CN108312130A - A kind of long-armed heavy load wu-zhi-shan pig - Google Patents
A kind of long-armed heavy load wu-zhi-shan pig Download PDFInfo
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- CN108312130A CN108312130A CN201810258377.5A CN201810258377A CN108312130A CN 108312130 A CN108312130 A CN 108312130A CN 201810258377 A CN201810258377 A CN 201810258377A CN 108312130 A CN108312130 A CN 108312130A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a kind of long-armed heavy load wu-zhi-shan pigs, including lifting gear, telescopic device, first rotating device, second rotating device, third rotating device and clamping jaw, the telescopic device is rotatably arranged on the top of lifting gear by third rotating device, one end of first rotating device and the end of telescopic device connect, the other end of first rotating device is connect with the second rotating device, the clamping jaw is connect with the second rotating device, first rotating device is for driving clamping jaw to rotate in the horizontal direction, second rotating device is for driving clamping jaw to be rotated up perpendicular, the third rotating device is for driving telescopic device, first rotating device, second rotating device and clamping jaw rotate in the horizontal direction.The long-armed heavy load wu-zhi-shan pig of the present invention have the advantages that it is simple in structure, operate steadily, flexible precision height, reliability it is high.
Description
Technical field
The present invention relates to technical field of mechanical automation more particularly to a kind of long-armed heavy load wu-zhi-shan pigs.
Background technology
Spanner forging forming process is that through beating, after Multi-step forming, deburring acquisition molding is pulled after heating metal stock
Hand.Therefore, spanner molding need to pass through multiple stations.Currently, when spanner produces, the conversion of station is by being accomplished manually, i.e. people
Work clamping blank is transferred to next station by a station.Not only labor intensity is big for this mode of production, high labor cost, Er Qiecun
In security risk.It is, thus, sought for a kind of can be by the robot of blank transfer station.
Spanner forging forming equipment includes descale equipment and multiple forging and stamping punching machines, the mobile difficulty of these equipment, if
It is then with high costs to purchase new equipment.Existing robot arm telescopic extensions are narrow, load-bearing capacity is poor, rotating range is small, it is difficult to full
Use of the foot in spanner production.
Invention content
It is an object of the invention to propose a kind of long-armed heavy load wu-zhi-shan pig, have the characteristics that telescopic extensions are big.
For this purpose, the present invention uses following technical scheme：
A kind of long-armed heavy load wu-zhi-shan pig, including lifting gear, telescopic device, the first rotating device, the second rotation
Device, third rotating device and clamping jaw, telescopic device are rotatably arranged on the top of lifting gear by third rotating device,
One end of first rotating device and the end of telescopic device connect, and the other end of the first rotating device and the second rotating device connect
It connects, clamping jaw is connect with the second rotating device, and the first rotating device is for driving clamping jaw to rotate in the horizontal direction, the second rotating dress
It sets for driving clamping jaw to be rotated up perpendicular, third rotating device is for driving telescopic device, the first rotating device, the second rotation
Device and clamping jaw rotate in the horizontal direction；
Telescopic device includes swivel plate, long hollow shaft, telescope motor and lateral drag chain, and what long hollow shaft was axially movable sets
It sets on swivel plate, telescope motor is sequentially connected with long hollow shaft, and lateral drag chain is connected with long hollow shaft, long hollow shaft and cross
It is used for built-in cable to drag chain.
The robot can realize multidirectional rotation, and rotating range is big, disclosure satisfy that each in spanner production process
Kind action.Long hollow shaft drives the axial movement on swivel plate to realize the flexible of robot arm by motor, and long hollow shaft is set
Telescopic extensions can effectively be increased by setting.Long hollow shaft and lateral drag chain are used for built-in cable, the first rotating device of robot and the
The cable of two rotating devices may pass through long hollow shaft and lateral drag chain is connected in control system so that the orderly cloth of cable
It sets, ensures that robot motion is smooth.
Further, it is provided with above long hollow shaft for the bracket to lateral drag chain limit and support, lateral drag chain
One end be connected with long hollow shaft, the other end is connected with bracket；
The lid being connect with swivel plate is covered with above long hollow shaft, bracket is located on lid, and lid offers and cross
To corresponding first cable-through hole of drag chain end position.
The setting of bracket has support and position-limiting action to horizontal line drag chain as a result, in long hollow shaft movement and swivel plate rotation
When turning, bracket can prevent drag chain from throwing away.First rotating device and the second rotating device cable sequentially pass through long hollow shaft and transverse direction
The control system of the first cable-through hole and robot is passed through to connect after drag chain, the setting of lid both had protection to the component on swivel plate
Effect also has supporting role to bracket and lateral drag chain.
Further, long hollow shaft away from the one end being connect with lateral drag chain is connected with adjutage；
Adjutage is hollow pipe, and the side wall of adjutage offers the second cable-through hole, and the side wall of long hollow shaft offers third
Cable-through hole, the second cable-through hole and third cable-through hole position are corresponding.
The setting of adjutage can further increase the telescopic extensions of telescopic device.Second cable-through hole and third cable-through hole are set
Setting realizes the first rotating device and the second rotating device cable extends through arm and enters long hollow shaft, further reduces cable
Line arranges the interference to robot motion.
Further, the second rotating device includes shell, the second electric rotating machine, the second retarder and connector, the second rotation
Rotating motor, the second retarder are located in shell, and the second electric rotating machine, the second retarder and connector are sequentially connected, shell and
One rotating device connects, and connector is connect with clamping jaw.The setting of second rotating device shell is easy to implement and the first rotating device
Connection.
Further, connector includes the connecting plate, backing plate and connecting rod set gradually, and connecting plate setting is slowed down second
The output end of device, one end of connecting rod are fixedly connected with the center of connecting plate, and the other end is connect with clamping jaw；
One end that second retarder drives connector into is arranged with mounting ring, and mounting ring is fixedly connected with the casing, in mounting ring
First sensor is installed, inductance loop is provided between mounting ring and connecting plate, inductance loop is fixedly connected with connecting plate, inductance loop
It is provided with the notch incuded for first sensor.
The setting of connecting plate, backing plate and connecting rod realizes the connection of the second retarder and clamping jaw, connecting rod and company as a result,
The setting of fishplate bar enables clamping jaw to drive rotation by the second retarder.Detection is matched using inductance loop with first sensor to connect
The rotation angle of fishplate bar, and then detect the rotation angle of clamping jaw.
Further, first sensor there are two and be disposed adjacent, the gap width on inductance loop be more than two first biography
Sensor corresponds to the width to be taken up space on inductance loop.By the cooperation of two first sensors and gap width, can be passed through
Two electric rotating machines control the rotation angle of clamping jaw.
Further, the first rotating device includes the first electric rotating machine, belt gear and the first retarder, the first rotation
Rotating motor and the first retarder are sequentially connected by belt gear；
The output end of first retarder is connected with mounting plate, and the bottom of mounting plate is provided with the connector being connect with shell.
The first electric rotating machine and the first retarder are sequentially connected by belt gear as a result, are easy to implement clamping jaw and are existed
Rotation in horizontal direction, mounting plate are that setting connect convenient for the first retarder with the second rotating device.
Further, further include mounting bracket, the first electric rotating machine and the first retarder are arranged in the bottom of mounting bracket, belt
Transmission mechanism is arranged at the top of mounting bracket, and mounting bracket bottom is provided with second sensor, and mounting plate is provided with to be passed for second
The hole of sensor induction.
The setting of mounting bracket also allows for the installation of second sensor convenient for the installation of electric rotating machine and retarder as a result, the
Two sensors are matched with the hole on mounting plate can incude rotation angle, convenient for the control to rotation.
Further, lifting gear includes guide rod, elevating mechanism, lifting motor and screw rod, elevating mechanism and guide rod
It is slidably matched, lifting motor is connect with screw drive, and screw rod is sequentially connected with elevating mechanism；
Elevating mechanism includes elevating lever, lifting platform and lifting seat, and the top of elevating lever is fixedly connected with lifting platform, elevating lever
Bottom end be fixedly connected with lifting seat, lifting seat and screw rod are connected, and lifting seat is slidably matched with guide rod；
Third rotating device is arranged on lifting platform, and guide rod and elevating lever are more.
Therefore, the setting of more guide rods and elevating lever can improve the load capacity of lifting platform；Using screw drive liter
Platform drops, while enhancing lifting platform movement precision, moreover it is possible to increase the load-bearing capacity of lifting platform.
Further, lifting motor is connected with driving pulley, and the bottom end of screw rod is equipped with passive belt wheel, driving pulley and driven
Transmission belt is arranged on belt wheel；
The bottom end of screw rod is provided with mounting plate, and rotatably on a mounting board, lifting motor is installed for installation for the bottom end of screw rod
Side on a mounting board, driving pulley, passive belt wheel and transmission belt are located at the lower section of mounting plate, and mounting plate fixation is set in guide rod
On.Therefore, the installation of two belt wheels is realized by mounting plate, realizes the drive connection of lifting motor and screw rod, and what is also simplified sets
Standby structure, each component layouts are more reasonable.
Beneficial effects of the present invention are：
1, the setting of long hollow shaft can effectively increase telescopic extensions；Long hollow shaft and lateral drag chain are used for built-in cable, machine
The cable of device people may pass through long hollow shaft and lateral drag chain is connected in control system so that the orderly arrangement of cable ensures
Robot motion is smooth.
2, it drives clamping jaw to be rotated in different directions using two rotating devices, realizes rotation of the clamping jaw at 360 °, have wider
Rotating range, clamping jaw disclosure satisfy that the action in spanner production process.
3, lifting gear realizes load by the setting of more guide rods and elevating lever and using screw drive lifting platform
Ability is big, lifting distance precision is high, it is made to be more suitable for the production of spanner.
4, long-armed heavy load wu-zhi-shan pig of the invention have it is simple in structure, operate steadily, flexible precision it is high, reliable
The high advantage of property.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of long-armed heavy load wu-zhi-shan pig of one embodiment of the invention；
Fig. 2 is that the telescopic device of long-armed heavy load wu-zhi-shan pig shown in Fig. 1 removes the structural schematic diagram after lateral drag chain；
Fig. 3 is that the telescopic device of long-armed heavy load wu-zhi-shan pig shown in Fig. 1 removes the structure after lateral drag chain and lid
Schematic diagram；
Fig. 4 is that the second rotating device of long-armed heavy load wu-zhi-shan pig shown in Fig. 1 removes the structural schematic diagram after shell；
Fig. 5 be the backing plate of the second rotating device of long-armed heavy load wu-zhi-shan pig shown in Fig. 1 and connecting rod cooperation show
It is intended to；
Fig. 6 is the structural schematic diagram of the first rotating device of long-armed heavy load wu-zhi-shan pig shown in Fig. 1；
Fig. 7 is the structural schematic diagram of the lifting gear and third rotating device of long-armed heavy load wu-zhi-shan pig shown in Fig. 1.
Wherein, lifting gear 1, telescopic device 2, the first rotating device 3, the second rotating device 4, third rotating device 5, folder
Pawl 6, swivel plate 21, long hollow shaft 22, telescope motor 23, lateral drag chain 24, bracket 25, lid 26, the first cable-through hole 261, spiral shell
Bar 27, nut 28, screw support seat 29, adjutage 20, the second cable-through hole 201, third cable-through hole 221, shell 41, second rotate
Motor 42, the second retarder 43, connector 44, connecting plate 441, backing plate 442, connecting rod 443, mounting ring 45, first sensor
46, inductance loop 47, the first electric rotating machine 31, belt gear 32, the first retarder 33, mounting plate 34, mounting bracket 35, second
Sensor 36, guide rod 11, elevating mechanism 12, lifting motor 13, screw rod 14, elevating lever 121, lifting platform 122, lifting seat 123,
Transmission belt 15, mounting plate 16, pedestal 17, footstock 18, induction rod 124, third electric rotating machine 51, driving member 52, third retarder
53,3rd sensor 161, the 4th sensor 181.
Specific implementation mode
Below in conjunction with the accompanying drawings and the technical solution that further illustrates the present invention of specific implementation mode.
As shown in Figure 1, a kind of long-armed heavy load wu-zhi-shan pig, including lifting gear 1, telescopic device 2, the first rotating dress
The 3, second rotating device 4, third rotating device 5 and clamping jaw 6 are set, telescopic device 2 passes through the 5 rotatable setting of third rotating device
Connect with the end of telescopic device 2 in the one end on the top of lifting gear 1, the first rotating device 3, the first rotating device 3 it is another
One end is connect with the second rotating device 4, and clamping jaw 6 is connect with the second rotating device 4, and the first rotating device 3 is for driving clamping jaw 6 to exist
It is rotated in horizontal direction, the second rotating device 4 for driving clamping jaw 6 to be rotated up perpendicular, for driving stretch by third rotating device 5
Compression apparatus 2, the first rotating device 3, the second rotating device 4 and clamping jaw 6 rotate in the horizontal direction.
The robot can realize clamping jaw more than 6 by the first rotating device 3, the second rotating device 4, third rotating device 5
The rotation in direction, rotating range is big, disclosure satisfy that the various actions in spanner production process.
As shown in Figures 2 and 3, telescopic device 2 includes swivel plate 21, long hollow shaft 22, telescope motor 23 and lateral drag chain
24, on swivel plate 21, telescope motor 23 is sequentially connected with long hollow shaft 22 for the setting that long hollow shaft 22 is axially movable, laterally
Drag chain 24 is connected with long hollow shaft 22, and long hollow shaft 22 and lateral drag chain 24 are used for built-in cable.
Long hollow shaft 22 drives the axial movement on swivel plate 21 to realize the flexible of robot arm by telescope motor 23, empty
The setting of heart long axis 22 can effectively increase telescopic extensions.Long hollow shaft 22 and lateral drag chain 24 are used for built-in cable, the robot
The first rotating device 3 and the cable of the second rotating device 4 may pass through long hollow shaft 22 and lateral drag chain 24 is connected to control
In system so that the orderly arrangement of cable ensures that robot motion is smooth.
The top of long hollow shaft 22 is provided with for the bracket 25 to lateral drag chain 24 limit and support, lateral drag chain 24
One end is connected with long hollow shaft 22, and the other end is connected with bracket 25；The top of long hollow shaft 22 is covered with and swivel plate 21
The lid 26 of connection, bracket 25 are located on lid 26, and lid 26 offers the first mistake corresponding with lateral 24 end position of drag chain
String holes 261.
The setting of bracket 25 has support and position-limiting action to horizontal line drag chain 24, in the movement of long hollow shaft 22 and swivel plate 21
When rotation, bracket 25 can prevent drag chain from throwing away.First rotating device 3 and 4 cable of the second rotating device sequentially pass through long hollow shaft
22 and lateral drag chain 24 after connect with the control system of robot across the first cable-through hole 261, the setting of lid 26 is both to rotating
Component on plate 21 has protective effect, also has supporting role to bracket 25 and lateral drag chain 24.
The screw rod 27 parallel with long hollow shaft 22 is provided on swivel plate 21, telescope motor 23 is mounted on the one of swivel plate 21
The end at end, screw rod 27 is sequentially connected by the output end of shaft coupling and telescope motor 23, is arranged with and hollow length on screw rod 27
The nut 28 that axis 22 connects.Telescope motor 22 drives long hollow shaft 22 by screw rod 27 so that the movement of long hollow shaft 22 is accurate
Spend higher.
The both ends of swivel plate 21 are mounted on screw support seat 29, two screw support seats 29 both ends with screw rod 27 respectively
It connects, bumper ring is arranged at the close screw support seat 29 on screw rod 27.Screw support seat 29 is arranged the two of swivel plate 21
End, thus have the support more having and limit effect to long hollow shaft 22 so that the movement of long hollow shaft 22 is more steady, moreover it is possible to carry
The load capacity of high long hollow shaft 22.Bumper ring has cushioning effect to nut 28.
Long hollow shaft 22 is two be arranged side by side, and nut 28 is fixedly connected with band motion block 281, the both ends with motion block 281
It is fixedly connected respectively with two long hollow shafts 22.The setting of two long hollow shafts 22 can more improve the flexible of the telescopic device 2
Stability and load capacity；Setting with motion block 281 ensure that two 22 synchronizing movings of long hollow shaft, can also simplify structure.
The end set of two long hollow shafts 22 has locating rack, the end spacing for limiting two long hollow shafts so that
The movement of long hollow shaft 22 is more steady.
Long hollow shaft 22 is connected with adjutage 20 away from the one end being connect with lateral drag chain 24；Adjutage 20 is hollow
Pipe, the side wall of adjutage 20 offer the second cable-through hole 201, and the side wall of long hollow shaft 22 offers third cable-through hole 221, and second
Cable-through hole 201 and 221 position of third cable-through hole are corresponding.Adjutage 20 is fixed and is connected by end support and two long hollow shafts 22
It connects.
The setting of adjutage 20 can further increase the telescopic extensions of telescopic device 2.Second cable-through hole 201 and third cross line
The setting in hole 221 realizes the first rotating device 3 and 4 cable of the second rotating device extends through arm 20 and enters long hollow shaft 22,
Further reduce interference of the cable arrangement to robot motion.
As shown in Figure 4 and Figure 5, the second rotating device 4 includes shell 41, the second electric rotating machine 42,43 and of the second retarder
Connector 44, the second electric rotating machine 42, the second retarder 43 are located in shell 41, the second electric rotating machine 42, the second retarder 43
It is sequentially connected with connector 44, shell 41 is connect with the first rotating device 3, and connector 44 is connect with clamping jaw 6.Second rotating device
The setting of shell 41 be easy to implement the connection with the first rotating device 3.
Shell 41 offers cable-through hole corresponding with 42 position of the second electric rotating machine, consequently facilitating the second electric rotating machine 42
Data line and power cord be pierced by.
Connector 44 includes the connecting plate 441, backing plate 442 and the connecting rod 443 that set gradually, and the setting of connecting plate 441 is the
One end of the output end of two retarders 43, connecting rod 443 is fixedly connected with the center of connecting plate 441, and the other end connects with clamping jaw 6
It connects；
One end that second retarder 43 drives connector 44 into is arranged with mounting ring 45, and mounting ring 45 is fixed with shell 41 to be connected
It connects, first sensor 46 is installed in mounting ring 45, inductance loop 47, inductance loop are provided between mounting ring 45 and connecting plate 441
47 are fixedly connected with connecting plate 441, and inductance loop 47 is provided with the notch incuded for first sensor 46.
The setting of connecting plate 441, backing plate 442 and connecting rod 443 realizes the company of the second retarder 43 and clamping jaw 6 as a result,
It connects, the setting of connecting rod 443 and connecting plate 441 enables clamping jaw 6 to drive rotation by the second retarder 43.Using inductance loop 47
The rotation angle of detection connecting plate 441 is matched with first sensor 46, and then detects the rotation angle of clamping jaw 6.
Further, first sensor 46 there are two and be disposed adjacent, the gap width on inductance loop 47 is more than two the
One sensor 46 corresponds to the width to be taken up space on inductance loop 47.Pass through matching for two first sensors 46 and gap width
It closes, the rotation angle of clamping jaw 6 can be controlled by the second electric rotating machine 42.
As shown in fig. 6, the first rotating device 3 includes the first electric rotating machine 31, belt gear 32 and the first retarder
33, the first electric rotating machine 31 and the first retarder 33 are sequentially connected by belt gear 32；
The output end of first retarder 33 is connected with mounting plate 34, and the bottom of mounting plate 34 is provided with to be connect with shell 41
Connector.
The first electric rotating machine 31 and the first retarder 33 are sequentially connected by belt gear 32 as a result, are easy to implement
The setting of the rotation of clamping jaw 6 in the horizontal direction, mounting plate 34 connect convenient for the first retarder 33 with the second rotating device 4.
First rotating device 3 further includes mounting bracket 35, and the first electric rotating machine 31 and the first retarder 33 are arranged in mounting bracket
35 bottom, belt gear 32 are arranged at the top of mounting bracket 35, and 35 bottom of mounting bracket is provided with second sensor 36, peace
Loading board 34 is provided with the hole incuded for second sensor 36.The hole incuded for second sensor 36 on mounting plate 34 has two
It is a, the rotating position signal of mounting plate 34 is transferred to control system convenient for second sensor 36, and then be convenient for the first electric rotating
Machine 31 controls the rotation angle of clamping jaw 6.
The setting of mounting bracket 35 also allows for the peace of second sensor 36 convenient for the installation of electric rotating machine and retarder as a result,
Dress, second sensor is matched with the hole on mounting plate can incude rotation angle, convenient for the control to rotation.
As shown in fig. 7, lifting gear 1 includes guide rod 11, elevating mechanism 12, lifting motor 13 and screw rod 14, elevator
Structure 12 is slidably matched with guide rod 11, and lifting motor 13 is sequentially connected with screw rod 14, and screw rod 14 is sequentially connected with elevating mechanism 12；
Elevating mechanism 12 includes elevating lever 121, lifting platform 122 and lifting seat 123, the top of elevating lever 121 and lifting platform
122 are fixedly connected, and the bottom end of elevating lever 121 is fixedly connected with lifting seat 123, and lifting seat 123 is connected with screw rod 14, lifting
Seat 123 is slidably matched with guide rod 11；
Third rotating device 5 is arranged on lifting platform 122, and guide rod 11 and elevating lever 121 are more.
Therefore, the setting of more guide rods 11 and elevating lever 121 can improve the load capacity of lifting platform 122；Using spiral shell
Bar 14 drives lifting platform 122, while enhancing the movement precision of lifting platform 122, moreover it is possible to increase the load-bearing energy of lifting platform 122
Power.
The both ends of screw rod 14 are both provided with cushion pad, and two cushion pads are divided into the both sides up and down of lifting seat 121.As a result,
The setting of cushion pad can work as a buffer lifting pedestal 121.
Lifting motor 13 is connected with driving pulley, and the bottom end of screw rod 14 is equipped with passive belt wheel, driving pulley and driven pulley
On be arranged with transmission belt 15；
The bottom end of screw rod 14 is provided with mounting plate 16, and the bottom end of screw rod 14 is rotatably mounted on mounting plate 16, lifting
Motor 13 is mounted on 16 upside of mounting plate, and driving pulley, passive belt wheel and transmission belt 15 are located at the lower section of mounting plate, mounting plate 16
Fixation is set on guide rod 11.Therefore, the installation of two belt wheels is realized by mounting plate 16, realizes lifting motor 13 and screw rod
14 drive connection, also simplified device structure, each component layouts are more reasonable.
Lifting gear 1 further includes pedestal 17 and footstock 18, and the bottom end of guide rod 11 is fixedly connected with pedestal 17, guide rod 11
Top be fixedly connected with footstock 18, the top of screw rod 14 is connect with footstock 18, elevating lever 121 run through footstock 18.17 He of pedestal
The setting of footstock 18 realizes the installation of guide rod 11 and the guiding to elevating lever 11 so that elevating mechanism operation is more steady.
It is provided between mounting plate 16 and pedestal 17 mostly with supporting rod, to ensure the mounting stability of mounting plate 16, into
And make lifting motor 13 and the installation of screw rod 14 firm.
Preferably, guide rod 11 and elevating lever 121 have four, so that the lifting gear 1 has load energy well
Power and the degree that operates steadily.
Preferably, the edge of lifting seat 123 is vertically provided with induction rod 124, and mounting plate 16 is provided with and 124 bottom of induction rod
Corresponding 3rd sensor 161, footstock 18 is held to be provided with the 4th sensor 181 corresponding with 124 top of induction rod.Two pass
The setting of sensor can incude the position of lifting seat 123, and then limit the most position of lifting seat 123 and minimum by lifting motor 13
Position.
Third rotating device 5 is arranged on lifting platform 122, to realize the rotation of 122 load bearing component of lifting platform.Third is revolved
Rotary device 5 include third electric rotating machine 51, driving member 52 and third retarder 53, third electric rotating machine 51 by driving member 52 with
Third retarder 53 is sequentially connected.
It should be noted that the first retarder 33, the second retarder 43 and third retarder 53 are coaxial speed reducer.
The 5th sensor is provided on lifting platform 122, the bottom of swivel plate 21 is provided with two senses with certain distance
Ying Zhu, sensing post are matched with the 5th sensor, the rotation position for incuding swivel plate 21.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and it cannot be construed to limiting the scope of the invention in any way.Based on the explanation herein, the technology of this field
Personnel would not require any inventive effort the other specific implementation modes that can associate the present invention, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of long-armed heavy load wu-zhi-shan pig, which is characterized in that including lifting gear, telescopic device, the first rotating device,
Second rotating device, third rotating device and clamping jaw, the telescopic device are rotatably arranged on liter by third rotating device
The end of the top of falling unit, one end of first rotating device and telescopic device connects, first rotating device it is another
One end is connect with the second rotating device, and the clamping jaw is connect with the second rotating device, and first rotating device is pressed from both sides for driving
Pawl rotates in the horizontal direction, and second rotating device is for driving clamping jaw to be rotated up perpendicular, the third rotating device
For driving telescopic device, the first rotating device, the second rotating device and clamping jaw to rotate in the horizontal direction；
The telescopic device includes that swivel plate, long hollow shaft, telescope motor and lateral drag chain, the long hollow shaft are axially movable
Setting on swivel plate, the telescope motor and long hollow shaft are sequentially connected, and the transverse direction drag chain is connected with long hollow shaft,
The long hollow shaft and lateral drag chain are used for built-in cable.
2. long-armed heavy load wu-zhi-shan pig according to claim 1, which is characterized in that set above the long hollow shaft
It is equipped with for the bracket to lateral drag chain limit and support, one end of the transverse direction drag chain is connected with long hollow shaft, the other end
It is connected with bracket；
The lid being connect with swivel plate is covered with above the long hollow shaft, the bracket is located on lid, and the lid is opened
Equipped with the first cable-through hole corresponding with lateral drag chain end position.
3. long-armed heavy load wu-zhi-shan pig according to claim 1, which is characterized in that the long hollow shaft away from
One end of lateral drag chain connection is connected with adjutage；
The adjutage is hollow pipe, and the side wall of the adjutage offers the second cable-through hole, and the side wall of the long hollow shaft is opened
Equipped with third cable-through hole, second cable-through hole and third cable-through hole position are corresponding.
4. long-armed heavy load wu-zhi-shan pig according to claim 1, which is characterized in that second rotating device includes
Shell, the second electric rotating machine, the second retarder and connector, second electric rotating machine, the second retarder are located in shell, institute
It states the second electric rotating machine, the second retarder and connector to be sequentially connected, the shell is connect with the first rotating device, the connection
Head is connect with clamping jaw.
5. long-armed heavy load wu-zhi-shan pig according to claim 4, which is characterized in that the connector includes setting successively
Connecting plate, backing plate and the connecting rod set, the connecting plate are arranged the output end in the second retarder, one end of the connecting rod with
The center of connecting plate is fixedly connected, and the other end is connect with clamping jaw；
One end that second retarder drives connector into is arranged with mounting ring, and mounting ring is fixedly connected with the casing, the installation
First sensor is installed on ring, inductance loop is provided between the mounting ring and connecting plate, inductance loop is fixed with connecting plate to be connected
It connects, the inductance loop is provided with the notch incuded for first sensor.
6. long-armed heavy load wu-zhi-shan pig according to claim 5, which is characterized in that there are two the first sensors
And be disposed adjacent, the gap width on the inductance loop is more than two first sensors and corresponds to the width to be taken up space on inductance loop
Degree.
7. long-armed heavy load wu-zhi-shan pig according to claim 4, which is characterized in that first rotating device includes
First electric rotating machine, belt gear and the first retarder, first electric rotating machine and the first retarder are passed by belt
Motivation structure is sequentially connected；
The output end of first retarder is connected with mounting plate, and the bottom of the mounting plate is provided with the connection being connect with shell
Head.
8. long-armed heavy load wu-zhi-shan pig according to claim 7, which is characterized in that further include mounting bracket, described
One electric rotating machine and the first retarder are arranged in the bottom of mounting bracket, and the belt gear is arranged at the top of mounting bracket,
The mounting bracket bottom is provided with second sensor, and the mounting plate is provided with the hole incuded for second sensor.
9. long-armed heavy load wu-zhi-shan pig according to claim 1, which is characterized in that the lifting gear includes being oriented to
Bar, elevating mechanism, lifting motor and screw rod, the elevating mechanism are slidably matched with guide rod, and the lifting motor is passed with screw rod
Dynamic connection, the screw rod are sequentially connected with elevating mechanism；
The elevating mechanism includes elevating lever, lifting platform and lifting seat, and the top of the elevating lever is fixedly connected with lifting platform, institute
The bottom end for stating elevating lever is fixedly connected with lifting seat, and the lifting seat is connected with screw rod, and the lifting seat is slided with guide rod
Dynamic cooperation；
The third rotating device is arranged on lifting platform, and guide rod and elevating lever are more.
10. long-armed heavy load wu-zhi-shan pig according to claim 9, which is characterized in that the lifting motor is connected with
The bottom end of driving pulley, the screw rod is equipped with passive belt wheel, and transmission belt is arranged on the driving pulley and driven pulley；
The bottom end of the screw rod is provided with mounting plate, and the bottom end of the screw rod is rotatably installed on a mounting board, the lifting
Motor is mounted on the upside of mounting plate, and the driving pulley, passive belt wheel and transmission belt are located at the lower section of mounting plate, the mounting plate
Fixation is set on guide rod.
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| CN201810258377.5A CN108312130A (en) | 2018-03-27 | 2018-03-27 | A kind of long-armed heavy load wu-zhi-shan pig |
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| CN201810258377.5A CN108312130A (en) | 2018-03-27 | 2018-03-27 | A kind of long-armed heavy load wu-zhi-shan pig |
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Cited By (1)
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|---|---|---|---|---|
| CN114474013A (en) * | 2021-12-16 | 2022-05-13 | 深圳鹏行智能研究有限公司 | Robot head structure |
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