CN112061978A - Hard-arm type three-dimensional wound core hoisting manipulator and use method thereof - Google Patents
Hard-arm type three-dimensional wound core hoisting manipulator and use method thereof Download PDFInfo
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- CN112061978A CN112061978A CN202010908301.XA CN202010908301A CN112061978A CN 112061978 A CN112061978 A CN 112061978A CN 202010908301 A CN202010908301 A CN 202010908301A CN 112061978 A CN112061978 A CN 112061978A
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- Prior art keywords
- arm
- manipulator
- linear guide
- control assembly
- hoisting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/08—Trolleys or crabs, e.g. operating above runways with turntables
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- 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
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
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- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- 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
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses a hard-arm type three-dimensional wound core hoisting manipulator and a using method thereof, and the hard-arm type three-dimensional wound core hoisting manipulator comprises a suspension frame, a lifting device, a rotating device, a telescopic arm, a clamping device and a control assembly, wherein the lifting device is connected with the top of the suspension frame, the rotating device is arranged at the bottom of the suspension frame, the telescopic arm comprises an inner arm and an outer arm, the lower part of the inner arm is nested inside the outer arm, the top of the outer arm penetrates through the bottom of the suspension frame and is connected with the rotating device, the top of the inner arm is connected with the lifting device, the inner arm can slide up and down inside the outer arm under the lifting action of the lifting device, the bottom of the inner arm is connected with the clamping device, the clamping device can clamp a three-dimensional wound core, and the lifting device, the rotating device.
Description
Technical Field
The invention belongs to the technical field of hoisting and transferring of a three-dimensional wound core transformer core, and particularly relates to a hard-arm three-dimensional wound core hoisting manipulator and a using method thereof.
Background
At present, after a hoisting belt and an iron core are bound by manpower, one end of the hoisting belt is hung on a crane to realize iron core hoisting and transferring after the iron core of the domestic three-dimensional wound core transformer is hoisted, when the iron core is hoisted by the hoisting mode, the hoisting belt is not fixed well, the iron core swings in the hoisting process, the iron core is easily damaged, and an operator is also easily injured. With the increase of the output of transformer manufacturers and the attention on the personal safety of operators, the backward hoisting mode can not meet the requirements on efficiency and safety, so that an efficient and safe three-dimensional wound core hoisting tool is urgently needed in the market.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a hard-arm type three-dimensional wound core hoisting manipulator and a using method thereof, and solves the problems that a hoisting belt is not fixed easily, an iron core is easy to damage due to swinging of the iron core in a hoisting process, operators are easy to hurt and the like in the prior art.
In order to solve the technical problem, the technical scheme of the invention is as follows: the utility model provides a three-dimensional iron core hoist and mount manipulator of rolling up of hard arm formula, includes mounted frame, hoisting device, slewer, flexible arm, clamping device and control assembly, hoisting device is connected with the mounted frame top, and wherein slewer sets up in the mounted frame bottom, flexible arm contains inner arm and outer arm, and wherein the inner arm lower part nestification is inside outer arm, outer arm top is passed the mounted frame bottom and is connected with slewer, and wherein the inner arm top is connected with hoisting device, and the inner arm can slide from top to bottom outside arm inside under hoisting device's lifting action, the inner arm bottom is connected with clamping device, and wherein clamping device can the three-dimensional iron core of rolling up of centre gripping, hoisting device, slewer, flexible arm and clamping device are connected with the control assembly electricity respectively.
Preferably, the suspension frame comprises a suspension portal frame, an underframe, a hoisting pin shaft and a hoisting plate, wherein the bottom of the suspension portal frame is connected with the underframe through bolts, the hoisting plate is positioned at four corners of the underframe, the hoisting plate is connected with the underframe through the hoisting pin shaft, the lifting device is connected with the top of the suspension portal frame, and the slewing device is connected with the upper end face of the underframe.
Preferably, hoisting device is including promoting calabash, calabash mounting bracket and calabash installation pin axle, and wherein bolted connection is passed through with the suspension door frame top to the calabash mounting bracket, promote the calabash and be connected with the calabash mounting bracket through calabash installation pin axle, wherein promote the calabash lower extreme and pass through the steel wire with the inner arm top and be connected, promote the calabash and can hang the inner arm and be linear motion in vertical direction, wherein promote the calabash and be connected with the control assembly electricity.
Preferably, the slewing device comprises a slewing support, a brake disc and a brake, wherein an outer ring of the slewing support is connected with the underframe through a bolt, an inner ring of the slewing support is connected with the top of an outer arm through a bolt, the brake disc is mounted on the upper portion of the inner ring of the slewing support, one end of the brake is mounted on an upright post of the suspension portal, the other end of the brake is in contact with the upper end face of the brake disc, the brake brakes the slewing device through friction force generated by interaction with the brake disc, and the brake is electrically connected with the control assembly.
Preferably, the inner arm and the outer wall cross-section of flexible arm are square or rectangle, wherein install the direction wheelset on the outer arm, wherein the direction wheelset is total eight and evenly distributed in four sides of outer arm, wherein every side of outer arm sets up two direction wheelsets and distributes from top to bottom, tangent formation rolling friction in every direction wheelset and the side of inner arm, wherein the direction wheelset can lead the direction of motion of inner arm.
Preferably, the outer wall is further provided with a travel switch support and a travel switch, wherein the travel switch is mounted on the travel switch support, the side faces of the two end parts of the inner arm are respectively provided with a collision block, when the collision block at the end part of the inner arm touches the travel switch, the inner arm can prompt that the inner arm can not ascend or descend, and the travel switch is electrically connected with the control assembly.
Preferably, the clamping device comprises a clamping base, a left linear guide rail set, a right linear guide rail set, a left screw pair, a right screw pair, a left driving motor, a right driving motor, a left clamping jaw and a right clamping jaw, wherein the upper end of the clamping base is connected with the lower end of the inner arm through a bolt, the left linear guide rail set and the right linear guide rail set are respectively installed on the left side and the right side of the lower end surface of the clamping base, the left linear guide rail set and the right linear guide rail set are respectively provided with two linear guide rails, the two linear guide rails of the left linear guide rail set and the right linear guide rail set are respectively positioned on the same straight line, the two ends of the top of the left clamping jaw are embedded in the left linear guide rail set, the two ends of the top of the right clamping jaw are embedded in the right linear guide rail set, the left screw pair is connected with the upper part of the left clamping jaw through a bolt, the left driving motor is installed at the end, the right driving motor is installed at the end part of the right linear guide rail set and connected with the right screw rod pair to drive the right screw rod pair, the left clamping jaw and the right clamping jaw can slide leftwards or rightwards under the driving of the left screw rod pair and the right screw rod pair respectively, and the left driving motor and the right driving motor are electrically connected with the control assembly respectively.
Preferably, the side of the clamping base is further provided with an operating handle, the control assembly is a PLC control assembly, the PLC control assembly comprises a plurality of control buttons, and the control buttons are arranged on the operating handle and used for controlling the hard-arm type three-dimensional iron core winding hoisting manipulator.
Preferably, the use method of the hard-arm type three-dimensional wound core hoisting manipulator comprises the following steps:
step 1) mounting a suspension bracket on a station crane;
step 2) the clamping device reaches the maximum distance under the control of the control assembly, then the telescopic arm is lowered to a proper height through the lifting device, the clamping device clamps the three-dimensional wound core under the control of the control assembly, then the control assembly controls the rotating device to brake the telescopic arm to prevent the telescopic arm from rotating, and then the telescopic arm is lifted;
and 3) after the three-dimensional wound core is transferred to a preset position, the control assembly controls the rotating device to brake the telescopic arm, then the telescopic arm is rotated manually, when the three-dimensional wound core reaches a proper angle, the telescopic arm is controlled to descend, the three-dimensional wound core is placed at the preset position, then the clamping device reaches the maximum distance under the control of the control assembly, the three-dimensional wound core is released, and the three-dimensional wound core is transferred.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides a hard-arm type three-dimensional wound core transferring manipulator, which overcomes the defects that a hoisting rope is not well fixed, the hoisting process swings, an iron core is easily damaged and the like when a travelling crane and a hoisting belt are used for hoisting a three-dimensional wound core in the prior art, realizes safe and efficient transfer of the three-dimensional wound core under the condition of harmless clamping, has simple operation and flexible use, can effectively reduce the workload of operators, and can also greatly improve the working efficiency;
(2) the left clamping jaw and the right clamping jaw of the clamping device can slide leftwards or rightwards under the driving of the left screw rod pair and the right screw rod pair respectively, so that any distance can be opened between the left clamping jaw and the right clamping jaw, and the left clamping jaw and the right clamping jaw clamp the three-dimensional wound iron core in a clamping manner, so that the clamping device is convenient and quick, can be used for hoisting the three-dimensional wound iron cores with different specifications and can also be used for hoisting the iron core wound with a coil, and has a wide application range;
(3) the slewing device is provided with the brake disc and the brake, the brake brakes the slewing device through the friction force generated by the interaction of the brake disc and the brake disc, the irregular swinging of the three-dimensional wound iron core in the hoisting process can be avoided, and the iron core is prevented from being knocked and damaged; after the iron core is in place, the brake can be cancelled, the three-dimensional iron core is manually rotated by 360 degrees, the iron core winding machine is suitable for placing requirements of different stations and different angles, and an operation handle which is in accordance with human engineering design is further arranged, so that the operation is comfortable and convenient.
Drawings
FIG. 1 is a schematic perspective view of a hard-arm three-dimensional iron core winding hoisting manipulator according to the present invention;
FIG. 2 is a schematic structural view of a hard-arm three-dimensional iron core winding hoisting manipulator in a front view;
FIG. 3 is a schematic left-view structural diagram of a hard-arm three-dimensional iron core winding hoisting manipulator according to the present invention;
FIG. 4 is a schematic sectional structure view of a hard-arm type three-dimensional iron core winding hoisting manipulator according to the present invention;
fig. 5 is a schematic view of a top cross-sectional structure of a hard-arm three-dimensional iron core winding hoisting manipulator according to the present invention.
Description of the reference numerals
1. The device comprises a suspension bracket, 2, a lifting device, 3, a rotating device, 4, a telescopic arm, 5, a clamping device, 6, a three-dimensional wound core, 7, a suspension door frame, 8, an underframe, 9, a hoisting pin shaft, 10, a hoisting plate, 11, a brake disc, 12, a rotating support, 13, a brake, 14, an inner arm, 15, an outer wall, 16, a guide wheel set, 17, a travel switch support, 18, a travel switch, 19, a hoisting gourd, 20, a gourd mounting frame, 21, a gourd mounting pin shaft, 22, a clamping base, 23, a left linear guide rail set, 24, a right linear guide rail set, 25, a left screw rod pair, 26, a right screw rod pair, 27, a left driving motor, 28, a right driving motor, 29, a left clamping jaw, 30, a right clamping jaw, 31 and an operating handle.
Detailed Description
The following describes embodiments of the present invention with reference to examples:
it should be noted that the structures, proportions, sizes, and other elements shown in the specification are included for the purpose of understanding and reading only, and are not intended to limit the scope of the invention, which is defined by the claims, and any modifications of the structures, changes in the proportions and adjustments of the sizes, without affecting the efficacy and attainment of the same.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Example 1
As shown in fig. 1-2, the invention discloses a hard-arm type three-dimensional iron core winding and hoisting manipulator, which comprises a suspension bracket 1, a lifting device 2, a rotating device 3, a telescopic arm 4, a clamping device 5 and a control assembly, wherein the lifting device 2 is connected with the top of the suspension bracket 1, wherein the rotating device 3 is arranged at the bottom of the suspension bracket 1, the telescopic arm 4 comprises an inner arm 14 and an outer arm 15, wherein the lower part of the inner arm 14 is nested inside the outer arm 15, the top of the outer arm 15 passes through the bottom of the suspension bracket 1 to be connected with the slewing gear 3, wherein the top of the inner arm 14 is connected with the lifting device 2, the inner arm 14 can slide up and down inside the outer arm 15 under the lifting action of the lifting device 2, the bottom of the inner arm 14 is connected with the clamping device 5, the clamping device 5 can clamp the three-dimensional wound core 6, and the lifting device 2, the rotating device 3, the telescopic arm 4 and the clamping device 5 are respectively and electrically connected with the control assembly.
Example 2
Preferably, as shown in fig. 2, the suspension frame 1 includes a suspension door frame 7, an underframe 8, a suspension hinge pin 9 and a suspension plate 10, wherein the bottom of the suspension door frame 7 is connected with the underframe 8 through a bolt, the suspension plate 10 is located at four corners of the underframe 8, the suspension plate 10 is connected with the underframe 8 through the suspension hinge pin 9, the lifting device 2 is connected with the top of the suspension door frame 7, and the rotation device 3 is connected with the upper end face of the underframe 8.
The hanging portal frame 7 is a square frame, and the lifting device 2 is arranged at the center of the top of the hanging portal frame 7. A through hole is formed in the center of the bottom frame 8, and the telescopic arm 4 can penetrate through the through hole to be connected with the lifting device 2.
The carrier of the whole manipulator device of the suspension bracket 1 is characterized in that the manipulator is arranged on a station crane through a hoisting plate 10 of the suspension bracket 1 and is matched with the station crane for use.
Example 3
Preferably, as shown in fig. 2, the lifting device 2 includes a lifting block 19, a block mounting frame 20 and a block mounting pin 21, wherein the block mounting frame 20 is connected to the top of the suspension gantry 7 through a bolt, the lifting block 19 is connected to the block mounting frame 20 through the block mounting pin 21, the lower end of the lifting block 19 is connected to the top of the inner arm 14 through a steel wire, the lifting block 19 can lift the inner arm 14 to make a linear motion in a vertical direction, and the lifting block 19 is electrically connected to the control module.
Example 4
Preferably, as shown in fig. 2, the slewing device 3 comprises a slewing bearing 12, a brake disc 11 and a brake 13, wherein an outer ring of the slewing bearing 12 is connected with the underframe 8 through a bolt, an inner ring of the slewing bearing 12 is connected with the top of an outer arm 15 through a bolt, the brake disc 11 is installed on the upper portion of the inner ring of the slewing bearing 12, one end of the brake 13 is installed on a vertical column of the suspension gantry 7, the other end of the brake 13 is in contact with the upper end face of the brake disc 11, the brake 13 brakes the slewing device 3 through friction force generated by interaction with the brake disc 11, and the brake 13 is electrically connected with the control assembly.
The outer ring of the rotary support 12 is fixed on the periphery of the through hole of the chassis 8, the outer wall 15 penetrates through the through hole to be connected with the inner ring of the rotary support 12, the rotary support 12 is a bearing, and the inner ring can rotate relative to the outer ring.
Example 5
Preferably, as shown in fig. 2 and 4, the cross sections of the inner arm 14 and the outer wall 15 of the telescopic arm 4 are both square or rectangular, wherein the outer arm 15 is provided with eight guide wheel sets 16, the guide wheel sets 16 are uniformly distributed on four sides of the outer arm 15, each side of the outer arm 15 is provided with two guide wheel sets 16 and is distributed up and down, each guide wheel set 16 is tangent to a side of the inner arm 14 to form rolling friction, and the guide wheel sets 16 can guide the moving direction of the inner arm 14.
The inner wall of the outer wall 15 is provided with a protruding groove at the position of the guide wheel set 16, the guide wheel set 16 is rotatably fixed in the protruding groove, and the guide wheel set 16 is tangent to the side surface of the inner arm 14.
Preferably, as shown in fig. 3, a travel switch bracket 17 and a travel switch 18 are further disposed on the outer wall 15, wherein the travel switch 18 is mounted on the travel switch bracket 17, the side surfaces of the two end portions of the inner arm 14 are respectively provided with a bump, when the bump at the end portion of the inner arm 14 touches the travel switch 18, it can be indicated that the inner arm cannot ascend or descend any more, and the travel switch 18 is electrically connected to the control component.
A travel switch 18 is arranged on the outer wall 15 between the two axial guide wheel sets 16.
Example 6
Preferably, as shown in fig. 2 and 5, the clamping device 5 includes a clamping base 22, a left linear guide rail set 23, a right linear guide rail set 24, a left screw rod set 25, a right screw rod set 26, a left driving motor 27, a right driving motor 28, a left clamping jaw 29 and a right clamping jaw 30, wherein the upper end of the clamping base 22 is connected with the lower end of the inner arm 14 through a bolt, the left linear guide rail set 23 and the right linear guide rail set 24 are respectively installed on the left side and the right side of the lower end surface of the clamping base 22, the left linear guide rail set 23 and the right linear guide rail set 24 respectively have two linear guide rails, the two linear guide rails of the left linear guide rail set 23 and the right linear guide rail set 24 are respectively in the same straight line, two ends of the top of the left clamping jaw 29 are embedded in the left linear guide rail set 23, two ends of the top of the right clamping jaw 30 are embedded in the right linear guide rail set 24, the upper parts of the right screw pair 26 and the right clamping jaw 30 are connected through a bolt, the left driving motor 27 is installed at the end part of the left linear guide rail set 23 and connected with the left screw pair 25 for driving the left screw pair 25, the right driving motor 28 is installed at the end part of the right linear guide rail set 24 and connected with the right screw pair 26 for driving the right screw pair 26, the left clamping jaw 29 and the right clamping jaw 30 can slide leftwards or rightwards under the driving of the left screw pair 25 and the right screw pair 26 respectively, and the left driving motor 27 and the right driving motor 28 are electrically connected with the control assembly respectively.
The left clamping jaw 29 and the right clamping jaw 30 are opposite) type structures, and anti-abrasion rubber cushion layers are arranged on the inner sides of the) type structures, so that the three-dimensional wound core is clamped in a clamping manner, the convenience and the rapidness are realized, the falling is not easy, and the clamping injury is avoided.
Example 7
Preferably, as shown in fig. 1, an operating handle 31 is further disposed on a side surface of the clamping base 22, the control assembly is a PLC control assembly, the PLC control assembly includes a plurality of control buttons, and the control buttons are disposed on the operating handle 31 to control the hard-arm type stereoscopic iron core winding and hoisting manipulator.
The operating handle 31 is a U-shaped structure with a high front part and a low back part, and the structure accords with the operating handle designed by human engineering, so that the operation is comfortable and convenient.
When the manipulator is used, an operator can realize the functions of stretching of the telescopic arm of the manipulator, clamping and releasing of the clamping jaw, walking and rotating in all directions, and the like by operating a control button on the remote controller or the operating handle.
Example 8
Preferably, the use method of the hard-arm type three-dimensional wound core hoisting manipulator comprises the following steps:
step 1) mounting a suspension bracket 1 on a station crane;
step 2) the clamping device 5 reaches the maximum distance under the control of the control assembly, then the telescopic arm 4 descends to a proper height through the lifting device 2, the clamping device 5 clamps the three-dimensional wound core 6 under the control of the control assembly, then the control assembly controls the rotating device 3 to brake the telescopic arm 4 to prevent the telescopic arm 4 from rotating, and then the telescopic arm 4 is lifted;
and 3) after the three-dimensional wound core is transferred to a preset position, the control assembly controls the rotating device 3 to brake the telescopic arm 4, then the telescopic arm 4 is rotated manually, when the three-dimensional wound core 6 reaches a proper angle, the telescopic arm 4 is controlled to descend, the three-dimensional wound core 6 is placed at the preset position, then the clamping device 5 reaches the maximum distance under the control of the control assembly, the three-dimensional wound core 6 is released, and the three-dimensional wound core 6 is transferred.
The working principle of the invention is as follows:
as shown in fig. 1 to 5, the invention provides a hard-arm type three-dimensional iron core roll transferring manipulator, which comprises a suspension bracket 1, a lifting device 2, a rotating device 3, a telescopic arm 4, a clamping device 5 and a control assembly, wherein the suspension bracket 1 is a carrier of the whole manipulator and can be lifted by a station crane, the lifting device 2 is connected with the top of the suspension bracket 1, the rotating device 3 is positioned at the bottom of the suspension bracket 1, the telescopic arm 4 comprises an inner arm 14 and an outer arm 15, the sections of the inner arm 14 and the outer arm 15 are square or rectangular, the top of the inner arm 14 is connected with the lifting device 2, the lower part of the inner arm is nested inside the outer arm 15, the top of the outer arm 15 is connected with the rotating device 3, so that the outer wall 15 and the inner arm 14 can rotate simultaneously, the inner arm 14 can slide up and down inside the outer arm 15 under the lifting action of the lifting device 2, a guide wheel set 16 aiming at the inner arm is installed on the outer arm 15, the clamping device 5 is connected with the lower end of the inner arm 14 through a bolt, two groups of linear guide rails which are arranged in parallel are installed on the clamping base 22, the left clamping jaw 29 and the right clamping jaw 30 are respectively connected with the left linear guide rail group 23 and the right linear guide rail group 24, the upper portions of the left clamping jaw 29 and the right clamping jaw 30 are respectively connected with the left screw rod pair 25 and the right screw rod pair 26, and the left clamping jaw 29 and the right clamping jaw 30 can slide leftwards or rightwards under the driving of the left screw rod pair 25 and the right screw rod pair 26.
The suspension bracket 1 is arranged on a station crane and controlled by a control assembly (a control button on an operation handle 31), a left clamping jaw 29 and a right clamping jaw 30 respectively reach the maximum distance under the drive of a left screw pair 25 and a right screw pair 26, the telescopic arm 4 descends to a proper height, the left clamping jaw 29 and the right clamping jaw 30 respectively clamp a three-dimensional wound iron core 6 under the drive of the left screw pair 25 and the right screw pair 26, then a brake 13 of a slewing device 3 is controlled by the control assembly to brake a brake disc, so that the telescopic arm 4 is braked to avoid the rotation of the telescopic arm 4, then the telescopic arm 4 is lifted and transferred to a preset position, then the telescopic arm 4 is manually rotated, when the iron core reaches a proper angle, the telescopic arm 4 descends, the three-dimensional wound iron core 6 is laid down to the preset position, the left clamping jaw 29 and the right clamping jaw 30 are respectively driven by the left screw pair 25 and the right screw pair 26, and when the maximum distance is reached, the three-dimensional wound iron core 6 is released, and the transfer of the three-dimensional wound iron core 6 is completed.
The invention provides a hard-arm type three-dimensional wound core transferring manipulator, which overcomes the defects that a hoisting rope is not well fixed, the hoisting process swings, an iron core is easily damaged and the like when a crane and a hoisting belt are used for hoisting a three-dimensional wound core in the prior art, realizes safe and efficient transfer of the three-dimensional wound core under the condition of harmless clamping, is simple to operate and flexible to use, can effectively reduce the workload of operators, and can also greatly improve the working efficiency.
The left clamping jaw and the right clamping jaw of the clamping device can slide leftwards or rightwards under the driving of the left screw rod pair and the right screw rod pair respectively, so that any distance can be opened between the left clamping jaw and the right clamping jaw, and the left clamping jaw and the right clamping jaw clamp the three-dimensional wound iron core in a clamping manner, so that the clamping device is convenient and quick, can be used for hoisting the three-dimensional wound iron cores with different specifications and can also be used for hoisting the iron core wound with a coil, and has a wide application range.
The slewing device is provided with the brake disc and the brake, the brake brakes the slewing device through the friction force generated by the interaction of the brake disc and the brake disc, the irregular swinging of the three-dimensional wound iron core in the hoisting process can be avoided, and the iron core is prevented from being knocked and damaged; after the iron core is in place, the brake can be cancelled, the three-dimensional iron core is manually rotated by 360 degrees, the iron core winding machine is suitable for placing requirements of different stations and different angles, and an operation handle which is in accordance with human engineering design is further arranged, so that the operation is comfortable and convenient.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Many other changes and modifications can be made without departing from the spirit and scope of the invention. It is to be understood that the invention is not to be limited to the specific embodiments, but only by the scope of the appended claims.
Claims (9)
1. The utility model provides a three-dimensional hoist and mount manipulator of rolling up unshakable in one's determination of hard arm formula which characterized in that: the lifting device (2) is connected with the top of the suspension frame (1), the rotating device (3) is arranged at the bottom of the suspension frame (1), the telescopic arm (4) comprises an inner arm (14) and an outer arm (15), the lower portion of the inner arm (14) is nested inside the outer arm (15), the top of the outer arm (15) penetrates through the bottom of the suspension frame (1) and is connected with the rotating device (3), the top of the inner arm (14) is connected with the lifting device (2), the inner arm (14) can slide up and down inside the outer arm (15) under the lifting action of the lifting device (2), the bottom of the inner arm (14) is connected with the clamping device (5), the clamping device (5) can clamp the three-dimensional wound core (6), and the lifting device (2), The rotating device (3), the telescopic arm (4) and the clamping device (5) are respectively electrically connected with the control assembly.
2. The manipulator of claim 1, wherein the manipulator comprises: the suspension frame (1) comprises a suspension door frame (7), an underframe (8), a hoisting pin shaft (9) and hoisting plates (10), wherein the bottom of the suspension door frame (7) is connected with the underframe (8) through bolts, the hoisting plates (10) are positioned at four corners of the underframe (8), the hoisting plates (10) are connected with the underframe (8) through the hoisting pin shaft (9), a lifting device (2) is connected with the top of the suspension door frame (7), and a turning device (3) is connected with the upper end face of the underframe (8).
3. The manipulator of claim 2, wherein the manipulator comprises: lifting device (2) are including promoting calabash (19), calabash mounting bracket (20) and calabash installation round pin axle (21), wherein bolted connection is passed through with hanging portal (7) top in calabash mounting bracket (20), it is connected with calabash mounting bracket (20) through calabash installation round pin axle (21) to promote calabash (19), and wherein promote calabash (19) lower extreme and inner arm (14) top and pass through the steel wire and be connected, it can hoist inner arm (14) and be linear motion in vertical direction to promote calabash (19), wherein promotes calabash (19) and is connected with the control assembly electricity.
4. The manipulator of claim 2, wherein the manipulator comprises: slewing device (3) are including gyration support (12), brake disc (11) and stopper (13), and wherein the outer lane of gyration support (12) passes through bolted connection with chassis (8), the inner circle of gyration support (12) passes through bolted connection with outer arm (15) top, brake disc (11) are installed in gyration support (12) inner circle upper portion, stopper (13) one end is installed on the stand that hangs portal (7), and wherein stopper (13) other end and brake disc (11) up end contact, stopper (13) are braked slewing device (3) through the frictional force that produces with brake disc (11) interact, and wherein stopper (13) are connected with the control assembly electricity.
5. The manipulator of claim 1, wherein the manipulator comprises: the cross-section of inner arm (14) and outer wall (15) of flexible arm (4) is square or rectangle, wherein installs direction wheelset (16) on outer arm (15), wherein direction wheelset (16) total eight and evenly distributed in four sides of outer arm (15), wherein every side of outer arm (15) sets up two direction wheelsets (16) and distributes from top to bottom, every direction wheelset (16) forms rolling friction with the side of inner arm (14) is tangent, and wherein direction wheelset (16) can lead to the direction of motion of inner arm (14).
6. The manipulator of claim 1, wherein the manipulator comprises: the outer wall (15) is further provided with a travel switch support (17) and a travel switch (18), wherein the travel switch (18) is mounted on the travel switch support (17), the side faces of two end parts of the inner arm (14) are respectively provided with a collision block, when the collision blocks at the end part of the inner arm (14) touch the travel switch (18), the collision blocks can prompt that the inner arm cannot ascend or descend, and the travel switch (18) is electrically connected with the control assembly.
7. The manipulator of claim 1, wherein the manipulator comprises: the clamping device (5) comprises a clamping base (22), a left linear guide rail group (23), a right linear guide rail group (24), a left screw rod pair (25), a right screw rod pair (26), a left driving motor (27), a right driving motor (28), a left clamping jaw (29) and a right clamping jaw (30), wherein the upper end of the clamping base (22) is connected with the lower end of the inner arm (14) through a bolt, the left linear guide rail group (23) and the right linear guide rail group (24) are respectively installed on the left side and the right side of the lower end face of the clamping base (22), the left linear guide rail group (23) and the right linear guide rail group (24) are respectively provided with two linear guide rails, the two linear guide rails of the left linear guide rail group (23) and the right linear guide rail group (24) are respectively located on the same straight line, and two ends of the top of the left clamping jaw (29) are embedded in the, the right clamping jaw (30) top both ends gomphosis is in right linear guide group (24), bolted connection is passed through with left clamping jaw (29) upper portion in left screw pair (25), and bolted connection is passed through with right clamping jaw (30) upper portion in right screw pair (26), left driving motor (27) are installed in left side linear guide group (23) tip and are connected with left screw pair (25) and are used for driving left screw pair (25), and right driving motor (28) are installed in right side linear guide group (24) tip and are connected with right screw pair (26) and are used for driving right screw pair (26), left clamping jaw (29) and right clamping jaw (30) can slide left or right respectively under the drive of left screw pair (25) and right screw pair (26), and wherein left driving motor (27) and right driving motor (28) are connected with the control assembly electricity respectively.
8. The manipulator of claim 7, wherein the manipulator comprises: the side of the clamping base (22) is further provided with an operating handle (31), the control assembly is a PLC control assembly, the PLC control assembly comprises a plurality of control buttons, and the control buttons are arranged on the operating handle (31) and used for controlling the hard arm type three-dimensional iron core winding hoisting manipulator.
9. The use method of the hard-arm type three-dimensional wound core hoisting manipulator according to any one of claims 1 to 8 is characterized by comprising the following steps:
step 1) mounting a suspension bracket 1 on a station crane;
step 2), the clamping device (5) reaches the maximum distance under the control of the control assembly, then the telescopic arm (4) descends to a proper height through the lifting device (2), the clamping device (5) clamps the three-dimensional wound core (6) under the control of the control assembly, then the control assembly controls the rotating device (3) to brake the telescopic arm (4) to prevent the telescopic arm (4) from rotating, and then the telescopic arm (4) is lifted;
and 3) after the three-dimensional wound iron core is transferred to a preset position, the control assembly controls the rotating device (3) to brake the telescopic arm (4), then the telescopic arm (4) is manually rotated, when the three-dimensional wound iron core (6) reaches a proper angle, the telescopic arm (4) is controlled to descend, the three-dimensional wound iron core (6) is placed at the preset position, then the clamping device (5) reaches the maximum distance under the control of the control assembly, the three-dimensional wound iron core (6) is released, and the three-dimensional wound iron core (6) is transferred.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010908301.XA CN112061978A (en) | 2020-09-02 | 2020-09-02 | Hard-arm type three-dimensional wound core hoisting manipulator and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010908301.XA CN112061978A (en) | 2020-09-02 | 2020-09-02 | Hard-arm type three-dimensional wound core hoisting manipulator and use method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112061978A true CN112061978A (en) | 2020-12-11 |
Family
ID=73665249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010908301.XA Pending CN112061978A (en) | 2020-09-02 | 2020-09-02 | Hard-arm type three-dimensional wound core hoisting manipulator and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112061978A (en) |
-
2020
- 2020-09-02 CN CN202010908301.XA patent/CN112061978A/en active Pending
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