CN112405603B - Heavy-load large-inertia transfer robot - Google Patents
Heavy-load large-inertia transfer robot Download PDFInfo
- Publication number
- CN112405603B CN112405603B CN201910767401.2A CN201910767401A CN112405603B CN 112405603 B CN112405603 B CN 112405603B CN 201910767401 A CN201910767401 A CN 201910767401A CN 112405603 B CN112405603 B CN 112405603B
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- China
- Prior art keywords
- swing arm
- main beam
- hinged
- hanger
- base
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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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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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
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of hoisting machinery, in particular to a heavy-load high-inertia transfer robot which comprises a robot body and a hanging beam, wherein the robot body comprises a base, a first swing arm, a second swing arm, a first hydraulic cylinder and a second hydraulic cylinder, the lower end of the first swing arm is hinged to the base, the upper end of the first swing arm is hinged to the second swing arm, a cylinder body of the first hydraulic cylinder is hinged to the base, the end part of a cylinder rod is hinged to the lower end of the first swing arm, a second hydraulic cylinder is hinged to the first swing arm, a first connecting rod and a second connecting rod are arranged at the end part of the cylinder rod, the other end of the first connecting rod is hinged to the upper end of the first swing arm, the other end of the second connecting rod is hinged to one end, close to the first swing arm, of the second swing arm, and the free end of the second swing arm is connected with the hanging beam. The invention increases the swing arm range and simultaneously can adjust the posture of the hoisted workpiece, the hoisted workpiece is not easy to shake in the hoisting process, the operation is stable, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the field of hoisting machinery, in particular to a heavy-load large-inertia transfer robot.
Background
In the industries of ship manufacturing, petrochemical industry, building, road traffic, military industry and the like, large-size and heavy module components are increasingly used, hoisting and transshipping equipment in the prior art is increasingly difficult to meet actual requirements, when a large number of large components are transshipped, 2 cranes are usually adopted in a conventional means to respectively hoist two ends of the components, so that the two cranes are required to be closely matched during operation, the operation difficulty is increased, the conventional cranes mostly adopt hoisting and hoisting, the flexibility of a long steel wire rope is high, the large-inertia component is prevented from being violently shaken during transshipping, and the large-inertia component is often assisted by multiple persons to be stabilized and translated at a low speed, and the working efficiency is low.
Disclosure of Invention
The invention aims to provide a heavy-load high-inertia transfer robot, which increases the swing arm range, simultaneously has adjustable workpiece hoisting postures, ensures that a hoisted workpiece is not easy to shake in the hoisting process, runs stably and greatly improves the working efficiency.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a heavy load big inertia transfer robot, includes robot and hanging beam, and the robot includes base, first swing arm, second swing arm, first pneumatic cylinder and second pneumatic cylinder, first swing arm lower extreme articulate on the base, the upper end with the second swing arm is articulated, and first pneumatic cylinder body articulates on the base and jar rod end articulates in first swing arm lower extreme, and second pneumatic cylinder body articulates on first swing arm and jar rod end articulates there are first connecting rod and second connecting rod to the first connecting rod other end articulates in first swing arm upper end, and the second connecting rod other end articulates in the second swing arm and is close to first swing arm one end, the second swing arm is kept away from first swing arm one end with the hanging beam is connected.
The base is installed on a rotating seat, the rotating seat comprises a first slewing bearing, a rotating plate and a bottom plate, an inner ring of the first slewing bearing is fixedly connected with the bottom plate, an outer ring of the first slewing bearing is fixedly connected with the rotating plate, a rotary driving device is arranged on the rotating plate, an output shaft of the rotary driving device extends into the rotating seat, and a gear is arranged on the output shaft of the rotary driving device and is meshed with the inner ring of the first slewing bearing.
The hanging beam comprises a rotating shaft, a main beam, a first hanging tool driving mechanism and a second hanging tool, a hanging seat is arranged at the upper end of the rotating shaft and connected with the end part of a second swing arm, the middle part of the main beam is rotatably connected with the rotating shaft, the first hanging tool is arranged at one end of the main beam, the second hanging tool is arranged at the other end of the main beam, the first hanging tool driving mechanism is arranged in the main beam, and the first hanging tool is driven to lift through the first hanging tool driving mechanism.
The first lifting appliance driving mechanism comprises a linear driving device, a steel wire rope and a steering wheel, the steering wheel is arranged at the end part of the main beam, one end of the steel wire rope is fixedly connected with an output shaft of the linear driving device, and the other end of the steel wire rope bypasses the steering wheel and then extends out of the main beam and is connected with the first lifting appliance.
The lower side of the middle part of the main beam is provided with a rotary driving mechanism, and the main beam is driven to rotate around the rotating shaft through the rotary driving mechanism.
The slewing drive mechanism comprises a slewing drive device, a worm, a mounting seat and a second slewing bearing, wherein the slewing drive device and the worm are both mounted on the mounting seat, the worm is driven to rotate by the slewing drive device, the inner ring of the second slewing bearing and the mounting seat are fixedly mounted on the main beam through fixing bolts, the outer ring of the second slewing bearing is meshed with the worm, the lower side of the outer ring of the second slewing bearing is fixedly connected with a bearing plate, and the lower end of the rotating shaft penetrates through the main beam and then is fixedly mounted on the bearing plate.
And a connecting piece is arranged at the free end of the second swing arm, and a hanging seat at the upper end of the rotating shaft is arranged on the connecting piece.
The invention has the advantages and positive effects that:
1. the first swing arm, the second swing arm, the first connecting rod and the second connecting rod on the robot body form a four-bar mechanism, so that the swing arm range of the robot body is increased, a hung workpiece can move along any track in a working interval, and the transferring requirement of heavy and large-inertia components is met.
2. The free end of the swing arm of the robot body is provided with the hanging beam, the hanging beam is provided with the first lifting appliance capable of lifting and used for adjusting the inclination angle of the workpiece, the hanging beam can rotate to adjust the posture of the hung workpiece, and the hung workpiece is hung in a short flexible rope connection mode, so that the hung workpiece is not prone to shaking in the hanging process, stable in operation and convenient to operate, and the working efficiency is greatly improved.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a left side view of the invention of figure 1,
figure 3 is a cross-sectional view at a in figure 1,
figure 4 is a schematic view of the internal structure of the suspension beam of figure 2,
fig. 5 is an enlarged view of fig. 4 at B.
Wherein, 1 is a robot body, 101 is a rotating base, 102 is a speed reducer, 103 is a motor, 104 is a base, 105 is a first hydraulic cylinder, 106 is a first swing arm, 107 is a second hydraulic cylinder, 108 is a first connecting rod, 109 is a second connecting rod, 110 is a second swing arm, 111 is a connecting piece, 112 is a gear, 113 is an outer ring, 114 is a rotating plate, 115 is a bottom plate, and 116 is an inner ring; 2 is a hanging beam, 201 is a hanging seat, 202 is a main beam, 203 is a linear driving device, 204 is a steel wire rope, 205 is a first hanging tool, 206 is a rotary driving mechanism, 207 is a rotating shaft, 208 is a second hanging tool, 209 is a steering wheel, 210 is a worm, 211 is a bearing plate, 212 is a fixing bolt, 213 is a mounting seat, and 214 is an outer ring.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the invention comprises a robot body 1 and a hanging beam 2, wherein the robot body 1 comprises a base 104, a first swing arm 106, a second swing arm 110, a first hydraulic cylinder 105 and a second hydraulic cylinder 107, the lower end of the first swing arm 106 is hinged on the base 104, the upper end of the first swing arm is hinged with the second swing arm 110, the rear end of the first hydraulic cylinder 105 is hinged on the base 104, the end of the cylinder rod is hinged on the lower end of the first swing arm 106, the rear end of the second hydraulic cylinder 107 is hinged on the first swing arm 106, the end of the cylinder rod is hinged with a first connecting rod 108 and a second connecting rod 109, the length of the first connecting rod 108 is larger than that of the second connecting rod 109, the other end of the first link 108 is hinged to the upper end of the first swing arm 106, the other end of the second link 109 is hinged to one end of the second swing arm 110 close to the first swing arm 106, a connecting member 111 is arranged at one end of the second swing arm 110 far away from the first swing arm 106, and the suspension beam 2 is mounted on the connecting member 111.
As shown in fig. 1, the base 104 is mounted on a rotating base 101, a rotation driving device is disposed on the rotating base 101, in this embodiment, the rotation driving device includes a motor 103 and a speed reducer 102, as shown in fig. 3, the rotating base 101 includes a first rotary support, a rotating plate 114 and a bottom plate 115, wherein the first rotary support includes an inner ring 116 and an outer ring 113 which are rotatably connected, as is well known in the art, the outer ring 113 is fixedly connected with the rotating plate 114, the inner ring 116 is fixedly connected with the bottom plate 115, the rotation driving device is mounted on the rotating plate 114, an output shaft of the speed reducer 102 in the rotation driving device extends into the rotating base 101, and a gear 112 disposed on the output shaft of the speed reducer 102 is engaged with the inner ring 116 of the first rotary support, since the bottom plate 115 and the inner ring 116 are fixed, the gear 112 moves along the inner ring of the rotating base 101 when driven to rotate by the rotation driving device, thereby the rotating plate 114 drives the robot body 1 to rotate.
As shown in fig. 4, the hanging beam 2 includes a rotating shaft 207, a main beam 202, a first hanger 205, a first hanger driving mechanism and a second hanger 208, the upper end of the rotating shaft 207 is provided with a hanging seat 201 connected with the connecting member 111 at the end of the second swing arm 110, the middle of the main beam 202 is rotatably connected with the rotating shaft 207, one end of the main beam 202 is provided with the first hanger 205, the other end of the main beam is provided with the second hanger 208, the main beam 202 is provided with the first hanger driving mechanism, and the first hanger 205 is driven by the first hanger driving mechanism to lift.
As shown in fig. 4, the first spreader driving mechanism includes a linear driving device 203, a steel wire rope 204 and a steering wheel 209, the steering wheel 209 is disposed at an end of the main beam 202, one end of the steel wire rope 204 is fixedly connected to an output shaft of the linear driving device 203, the steel wire rope 204 is driven by the linear driving device 203 to move, in this embodiment, the linear driving device 203 is an electric cylinder, a manufacturer thereof is lmtex, model IMF100, and the other end of the steel wire rope 204 bypasses the steering wheel 209 and extends out of the main beam 202 and is connected to the first spreader 205. During hoisting, the first lifting appliance 205 and the second lifting appliance 208 are respectively connected with two ends of a workpiece, the first lifting appliance 205 can be driven by the steel wire rope 204 to lift, so that the inclination angle of the workpiece is adjusted, and a weight box is arranged on one side, far away from the first lifting appliance 205, of the main beam 202 to ensure that the workpiece is hoisted stably.
As shown in fig. 4-5, a rotation driving mechanism 206 is disposed at the lower side of the middle of the main beam 202, and the main beam 202 is driven to rotate around the rotating shaft 207 by the rotary driving mechanism 206, as shown in fig. 5, the swing driving mechanism 206 includes a swing driving device, a worm 210, a mounting seat 213 and a second swing support, the swing driving device and the worm 210 are both mounted on the mounting seat 213, and the worm 210 is driven to rotate by the rotary driving device, which is a motor in this embodiment, the inner ring of the second pivoting support and the mounting seat 213 are fixedly mounted on the main beam 202 through a fixing bolt 212, the outer ring 214 of the second pivoting support is meshed with the worm 210, and the lower side of the outer ring 214 of the second slewing bearing is fixedly connected with a bearing plate 211, and the lower end of the rotating shaft 207 passes through the main beam 202 and is fixedly arranged on the bearing plate 211. When the swing driving mechanism 206 works, the worm 210 is driven to rotate by the swing driving device, and because the rotating shaft 207 and the bearing plate 211 are fixed, the worm 210 rotates and relatively moves along the second swing support outer ring 214, and further drives the main beam 1 to relatively rotate around the rotating shaft 207.
The working principle of the invention is as follows:
as shown in fig. 1, when the robot is used, the rotating base 101 may be mounted on a chassis of a special vehicle, the base 104 may be driven to rotate by the rotating base 101, so as to realize the overall rotation of the robot body 1, the first swing arm 106 of the robot body 1 is driven to swing by the first hydraulic cylinder 105, and the second swing arm 110 is driven to swing by the second hydraulic cylinder 107, wherein the first swing arm 106, the second swing arm 110, the first link 108 and the second link 109 form a four-link mechanism, so that the second swing arm 110 can reach a larger swing angle, and the transferring requirement of heavy and bulky inertia components is met. In addition, as shown in fig. 3, the hanging beam 2 of the present invention is installed on the connecting member 111 at the free end of the second swing arm 110, and can realize posture adjustment of the workpiece to be hoisted, wherein the first hanger 205 on the hanging beam 2 is driven by the steel wire 204 to lift and lower to realize inclination angle adjustment of the workpiece, and the main beam 202 of the hanging beam 2 is driven by the rotary driving mechanism 206 to rotate around the rotating shaft 207 so as to make the workpiece reach a target position.
Claims (4)
1. The utility model provides a heavy load big inertia transfer robot which characterized in that: comprises a robot body (1) and a hanging beam (2), wherein the robot body (1) comprises a base (104), a first swing arm (106), a second swing arm (110), a first hydraulic cylinder (105) and a second hydraulic cylinder (107), the lower end of the first swing arm (106) is hinged on the base (104), the upper end of the first swing arm is hinged with the second swing arm (110), the cylinder body of the first hydraulic cylinder (105) is hinged on the base (104), the end part of a cylinder rod is hinged on the lower end of the first swing arm (106), the cylinder body of the second hydraulic cylinder (107) is hinged on the first swing arm (106), and the end part of the cylinder rod is hinged with a first connecting rod (108) and a second connecting rod (109), the other end of the first connecting rod (108) is hinged to the upper end of the first swing arm (106), the other end of the second connecting rod (109) is hinged to one end, close to the first swing arm (106), of the second swing arm (110), and one end, far away from the first swing arm (106), of the second swing arm (110) is connected with the hanging beam (2);
the hanging beam (2) comprises a rotating shaft (207), a main beam (202), a first hanger (205), a first hanger driving mechanism and a second hanger (208), a hanging seat (201) is arranged at the upper end of the rotating shaft (207) and connected with the end part of the second swing arm (110), the middle part of the main beam (202) is rotatably connected with the rotating shaft (207), the first hanger (205) is arranged at one end of the main beam (202), the second hanger (208) is arranged at the other end of the main beam, the first hanger driving mechanism is arranged in the main beam (202), the first hanger (205) is driven to lift through the first hanger driving mechanism, and a weight box is arranged on one side, away from the first hanger (205), of the main beam (202);
a rotary driving mechanism (206) is arranged on the lower side of the middle part of the main beam (202), and the main beam (202) is driven to rotate around the rotating shaft (207) through the rotary driving mechanism (206);
the slewing drive mechanism (206) comprises a slewing drive device, a worm (210), a mounting seat (213) and a second slewing bearing, wherein the slewing drive device and the worm (210) are installed on the mounting seat (213), the worm (210) is driven to rotate by the slewing drive device, an inner ring of the second slewing bearing and the mounting seat (213) are fixedly installed on the main beam (202) through a fixing bolt (212), an outer ring (214) of the second slewing bearing is meshed with the worm (210), the lower side of the outer ring (214) of the second slewing bearing is fixedly connected with a bearing plate (211), and the lower end of the rotating shaft (207) penetrates through the main beam (202) and then is fixedly installed on the bearing plate (211).
2. The heavy-duty high-inertia transfer robot of claim 1, wherein: the base (104) is installed on a rotating base (101), the rotating base (101) comprises a first slewing bearing, a rotating plate (114) and a bottom plate (115), an inner ring (116) of the first slewing bearing is fixedly connected with the bottom plate (115), an outer ring of the first slewing bearing is fixedly connected with the rotating plate (114), a rotary driving device is arranged on the rotating plate (114), an output shaft of the rotary driving device extends into the rotating base (101), and a gear (112) is arranged on the output shaft of the rotary driving device and is meshed with the inner ring (116) of the first slewing bearing.
3. The heavy-duty high-inertia transfer robot of claim 1, wherein: the first lifting appliance driving mechanism comprises a linear driving device (203), a steel wire rope (204) and a steering wheel (209), the steering wheel (209) is arranged at the end part of the main beam (202), one end of the steel wire rope (204) is fixedly connected with an output shaft of the linear driving device (203), and the other end of the steel wire rope (204) bypasses the steering wheel (209) and then extends out of the main beam (202) and is connected with the first lifting appliance (205).
4. The heavy-duty high-inertia transfer robot of claim 1, wherein: the free end of the second swing arm (110) is provided with a connecting piece (111), and a hanging seat (201) at the upper end of the rotating shaft (207) is arranged on the connecting piece (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910767401.2A CN112405603B (en) | 2019-08-20 | 2019-08-20 | Heavy-load large-inertia transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910767401.2A CN112405603B (en) | 2019-08-20 | 2019-08-20 | Heavy-load large-inertia transfer robot |
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| Publication Number | Publication Date |
|---|---|
| CN112405603A CN112405603A (en) | 2021-02-26 |
| CN112405603B true CN112405603B (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910767401.2A Active CN112405603B (en) | 2019-08-20 | 2019-08-20 | Heavy-load large-inertia transfer robot |
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| CN (1) | CN112405603B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113213352A (en) * | 2021-05-17 | 2021-08-06 | 华城(天津)建筑科技有限公司 | Hoisting device, combined suspension arm and positioning fastener for construction of modular additional elevator shaft |
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| KR101260680B1 (en) * | 2011-11-17 | 2013-05-10 | (주) 뉴텍 | Apparatus removal foreign for sea dike sluice fixed |
| CN103449300A (en) * | 2013-09-17 | 2013-12-18 | 无锡美克申思科技有限公司 | Hanger |
| CN204434228U (en) * | 2014-12-08 | 2015-07-01 | 湖南运想重工有限公司 | A kind of self-propelled aloft working platform |
| CN205099229U (en) * | 2015-10-13 | 2016-03-23 | 纽科伦（新乡）起重机有限公司 | Roll over cantilever crane and jib loading boom thereof |
| CN105502181A (en) * | 2015-12-18 | 2016-04-20 | 中联重科股份有限公司 | Cargo boom structure, engineering machinery and measurement display meter |
| CN206857954U (en) * | 2017-05-26 | 2018-01-09 | 湖南中铁五新重工有限公司 | Suspender rotating assembly and crane gear |
| CN108032285A (en) * | 2017-12-21 | 2018-05-15 | 株洲天自动焊接装备有限公司 | A kind of large space checking job robot system |
| WO2018114250A1 (en) * | 2016-12-20 | 2018-06-28 | Cargotec Patenter Ab | Hydraulic crane |
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2019
- 2019-08-20 CN CN201910767401.2A patent/CN112405603B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101324221A (en) * | 2007-06-15 | 2008-12-17 | 西门子公司 | Method for mounting of at least two components of a wind turbine and use of a handling device |
| KR101260680B1 (en) * | 2011-11-17 | 2013-05-10 | (주) 뉴텍 | Apparatus removal foreign for sea dike sluice fixed |
| CN103449300A (en) * | 2013-09-17 | 2013-12-18 | 无锡美克申思科技有限公司 | Hanger |
| CN204434228U (en) * | 2014-12-08 | 2015-07-01 | 湖南运想重工有限公司 | A kind of self-propelled aloft working platform |
| CN205099229U (en) * | 2015-10-13 | 2016-03-23 | 纽科伦（新乡）起重机有限公司 | Roll over cantilever crane and jib loading boom thereof |
| CN105502181A (en) * | 2015-12-18 | 2016-04-20 | 中联重科股份有限公司 | Cargo boom structure, engineering machinery and measurement display meter |
| WO2018114250A1 (en) * | 2016-12-20 | 2018-06-28 | Cargotec Patenter Ab | Hydraulic crane |
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| CN108032285A (en) * | 2017-12-21 | 2018-05-15 | 株洲天自动焊接装备有限公司 | A kind of large space checking job robot system |
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| CN112405603A (en) | 2021-02-26 |
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