CN103964292A - Movable sucking disk hoisting device - Google Patents
Movable sucking disk hoisting device Download PDFInfo
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- CN103964292A CN103964292A CN201410227220.8A CN201410227220A CN103964292A CN 103964292 A CN103964292 A CN 103964292A CN 201410227220 A CN201410227220 A CN 201410227220A CN 103964292 A CN103964292 A CN 103964292A
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- sucker
- counterweight
- hanging apparatus
- steel rope
- guiding
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Abstract
The invention discloses a movable sucking disk hoisting device. The movable sucking disk hoisting device comprises a support frame, wherein a rotating mechanism, a sliding mechanism and a sucking disk hoisting device are arranged on the support frame; the sucking disk hoisting device comprises a sucking disk and a mounting seat connected with the sliding mechanism; a winding drum which a steel wire rope winds is arranged on the mounting seat and is controlled to rotate by a first servo motor; the steel wire rope is connected with the sucking disk; the sucking disk is controlled to generate vacuum by a vacuum generator. According to the sucking disk hoisting device, a workpiece can be prevented from being damaged during a placement process; the workpiece taking and placing position precision is high; the sucking disk hoisting device is not influenced by an external force, is wide in movable range, and can rotate and move linearly.
Description
Technical field
The present invention relates to hanging device field, be specifically related to a kind of movable suction disc hanging apparatus.
Background technology
In prior art, generally adopt in two ways for picking and placeing slice work-piece, the one, carry out with for example clamp of manipulator or clamping jaw device, this sample loading mode not only causes manipulator complicated integral structure on the one hand, volume is large, whole cost is high, because manipulator control ratio of precision is poor, easily in fetching process, cause workpiece damage or make dirty on the other hand; The 2nd, pick and place workpiece with rigidity hanging apparatus, because rigidity hanging apparatus integral structure is more fixing, if surface of the work exists state concavo-convex or that place not concordant, hanging apparatus is picking and placeing in workpiece process easily bad contact, Hoisting Position is difficult for adjusting, and easily causes workpiece damage because impulse force affects transferring the process that workpiece contact with rest area.
As Chinese Patent Application No. 201310289704.0, patent name " Telescopic arm of pulley block formula glass holder suspension bracket ", comprise and hang connecting panel, expansion link, straight-arm, adjusting seat, erecting frame, sucker, pore, vacuum pump, motor, top gem of a girdle-pendant rail, suspension cable and track sled, stand; It is characterized in that, vacuum pump is fixed at erecting frame rear portion, the anterior sucker of installing of erecting frame, and there is pore at sucker middle part, and this pore is communicated with vacuum pump, and erecting frame top connects straight-arm, and straight-arm top is connected and is hung connecting panel by expansion link; Vertical fixing stand on bottom surface, at the fixing top gem of a girdle-pendant rail of stand upper level, connects suspension cable and draws go back to stand upper end and fix at the far-end of top gem of a girdle-pendant rail, on top gem of a girdle-pendant rail, track sled is installed, and will hang connecting panel and be connected with track sled.Although this device can carry out carrying out glass horizontal and vertical lifting mobile in the situation that, but this device belongs to by the relative position of expansion link and straight-arm control sucker and workpiece, this structure belongs to and is rigidly connected, if surface of the work exists state concavo-convex or that place not concordant, hanging apparatus is picking and placeing in workpiece process easily bad contact, Hoisting Position is difficult for adjusting, and easily causes workpiece damage because impulse force affects transferring the process that workpiece contact with rest area.
Summary of the invention
The object of this invention is to provide a kind of movable suction disc hanging apparatus, this hanging apparatus can avoid workpiece put procedure to cause damage, and it is high to pick and place the positional precision of workpiece, is not subject to external force impact, and mobile range is large, can realize rotation and rectilinear movement.
The technical solution used in the present invention is as follows:
A kind of movable suction disc hanging apparatus, comprise bracing frame, support frame as described above is provided with rotating mechanism, slide mechanism and sucker crane assembling device, the mount pad that described sucker crane assembling device comprises sucker, is connected with slide mechanism, described mount pad is provided with the winch spool that has been wound around steel rope, described winch spool is rotated by the first servomotor control, and described steel rope is connected with sucker, and described sucker produces vacuum by vacuum generator control.
Described steel rope is connected with sucker by the guiding hanging apparatus that keeps sucker vertical lifting.
Described vacuum generator has connected spiral expanding tracheae, and described spiral expanding tracheae is connected with guiding hanging apparatus.
The designed movable suction disc hanging apparatus of the present invention adopts servomotor can keep steel rope constant tension stretch workpiece, keeps its vertical motion by guiding hanging apparatus; Described vacuum generator is by external device (ED) control, by being connected of spiral expanding tracheae and guiding hanging apparatus, draws workpiece thereby produce sucker vacuum state.
Described slide mechanism comprises slide unit, a pair of line slideway, tooth bar, is arranged on gear, third planet reductor and the 3rd servomotor on slide unit, described slide unit, line slideway and tooth bar are located on pivoted arm, and line slideway and tooth bar and pivoted arm connect as one, the mount pad of described sucker crane assembling device is located on slide unit, is arranged on the 3rd servomotor on slide unit by third planet reductor driven wheel and the movement that is arranged on tooth bar engaged transmission on pivoted arm and realizes slide unit.
Described guiding hanging apparatus comprises steel rope guiding, counterweight orienting sleeve, counterweight guide head, clump weight, sucker guide holder, linear bearing, sucker hollow guiding post, wherein, described steel rope guiding is fixedly connected with slide unit with counterweight orienting sleeve, described counterweight orienting sleeve has through hole, described counterweight guide head, clump weight is connected successively with sucker guide holder, described steel rope passes successively steel rope guiding and counterweight cushion collar and connects as one with counterweight guide head, described counterweight guide head, clump weight is connected successively with sucker guide holder, described counterweight orienting sleeve is that axis hole contacts cooperation with counterweight guide head, described clump weight has a pore, described pore is communicated with spiral expanding tracheae, in described sucker guide holder, be provided with sucker hollow guiding post by linear bearing, described sucker hollow guiding post one end is connected with sucker by a sucker disk seat, the other end is communicated with clump weight pore.
Wherein, steel rope guiding is to keep the motion of steel rope vertical direction, avoids steel rope swag phenomenon to occur, and plays guiding, the effect of restraint of liberty degree; The pore that described clump weight is offered, by being communicated with spiral expanding tracheae, can be taken the air of guiding hanging apparatus inside away under the control of outside vacuum extractor, realizes sucker vacuum state and draws workpiece.
In described counterweight orienting sleeve through hole, be also provided with counterweight cushion collar, in described steel rope guiding and counterweight cushion collar, be provided with the first recoil spring.
The effect that the first recoil spring is set herein mainly contains two: the one, to the first servomotor feedback signal, in counterweight guide head uphill process, contact counterweight cushion collar, the first recoil spring extrusion of counterweight cushion collar inside, produce elastic force, thereby change steel rope stressing conditions, thereby and the first servomotor can be adjusted in real time moment of torsion according to the change of stressing conditions and finally makes the permanent tension state of the stressed recovery of steel rope; The 2nd, play buffer action, can avoid the concussion damage between counterweight guide head and counterweight orienting sleeve and counterweight cushion collar.
Described counterweight guide head and clump weight coaxial line have through hole, described through hole is communicated with pore, and in through hole, is provided with the second recoil spring, and described second recoil spring one end is connected with counterweight guide head, the other end is connected with sucker guidepost, described sucker guidepost in through hole slidably.
The present invention arranges the second recoil spring herein and mainly plays buffer action; due to clump weight and counterweight guide head total quality heavier; the sucker hollow guiding post that is provided with the second recoil spring in sucker contact workpiece moment just can have disconnected short travel to slide to alleviate application force impact in through hole; playing the effect of protection device and workpiece, damages in the surface of avoiding workpiece to frame up causing while stacking.
Described guiding hanging apparatus also comprises tracheae orienting sleeve and strut bar, and described tracheae orienting sleeve connects as one by strut bar and clump weight.
The object that the present invention arranges is herein that the phenomenon swinging in dipping and heaving process for fear of spiral expanding tracheae occurs.
Described rotating mechanism comprises S. A., pivoted arm, the second planetary reducer and the second servomotor, described the second servomotor and the second planetary reducer are arranged on bracing frame, described S. A. is located in bracing frame, and the second servomotor drives by the second planetary reducer the S. A. being connected with pivoted arm, for realizing rotatablely moving of pivoted arm.
On described winch spool, be also provided with the locking axle of steel rope; Described vacuum generator is located on slide unit; Described the first servomotor is located on mount pad, and rotates by the first planetary reducer control winch spool; Described spiral expanding tracheae is wrapped in steel rope.
Compared with prior art, the beneficial effect that the present invention has:
1. the first servomotor drives winch spool rotation to realize the dipping and heaving of the sucker suspender being connected with steel rope by the first planetary reducer, this device can complete the hovering of arbitrary height position, workpiece for Different Weight can be adjusted tensioning moment of torsion automatically, damages and steel rope disengaging winch spool while avoiding workpiece to stack.
2. adopt the cooperation of steel rope and sucker to pick and place workpiece and can ensure to contact with workpiece near firmly, and be provided with pooling feature while picking and placeing workpiece and can protect workpiece, avoid workpiece to cause damage.
3. the rotating mechanism and the slide mechanism that arrange can be realized moving of hanging apparatus on a large scale.
Brief description of the drawings
Fig. 1: structural representation of the present invention;
Fig. 2: front view of the present invention;
Fig. 3: birds-eye view of the present invention;
Fig. 4: B-B cutaway view of the present invention;
Fig. 5: the lead structural representation of hanging apparatus of the present invention;
Fig. 6: A-A cutaway view of the present invention;
Fig. 7: A enlarged drawing of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment: as Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4, a kind of movable suction disc hanging apparatus, comprise bracing frame 25, support frame as described above 25 is provided with rotating mechanism, slide mechanism and sucker crane assembling device, described sucker crane assembling device comprises sucker 11, the mount pad 14 being connected with slide mechanism, described mount pad 14 is provided with the winch spool 1 that has been wound around steel rope, on described winch spool 1, be also provided with the locking axle 15 of steel rope, described the first servomotor 12 drives winch spool 1 to rotate by the first planetary reducer 13, described sucker 11 is controlled generation vacuum by vacuum generator 24, described vacuum generator 24 has connected spiral expanding tracheae 18, described vacuum generator 24 is located on slide unit 17, described steel rope 16 is connected with sucker 11 by the guiding hanging apparatus that keeps sucker vertical lifting, described spiral expanding tracheae 18 is connected with guiding hanging apparatus.
Described rotating mechanism comprises S. A. 26, pivoted arm 27, the second planetary reducer 28 and the second servomotor 29, described the second servomotor 29 and the second planetary reducer 28 are arranged in bracing frame 25, described S. A. 26 is located in bracing frame 25, and the second servomotor 29 drives by the second planetary reducer 28 S. A. 26 being connected with pivoted arm 27, for realizing rotatablely moving of pivoted arm 27.
Realize the rotation on a large scale of hanging apparatus by this rotating mechanism, concrete the second servomotor 29 rotates by the second planetary reducer 28 driven rotary axles 26, thereby drives pivoted arm 27 to rotate.
Described slide mechanism comprises slide unit 17, a pair of line slideway 30, tooth bar 31, is arranged on gear 32, third planet reductor 33 and the 3rd servomotor 34 on slide unit 17, described slide unit 17, line slideway 30 and tooth bar 31 are located on pivoted arm 27, and line slideway 30 and tooth bar 32 connect as one with pivoted arm 27, the mount pad 14 of described sucker crane assembling device is located on slide unit 17, is arranged on the 3rd servomotor 34 on slide unit 17 by third planet reductor 33 driven wheels 32 and the movement that is arranged on tooth bar 31 engaged transmission on pivoted arm 27 and realizes slide unit 17.
Can make whole guiding hanging apparatus realize by this slide mechanism radially slides, concrete the 3rd servomotor 34 rotates by third planet reductor 33 driven wheels 32, gear 32 and tooth bar 31 engaged transmission are realized the movement of guiding hanging apparatus under line slideway 30 guiding.
As Fig. 5, shown in Fig. 6 and Fig. 7, described guiding hanging apparatus comprises steel rope guiding 2, counterweight cushion collar 3, counterweight orienting sleeve 4, counterweight guide head 5, clump weight 6, sucker guide holder 7, linear bearing 8, sucker hollow guiding post 9, tracheae orienting sleeve 19 and strut bar 20, wherein, described steel rope guiding 2 is fixedly connected with slide unit 17 with counterweight orienting sleeve 4, and described steel rope guiding 2 is located in slide unit 17, described counterweight orienting sleeve 4 is located at slide unit 17 lower ends, described counterweight orienting sleeve 4 has through hole, in through hole, be provided with counterweight cushion collar 3, in described steel rope guiding 2 and counterweight cushion collar 3, be equipped with the first recoil spring 21, described counterweight guide head 5, clump weight 6 is connected successively with sucker guide holder 7, described counterweight orienting sleeve 4 and counterweight guide head 5 contact cooperation for axis hole, described steel rope 16 passes successively steel rope guiding 2 and counterweight cushion collar 3 and connects as one with counterweight guide head 5, described clump weight has a pore 23, described pore 23 is communicated with spiral expanding tracheae 18, described counterweight guide head and 5 clump weight 6 coaxial lines have through hole, pore 23 is communicated with through hole, and in through hole, be provided with the second recoil spring 22, in described sucker guide holder 7, be provided with sucker hollow guiding post 9 by linear bearing 8, described sucker hollow guiding post 9 one end are connected with the second recoil spring 22, the other end is connected with sucker 11 by a sucker disk seat 10, described tracheae orienting sleeve 19 connects as one by strut bar 29 and clump weight 6.
Guiding hanging apparatus principle of work: the first servomotor 12 adopts and becomes moment of torsion control (additional bidirectional speed restriction), affect by changing the torque rating of the first servomotor 12 counterweight balance that steel rope 16 connects, realize the dipping and heaving of sucker 11, lifting process steel rope 16 is permanent tension state.If rising or falling speed exceedes the speed limit of setting, the first servomotor 12 is adjusted torque rating automatically returns in setting range speed, this phenomenon appears at workpiece changes in weight, in the situation of foreign intervention, avoids causing because of excessive velocities the damage of workpiece or part.In the time that speed approaches 0, the first servomotor 12 counterweight that adjustment torque rating connects steel rope 16 automatically reaches balance, realizes arbitrary height hovering.
Claims (10)
1. a movable suction disc hanging apparatus, comprise bracing frame, support frame as described above is provided with rotating mechanism, slide mechanism and sucker crane assembling device, it is characterized in that, the mount pad that described sucker crane assembling device comprises sucker, is connected with slide mechanism, described mount pad is provided with the winch spool that has been wound around steel rope, and described winch spool is rotated by the first servomotor control, described steel rope is connected with sucker, and described sucker produces vacuum by vacuum generator control.
2. sucker crane assembling device according to claim 1, is characterized in that, described steel rope is connected with sucker by the guiding hanging apparatus that keeps sucker vertical lifting.
3. sucker crane assembling device according to claim 2, is characterized in that, described vacuum generator has connected spiral expanding tracheae, and described spiral expanding tracheae is connected with guiding hanging apparatus.
4. movable suction disc hanging apparatus according to claim 3, it is characterized in that, described slide mechanism comprises slide unit, a pair of line slideway, tooth bar, is arranged on gear, third planet reductor and the 3rd servomotor on slide unit, described slide unit, line slideway and tooth bar are located on pivoted arm, and line slideway and tooth bar and pivoted arm connect as one, the mount pad of described sucker crane assembling device is located on slide unit, is arranged on the 3rd servomotor on slide unit by third planet reductor driven wheel and the movement that is arranged on tooth bar engaged transmission on pivoted arm and realizes slide unit.
5. movable suction disc hanging apparatus according to claim 4, it is characterized in that, described guiding hanging apparatus comprises steel rope guiding, counterweight orienting sleeve, counterweight guide head, clump weight, sucker guide holder, linear bearing, sucker hollow guiding post, wherein, described steel rope guiding is fixedly connected with slide unit with counterweight orienting sleeve, described counterweight orienting sleeve has through hole, described counterweight guide head, clump weight is connected successively with sucker guide holder, described counterweight orienting sleeve is that axis hole contacts cooperation with counterweight guide head, described steel rope passes successively steel rope guiding and counterweight cushion collar and connects as one with counterweight guide head, described counterweight guide head, clump weight is connected successively with sucker guide holder, described clump weight has a pore, described pore is communicated with spiral expanding tracheae, in described sucker guide holder, be provided with sucker hollow guiding post by linear bearing, described sucker hollow guiding post one end is connected with sucker by a sucker disk seat, the other end is communicated with clump weight pore.
6. movable suction disc hanging apparatus according to claim 5, is characterized in that, in described counterweight orienting sleeve through hole, is also provided with counterweight cushion collar, in described steel rope guiding and counterweight cushion collar, is provided with the first recoil spring.
7. according to the movable suction disc hanging apparatus described in claim 5 or 6, it is characterized in that, described counterweight guide head and clump weight coaxial line have through hole, described through hole is communicated with pore, and in through hole, be provided with the second recoil spring, described second recoil spring one end is connected with counterweight guide head, and the other end is connected with sucker guidepost, described sucker guidepost in through hole slidably.
8. movable suction disc hanging apparatus according to claim 7, is characterized in that, described guiding hanging apparatus also comprises tracheae orienting sleeve and strut bar, and described tracheae orienting sleeve connects as one by strut bar and clump weight.
9. movable suction disc hanging apparatus according to claim 1, it is characterized in that, described rotating mechanism comprises S. A., pivoted arm, the second planetary reducer and the second servomotor, described the second servomotor and the second planetary reducer are arranged on bracing frame, described S. A. is located in bracing frame, and the second servomotor drives by the second planetary reducer the S. A. being connected with pivoted arm, for realizing rotatablely moving of pivoted arm.
10. according to 3 movable suction disc hanging apparatus described in claim, it is characterized in that, on described winch spool, be also provided with the locking axle of steel rope; Described vacuum generator is located on slide unit; Described the first servomotor is located on mount pad, and rotates by the first planetary reducer control winch spool; Described spiral expanding tracheae is wrapped in steel rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410227220.8A CN103964292B (en) | 2014-05-27 | 2014-05-27 | A kind of movable suction disc hanging apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410227220.8A CN103964292B (en) | 2014-05-27 | 2014-05-27 | A kind of movable suction disc hanging apparatus |
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| CN103964292A true CN103964292A (en) | 2014-08-06 |
| CN103964292B CN103964292B (en) | 2016-01-20 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104944281A (en) * | 2015-05-08 | 2015-09-30 | 陈焕祥 | Transverse static-force shifting device of high-power lifting machine for factory |
| CN105197787A (en) * | 2015-11-06 | 2015-12-30 | 盐城工学院 | Lightweight loading and unloading machine |
| CN105600559A (en) * | 2015-10-20 | 2016-05-25 | 中南林业科技大学 | Meshing-type drive sucking disc movement mechanism |
| CN105841628A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Spiral-orbit type auxiliary system for structural distortion shooting measurement |
| CN106769403A (en) * | 2016-12-12 | 2017-05-31 | 苏州市吴江滨湖检测技术有限公司 | A kind of steel wire rope, the positioning mechanical device of cable physical property detection |
| CN110815130A (en) * | 2019-11-11 | 2020-02-21 | 中国原子能科学研究院 | High-torque sucker for packaging high-temperature radioactive source |
| CN114799807A (en) * | 2022-06-02 | 2022-07-29 | 安徽省含山县风华铸造厂（普通合伙） | Hoisting workbench for assembling automobile parts |
| CN115159111A (en) * | 2022-07-15 | 2022-10-11 | 广西电网有限责任公司北海供电局 | Portable intelligent ceramic tile sucking disc device |
| CN116040444A (en) * | 2023-02-04 | 2023-05-02 | 南通力福通起重机械有限公司 | Cantilever crane |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104944281A (en) * | 2015-05-08 | 2015-09-30 | 陈焕祥 | Transverse static-force shifting device of high-power lifting machine for factory |
| CN105600559A (en) * | 2015-10-20 | 2016-05-25 | 中南林业科技大学 | Meshing-type drive sucking disc movement mechanism |
| CN105197787B (en) * | 2015-11-06 | 2017-02-01 | 盐城工学院 | Lightweight loading and unloading machine |
| CN105197787A (en) * | 2015-11-06 | 2015-12-30 | 盐城工学院 | Lightweight loading and unloading machine |
| CN105841628B (en) * | 2016-05-23 | 2018-07-06 | 西安电子科技大学 | A kind of photogrammetric auxiliary system of helical orbit formula malformation |
| CN105841628A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Spiral-orbit type auxiliary system for structural distortion shooting measurement |
| CN106769403A (en) * | 2016-12-12 | 2017-05-31 | 苏州市吴江滨湖检测技术有限公司 | A kind of steel wire rope, the positioning mechanical device of cable physical property detection |
| CN106769403B (en) * | 2016-12-12 | 2023-06-20 | 苏州市吴江滨湖检测技术有限公司 | Positioning mechanical device for detecting physical properties of steel wire rope and cable |
| CN110815130A (en) * | 2019-11-11 | 2020-02-21 | 中国原子能科学研究院 | High-torque sucker for packaging high-temperature radioactive source |
| CN114799807A (en) * | 2022-06-02 | 2022-07-29 | 安徽省含山县风华铸造厂（普通合伙） | Hoisting workbench for assembling automobile parts |
| CN115159111A (en) * | 2022-07-15 | 2022-10-11 | 广西电网有限责任公司北海供电局 | Portable intelligent ceramic tile sucking disc device |
| CN116040444A (en) * | 2023-02-04 | 2023-05-02 | 南通力福通起重机械有限公司 | Cantilever crane |
| CN116040444B (en) * | 2023-02-04 | 2024-01-05 | 南通力福通起重机械有限公司 | Cantilever crane |
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Effective date of registration: 20191023 Address after: 518106 4th Floor, Building B, Hongmanting Creative Park, Gongming Street, Guangming New District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Jimeijia Investment Development Co., Ltd. Address before: 510663 A410, No. 3, spectrum East Road, Guangzhou hi tech Industrial Development Zone, Guangdong, Guangzhou Patentee before: Guangzhou great Zheng new material Science and Technology Ltd. |
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