CN106185641A - Multi-degree-of-freedom hoisting manipulator - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom hoisting manipulator which comprises a base, an upright post arranged on the base and a manipulator structure arranged on the upright post, wherein the manipulator structure comprises a first rotating mechanism, a second rotating mechanism, an up-and-down sliding mechanism, a cantilever mechanism, a speed reduction motor, a swing arm mechanism and a machine head. The invention has reasonable structural design, reduces the use of the oil hydraulic cylinder, thereby avoiding the technical defects brought by the oil hydraulic cylinder, improving the working efficiency to a certain extent, effectively improving the working range of the hoisting machine and the positioning precision of heavy object hoisting, reducing the noise of the hoisting machine, improving the use stability and safety factor, having strong applicability and good practicability.

Description

Multi-degree-of-freedom hoisting manipulator

technical field

The invention belongs to the technical field of mechanical equipment, and in particular relates to a multi-degree-of-freedom hoisting manipulator.

Background technique

At present, the small lifting equipment in China is composed of booms, turntables, frames, outriggers and other parts. The mechanical action of the small crane is realized through the actions of the boom luffing, telescopic, hoisting and other mechanisms, and the lifting operation is realized through the combination of different actions. Control requires human hands to press the hydraulic rod to control the expansion and contraction of the oil cylinder, which is inefficient, time-consuming and laborious, and the leakage of hydraulic oil cannot be completely avoided, causing pollution to the working environment; the movement process of the hoisting mechanism is noisy, the positioning accuracy is low, and heavy objects It is easy to swing and rotate during the lifting process, and the safety factor is not high; the structure is single, the range of movement of the boom is small, and the heavy objects cannot be moved in multiple directions at the same time.

Contents of the invention

The object of the present invention is to provide a multi-degree-of-freedom hoisting manipulator with reasonable design, good stability in use and strong applicability.

The technical solution for realizing the purpose of the present invention is a multi-degree-of-freedom hoisting manipulator, comprising a base, a column arranged on the base, and a manipulator structure arranged on the upright, and the manipulator structure includes a first rotation mechanism, a second Rotating mechanism, up and down sliding mechanism, cantilever mechanism, geared motor, swing arm mechanism and machine head, the first rotating mechanism is arranged on the top of the column, the up and down sliding mechanism is arranged on the top of the first rotating mechanism and The up and down sliding mechanism includes a guide block and a moving block, and the moving block is movably connected with the reduction motor through a driving rack. The cantilever mechanism includes a first connecting rod, a second connecting rod, a return tension spring and a triangular connecting block. The left end of the first connecting rod is connected to the upper end of the guide block through the first hinge shaft, the left end of the second connecting rod is connected to the middle part of the guide block through the second hinge shaft, and the first hinge shaft is arranged on the moving block At the top of the moving track, the second hinge shaft is arranged on the moving track of the moving block, the two ends of the return spring are respectively arranged on the right end of the second connecting rod and on the guide block, and the right end of the first connecting rod and the right end of the second connecting rod are respectively connected to the two corners of the triangular connecting block, the swing arm mechanism includes a third connecting rod and a fourth connecting rod, and the top of the third connecting rod is connected to the triangular connecting block. one vertex and connected with the end of the second connecting rod, the top of the fourth connecting rod is connected at the remaining vertex of the triangular connecting block, the bottom ends of the third connecting rod and the fourth connecting rod are both It is connected with the second rotating mechanism, and the machine head is connected with the second rotating mechanism.

A swing adjustment mechanism is also provided, and the swing adjustment mechanism includes a fifth connecting rod and a sixth connecting rod, the left end of the fifth connecting rod is connected to the moving block through a third hinge shaft, and the fifth connecting rod The right end of the rod is connected to the top of the third link, the top end of the sixth link is connected to the left arm of the second link, and the bottom end of the sixth link is connected to the third hinge axis.

A vertical guide chute is provided on the side of the guide block, the moving block is an L-shaped structure, and a guide slide protrusion matching the vertical guide chute is provided on the vertical bar of the L-shaped moving block, A tooth groove is provided on the outer side of the vertical bar of the L-shaped moving block, and a bar-shaped slot hole is provided on the cross bar of the L-shaped moving block, and the third hinge shaft is arranged in the bar-shaped slot hole.

The first rotating mechanism includes a hoisting turret, a rotating shaft base arranged on the hoisting turret, a rotating splint is arranged on the symmetrical side of the rotating shaft base, and the rotating splint is fixed on the rotating shaft by screws. On the side of the base, a first deep groove ball bearing, a first spacer, a first thrust ball bearing, a first bearing sleeve and a fixing nut are sequentially arranged in the base plate of the rotating shaft from bottom to top, and the column is fixed on The bottom of the turret is hoisted and the bottom of the guide block of the up and down sliding mechanism is clamped between two rotating splints.

The second rotating mechanism includes a T-shaped rotating block, a second bearing sleeve sleeved on the outside of the vertical rod of the T-shaped rotating block, and a lock nut for fixing the second bearing sleeve on the T-shaped rotating block. The second deep groove ball bearing, the second thrust ball bearing, the second spacer and the third deep groove ball bearing are arranged sequentially from top to bottom between the second bearing sleeve and the vertical rod of the T-shaped rotating block. The third connecting rod and the fourth connecting rod are arranged at the two ends of the cross bar of the T-shaped rotating block.

The machine head includes a machine head base, handles arranged on both sides of the machine head base, a reset button and an operating rocker arranged on the left side of the machine head base, and a hoisting hanging shaft arranged at the right end of the machine head base , the top surface of the headstock is connected with the vertical bar of the T-shaped rotating block of the second rotating mechanism.

A reduction box connected with the acceleration motor is also provided.

The present invention has positive effects: The structural design of the present invention is reasonable, which reduces the use of hydraulic cylinders, thereby avoiding technical deficiencies caused by hydraulic cylinders, improving work efficiency to a certain extent, and at the same time, it can effectively improve hoisting The working range of the crane and the positioning accuracy of lifting heavy objects. The upper and lower mechanisms of traditional cranes are in the form of hoists, that is, the hoisting drum retracts and unwinds the sling to control the lifting or lowering of heavy objects. The hoisting mechanism is noisy and unstable. , but the lifting up and down control of this manipulator is realized by the rack and pinion mechanism, which runs smoothly and is easy to control, which can also reduce the noise of the crane, improve the stability and safety factor of use, and has strong applicability and practicality.

Description of drawings

In order to make the content of the present invention more easily understood, the present invention will be described in further detail below according to specific embodiments in conjunction with the accompanying drawings, wherein:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of moving block in the up and down sliding mechanism of the present invention;

3 is an exploded schematic view of the first rotating mechanism of the present invention;

Fig. 4 is the structural representation of the second rotating mechanism of the present invention;

Fig. 5 is a structural schematic diagram of the machine head of the present invention.

detailed description

(Example 1)

Figures 1 to 5 show a specific embodiment of the present invention, wherein Figure 1 is a schematic structural view of the present invention; Figure 2 is a schematic structural view of the moving block in the up and down sliding mechanism of the present invention; Figure 3 is the first rotation of the present invention Exploded schematic view of the mechanism; FIG. 4 is a schematic structural view of the second rotating mechanism of the present invention; FIG. 5 is a schematic structural view of the machine head of the present invention.

See Figures 1 to 5, a multi-degree-of-freedom hoisting manipulator, including a base 1, a column 2 arranged on the base 1, and a manipulator structure arranged on the column 2, the manipulator structure includes a first rotation mechanism 3. The second rotating mechanism 4, the up and down sliding mechanism 5, the cantilever mechanism 6, the reduction motor 7, the swing arm mechanism 8 and the machine head 9, the first rotating mechanism 3 is arranged on the top of the column 2, and the up and down sliding Mechanism 5 is arranged on the top of described first rotation mechanism 3 and described up and down sliding mechanism 5 comprises guide block 51 and moving block 52, and described moving block 52 and reduction motor 7 are movably connected by driving rack, and described cantilever mechanism 6 Including a first connecting rod 61, a second connecting rod 62, a return tension spring 63 and a triangular connection block 64, the left end of the first connecting rod 61 is connected to the upper end of the guide block 51 through a first hinge shaft 65, the second The left end of connecting rod 62 is connected in the middle part of guide block 51 by second hinge shaft 66, and described first hinge shaft is arranged on the moving track top of moving block, and described second hinge shaft is arranged on the moving track of moving block, so The two ends of the return spring 63 are respectively arranged on the right end of the second connecting rod 62 and the guide block 51, and the right end of the first connecting rod 61 and the right end of the second connecting rod 62 are respectively connected to the triangular connecting block 64. At two vertices, the swing arm mechanism 8 includes a third connecting rod 81 and a fourth connecting rod 82. The top of the third connecting rod 81 is connected to a corner of the triangular connecting block 64 and connected to the second connecting rod. The ends of the rods 62 are connected, the top of the fourth connecting rod 82 is connected to the remaining corners of the triangular connection block 64, and the bottom ends of the third connecting rod 81 and the fourth connecting rod 82 are connected with the second rotating rod. The mechanism 4 is connected, and the machine head 9 is connected on the second rotating mechanism 4 . A stable quadrilateral linkage mechanism is used instead of the telescoping mechanism of the oil cylinder to control the change of the cantilever swing. This structure is stable and reliable, and the efficiency of changing the cantilever swing is high. The attitude of the swing arm can be changed at will during the process of lifting heavy objects. Operation Simple, suitable for heavy object transfer in various working environments;

The hoisting manipulator has a rotation mechanism at the position of the column and the machine head, and the rotation angle is 360°. The hoisting machine head can rotate or revolve around the column, which increases the working range of the hoisting machine. At the same time, the rotation of the machine head can lift the heavy objects Place it at any angle as required, eliminating the need for repeated installation;

The lifting process of the heavy object adopts the output of the deceleration motor and the transmission of the rack and pinion, and the lifting process is stable, safe and low in noise;

The lifting process is controlled by a stepless variable speed rocker, which has a strong sense of control and precise and stable control of up and down movements;

The structure is simple and compact, occupying a small space.

A swing adjustment mechanism 10 is also provided. The swing adjustment mechanism 10 includes a fifth connecting rod 101 and a sixth connecting rod 102. The left end of the fifth connecting rod 101 is connected to the moving block 52 through a third hinge shaft 103. Above, the right end of the fifth connecting rod 101 is connected to the top of the third connecting rod 81, the top end of the sixth connecting rod 102 is connected to the left arm of the second connecting rod 62, and the bottom of the sixth connecting rod 102 The end is connected on the third hinge axis 103.

A vertical guide chute 53 is provided on the side of the guide block 51, the moving block 52 is an L-shaped structure, and a guide slide that matches the vertical guide chute is provided on the vertical bar of the L-shaped moving block. The projection 54 is provided with a tooth groove 55 on the outer side of the vertical bar of the L-shaped moving block, and a bar-shaped slot hole 56 is provided on the cross bar of the L-shaped moving block, and the third hinge shaft 103 is arranged on the bar-shaped Inside the slotted hole 56.

The first rotating mechanism 3 includes a hoisting turret 31, a rotating shaft base 32 arranged on the hoisting turret 31, a rotating splint 33 is arranged on the symmetrical side of the rotating shaft base 32, and the rotating splint 33 is fixed on the side of the rotating shaft base 32 by screws, and the first deep groove ball bearing 34, the first spacer 35, the first thrust ball bearing 36, the first Bearing sleeve 37 and fixed nut 38, the column is fixed on the bottom of the hoisting turret and the bottom of the guide block of the up and down sliding mechanism is clamped between two rotating splints.

The second rotating mechanism 4 includes a T-shaped rotating block 41, a second bearing 42 sleeved on the outside of the vertical bar of the T-shaped rotating block 41 and a lock for fixing the second bearing sleeve 42 on the T-shaped rotating block 41. Bit nut 43, between the second bearing sleeve and the vertical bar of the T-shaped rotary block, the second deep groove ball bearing 44, the second thrust ball bearing 45, the second spacer 46 and the second Three deep groove ball bearings 47, the machine head is arranged on the bottom end of the vertical bar of the T-shaped rotating block, and the third connecting rod and the fourth connecting rod are arranged at the two ends of the cross bar of the T-shaped rotating block.

Described machine head 9 comprises machine head base 91, is arranged on the handle 92 on described head base two sides, is arranged on the reset button 93 of described machine head left side and operating rocker 94 and is arranged on the machine head base The hanging shaft 95 at the right end, the top surface of the headstock is connected with the T-shaped rotating block vertical bar of the second rotating mechanism.

A reduction box connected with the acceleration motor is also provided.

Wherein the working principle of the first rotating mechanism is as follows:

The hoisting turret is fixed on the column and does not move. The three parts of the bearing sleeve, the rotating shaft seat plate and the rotating splint are rigidly connected. The bearing sleeve is equipped with a bearing. The lower end adopts a deep groove ball bearing, and the middle adopts a thrust ball bearing. Separate the deep groove ball bearing at the lower end with a spacer, so that the inner ring of the deep groove ball bearing at the lower end is in contact with the spacer, and use a deep groove ball bearing at the upper end, and press the inner ring of the bearing with a bearing pressure ring, and then lock the upper end Round nut and circlip. Deep groove ball bearings mainly bear radial loads, and thrust ball bearings mainly bear axial loads. During the rotation, the inner ring of the deep groove ball bearing and the lower ring of the thrust ball bearing do not move, and the outer ring of the deep groove ball bearing and the upper ring of the thrust ball bearing rotate together with the rotation of the mechanism. This mechanism distributes the force well, improves the service life and stability of the mechanism, and can also be used in the rotary motion of other equipment where the force direction is mainly axial and radial force.

The working principle of the up and down sliding mechanism is as follows:

The positive and negative rotation of the output gear of the transmission box drives the movement of the rack pair to make the entire sliding mechanism move up and down, and the four rollers on the sliding mechanism roll in the chute.

The working principles of the cantilever mechanism, the swing adjustment mechanism and the swing arm mechanism are as follows:

The three mechanisms are all parallelogram mechanisms, in which a third hinge shaft of the swing adjustment mechanism can slide in the bar-shaped slot hole of the moving block.

The working principle of the second rotating mechanism is the same as that of the first rotating mechanism.

The working principle of the whole manipulator is as follows:

Operate the operating rocker on the machine head to control the rotation of the deceleration motor. The rotation is transmitted to the reduction box and then to the output gear. The output gear drives the rack to make the up and down sliding mechanism move up (down). The web of the up and down sliding mechanism supports the pendulum. A hinge of the amplitude adjustment mechanism transmits the force to the cantilever mechanism through the connecting rod 6. At this time, the cantilever mechanism will rotate around the first hinge axis and the second hinge axis, and the other end of the cantilever mechanism will rise to drive the swing arm mechanism To achieve the purpose of nose lifting or transfer. During use, the machine head is manually swung at the same time to control the attitude of the manipulator.

Instructions for hoisting manipulator work:

First, hang the heavy object on the hoisting shaft with a sling, hold the handle of the machine head, and then control the operating lever (push the operating lever up to move the machine head upwards, otherwise it will move downwards, and operate the swing range of the rocker to control the rise and fall speed) When the weight is lifted to the desired position, loosen the rocker, the rocker will reset to zero by itself, and the machine head will stop moving. During the lifting or lowering of heavy objects, the direction of the machine head can be manually controlled at any time to place the heavy objects in the desired direction; at the same time, the swing of the swing arm can be controlled to place the heavy objects in the desired position.

The structure design of the present invention is reasonable, which reduces the use of hydraulic cylinders, thereby avoiding technical deficiencies caused by hydraulic cylinders, improving work efficiency to a certain extent, and at the same time, it can effectively improve the working range and weight of the hoisting machine. The positioning accuracy of hoisting, the upper and lower mechanism of the traditional crane is in the form of a hoist, that is, the hoisting drum retracts and unwinds the sling to control the rise or fall of the heavy object. The control is realized by the rack and pinion mechanism, which runs smoothly and is easy to control, thereby reducing the noise of the crane, improving the stability and safety factor of use, and having strong applicability and good practicality.

Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived from the essential spirit of the present invention still belong to the protection scope of the present invention.

Claims (7)

1. A multi-degree-of-freedom hoisting manipulator, comprising a base, a column arranged on the base and a manipulator structure arranged on the column, characterized in that: the manipulator structure includes a first rotation mechanism and a second rotation mechanism , an up and down sliding mechanism, a cantilever mechanism, a reduction motor, a swing arm mechanism and a machine head, the first rotating mechanism is arranged on the top of the column, the up and down sliding mechanism is arranged on the top of the first rotating mechanism and the The up and down sliding mechanism includes a guide block and a moving block, and the moving block is movably connected with the reduction motor through a driving rack. The cantilever mechanism includes a first connecting rod, a second connecting rod, a return tension spring and a triangular connecting block. The left end of a connecting rod is connected to the upper end of the guide block through the first hinge shaft, the left end of the second connecting rod is connected to the middle part of the guide block through the second hinge shaft, and the first hinge shaft is arranged on the moving track of the moving block the top, the second hinge shaft is set on the moving track of the moving block, the two ends of the return spring are respectively set on the right end of the second connecting rod and the guide block, the right end of the first connecting rod and the second connecting rod The right ends of the two connecting rods are respectively connected to the two corners of the triangular connecting block. The swing arm mechanism includes a third connecting rod and a fourth connecting rod. and connected to the end of the second connecting rod, the top of the fourth connecting rod is connected to the remaining corner of the triangular connection block, the bottom ends of the third connecting rod and the fourth connecting rod are connected to the first The two rotating mechanisms are connected, and the machine head is connected to the second rotating mechanism. 2. The multi-degree-of-freedom hoisting manipulator according to claim 1, characterized in that: a swing adjustment mechanism is also provided, and the swing adjustment mechanism includes a fifth connecting rod and a sixth connecting rod, and the fifth connecting rod The left end of the fifth connecting rod is connected to the moving block through the third hinge shaft, the right end of the fifth connecting rod is connected to the top of the third connecting rod, and the top of the sixth connecting rod is connected to the left arm of the second connecting rod. The bottom end of the sixth connecting rod is connected on the third hinge shaft. 3. The multi-degree-of-freedom hoisting manipulator according to claim 2, characterized in that: a vertical guide chute is provided on the side of the guide block, the moving block is an L-shaped structure, and the vertical direction of the L-shaped moving block is The rod is provided with a guide lug matching the vertical guide chute, a tooth groove is provided on the outer side of the vertical bar of the L-shaped moving block, and a bar-shaped slot is provided on the horizontal bar of the L-shaped moving block. The third hinge shaft is arranged in the bar-shaped slot hole. 4. The multi-degree-of-freedom hoisting manipulator according to claim 3, characterized in that: the first rotating mechanism includes a hoisting turret, a rotating shaft base arranged on the hoisting turret, and a rotating shaft base on the rotating shaft base A rotating splint is arranged on the symmetrical side, and the rotating splint is fixed on the side surface of the rotating shaft base by screws, and the first deep groove ball bearing, the first spacer, The first thrust ball bearing, the first bearing sleeve and the fixing nut, the column is fixed on the bottom of the hoisting turret and the bottom of the guide block of the up and down sliding mechanism is clamped between two rotating splints. 5. The multi-degree-of-freedom hoisting manipulator according to claim 4, characterized in that: the second rotating mechanism includes a T-shaped rotating block, a second bearing sleeved on the outside of the vertical bar of the T-shaped rotating block, and a The second bearing sleeve is fixed on the lock nut on the T-shaped rotating block. Between the second bearing sleeve and the vertical bar of the T-shaped rotating block, the second deep groove ball bearing and the second thrust are arranged sequentially from top to bottom. Ball bearings, second spacers and third deep groove ball bearings, the machine head is arranged at the bottom end of the vertical rod of the T-shaped rotating block, and the third connecting rod and the fourth connecting rod are arranged at the horizontal end of the T-shaped rotating block rod ends. 6. The multi-degree-of-freedom hoisting manipulator according to claim 5, characterized in that: the head includes a head base, handles arranged on both sides of the head base, and handles arranged on the left side of the head base The reset button on the surface and the operating rocker and the hoisting hanging shaft that are arranged on the right end of the headstock, the top surface of the headstock is connected with the T-shaped rotating block vertical bar of the second rotating mechanism. 7. The multi-degree-of-freedom hoisting manipulator according to claim 6, further comprising a reduction box connected to the acceleration motor.