PLC controls the second hydraulic cylinder 10 to work correspondingly, so that the problem that an operator continuously adjusts and controls the position of the grabbing claw when the crane grabs is used for grabbing is solved; the pressure between the pressure plate 29 and the equipment to be grabbed can be monitored through the pressure sensor, when the pressure between the pressure plate 29 and the equipment to be grabbed reaches a preset value, the PLC controls the third hydraulic cylinder 28 to stop working, so that the grabbing mechanism is more stable in the grabbing process, the phenomenon of deviation cannot be found, and the safety of the grabbing mechanism in the grabbing process is improved; the pressure between response grabhook body 9 and the equipment that needs to snatch is monitored to fine motion inductive switch 24, and when the contact block 26 and the fine motion head 25 separation on fine motion inductive switch 24, the PLC controller just can control the work of motor 28 among the locking mechanism for it is fixed to lock to carry out the lock to connecting axle 6, guarantees to snatch the security of mechanism in the snatching process.
A working method of crane accurate positioning and grabbing equipment specifically comprises the following steps:
s1, a worker installs the grabbing mechanism on a grabbing arm of the crane through the installation seat 1, and then controls the grabbing mechanism to move above equipment needing grabbing through an operating system of the crane;
s2, sensing the length of equipment to be grabbed by a displacement sensor on the bottom surface of the mounting plate 3, and transmitting a signal to a PLC (programmable logic controller), wherein the PLC controls a second
s3, controlling the first hydraulic cylinder 4 to work, driving the connecting shaft 6 to rotate along the bearing seat through the connecting
s4, when the grabbing mechanism grabs a product again, the
In the invention, when the crane works, firstly, a worker installs the grabbing mechanism on a grabbing arm of the crane through the installation seat 1, and then controls the grabbing mechanism to move above equipment needing grabbing through an operating system of the crane; the length of equipment to be grabbed is sensed by a displacement sensor on the bottom surface of the mounting plate 3, and then the signal is transmitted to a PLC (programmable logic controller), the PLC controls a second
the first hydraulic cylinder 4 is controlled to work, the connecting shaft 6 is driven to rotate along the bearing seat through the connecting
when the grabbing mechanism grabs a product again, the elastic tongue 22 in the grabbing claw body 9 is pressed into the sinking groove, so that the contact block 26 of the elastic tongue 22 presses the micro-motion head 25 on the micro-motion induction switch 24, the on-off state of the micro-motion induction switch 24 is changed, and the PLC connected with the micro-motion induction switch 24 can monitor the state change of the micro-motion induction switch 24; when the phenomenon that the gripper body 9 is mistakenly gripped, is insecure to be gripped or is loosened in the gripping and moving process, the PLC controller controls the motor 18 to rotate positively according to the state change of the micro-induction switch 24, the screw rod 19 is driven to rotate, the two groups of limiting plates 20 are enabled to move close to each other and tighten the roller 21, the connecting shaft 6 is enabled to be locked and cannot rotate, the phenomenon that the gripper body 9 on the connecting shaft 6 cannot move is avoided, the gripping mechanism can monitor the gripping condition in real time in the product gripping process, the phenomenon that the gripper 23 is mistakenly gripped, is insecure to be gripped or is loosened in the gripping and moving process is eliminated, the product is effectively protected, and the stability and the safety performance in the gripping process are greatly improved.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
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