CN112479043A - Heavy-load material loading and unloading manipulator - Google Patents
Heavy-load material loading and unloading manipulator Download PDFInfo
- Publication number
- CN112479043A CN112479043A CN202011424230.2A CN202011424230A CN112479043A CN 112479043 A CN112479043 A CN 112479043A CN 202011424230 A CN202011424230 A CN 202011424230A CN 112479043 A CN112479043 A CN 112479043A
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- CN
- China
- Prior art keywords
- grabbing
- fixed
- suspension arm
- claw
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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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
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
- B66C1/447—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors
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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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C7/00—Runways, tracks or trackways for trolleys or cranes
- B66C7/08—Constructional features of runway rails or rail mountings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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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
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/18—Travelling gear incorporated in or fitted to trolleys or cranes with means for locking trolleys or cranes to runways or tracks to prevent inadvertent movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a heavy-load material loading and unloading manipulator, belonging to rubber material loading machinery; comprises a moving frame, a grabbing mechanism, a lifting mechanism and a rotary support which are positioned between hoisting tracks; the grabbing mechanism is used for grabbing materials and comprises a cross beam, a left suspension arm, a right suspension arm, a fixed claw and a movable claw, wherein the left suspension arm and the right suspension arm are connected with the two ends of the cross beam; the movable hook claw is positioned above the fixed hook claw, is fixed on the suspension arm through a rotating shaft penetrating through the middle part, and is driven by the locking cylinder to enable the grabbing end to move downwards to be matched and locked with the fixed hook claw; the lifting mechanism is positioned above the grabbing mechanism and is fixedly connected with the grabbing mechanism, and the top of the lifting mechanism is fixed in the rotary support; the rotary support is fixed on the movable frame through a support frame; the moving frame is driven by the double motors on the two sides to move along the hoisting track synchronously. The invention has the advantages of stable grabbing during material loading, omnibearing operation, high automation degree, manpower and material resource saving and high production efficiency.
Description
Technical Field
The invention relates to a rubber material loading machine, in particular to a heavy-load material loading and unloading manipulator.
Background
In the rubber and plastic production industry, the loading and unloading of heavy-load materials of large rolls on a production line are realized by manual operation or simple travelling crane, the production efficiency is low, and the potential safety hazard is high. The common square mandrel is widely used in the rolling materials of each half part, and on a production line, the square mandrel is usually hung by a flexible hanging strip or a simple lifting hook, so that the materials are easy to rotate and unsafe, and meanwhile, the rolled materials are easy to scatter.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the heavy-load material loading and unloading manipulator which is simple in structure, high in safety, stable in clamping operation and simple in operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
heavy-load material loading and unloading manipulator: comprises a moving frame, a grabbing mechanism, a lifting mechanism and a rotary support which are positioned between hoisting tracks; the grabbing mechanism is used for grabbing materials and comprises a cross beam, a left suspension arm, a right suspension arm, a fixed claw and a movable claw, wherein the left suspension arm and the right suspension arm are connected with the two ends of the cross beam; the movable hook claw is positioned above the fixed hook claw, is fixed on the suspension arm through a rotating shaft penetrating through the middle part, and is driven by the locking cylinder to enable the grabbing end to move downwards to be matched and locked with the fixed hook claw; the lifting mechanism is positioned above the grabbing mechanism and used for lifting the grabbing mechanism, and the top of the lifting mechanism is fixed in the rotary support; the rotary support is fixed on the movable frame through a support frame; the moving frame is driven by the double motors on the two sides to move along the hoisting track synchronously.
Preferably: the lifting mechanism comprises two parallel vertical lifting frames, a sliding groove is formed in each lifting frame, the grabbing mechanism is connected with the lifting frames in a sliding mode through a sliding block matched with the sliding groove, and the middle of the grabbing mechanism is fixedly connected with an electric hoist located at the top of the lifting mechanism.
Preferably: the locking cylinder is fixedly arranged on the suspension arm.
Preferably: the locking cylinder and the movable claw are both positioned on the inner side of the suspension arm.
Preferably: the suspension arm is vertical to the connecting beam, and the fixed claw is vertical to the suspension arm.
Preferably: the movable frame is provided with a locking mechanism for stabilizing the frame body.
Preferably: the movable frame is of a quadrilateral structure consisting of two longitudinal rods and a transverse rod which are connected with the hoisting track, and two sides of the rotary support are pressed on the longitudinal rods of the movable frame through pulleys.
Compared with the prior art, the invention has the following advantages:
1. the grabbing mechanism adopts the fixed claw and the movable claw to grab in a matching mode, is driven by the locking cylinder, realizes stable grabbing by buckling and pressing the double claws when materials are loaded, does not need manual locking, and is time-saving and labor-saving.
2. The electric hoist of the power device adopted by the lifting mechanism has the advantages of small volume, light dead weight, convenient operation and the like, and the electric hoist is ingeniously designed in the rotary support, so that the materials and the lifting mechanism can be integrally rotated (manually operated) to achieve a proper lifting angle.
3. The movement between the production lines adopts the synchronous drive of double motors, the degree of automation is high, and the locking mechanism is arranged to improve the safety.
4. The structural design of the movable frame makes the transverse movement of the materials more convenient, namely the traction between the stations is more convenient.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a top view;
FIG. 3 is a schematic three-dimensional structure of a grasping mechanism;
fig. 4 is an enlarged schematic view of a.
In the figure: 1. a grabbing mechanism; 11. connecting the cross beam; 12. a suspension arm; 13. fixing the hook claw; 14. moving the hook claw; 15. a rotating shaft; 16. a locking cylinder; 2. a lifting mechanism; 21. a hoisting frame; 22. an electric hoist; 3. a rotary support; 31. a support frame; 4. a movable frame; 41. a locking mechanism; 5. a motor; 6. and (5) hoisting the track.
Detailed Description
The construction and principles of the invention are now fully described in conjunction with specific embodiments to enable one of ordinary skill in the art to fully understand and implement the invention.
As shown in fig. 1-4, the heavy-duty material loading and unloading manipulator comprises the following devices:
the movable frame 4 is positioned between hoisting rails 6 (formed by two parallel rails), and the hoisting rails 6 are formed by the two parallel rails and are used for moving between workshop production lines; the movable frame 4 is composed of two longitudinal rods and a transverse rod which are connected with the hoisting track 6, is of a quadrilateral structure, is driven by the double motors 5 on two sides to move along the hoisting track 6 synchronously, and is provided with a locking mechanism 41 for stabilizing the frame body.
The grabbing mechanism 1 is used for grabbing materials and comprises a connecting beam 11, a left suspension arm 12, a right suspension arm 12, a fixed claw 13 and a movable claw 14, wherein the left suspension arm 12 and the right suspension arm 12 are connected with two ends of the connecting beam 11; the movable claw 14 is positioned above the fixed claw 13, is fixed on the suspension arm 12 through a rotating shaft 15 penetrating through the middle part, and is driven by a locking cylinder 16 to enable a grabbing end to move downwards to be matched and locked with the fixed claw 13; the locking cylinder 16 is fixedly arranged on the suspension arm 12, the locking cylinder 16 and the movable hook 14 are both positioned on the inner side of the suspension arm 12, the suspension arm 12 is perpendicular to the connecting beam 11, and the fixed hook 13 is perpendicular to the suspension arm 12. When grabbing a single material for a batch, a more stable gripping can be achieved by adjusting the gripping surfaces of the fixed claw 13 and the moving claw 14, for example: when grabbing and transporting the square mandrel, the grabbing ends of the fixed claw 13 and the movable claw 14 are both provided with inwards-recessed L-shaped grabbing surfaces, so that the two grabbing surfaces are buckled to form a square shape matched with the cross section of the mandrel.
The lifting mechanism 2 is positioned above the grabbing mechanism 1 and used for lifting the grabbing mechanism 1, and the top of the lifting mechanism is fixed on the rotary support 3; the rotary support 3 is fixed on the movable frame 4 through a support frame 31; the lifting mechanism 2 comprises two parallel vertical lifting frames 21, sliding grooves are formed in the lifting frames 21, the grabbing mechanism 1 is connected with the sliding blocks matched with the sliding grooves in a sliding mode (a connecting plate can be independently added, one side of the grabbing mechanism 1 is fixedly connected with the other side of the grabbing mechanism 1 in a sliding block shape), and the middle of the grabbing mechanism 1 is fixedly connected with an electric hoist 22 located at the top of the lifting mechanism 2.
When materials are conveyed, the materials are stably grabbed through the fixed claw 13 and the movable claw 14 of the grabbing mechanism 1 (two sides of the materials are fixedly overlapped on the fixed claw 13, and the movable claw 14 is driven by the locking cylinder 16 to downwards press the upper surface of the materials); the material is lifted together with the grabbing mechanism 1 by the electric hoist 22 of the lifting mechanism 2; the whole angle of the material is adjusted through the rotary support 3 (the electric hoist 22 has the advantages of small volume and light dead weight, so the electric hoist can be skillfully designed on the rotary support 3); the double motors 5 drive the moving frame 4 to move the materials to a proper position along a workshop production line, the operation is stopped, and a stable state is realized through the locking mechanism 41;
further setting: and two sides of the rotary support 3 are pressed on the longitudinal rod of the movable frame 4 through pulleys. When the materials reach a proper production line, the materials are transversely pulled to a proper station through the traction of a pulley.
According to the invention, through the structure, the material is provided with the operating mechanisms for grabbing, highly moving, longitudinally moving and transversely moving in the conveying process, so that the all-dimensional conveying can be realized, the whole conveying process does not need manual conveying, the work needing manual operation is extremely simple and easy, and the labor is saved; the safe and stable grabbing mechanism 1 and the automatic operation have the advantages that the safety is high, and the production efficiency is improved.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any manner. Those skilled in the art can make many possible variations and modifications to the technical solution of the present invention using the methods disclosed above, or modify equivalent embodiments with equivalent variations, without departing from the technical principle and scope of the present invention. Therefore, any combination, modification or substitution of the technical features disclosed in the present invention according to the technical essence of the present invention should fall within the protection scope of the technical solution of the present invention, unless the principle or the solution of the present invention is departed from.
Claims (7)
1. The heavy-load material loading and unloading manipulator comprises a moving frame (4), a grabbing mechanism (1), a lifting mechanism (2) and a rotary support (3), wherein the moving frame is positioned between hoisting tracks (6); the material grabbing mechanism is characterized in that the grabbing mechanism (1) is used for grabbing materials and comprises a connecting beam (11), a left suspension arm (12) and a right suspension arm (12) which are connected with two ends of the connecting beam (11), a fixed claw (13) fixed at the bottoms of the two suspension arms (12) and a movable claw (14); the movable hook claw (14) is positioned above the fixed hook claw (13), is fixed on the suspension arm (12) through a rotating shaft (15) penetrating through the middle part, and one end of the movable hook claw is driven by a locking cylinder (16) to enable the grabbing end to move downwards to be matched and locked with the fixed hook claw (13); the lifting mechanism (2) is positioned above the grabbing mechanism (1) and used for lifting the grabbing mechanism (1), and the top of the lifting mechanism is fixed on the rotary support (3); the rotary support (3) is fixed on the movable frame (4) through a support frame (31); the moving frame (4) is driven by the double motors (5) on the two sides to move along the hoisting track (6) synchronously.
2. The manipulator for loading and unloading heavy-load materials according to claim 1, wherein the lifting mechanism (2) comprises two parallel vertical lifting frames (21), sliding grooves are arranged on the lifting frames (21), the grabbing mechanism (1) is connected with the lifting frames (21) in a sliding mode through sliding blocks matched with the sliding grooves, and the middle part of the grabbing mechanism (1) is fixedly connected with an electric hoist (22) arranged at the top of the lifting mechanism (2).
3. The manipulator for handling heavy loads according to claim 1 or 2, characterized in that the locking cylinder (16) is fixedly arranged on the boom (12).
4. A manipulator as claimed in claim 3, for loading and unloading heavy loads, characterized in that the locking cylinder (16) and the moving hook (14) are located inside the boom (12).
5. The manipulator for handling heavy loads according to claim 4, characterised in that the boom (12) is perpendicular to the connecting beam (11) and the fixed hook (13) is perpendicular to the boom (12).
6. The manipulator for handling heavy loads according to claim 2, characterized in that the mobile frame (4) is provided with locking means (41) for securing the frame.
7. The manipulator for unloading and loading heavy loads according to claim 2, characterized in that the mobile frame (4) has a quadrilateral structure consisting of two longitudinal bars and a transverse bar connected to the lifting rail (6), and the two sides of the revolving support (3) are pressed on the longitudinal bars of the mobile frame (4) through pulleys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011424230.2A CN112479043A (en) | 2020-12-09 | 2020-12-09 | Heavy-load material loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011424230.2A CN112479043A (en) | 2020-12-09 | 2020-12-09 | Heavy-load material loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112479043A true CN112479043A (en) | 2021-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011424230.2A Pending CN112479043A (en) | 2020-12-09 | 2020-12-09 | Heavy-load material loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112479043A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113845039A (en) * | 2021-09-22 | 2021-12-28 | 四川长虹智能制造技术有限公司 | Transfer equipment |
| CN113844321A (en) * | 2021-09-17 | 2021-12-28 | 杭州汉乾新能源科技发展有限公司 | Automatic battery replacement robot and battery replacement method |
| CN114043161A (en) * | 2021-10-29 | 2022-02-15 | 上海市安装工程集团有限公司 | Fixing frame and method for assembling heat exchanger of reactor core of experimental reactor |
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| EP0206110A1 (en) * | 1985-06-21 | 1986-12-30 | Mi-Jack Products, Inc. | Crane apparatus having hydraulic control system |
| CN106348162A (en) * | 2016-10-20 | 2017-01-25 | 中建三局集团有限公司 | Self-buckling type anti-sliding steel plate tong with night warning function |
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| CN108483272A (en) * | 2018-02-28 | 2018-09-04 | 山东临工工程机械有限公司 | The full-automatic offline movement system of digger engine |
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| CN210655881U (en) * | 2019-08-19 | 2020-06-02 | 北京华农农业工程技术有限公司 | Crown block rotation protection structure |
-
2020
- 2020-12-09 CN CN202011424230.2A patent/CN112479043A/en active Pending
Patent Citations (6)
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|---|---|---|---|---|
| EP0206110A1 (en) * | 1985-06-21 | 1986-12-30 | Mi-Jack Products, Inc. | Crane apparatus having hydraulic control system |
| CN106348162A (en) * | 2016-10-20 | 2017-01-25 | 中建三局集团有限公司 | Self-buckling type anti-sliding steel plate tong with night warning function |
| CN206437793U (en) * | 2016-11-14 | 2017-08-25 | 山东阳光众泰机械工程有限公司 | Three-dimensional transport hoist |
| CN108483272A (en) * | 2018-02-28 | 2018-09-04 | 山东临工工程机械有限公司 | The full-automatic offline movement system of digger engine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844321A (en) * | 2021-09-17 | 2021-12-28 | 杭州汉乾新能源科技发展有限公司 | Automatic battery replacement robot and battery replacement method |
| CN113845039A (en) * | 2021-09-22 | 2021-12-28 | 四川长虹智能制造技术有限公司 | Transfer equipment |
| CN114043161A (en) * | 2021-10-29 | 2022-02-15 | 上海市安装工程集团有限公司 | Fixing frame and method for assembling heat exchanger of reactor core of experimental reactor |
| CN114043161B (en) * | 2021-10-29 | 2024-02-06 | 上海市安装工程集团有限公司 | Assembling fixing frame and method for reactor core heat exchanger of experimental reactor |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210312 |
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| RJ01 | Rejection of invention patent application after publication |