CN110092300B - I-shaped wheel embraces installation manipulator - Google Patents
I-shaped wheel embraces installation manipulator Download PDFInfo
- Publication number
- CN110092300B CN110092300B CN201910390493.7A CN201910390493A CN110092300B CN 110092300 B CN110092300 B CN 110092300B CN 201910390493 A CN201910390493 A CN 201910390493A CN 110092300 B CN110092300 B CN 110092300B
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- arc
- transmission gear
- guide rail
- shaped rack
- main body
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- 238000009434 installation Methods 0.000 title description 2
- 230000005540 biological transmission Effects 0.000 claims description 50
- 230000000149 penetrating effect Effects 0.000 claims description 20
- 238000005096 rolling process Methods 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a spool holding manipulator which comprises a main body structure, two guide rail plates arranged on two sides of the main body structure and two movable tiles arranged on the other two sides of the main body structure, wherein symmetrical arc-shaped track grooves are formed in the two track plates, the circle centers of the two guide rail plates are concentric with the circle centers of the controlled spool, the arc-shaped track grooves on the adjacent track plates are correspondingly arranged, each movable tile slides along the corresponding arc-shaped track grooves on the adjacent track plates, a driving motor and a gear set for controlling the movable tiles to slide are arranged on the main body mechanism, the input end of the gear set is connected with the output end of the driving motor, and the output end of the gear set is connected with the movable tiles.
Description
Technical Field
The invention relates to a manipulator, in particular to a spool holding manipulator.
Background
The spool is a tool commonly used in the wire and cable industry and used for winding wires, the spool is used on a wire drawing machine and used for paying off on a pipe stranding strand, the spool is often required to be carried and transferred in the rope manufacturing production process, the position of the pipe stranding strand machine is narrow, a mechanical auxiliary device of conventional design cannot enter, a worker is always used for threading the steel rope for hoisting in the field production process, the steel rope threading hoisting operation speed is low, the steel rope cannot ensure that the spool is in a balanced state after hoisting, the spool is seriously inclined due to heavy side, the whole process is required to be held by hand, the lifting rope is required to be unwound by hand after the hoisting is in place, the potential safety hazard in the operation process is extremely high, and the labor intensity of the worker is also high.
Disclosure of Invention
The invention provides a spool holding manipulator which aims at solving the problems of low efficiency, large potential safety hazard and low working strength of the traditional steel wire rope threading and hoisting spool.
The invention relates to an I-shaped wheel holding manipulator which comprises a main body structure, two guide rail plates arranged on two sides of the main body structure and two movable tile plates arranged on the other two sides of the main body structure, wherein a first gear set is arranged between one side of the main body structure and the guide rail plate on one side of the main body structure, and a second gear set is symmetrically arranged on the other side of the main body structure;
The two movable tile plates are arranged between the two guide rail plates, a first arc-shaped rack and a second arc-shaped rack which are arranged in parallel are arranged on the back surface of one movable tile plate, a third arc-shaped rack and a fourth arc-shaped rack which are arranged in parallel are arranged on the back surface of the other movable tile plate, a driving motor is arranged on the main structure, the output end of the driving motor is connected with a driving gear, the driving gear is meshed with the input end of a first gear set, the first gear set and the second gear set are fixed through a fixed shaft penetrating through the main structure and synchronously rotate, the output end of the first gear set is connected with the first arc-shaped rack and the third arc-shaped rack, and the output end of the second gear set is connected with the second arc-shaped rack and the fourth arc-shaped rack;
The first arc-shaped rack is fixed in a first arc-shaped track groove on one guide rail plate through two rolling shafts penetrating through the through holes, the third arc-shaped rack is fixed in a second arc-shaped track groove on one guide rail plate through two rolling shafts penetrating through the through holes, the second arc-shaped rack is fixed in a third arc-shaped track groove on the other guide rail plate through two rolling shafts penetrating through the through holes, and the fourth arc-shaped rack is fixed in a fourth arc-shaped track groove on the other guide rail plate through two rolling shafts penetrating through the through holes; the circle centers of the first arc-shaped track groove and the second arc-shaped track groove are concentric with the circle center of one end of the spool to be controlled, and the circle centers of the third arc-shaped track groove and the fourth arc-shaped track groove are concentric with the circle center of the other end of the spool to be controlled.
The first gear set comprises a first transmission gear and a second transmission gear, the second gear set comprises a third transmission gear and a fourth transmission gear, and the first transmission gear, the third transmission gear, the second transmission gear and the fourth transmission gear are fixedly connected between two guide rail plates through fixing columns penetrating through a main body structure and coaxially rotate.
The first transmission gear is meshed with the driving gear, the second transmission gear and the first arc-shaped rack respectively, the other side of the second transmission gear is meshed with the third arc-shaped rack, the third transmission gear is meshed with the fourth transmission gear and the second arc-shaped rack respectively, and the other side of the fourth transmission gear is meshed with the fourth arc-shaped rack.
The top of the main body structure is provided with a lifting lug for hoisting the travelling crane.
The main body structure is provided with a signal receiver and a circuit board for controlling the rotation of the driving motor.
The signal receiver is a wireless signal receiver.
Three through holes are symmetrically arranged on the two guide rail plates respectively, the three through holes are distributed on one guide rail plate in a triangular shape, and bolts penetrating through the main body structure are arranged in the corresponding through holes on the two guide rail plates for fixed connection.
The spool holding manipulator has the beneficial effects that: (1) The production efficiency of the rope making factory is improved. (2) The operation is easy and convenient, the operation is carried out in a remote control mode, a worker can easily finish the operation without holding the spool by hand, and the labor intensity of the worker is reduced. (3) The potential safety hazard in the spool loading and unloading process is reduced, and the safety accident of pressing the fingers of workers during the traditional operation can not occur due to the remote control operation. (4) The mechanical auxiliary device with conventional design can be effectively used in larger space positions or in narrow space such as the periphery of a pipe strander, and the application range is wider.
Drawings
FIGS. 1 and 2 are two-angle perspective views of one side of a spool holding manipulator;
FIGS. 3 and 4 are two angular perspective views of the other side of the spool holding manipulator;
Fig. 5 is a front view of the spool holding manipulator.
1-A body mechanism; 2-a guide rail plate; 3-movable tile; 41-a drive gear; 42-a first transmission gear; 43-a second transmission gear; 52-a third transmission gear; 53-fourth drive gear; 6-fixing the column; 71-a first arcuate rack; 72-a second arcuate rack; 81-a third arc-shaped rack; 82-fourth arc racks, 9-driving motors; 10-rolling shaft; 11-a first arcuate track groove; 12-a second arcuate track slot; 13-a third arcuate track slot; 14-fourth arc track grooves; 15-an I-shaped wheel; 16-lifting lugs; 17-circuit board, α -angle.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, the spool holding manipulator of the present invention comprises a main body structure 1, two guide rail plates 2 arranged on two sides of the main body structure 1, and two movable tile plates 3 arranged on the other two sides of the main body structure 1, wherein a first transmission gear 42 and a second transmission gear 43 are arranged between one side of the main body structure 1 and the guide rail plate 2 on one side, a third transmission gear 52 and a fourth transmission gear 53 are symmetrically arranged on the other side, the first transmission gear, the second transmission gear and the fourth transmission gear are fixedly connected between the two guide rail plates 2 through a fixed column 6 penetrating through the main body structure 1 and coaxially rotate, the two movable tile plates 3 are arranged between the two guide rail plates 2, a first arc-shaped rack 71 and a second arc-shaped rack 72 which are arranged in parallel are arranged on the back surface of one movable tile plate 2, and a third arc-shaped rack 81 and a fourth arc-shaped rack 82 which are arranged in parallel are arranged on the back surface of the other movable tile plate;
The main structure 1 is provided with a driving motor 9, the output end of the driving motor 9 is connected with a driving gear 41, a first transmission gear 42 is respectively meshed with the driving gear 41, a second transmission gear 43 and a first arc-shaped rack 71, the other side of the second transmission gear 43 is also meshed with a third arc-shaped rack 81, a third transmission gear 52 is respectively meshed with a second driving gear 51, a fourth transmission gear 53 and a second arc-shaped rack 72, and the other side of the fourth transmission gear 53 is also meshed with a fourth arc-shaped rack 82; in order to avoid mutual interference when sliding between the arc racks on the same side, the arc racks on the same side are arranged in a staggered mode.
At least two through holes are formed in the first arc-shaped racks, the second arc-shaped racks, the third arc-shaped racks and the fourth arc-shaped racks are respectively provided with a first through hole, the first arc-shaped racks 71 are fixed in the first arc-shaped track grooves 11 on one guide rail plate 2 through the rolling shafts 10 penetrating through the through holes, the third arc-shaped racks 81 are fixed in the second arc-shaped track grooves 12 on one guide rail plate 2 through the rolling shafts 10 penetrating through the through holes, the second arc-shaped racks 72 are fixed in the third arc-shaped track grooves 13 on the other guide rail plate 2 through the rolling shafts 10 penetrating through the through holes, and the fourth arc-shaped racks 82 are fixed in the fourth arc-shaped track grooves 14 on the other guide rail plate through the rolling shafts 10 penetrating through the through holes; the circle centers of the first arc track groove 11 and the second arc track groove 12 are concentric with the circle center of the controlled spool 15, when the two movable tiles 3 are in a clasping state, the included angle alpha between the lower ends of the two movable tiles 3 and the circle center of the controlled spool 15 is not more than 180 degrees, preferably 150 degrees, when the two movable tiles 3 are in a loosening state, the included angle alpha between the lower ends of the two movable tiles 3 and the circle center of the controlled spool 15 is more than 180 degrees, preferably 210 degrees, wherein the fixation of each arc rack and the arc track groove is very important because of the design of two rolling shafts, if only one rolling shaft is adopted, the lower ends of the movable tiles 3 are often lifted up due to the action of gravity in the lifting process, so that the controlled spool 15 falls. Each arc track groove is internally provided with two rolling shafts 10, when the lower end of the movable tile plate 3 is easy to tilt outwards under the action of gravity after the spool 15 is hoisted, the rolling shaft 10 positioned above can generate force towards the circle center direction of the spool 15, and because of the limitation of the arc track grooves, the rolling shaft 10 above cannot move towards the circle center direction of the spool 15, and finally the lower end of the movable tile plate 3 cannot tilt to lock the spool 15, so that the spool 15 cannot fall down to cause personnel injury even if the spool 15 is suddenly electrified in hoisting.
The top of the main body structure 1 is provided with a lifting lug 16 for hoisting a crane, the main body structure 1 is provided with a signal receiver and a circuit board 17 for controlling the driving motor to rotate, the signal receiver is a wireless signal receiver, three through holes are symmetrically arranged on the two guide rail plates 2 respectively, the three through holes are distributed on one guide rail plate 2 in a triangular shape, and bolts penetrating through the main body structure 1 are arranged in the corresponding through holes on the two guide rail plates 2 for fixed connection.
The specific embodiment is as follows: an operator utilizes a remote controller to send out wireless signals, a wireless signal receiver on the main structure 1 receives the wireless signals and then sends the signals to a control system of the circuit board 17, the circuit board controls the driving motor 9 to operate, when the driving motor 9 rotates clockwise, a driving gear 41 driven by an output shaft of the driving motor 9 drives a first transmission gear 42 and a second transmission gear 43 to rotate reversely at the same time, meanwhile, a third transmission gear 52 and a fourth transmission gear 54 keep synchronous with the first transmission gear 42 and the second transmission gear 43 due to a fixed shaft and rotate reversely at the same time, finally, two movable tile plates 3 move downwards along the circumferential direction of the I-shaped wheel 15 at the same time, the I-shaped wheel 15 is wrapped, and for better grasping the I-shaped wheel 15, an included angle alpha formed by the lower end of the movable tile plates 3 is 150 degrees, then lifting lugs on the main structure are utilized to be combined for lifting, when the driving motor 9 rotates anticlockwise, the two movable tile plates 3 move upwards along the circumferential track of the I-shaped wheel 15 under the driving motor 9, and a manipulator is separated from the I-shaped wheel 15 when the manipulator is lifted.
The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.
Claims (7)
1. A spool embraces and installs manipulator, its characterized in that: the device comprises a main body structure, two guide rail plates arranged on two sides of the main body structure and two movable tile plates arranged on the other two sides of the main body structure, wherein a first gear set is arranged between one side of the main body structure and the guide rail plate on one side of the main body structure, and a second gear set is symmetrically arranged on the other side of the main body structure;
The two movable tile plates are arranged between the two guide rail plates, a first arc-shaped rack and a second arc-shaped rack which are arranged in parallel are arranged on the back surface of one movable tile plate, a third arc-shaped rack and a fourth arc-shaped rack which are arranged in parallel are arranged on the back surface of the other movable tile plate, a driving motor is arranged on the main structure, the output end of the driving motor is connected with a driving gear, the driving gear is meshed with the input end of a first gear set, the first gear set and the second gear set are fixed through a fixed shaft penetrating through the main structure and synchronously rotate, the output end of the first gear set is connected with the first arc-shaped rack and the third arc-shaped rack, and the output end of the second gear set is connected with the second arc-shaped rack and the fourth arc-shaped rack;
The first arc-shaped rack is fixed in a first arc-shaped track groove on one guide rail plate through two rolling shafts penetrating through the through holes, the third arc-shaped rack is fixed in a second arc-shaped track groove on one guide rail plate through two rolling shafts penetrating through the through holes, the second arc-shaped rack is fixed in a third arc-shaped track groove on the other guide rail plate through two rolling shafts penetrating through the through holes, and the fourth arc-shaped rack is fixed in a fourth arc-shaped track groove on the other guide rail plate through two rolling shafts penetrating through the through holes; the circle centers of the first arc-shaped track groove and the second arc-shaped track groove are concentric with the circle center of one end of the spool to be controlled, and the circle centers of the third arc-shaped track groove and the fourth arc-shaped track groove are concentric with the circle center of the other end of the spool to be controlled.
2. The spool holding manipulator of claim 1, wherein: the first gear set comprises a first transmission gear and a second transmission gear, the second gear set comprises a third transmission gear and a fourth transmission gear, and the first transmission gear, the third transmission gear, the second transmission gear and the fourth transmission gear are fixedly connected between two guide rail plates through fixing columns penetrating through a main body structure and coaxially rotate.
3. The spool holding manipulator of claim 2, wherein: the first transmission gear is meshed with the driving gear, the second transmission gear and the first arc-shaped rack respectively, the other side of the second transmission gear is meshed with the third arc-shaped rack, the third transmission gear is meshed with the fourth transmission gear and the second arc-shaped rack respectively, and the other side of the fourth transmission gear is meshed with the fourth arc-shaped rack.
4. The spool holding manipulator of claim 3, wherein: the top of the main body structure is provided with a lifting lug for hoisting the travelling crane.
5. The spool holding manipulator of claim 4, wherein: the main body structure is provided with a signal receiver and a circuit board for controlling the rotation of the driving motor.
6. The spool holding manipulator of claim 5, wherein: the signal receiver is a wireless signal receiver.
7. The spool holding manipulator of claim 6, wherein: three through holes are symmetrically arranged on the two guide rail plates respectively, the three through holes are distributed on one guide rail plate in a triangular shape, and bolts penetrating through the main body structure are arranged in the corresponding through holes on the two guide rail plates for fixed connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910390493.7A CN110092300B (en) | 2019-05-10 | 2019-05-10 | I-shaped wheel embraces installation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910390493.7A CN110092300B (en) | 2019-05-10 | 2019-05-10 | I-shaped wheel embraces installation manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110092300A CN110092300A (en) | 2019-08-06 |
| CN110092300B true CN110092300B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910390493.7A Active CN110092300B (en) | 2019-05-10 | 2019-05-10 | I-shaped wheel embraces installation manipulator |
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| Country | Link |
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| CN (1) | CN110092300B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723638B (en) * | 2019-10-29 | 2020-09-29 | 中国科学院合肥物质科学研究院 | Hoisting mechanism for large heavy-load component in nuclear environment |
| CN112811056A (en) * | 2021-01-20 | 2021-05-18 | 应玉龙 | Stacking machine of stereoscopic warehouse |
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| CN102507750A (en) * | 2011-11-02 | 2012-06-20 | 中国农业大学 | Ultrasonic flaw detection scanning frame of porcelain post insulator |
| CN204108998U (en) * | 2014-09-09 | 2015-01-21 | 青岛金立磁性材料有限公司 | A kind of manipulator of automatic sampling |
| CN204162265U (en) * | 2014-07-29 | 2015-02-18 | 上海宝钢工业技术服务有限公司 | Jaw arrangement is hung for steel pipe lifting |
| CN104526710A (en) * | 2014-12-11 | 2015-04-22 | 重庆舰帏机械有限公司 | Clamping device of linkage type pipe fitting |
| CN106697859A (en) * | 2017-03-02 | 2017-05-24 | 苏州鑫夷斯精密机械有限公司 | Rotating unit of piston column loading mechanism |
| CN108005594A (en) * | 2018-01-27 | 2018-05-08 | 张成功 | A kind of encircling type manipulator for capturing tubing string in a row |
| CN207903488U (en) * | 2018-02-08 | 2018-09-25 | 昆山世烨鼎精密模具有限公司 | Bottom supporting type fixture |
| CN208054706U (en) * | 2018-01-31 | 2018-11-06 | 合肥国瑞装配式建筑科技有限公司 | A kind of wallboard lifting clamping device |
| CN210103318U (en) * | 2019-05-10 | 2020-02-21 | 张家港市瑞昌智能机器系统有限公司 | Spool holding manipulator |
-
2019
- 2019-05-10 CN CN201910390493.7A patent/CN110092300B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507750A (en) * | 2011-11-02 | 2012-06-20 | 中国农业大学 | Ultrasonic flaw detection scanning frame of porcelain post insulator |
| CN204162265U (en) * | 2014-07-29 | 2015-02-18 | 上海宝钢工业技术服务有限公司 | Jaw arrangement is hung for steel pipe lifting |
| CN204108998U (en) * | 2014-09-09 | 2015-01-21 | 青岛金立磁性材料有限公司 | A kind of manipulator of automatic sampling |
| CN104526710A (en) * | 2014-12-11 | 2015-04-22 | 重庆舰帏机械有限公司 | Clamping device of linkage type pipe fitting |
| CN106697859A (en) * | 2017-03-02 | 2017-05-24 | 苏州鑫夷斯精密机械有限公司 | Rotating unit of piston column loading mechanism |
| CN108005594A (en) * | 2018-01-27 | 2018-05-08 | 张成功 | A kind of encircling type manipulator for capturing tubing string in a row |
| CN208054706U (en) * | 2018-01-31 | 2018-11-06 | 合肥国瑞装配式建筑科技有限公司 | A kind of wallboard lifting clamping device |
| CN207903488U (en) * | 2018-02-08 | 2018-09-25 | 昆山世烨鼎精密模具有限公司 | Bottom supporting type fixture |
| CN210103318U (en) * | 2019-05-10 | 2020-02-21 | 张家港市瑞昌智能机器系统有限公司 | Spool holding manipulator |
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| Publication number | Publication date |
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| CN110092300A (en) | 2019-08-06 |
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