CN106882717A - A kind of crawl handling apparatus of replaceable handgrip - Google Patents

Abstract

The invention discloses a grasping and lifting device with a replaceable gripper, which includes a gripper, a grabbing rod connected with the gripper, a power device, and a first control mechanism for controlling the up and down movement of the grabbing rod and controlling the left and right movement of the grabbing rod The second control mechanism; also includes a handle storage disk, the handle storage disk is provided with a first through hole for placing the gripper and a second through hole for the gripper to pass through, and the first through hole is at least two and a third control mechanism for controlling the rotation of the handle storage disc. Compared with the prior art, the grasping and lifting device of the present invention has a higher degree of automation, strong applicability, and conforms to actual production conditions. The invention can realize the unmanned operation of multi-standard objects, save manpower, material resources and financial resources costs, and improve the safety and efficiency of the entire handling system.

Description

A grabbing and lifting device with replaceable grippers

technical field

The invention relates to the technical field of grabs, in particular to a grabbing and lifting device with replaceable grips.

Background technique

At present, the gripper replacement process for object transfer mainly relies on manual assistance. The efficiency of the whole process is low, and the transfer of objects of different specifications is more complicated. The whole process consumes a lot of manpower, material and financial resources, and is relatively safe. Low, low degree of automation.

Contents of the invention

Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an automatic grasping and transporting device with a simple structure and replaceable grippers, so as to solve the problems of low efficiency and safety in the gripper replacement process in the prior art. Poor performance and low degree of automation.

The technical solution adopted by the present invention to solve the above technical problems is a grasping and lifting device with a replaceable gripper, which includes a gripper, a grabbing rod connected with the gripper, a power device, and a first device for controlling the up and down movement of the grabbing rod. A control mechanism and a second control mechanism that controls the left and right movement of the grab bar; it also includes a gripper storage disk, and the gripper storage disk is provided with a first through hole for placing the gripper and a second through hole for the gripper to pass through, There are at least two first through holes; and a third control mechanism for controlling the rotation of the handle storage disc is also included.

As a further improvement of the grabbing and lifting device with a replaceable grip above, the first control mechanism includes a cable, one end of the cable is connected to the power device, and the other end is connected to the grab bar; The second control mechanism includes two vertical slide bars, a guide bar that is located between the two vertical slide bars and can slide along the axial direction of the two vertical slide bars. A sliding mechanism for rods to move axially along the guide rod; the third control mechanism includes two gears that rotate with the corresponding vertical slide rods, and the handle storage disc is located between the two gears and mesh with the gear.

As a further improvement of the grabbing and lifting device with a replaceable grip above, the sliding mechanism is an axial through hole passing through the guide rod, and the cable passes through the axial through hole and connects with the gripper Rod connection; or the sliding mechanism includes a slider, the mating surface of the slider and the guide rod is provided with protrusions and grooves that cooperate with each other, and the slider is provided with a first positioning that runs through the slider hole, and the cable is connected to the grab bar after passing through the first positioning hole.

As a further improvement of the above grabbing and lifting device with replaceable grippers, the guide rod includes a first support rod and a second support rod arranged opposite to each other, and the slider is located between the first support rod and the second support rod. Between, the mating surface of the slider and the first pole is provided with the first protrusion and the first groove that cooperate with each other, and the mating surface of the slider and the second pole is provided with the first protrusion and the first groove that cooperate with each other. Two protrusions and a second groove.

As a further improvement of the above-mentioned grasping and lifting device with replaceable grippers, a sleeve is provided at both ends of the guide rod, and the sleeve has a second positioning hole matched with the corresponding vertical slide bar; or The mating surfaces of both ends of the guide rod and the corresponding vertical slide rods are provided with third protrusions and third grooves that match each other.

As a further improvement of the above grabbing and lifting device with replaceable grippers, the first through holes are evenly distributed and symmetrical along the center of the gripper storage tray.

As a further improvement of the above grabbing and lifting device with replaceable grippers, the third control mechanism also includes two positioning shells respectively connected to the corresponding vertical slide bars, and the positioning shells include an upper baffle plate, The lower baffle and the third positioning hole that passes through the upper baffle and the lower baffle and matches with the corresponding vertical slide bar, the gear and the handle storage disc are located between the upper baffle and the lower baffle.

As a further improvement of the grabbing and lifting device with replaceable grips above, the mating surface of the upper baffle and the gripper storage disk and/or the mating surface of the lower baffle and the gripper storage disk are provided with lubricating medium.

As a further improvement of the above-mentioned gripping and lifting device with replaceable grippers, the connection between the grabbing rod and the gripper is provided with a steel ball tension mechanism that can be folded and unfolded to realize the gripping and releasing of the gripper .

As a further improvement of the grabbing and lifting device with a replaceable grip above, the steel ball tension mechanism includes a conical connecting rod arranged on the top of the grip and connected in sequence, a first limit rod and a first limit The bead also includes a second limiting rod and a second limiting bead which are sequentially connected in the grab bar, and the second limiting bar can be folded and unfolded in the space formed by the inner wall of the grab bar. A limiting bead can move along the outer wall of the first limiting bead when the second limiting rod is folded and unfolded.

Compared with the prior art, the grasping and lifting device of the present invention has a higher degree of automation, strong applicability, and conforms to actual production conditions. The invention can realize the unmanned operation of multi-standard objects, save manpower, material resources and financial resources costs, and improve the safety and efficiency of the entire handling system.

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide a further understanding of the present invention, and the specific implementation modes, schematic embodiments and descriptions thereof of the present invention are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

FIG. 1 is a schematic structural view of the grasping and lifting device with replaceable grippers in Embodiment 1. FIG.

Fig. 2 is a top view of the structure of the handle storage disc.

Fig. 3 is a structural schematic diagram of the positioning shell.

Fig. 4 is a structural schematic diagram of a steel ball tensioning mechanism.

FIG. 5 is a schematic structural diagram of the second control mechanism in Embodiment 1. FIG.

FIG. 6 is a schematic structural view of the guide rod in Embodiment 2. FIG.

FIG. 7 is a schematic structural view of the guide rod of the third embodiment.

FIG. 8 is a schematic structural view of the guide rod in Embodiment 4. FIG.

FIG. 9 is a schematic structural view of the grasping and lifting device with replaceable grippers in Embodiment 4. FIG.

Fig. 10 is a cross-sectional view of the guide rod of the fourth embodiment.

detailed description

It should be noted that, in the case of no conflict, the specific implementation methods, examples and features in the present application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and in conjunction with the following contents.

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the specific embodiments of the present invention and the examples will be clearly and completely described below in conjunction with the accompanying drawings in the specific embodiments of the present invention and the examples. , the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the specific implementation modes and examples in the present invention, all other implementation modes and examples obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the grab rod 2 controls the retraction and deployment of the gripper 1, adopting the structure of the rod body controlling the deployment and retraction of the gripper in the Chinese utility model patent with application number 201720001853.6, so as to realize fast grabbing and smooth lifting.

As a typical implementation of the grasping and lifting device that can replace the gripper 1 of the present invention, it includes a gripper 1, a grabbing rod 2 connected to the gripper 1, a power unit 3, and a control grabbing rod 2. The first control mechanism that moves up and down and the second control mechanism that controls the left and right movement of the grab bar 2; it also includes a gripper storage disk 4, and the gripper storage disk 4 is provided with a first through hole 41 for placing the gripper 1 and There are at least two second through holes 42 for the handle 1 to pass through, and there are at least two first through holes 41 ; a third control mechanism for controlling the rotation of the handle storage disc 4 is also included.

First of all, the first control mechanism controls the up and down movement of the grab bar 2, which not only ensures the lifting of the goods, but also enables the grab bar 2 to accurately move to the gripper 1 replacement area above the gripper storage tray 4, and can be placed on the gripper. 1. When replacing, make the grab bar 2 move up and down in a small range so as to facilitate the replacement of the gripper 1. Secondly, the second control mechanism controls the left and right movement of the grab bar 2, which can ensure that the grab bar 2 can be accurately moved to the top of the first through hole 41 and the second through hole 42, so as to realize rapid replacement of the grab handle 1 and avoid lifting When the goods collide with the second through hole 42 of the handle storage tray 4, the safety is further improved. Furthermore, at least two first through holes 41 are provided on the handle storage disc 4, namely, to keep at least one idle first through hole 41 and at least one handle 1 to be replaced. When the grab bar 2 moves left and right and moves up and down To the top of the idle first through hole 41 and when the gripper 1 in use is matched with the first through hole 41, the gripper 1 in use can be separated from the grab bar 2, and then the gripper storage disk 4 rotates to make The grab handle 1 to be replaced moves to the bottom of the grab bar 2 and cooperates with the grab bar 2 , and then the grab bar 2 is connected to the grab handle 1 to be replaced to realize quick replacement of the grab handle 1 . The entire gripper 1 replacement process can be automatically controlled only by the power device 3, and the first control mechanism, the second control mechanism, and the third control mechanism cooperate with each other to realize fast and safe replacement.

Preferably, the first control mechanism includes a cable 5, one end of the cable 5 is connected to the power device 3, and the other end is connected to the grab bar 2, that is, the power device 3 controls the winding and unwinding of the cable 5 to make the grab The rod 2 moves up and down; preferably, the second control mechanism includes two vertical slide bars 61, and is located between the two vertical slide bars 61 and can slide along the axial direction of the two vertical slide bars 61. Guide rod 62, described guide rod 62 is provided with the slide mechanism that makes described grab bar 2 move along the axial direction of described guide rod 62, two vertical slide rods 61 can not only adjust the height of guide rod 62, and can The guide rod 62 plays a role in preventing the grab bar 2 from swaying greatly; preferably, the third control mechanism includes two gears 10 that rotate with the corresponding vertical slide bar 61 respectively, and the grip storage disc 4 It is located between the two gears 10 and meshes with the gears 10 , that is, the vertical slide bar 61 rotates by driving the gears 10 so as to make the handle storage disc 4 rotate.

Preferably, the first through holes 41 are evenly distributed and symmetrical along the center of the handle storage tray 4 , so as to control the rotation angle of the handle storage tray 4 precisely and regularly.

In order to realize the above technical solution, the sliding mechanism is an axial through hole 620 passing through the guide rod 62 , and the cable 5 is connected to the grab bar 2 after passing through the axial through hole 620 . The sliding structure of the slider 621 through the protrusion 71 and the groove 72 is simple and easy to realize. Due to the mutual restriction between the slider 621 and the cable 5, the left and right movement of the slider 621 can drive the grab bar 2 to move left and right.

In order to realize the above-mentioned technical solution, a third projection 713 and a third groove 723 that match each other are provided on the mating surface between the two ends of the guide rod 62 and the corresponding vertical slide rod 61, so as to realize the up and down movement of the guide rod 62 sports.

In order to realize the above-mentioned technical solution, the connection between the grab bar 2 and the grip 1 is provided with a steel ball tension mechanism that can be folded and unfolded so as to grasp and release the grip 1 . The steel ball tensioning mechanism includes a conical connecting rod 11, a first stop rod 12 and a first stop bead 13 which are arranged on the top of the gripper 1 and connected sequentially, and also include sequentially connected The second limiting rod 21 and the second limiting bead 22, the second limiting rod 21 can be folded and unfolded in the space formed by the inner wall of the grab bar 2, and the first limiting bead 13 can be placed in the second space. The limiting rod 21 moves along the outer wall of the first limiting bead 13 during the process of retracting and expanding. Since the first limiting bead 13 has an arc-shaped surface, the resistance to grabbing and releasing the handle 1 is small.

As a preferred embodiment of the present invention, the sliding mechanism includes a slider 621, and the mating surface of the slider 621 and the guide rod 62 is provided with a protrusion 71 and a groove 72 that cooperate with each other. 621 is provided with a first positioning hole 622 passing through the slider 621 , and the cable 5 is connected to the grab bar 2 after passing through the first positioning hole 622 . Using the slider 621 to drive the cable 5 to move can reduce the shaking range of the cable 5 and improve the safety of lifting.

As a preferred embodiment of the present invention, the guide rod 62 includes a first strut 623 and a second strut 624 facing each other, and the slider 621 is located between the first strut 623 and the second strut 624 Between, the mating surface of the slider 621 and the first pole 623 is provided with the first protrusion 711 and the first groove which cooperate with each other, and the mating surface of the slider 621 and the second pole 624 is provided with The second protrusion 712 and the second groove cooperate with each other. The sliding mechanism provided in this way can save material on the one hand, and is convenient to processing and forming on the other hand.

As a preferred embodiment of the present invention, a sleeve 8 is provided at both ends of the guide rod 62, and the sleeve 8 has a second positioning hole 81 matched with the corresponding vertical slide rod 61 to enhance the guide The stability of the up and down movement of the bar 62 and the anti-shake effect of the vertical slide bar 61.

As a preferred embodiment of the present invention, the third control mechanism also includes two positioning shells 9 respectively connected to the corresponding vertical slide bars 61, and the positioning shells 9 include an upper baffle plate 91, a lower baffle plate 92 and the third positioning hole 93 that matches the corresponding vertical slide bar 61 through the upper baffle 91 and the lower baffle 92, the gear 10 and the handle storage disc 4 are located on the upper baffle 91 and the lower baffle between plates 92. By setting the positioning shell 9, it is possible to prevent the gripper storage disk 4 from falling and improve safety.

The beneficial effects of the present invention are illustrated below through specific examples.

Example 1

As shown in Figure 1-5, a grasping and lifting device that can replace the gripper includes a gripper 1, a grabbing rod 2 connected to the gripper 1, a power unit 3, and a third device that controls the up and down movement of the grabbing rod 2. A control mechanism; the first control mechanism includes a cable 5 , one end of the cable 5 is connected to the power device 3 , and the other end is connected to the grab bar 2 .

It also includes a second control mechanism that controls the left and right movement of the grab bar 2; the second control mechanism includes two vertical slide bars 61, is located between the two vertical slide bars 61 and can move along the two vertical slide bars The guide bar 62 of axial sliding of 61, described guide bar 62 is provided with the sliding mechanism that makes described grasping bar 2 move along the axial direction of described guide bar 62; Axial through hole 620, the cable 5 passes through the axial through hole 620 and is connected with the grab bar 2; Matching third protrusion 713 and third groove 723 .

It also includes a gripper storage disc 4, which is provided with a first through hole 41 for placing the gripper 1 and a second through hole 42 for the gripper 1 to pass through. The first through hole 41 is four The four first through holes 41 are evenly distributed and symmetrical along the center of the handle storage tray 4 . It also includes a third control mechanism that controls the rotation of the handle storage disc 4; the third control mechanism includes two positioning shells 9 that are respectively connected to the corresponding vertical slide bars 61 and two positioning shells that are respectively connected with the corresponding vertical slide bars 61. The gear 10 rotated by the rotation of the rod 61, the positioning housing 9 includes an upper baffle 91, a lower baffle 92 and a third positioning part that matches the corresponding vertical slide bar 61 and passes through the upper baffle 91 and the lower baffle 92. The hole 93 , the gear 10 and the handle storage disc 4 are located between the upper baffle plate 91 and the lower baffle plate 92 , and the handle storage disc 4 is located between the two gears 10 and meshes with the gear 10 . A lubricating medium is provided on the mating surface of the upper baffle plate 91 and the handle storage disk 4 and the mating surface of the lower baffle plate 92 and the grip storage disk 4 .

The connection between the grab bar 2 and the grip 1 is provided with a steel ball tension mechanism that can be folded and unfolded so as to grasp and release the grip 1 . The steel ball tensioning mechanism includes a conical connecting rod 11, a first stop rod 12 and a first stop bead 13 which are arranged on the top of the gripper 1 and connected sequentially, and also include sequentially connected The second limiting rod 21 and the second limiting bead 22, the second limiting rod 21 can be folded and unfolded in the space formed by the inner wall of the grab bar 2, and the first limiting bead 13 can be placed in the second space. The limiting rod 21 moves along the outer wall of the first limiting bead 13 during the process of retracting and expanding.

Example 2

As shown in Figures 1-4 and 6, a grasping and lifting device that can replace the gripper includes a gripper 1, a gripper 2 connected to the gripper 1, a power unit 3, and also includes a gripper that controls the movement of the gripper 2 up and down. The first control mechanism; the first control mechanism includes a cable 5, one end of the cable 5 is connected to the power device 3, and the other end is connected to the grab bar 2.

It also includes a second control mechanism that controls the left and right movement of the grab bar 2; the second control mechanism includes two vertical slide bars 61, is located between the two vertical slide bars 61 and can move along the two vertical slide bars The guide bar 62 of axial sliding of 61, described guide bar 62 is provided with the sliding mechanism that makes described grasping bar 2 move along the axial direction of described guide bar 62; Described sliding mechanism comprises slide block 621, and described slide The mating surface of the block 621 and the guide rod 62 is provided with a protrusion 71 and a groove 72 that cooperate with each other, and the first positioning hole 622 passing through the slider 621 is provided on the slider 621, and the cable 5 passes through it. The first positioning hole 622 is then connected with the grab bar 2 . There are third protrusions 713 and third grooves 723 that match each other on the mating surfaces of the two ends of the guide rod 62 and the corresponding vertical slide rods 61 .

It also includes a gripper storage disc 4, which is provided with a first through hole 41 for placing the gripper 1 and a second through hole 42 for the gripper 1 to pass through. The first through hole 41 is four The four first through holes 41 are evenly distributed and symmetrical along the center of the handle storage tray 4 . It also includes a third control mechanism that controls the rotation of the handle storage disc 4; the third control mechanism includes two positioning shells 9 that are respectively connected to the corresponding vertical slide bars 61 and two positioning shells that are respectively connected with the corresponding vertical slide bars 61. The gear 10 rotated by the rotation of the rod 61, the positioning housing 9 includes an upper baffle 91, a lower baffle 92 and a third positioning part that matches the corresponding vertical slide bar 61 and passes through the upper baffle 91 and the lower baffle 92. The hole 93 , the gear 10 and the handle storage disc 4 are located between the upper baffle plate 91 and the lower baffle plate 92 , and the handle storage disc 4 is located between the two gears 10 and meshes with the gear 10 . A lubricating medium is provided on the mating surface of the upper baffle plate 91 and the handle storage disk 4 and the mating surface of the lower baffle plate 92 and the grip storage disk 4 .

The connection between the grab bar 2 and the grip 1 is provided with a steel ball tension mechanism that can be folded and unfolded so as to grasp and release the grip 1 . The steel ball tensioning mechanism includes a conical connecting rod 11, a first stop rod 12 and a first stop bead 13 which are arranged on the top of the gripper 1 and connected sequentially, and also include sequentially connected The second limiting rod 21 and the second limiting bead 22, the second limiting rod 21 can be folded and unfolded in the space formed by the inner wall of the grab bar 2, and the first limiting bead 13 can be placed in the second space. The limiting rod 21 moves along the outer wall of the first limiting bead 13 during the process of retracting and expanding.

Example 3

As shown in Figures 1-4 and 7, a grasping and lifting device that can replace the gripper includes a gripper 1, a gripper 2 connected to the gripper 1, a power unit 3, and also includes a gripper that controls the movement of the gripper 2 up and down. The first control mechanism; the first control mechanism includes a cable 5, one end of the cable 5 is connected to the power device 3, and the other end is connected to the grab bar 2.

It also includes a second control mechanism that controls the left and right movement of the grab bar 2; the second control mechanism includes two vertical slide bars 61, is located between the two vertical slide bars 61 and can move along the two vertical slide bars The guide bar 62 of axial sliding of 61, described guide bar 62 is provided with the sliding mechanism that makes described grasping bar 2 move along the axial direction of described guide bar 62; Described sliding mechanism comprises slide block 621, and described slide The mating surface of the block 621 and the guide rod 62 is provided with a protrusion 71 and a groove 72 that cooperate with each other, and the first positioning hole 622 passing through the slider 621 is provided on the slider 621, and the cable 5 passes through it. The first positioning hole 622 is then connected with the grab bar 2 . Both ends of the guide rod 62 are provided with a sleeve 8, and the sleeve 8 has a second positioning hole 81 matched with the corresponding vertical slide bar 61, and the vertical slide bar 61 passes through the second positioning hole 81. The hole 81 is thus connected with the sleeve 8 .

It also includes a gripper storage disc 4, which is provided with a first through hole 41 for placing the gripper 1 and a second through hole 42 for the gripper 1 to pass through. The first through hole 41 is four The four first through holes 41 are evenly distributed and symmetrical along the center of the handle storage tray 4 . It also includes a third control mechanism that controls the rotation of the handle storage disc 4; the third control mechanism includes two positioning shells 9 that are respectively connected to the corresponding vertical slide bars 61 and two positioning shells that are respectively connected with the corresponding vertical slide bars 61. The gear 10 rotated by the rotation of the rod 61, the positioning housing 9 includes an upper baffle 91, a lower baffle 92 and a third positioning part that matches the corresponding vertical slide bar 61 and passes through the upper baffle 91 and the lower baffle 92. The hole 93 , the gear 10 and the handle storage disc 4 are located between the upper baffle plate 91 and the lower baffle plate 92 , and the handle storage disc 4 is located between the two gears 10 and meshes with the gear 10 . A lubricating medium is provided on the mating surface of the upper baffle plate 91 and the handle storage disk 4 and the mating surface of the lower baffle plate 92 and the grip storage disk 4 .

The connection between the grab bar 2 and the grip 1 is provided with a steel ball tension mechanism that can be folded and unfolded so as to grasp and release the grip 1 . The steel ball tensioning mechanism includes a conical connecting rod 11, a first stop rod 12 and a first stop bead 13 which are arranged on the top of the gripper 1 and connected sequentially, and also include sequentially connected The second limiting rod 21 and the second limiting bead 22, the second limiting rod 21 can be folded and unfolded in the space formed by the inner wall of the grab bar 2, and the first limiting bead 13 can be placed in the second space. The limiting rod 21 moves along the outer wall of the first limiting bead 13 during the process of retracting and expanding.

Example 4

As shown in Figures 2-4 and 8-10, a grasping and lifting device that can replace the gripper includes a gripper 1, a gripper 2 connected to the gripper 1, a power unit 3, and a control gripper 2 A first control mechanism for up and down movement; the first control mechanism includes a cable 5 , one end of the cable 5 is connected to the power device 3 , and the other end is connected to the grab bar 2 .

It also includes a second control mechanism that controls the left and right movement of the grab bar 2; the second control mechanism includes two vertical slide bars 61, is located between the two vertical slide bars 61 and can move along the two vertical slide bars The guide bar 62 of axial sliding of 61, described guide bar 62 is provided with the sliding mechanism that makes described grasping bar 2 move along the axial direction of described guide bar 62; Described sliding mechanism comprises slide block 621, and described slide The mating surface of the block 621 and the guide rod 62 is provided with a protrusion 71 and a groove 72 that cooperate with each other, and the first positioning hole 622 passing through the slider 621 is provided on the slider 621, and the cable 5 passes through it. The first positioning hole 622 is then connected with the grab bar 2 . The guide rod 62 includes a sleeve 8 and a first support rod 623 and a second support rod 624 arranged opposite to each other. The sleeve 8 has a second positioning hole 81 matched with the corresponding vertical slide rod 61 . The vertical slide bar 61 passes through the second positioning hole 81 so as to be connected with the sleeve 8, the slide block 621 is located between the first support bar 623 and the second support bar 624, and the slide block 621 is connected to the first support bar 624. The mating surface of the rod 623 is provided with a first protrusion 711 and a first groove which cooperate with each other, and the mating surface of the slider 621 and the second pole 624 is provided with a second protrusion 712 and a second protrusion which cooperate with each other. groove.

It also includes a gripper storage disc 4, which is provided with a first through hole 41 for placing the gripper 1 and a second through hole 42 for the gripper 1 to pass through. The first through hole 41 is four The four first through holes 41 are evenly distributed and symmetrical along the center of the handle storage tray 4 . It also includes a third control mechanism that controls the rotation of the handle storage disc 4; the third control mechanism includes two positioning shells 9 that are respectively connected to the corresponding vertical slide bars 61 and two positioning shells that are respectively connected with the corresponding vertical slide bars 61. The gear 10 rotated by the rotation of the rod 61, the positioning housing 9 includes an upper baffle 91, a lower baffle 92 and a third positioning part that matches the corresponding vertical slide bar 61 and passes through the upper baffle 91 and the lower baffle 92. The hole 93 , the gear 10 and the handle storage disc 4 are located between the upper baffle plate 91 and the lower baffle plate 92 , and the handle storage disc 4 is located between the two gears 10 and meshes with the gear 10 . A lubricating medium is provided on the mating surface of the upper baffle plate 91 and the handle storage disk 4 and the mating surface of the lower baffle plate 92 and the grip storage disk 4 .

The connection between the grab bar 2 and the grip 1 is provided with a steel ball tension mechanism that can be folded and unfolded so as to grasp and release the grip 1 . The steel ball tensioning mechanism includes a conical connecting rod 11, a first stop rod 12 and a first stop bead 13 which are arranged on the top of the gripper 1 and connected sequentially, and also include sequentially connected The second limiting rod 21 and the second limiting bead 22, the second limiting rod 21 can be folded and unfolded in the space formed by the inner wall of the grab bar 2, and the first limiting bead 13 can be placed in the second space. The limiting rod 21 moves along the outer wall of the first limiting bead 13 during the process of retracting and expanding.

The process of replacing the gripper 1 of the above-mentioned embodiments 1-4 comprises the following steps:

1) When the grab handle 1 needs to be replaced, the power unit 3 controls the winding of the cable 5 so that the grab bar 2 moves upward, and stops moving upward when the grab bar 2 moves to the guide rod 62;

2) The power unit 3 controls the movement of the cable 5 to the left or right until it moves to make the grab bar 2 directly above the first through hole 41 on the grip storage disk 4; or the vertical slide bar 61 and the guide bar 62 are aligned Move to the left or right until the grab bar 2 is located directly above the first through hole 41 on the gripper storage disc 4;

3) The power unit 3 controls the unwinding of the cable 5 so that the grab bar 2 moves downward until it moves to the point where the gripper 1 connected to the grab bar 2 moves to connect with the first through hole 41;

4) The second limiting rod 21 and the second limiting bead 22 in the steel ball tension mechanism in the grab bar 2 move upwards to separate from the first limiting bead 13, and then the grab bar 2 moves upwards to realize alignment. Complete release of gripper 1;

5) The rotation of the vertical slide bar 61 drives the gear 10 to rotate, so that the handle storage disk 4 rotates until it rotates to the position directly below the grab bar 2 where the gripper 1 to be replaced moves, and then the grab bar 2 moves downward, Until the second limiting rod 21 and the second limiting bead 22 are moved downward to connect with the first limiting bead 13, the replacement of the gripper 1 is realized;

6) After the gripper 1 is replaced, the power unit 3 controls the winding of the cable 5 so that the gripping rod 2 moves upward, and stops moving upward when the gripping rod 2 moves to the guide rod 62;

7) The power unit 3 controls the movement of the cable 5 to the left or right until it moves to make the grab bar 2 directly above the second through hole 42 on the gripper storage disk 4; Move left or right, and move to make the grab bar 2 just above the second through hole 42 on the grip storage disc 4;

8) Then the power unit 3 controls the unwinding of the cable 5 so that the grab bar 2 moves upwards to pass through the cargo grabbing area below the second through hole 42 , so that the cargo can be grabbed.

Claims (10)

1. a kind of crawl handling apparatus of replaceable handgrip, including handgrip (1) and grab bar (2), the power of handgrip (1) connection are filled Put (3), it is characterised in that：

Also the first controlling organization of bar (2) up and down motion is grabbed including control and the second control machine that bar (2) is moved left and right is grabbed in control Structure；

Also include handgrip storage dish (4), the handgrip storage dish (4) is provided with the first through hole (41) and confession for placing handgrip (1) The second through hole (42) that handgrip passes through, the first through hole (41) is at least two；

Also include the 3rd controlling organization that the control handgrip storage dish (4) rotates.

2. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 1, it is characterised in that：First control machine Structure includes hawser (5), and described hawser (5) one end is connected with the power set (3), and the other end is connected with the bar (2) of grabbing；Institute The second controlling organization is stated including two vertical slide bars (61), between two vertical slide bars (61) and can be along described two vertical The guide post in axial sliding (62) of slide bar (61), the guide post (62) is provided with to be made described to grab bar (2) along the guide post (62) slide mechanism of axial movement；3rd controlling organization includes that two rotate with corresponding vertical slide bar (61) respectively And the gear (10) for rotating, the handgrip storage dish (4) engages between two gears (10) and with the gear (10).

3. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 2, it is characterised in that：The slide mechanism is Through the axially extending bore (620) of the guide post (62), the hawser (5) with described through grabbing after the axially extending bore (620) Bar (2) is connected；Or the slide mechanism includes sliding block (621), the sliding block (621) is provided with the mating surface of guide post (62) The projection (71) and groove (72) of mutual cooperation, the sliding block (621) are provided with the first location hole through the sliding block (621) (622), the hawser (5) with the bar (2) of grabbing through being connected after first location hole (622).

4. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 3, it is characterised in that：The guide post (62) Including the first pole (623) and the second pole (624) that are oppositely arranged, the sliding block (621) is positioned at the first pole (623) and the Between two poles (624), the sliding block (621) is provided with the first projection of mutual cooperation with the mating surface of the first pole (623) (711) what and the first groove, the sliding block (621) and the mating surface of the second pole (624) were provided with mutual cooperation is second raised And the second groove (712).

5. crawl handling apparatus of a kind of replaceable handgrip as described in one of claim 2-4, it is characterised in that：The guiding Bar (62) two ends are provided with sleeve (8), and the sleeve (8) is with the second location hole matched with corresponding vertical slide bar (61) (81)；Or guide post (62) two ends are provided with the 3rd projection being mutually matched with the mating surface of corresponding vertical slide bar (61) And the 3rd groove (723) (713).

6. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 1, it is characterised in that：The first through hole (41) it is evenly distributed and along the Central Symmetry of the handgrip storage dish (4).

7. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 2, it is characterised in that：3rd control machine Structure also includes two positioning shells (9) for being connected with corresponding vertical slide bar (61) respectively, and positioning shell (9) is including overhead gage (91), lower baffle plate (92) and the through overhead gage (91) and lower baffle plate (92) the match with corresponding vertical slide bar (61) the 3rd Location hole (93), the gear (10) and handgrip storage dish (4) are between the overhead gage (91) and lower baffle plate (92).

8. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 7, it is characterised in that：The overhead gage (91) Lubrication is provided with the mating surface of baffle plate (92) above and/or under the mating surface of handgrip storage dish (4) and handgrip storage dish (4) to be situated between Matter.

9. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 1, it is characterised in that：It is described grab bar (2) with The junction of handgrip (1) is provided with can draw in and launch so as to realize the steel ball La Jing mechanisms for being captured to handgrip and being discharged.

10. a kind of crawl handling apparatus of replaceable handgrip as claimed in claim 9, it is characterised in that：The steel ball draws strength Mechanism is included located at handgrip (1) top and the taper connecting rod (11), the first gag lever post (12) and the first positive stop bead that are sequentially connected (13), also including located at the second gag lever post (21) being sequentially connected and the second positive stop bead (22) grabbed in bar (2), second limit Position bar (21) can draw in and launch in the space that the inwall for grabbing bar (2) is formed, and first positive stop bead (13) can be second Gag lever post (21) is moved during drawing in and launching along the outer wall of first positive stop bead (13).