CN113386104A

CN113386104A - Turnover truss manipulator for aerial work platform

Info

Publication number: CN113386104A
Application number: CN202110941623.9A
Authority: CN
Inventors: 朱执平; 迈克郝; 那宏
Original assignee: Jlg Equipment Technology Co ltd
Current assignee: Jlg Equipment Technology Co ltd
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2021-09-14

Abstract

The utility model relates to an upset truss manipulator for aerial working platform, relate to storage logistics system's field, it includes the truss, there is the crossbeam along horizontal direction sliding connection on the truss, be provided with between crossbeam and the truss and be used for driving the gliding first drive division of crossbeam, there is the stand along vertical direction sliding connection on the crossbeam, be provided with between stand and the crossbeam and be used for driving the gliding second drive division of stand, it is connected with clamping device to rotate on the stand, be provided with between clamping device and the stand and be used for driving clamping device pivoted third drive division. This application has the effect that can stabilize the centre gripping to the work piece from different angles.

Description

Turnover truss manipulator for aerial work platform

Technical Field

The application relates to the field of aerial work platforms, in particular to a turnover truss manipulator for an aerial work platform.

Background

The aerial work platform is a movable aerial work product for serving aerial work, equipment installation, maintenance and the like in various industries, and at present, the aerial work platform mainly comprises a scissor fork type, a trailer type, a crank arm type, a straight arm type, a telescopic cylinder type, a spider type and the like.

The existing aerial work platform needs to place a workpiece on the aerial work platform through a truss manipulator before work, and the truss manipulator can clamp the workpiece and then place the workpiece on the aerial work platform for conveying. In view of the above-mentioned related technologies, the inventor believes that the conventional truss robot generally clamps the workpiece from above, and it is difficult to stably clamp the workpiece by the truss robot for some workpieces that are not easy to clamp from above.

Disclosure of Invention

In order to stably clamp workpieces from different angles, the application provides the turnover truss manipulator for the aerial work platform.

The application provides a upset truss manipulator for aerial working platform adopts following technical scheme:

the utility model provides a upset truss manipulator for aerial working platform, includes the truss, has the crossbeam along horizontal direction sliding connection on the truss, is provided with between crossbeam and the truss to be used for driving the gliding first drive division of crossbeam, has the stand along vertical direction sliding connection on the crossbeam, is provided with between stand and the crossbeam to be used for driving the gliding second drive division of stand, rotates on the stand to be connected with clamping device, is provided with between clamping device and the stand to be used for driving clamping device pivoted third drive division.

Through adopting above-mentioned technical scheme, when the work piece is delivered from the warehouse, first drive division can drive the crossbeam and slide along the direction that is close to aerial working platform on the truss, the second drive can drive the stand and vertically slide down on the crossbeam, the clamping device of being convenient for carries out the centre gripping to the work piece, the third drive division can drive clamping device and rotate in the bottom of stand simultaneously, make clamping device can rotate to suitable angle, and carry out the centre gripping to the work piece, thereby make clamping device can stabilize the centre gripping to the work piece from different angles according to the shape of work piece, clamping device can also rotate once more on the stand when placing the work piece simultaneously, be convenient for place the work piece on aerial working platform, make the transportation process of work piece more convenient.

Optionally, the third driving portion includes a hydraulic cylinder, a driving rack and a driving gear, the driving gear is rotatably connected to the column and connected to the clamping device, the driving rack is slidably connected to the column and used in cooperation with the driving gear, and the hydraulic cylinder is fixedly disposed on the column and used for driving the driving rack to slide.

By adopting the technical scheme, when the clamping device needs to rotate on the stand column, the piston rod of the hydraulic oil cylinder stretches and retracts to drive the driving rack to slide on the stand column, and the driving rack is meshed with the driving rack, so that the driving rack can drive the driving gear to rotate on the stand column, and meanwhile, the clamping device is driven to rotate on the stand column to any angle between 0 and 180 degrees, so that the accurate control of the rotation angle of the clamping device is realized, and the clamping device can clamp workpieces from different angles.

Optionally, the clamping device includes a fixing plate, two clamping rods disposed on the fixing plate, and a clamping driving member for driving the two clamping rods to move toward or away from each other.

By adopting the technical scheme, when a workpiece is clamped, the clamping driving piece drives the two clamping rods to approach each other on the fixing plate, so that the workpiece can be clamped between the two clamping rods, and the clamping effect on the workpiece is realized; when the workpiece is placed, the clamping driving piece drives the two clamping rods to be away from each other on the fixing plate, so that the workpiece is placed on the aerial work platform from between the two clamping rods.

Optionally, one end of each of the two clamping rods extends towards a direction approaching each other to form a positioning piece.

Through adopting above-mentioned technical scheme, during the centre gripping, with the work piece centre gripping between two supporting rods to make the work piece be located the spacer and be close to one side of supporting rod, the spacer can play limiting displacement to the work piece, avoids the work piece to deviate from between two supporting rods, has improved clamping device and has stabilized the centre gripping of work piece.

Optionally, two clamping pieces are arranged on one side, close to each other, of each clamping rod, the clamping pieces are arranged opposite to the positioning pieces, and the clamping device further comprises a clamping driving piece for driving the clamping pieces to be close to or far away from the positioning pieces.

Through adopting above-mentioned technical scheme, during the centre gripping, after the work piece by the centre gripping between two holding rods, press from both sides tight driving piece drive and press from both sides tight piece and be close to the spacer to make the both sides of work piece respectively with the spacer with press from both sides tight piece butt, thereby make the work piece pressed from both sides tightly between two holding rods and the spacer with press from both sides between the tight piece, press from both sides tightly the work piece from four directions, improved clamping device and to the stability of work piece clamping process, avoid pressing from both sides tight in-process work piece emergence skew or drop.

Optionally, a plurality of columns are arranged on the cross beam along a direction perpendicular to the sliding direction of the cross beam.

Through adopting above-mentioned technical scheme, set up a plurality of stand on the crossbeam, make the clamping device of a plurality of stand below carry out the centre gripping to the different positions of work piece respectively, further improved the clamping stability to the work piece, avoid the condition that the skew appears in the work piece.

Optionally, an adjusting driving portion for adjusting the distance between adjacent columns is further disposed between the cross beam and the columns.

Through adopting above-mentioned technical scheme, set up between crossbeam and stand and adjust the drive division after, can be convenient for carry out the centre gripping to the work piece of different length according to the distance between the adjacent stand of length adjustment of work piece, can also make clamping device on the stand avoid the position that inconveniently carries out the centre gripping on the work piece simultaneously, make the clamping process of work piece more convenient.

Optionally, one side of the clamping piece, which is close to the positioning piece, is fixedly provided with a protection pad.

Through adopting above-mentioned technical scheme, all set up the protection pad on pressing from both sides tight piece and spacer, avoid when the centre gripping the work piece direct with press from both sides tight piece or spacer contact, can play the guard action to the work piece, avoid the work piece to be scratched, can also play absorbing effect to the work piece simultaneously.

Optionally, a guide rail is fixedly arranged on the fixing plate, the length direction of the guide rail is the direction in which the two clamping rods are close to or far away from each other, and the two clamping rods are fixedly connected with guide sleeves in sliding connection with the guide rail.

Through adopting above-mentioned technical scheme, among the centre gripping process, when two supporting poles of centre gripping driving piece drive were close to each other or kept away from, the supporting pole can drive the guide pin bushing and slide on the guide rail, plays the guide effect to the removal process of clamping pole to make the removal process of supporting pole more stable.

Optionally, the cross beam is horizontally arranged, the length direction of the cross beam is perpendicular to the sliding direction of the cross beam, and two ends of the cross beam in the length direction are connected with the truss in a sliding mode.

Through adopting above-mentioned technical scheme, make the both ends of crossbeam all with truss sliding connection, not only make the truss play good supporting effect to the crossbeam, also make the sliding process of crossbeam on the truss more stable.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the clamping device can stably clamp the workpiece from different angles according to the shape of the workpiece by rotationally connecting the clamping device with the upright column and arranging the third driving part, and the workpiece is conveniently placed on the aerial work platform;

2. through the arrangement of the hydraulic oil cylinder, the driving rack and the driving gear, the accurate control of the rotation angle of the clamping device can be realized, so that the clamping device can rotate to any angle between 0 and 180 degrees on the upright post;

3. through setting up spacer and pressing from both sides tight piece, can make the work piece press from both sides tightly between two supporting rods and spacer and press from both sides tight piece, press from both sides tightly the work piece from four directions, improved clamping device and to the stability of work piece clamping process.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present application;

fig. 2 is a partial structural schematic view intended to show the first driving portion;

fig. 3 is a partial structural schematic view intended to show the second driving portion;

FIG. 4 is a schematic view of a partial structure intended to show the clamping device;

fig. 5 is a partial structural schematic view intended to show the clamping cylinder.

Description of reference numerals: 1. a truss; 11. a first slide rail; 2. a cross beam; 21. a first sliding sleeve; 22. a second slide rail; 23. adjusting the rack; 3. a first driving section; 31. a first gear; 32. a first rack; 33. a first motor; 4. a mounting seat; 41. a second sliding sleeve; 42. a third sliding sleeve; 5. an adjustment drive section; 51. an adjusting gear; 52. adjusting the motor; 6. a column; 61. a third slide rail; 62. accommodating grooves; 63. driving the slide rail; 7. a second driving section; 71. a second motor; 72. a screw rod; 73. a nut; 8. a third driving section; 81. a hydraulic cylinder; 82. a drive rack; 821. driving the sliding sleeve; 83. a drive gear; 9. a clamping device; 91. a fixing plate; 911. a guide rail; 92. a clamping rod; 921. a guide sleeve; 922. positioning plates; 923. a protective pad; 93. clamping the oil cylinder; 94. clamping the oil cylinder; 941. and (5) clamping the sheet.

Detailed Description

Further details are provided below with reference to fig. 1-5.

The embodiment of the application discloses a turnover truss manipulator for an aerial work platform. Referring to fig. 1, the turnover truss manipulator for the aerial work platform comprises a truss 1, a cross beam 2 is connected to the truss 1 in a sliding mode along the horizontal direction, a plurality of installation bases 4 are connected to the cross beam 2 in a sliding mode along the horizontal direction, the sliding directions of the installation bases 4 are perpendicular to the sliding directions of the cross beam 2, an upright post 6 is connected to the installation bases 4 in a sliding mode along the vertical direction, and a clamping device 9 is connected to the bottom of the upright post 6 in a rotating mode.

When going out of the warehouse, crossbeam 2 slides along the horizontal direction on truss 1, mount pad 4 is at crossbeam 2 along with crossbeam 2 slip direction vertically direction horizontal slip, stand 6 slides on mount pad 4, make clamping device 9 remove to suitable position, make clamping device 9 rotate to suitable angle on stand 6 again, then carry out the centre gripping to the work piece through clamping device 9, thereby can avoid the position that is difficult to carry out the centre gripping on the work piece, make the clamping process of work piece more convenient.

Referring to fig. 1, the top of the truss 1 is a horizontally arranged rectangular frame, four top corners of the bottom of the truss 1 are vertically extended downwards to form support legs, a first slide rail 11 is fixedly arranged on the top surface of the truss 1 in the width direction, and the length direction of the first slide rail 11 is the same as the width direction of the truss 1. Crossbeam 2 level sets up in truss 1 top, and the length direction of crossbeam 2 is the same with truss 1's length direction, and the bottom at 2 length direction both ends of crossbeam is all fixed and is provided with first sliding sleeve 21, and two first sliding sleeve 21 at 2 both ends of crossbeam overlap respectively and establish on two first slide rails 11 to with first slide rail 11 sliding connection, be provided with between crossbeam 2 and the truss 1 and be used for driving the gliding first drive division 3 of crossbeam 2.

Referring to fig. 2, the first driving part 3 includes a first gear 31, a first rack 32 and a first motor 33, the first rack 32 is fixedly disposed on the truss 1, a length direction of the first rack 32 is the same as a width direction of the truss 1, the first gear 31 is disposed at one end of the cross beam 2 and is rotatably connected to the cross beam 2, the first gear 31 is engaged with the first rack 32, the first motor 33 is fixedly connected to the cross beam 2, and an output shaft of the first motor 33 is coaxially disposed with and fixedly connected to the first gear 31.

When the cross beam 2 needs to slide on the truss 1, the output shaft of the first motor 33 drives the first gear 31 to rotate on the cross beam 2, the first gear 31 can roll on the first rack 32, and drives the cross beam 2 to slide on the truss 1 along the width direction of the truss 1, and simultaneously drives a sliding strip to slide on the first sliding rail 11, so that the driving effect on the sliding process of the cross beam 2 is realized.

Referring to fig. 1 and 2, in this embodiment, three mounting seats 4 are provided, a second slide rail 22 and an adjusting rack 23 are fixedly connected to the cross beam 2, the length directions of the second slide rail 22 and the adjusting rack 23 are the same as the length direction of the cross beam 2, a second sliding sleeve 41 is fixedly connected to the mounting seats 4, and the second sliding sleeve 41 is sleeved on the second slide rail 22 and is slidably connected to the second slide rail 22. Be provided with between mount pad 4 and crossbeam 2 and adjust drive division 5, adjust drive division 5 and include adjusting gear 51 and adjusting motor 52, adjusting gear 51 rotates with mount pad 4 to be connected, adjusting gear 51 and the meshing of adjusting rack 23, and adjusting motor 52 is fixed to be set up on mount pad 4, and adjusting motor 52's output shaft and the coaxial setting of adjusting gear 51 and fixed connection.

When the distance between the adjacent installation bases 4 needs to be adjusted, the adjusting motor 52 drives the adjusting gear 51 to rotate, so that the adjusting gear 51 rolls on the adjusting rack 23, and drives the second sliding sleeve 41 to slide on the second sliding rail 22, and simultaneously drives the installation bases 4, the upright posts 6 and the clamping devices 9 to slide on the cross beam 2, and the distance between the adjacent clamping devices 9 is adjusted, so that the manipulator of the truss 1 can clamp workpieces with different lengths, and the clamping devices 9 can be conveniently kept away from the parts, which are inconvenient to clamp, on the workpieces during clamping.

Referring to fig. 3, the upright column 6 is vertically arranged on one side of the mounting seat 4 away from the beam 2, two vertical third sliding rails 61 are fixedly arranged on the upright column 6, a third sliding sleeve 42 is slidably connected to the third sliding rails 61, and the third sliding sleeve 42 is fixedly connected to the mounting seat 4. Stand 6 and mount pad 4 are provided with second drive division 7, second drive division 7 includes second motor 71, lead screw 72 and screw 73, holding tank 62 has been seted up on the stand 6, the vertical setting of lead screw 72 is connected in holding tank 62 and with stand 6 rotation, the fixed bottom that sets up at stand 6 of second motor 71, the output shaft of second motor 71 and the coaxial setting and the fixed connection in top of lead screw 72, screw 73 cover is established on lead screw 72, screw 73 and lead screw 72 threaded connection, and with mount pad 4 fixed connection.

When the height of the upright post 6 needs to be adjusted, the second motor 71 drives the screw rod 72 to rotate on the upright post 6, drives the screw nut 73 to move on the screw rod 72 along one end in the vertical direction, drives the upright post 6 to move on the mounting seat 4 along the vertical direction, and drives the third sliding sleeve 42 to slide on the third sliding rail 61, so that the driving effect on the sliding process of the upright post 6 is realized.

Referring to fig. 4, a third driving part 8 is arranged between the bottom of the upright 6 and the clamping device 9, the third driving part 8 comprises a hydraulic oil cylinder 81, a driving rack 82 and a driving gear 83, the axial direction of the driving gear 83 is the same as the length direction of the cross beam 2, and the driving gear 83 is rotatably connected with the upright 6 and connected with the clamping device 9; the driving rack 82 is vertically arranged and meshed with the driving gear 83, a driving sliding sleeve 821 is fixedly connected to the driving rack 82, a vertical driving sliding rail 63 is fixedly connected to the upright post 6, and the driving sliding sleeve 821 is sleeved on the driving sliding rail 63 and is in sliding connection with the driving sliding rail 63; hydraulic cylinder 81 is vertical to be set up in drive sliding sleeve 821 top, and hydraulic cylinder 81's cylinder body and stand 6 fixed connection, hydraulic cylinder 81's piston rod is vertical to the orientation to with drive sliding sleeve 821 fixed connection.

When the angle of the clamping device 9 on the upright 6 needs to be adjusted, the piston rod of the hydraulic oil cylinder 81 stretches and retracts, and can drive the driving sliding sleeve 821 to slide on the driving sliding rail 63 along the vertical direction, and drive the driving rack 82 to move along the vertical direction, so as to drive the driving gear 83 to rotate on the upright 6, and meanwhile, the clamping device 9 is driven to rotate on the upright 6, so that the adjusting effect of the rotating process of the clamping device 9 is realized.

Referring to fig. 4 and 5, the clamping device 9 includes a fixing plate 91, a clamping rod 92, a clamping driving member and a clamping driving member, the fixing plate 91 is vertically disposed, the fixing plate 91 is fixedly connected with the driving gear 83, and one side of the fixing plate 91, which is far away from the driving gear 83, is fixedly connected with two guide rails 911 which are disposed in parallel; the two clamping rods 92 and the two clamping driving pieces are arranged, the length direction of each clamping rod 92 is perpendicular to that of the guide rail 911, the two clamping rods 92 are arranged in parallel, one end, close to the fixing plate 91, of each clamping rod 92 is fixedly connected with two guide sleeves 921, and the two guide sleeves 921 on each clamping rod 92 are respectively sleeved on the two guide rails 911 and are in sliding connection with the guide rails 911; the clamping driving part is a clamping oil cylinder 93, the clamping oil cylinder 93 is arranged in parallel with the guide rail 911, the cylinder body of the clamping oil cylinder 93 is fixedly connected with the fixing plate 91, and the piston rods of the two clamping oil cylinders 93 are respectively fixedly connected with the two clamping rods 92; the middle positions of the two clamping rods 92 in the length direction extend towards the direction away from each other, one ends of the two clamping rods 92 away from the fixing plate 91 extend towards the direction close to each other to form positioning pieces 922, the positioning pieces 922 are perpendicular to the length direction of the clamping rods 92, one sides of the positioning pieces 922 close to the fixing plate 91 are provided with clamping pieces 941, and the clamping pieces 941 are parallel to the positioning pieces 922; the clamping driving member is provided with two, the clamping driving member is clamping cylinder 94, clamping cylinder 94 is located one side of clamping piece 941 far away from locating piece 922, clamping cylinder 94 and clamping rod 92 are arranged in parallel, the cylinder body of clamping cylinder 94 and clamping rod 92 are fixedly connected, the piston rods of two clamping cylinders 94 are respectively fixedly connected with two clamping pieces 941, and one side of each clamping piece 941 and one side of each locating piece 922 close to each other are all fixedly provided with a protection pad 923.

When the workpiece is clamped, the position of the clamping device 9 is moved, the workpiece is located between the two clamping rods 92, the workpiece is located between the positioning piece 922 and the clamping piece 941, at the moment, the two clamping cylinders 93 respectively drive the two clamping rods 92 to be close to each other, the guide sleeve 921 is driven to slide on the guide rod, the workpiece is clamped between the two clamping rods 92, meanwhile, the piston rods of the two clamping cylinders 94 stretch out, the two clamping pieces 941 are driven to be close to the positioning piece 922, the workpiece is clamped between the clamping piece 941 and the positioning piece 922, the workpiece is clamped from four directions, and the clamping process of the workpiece is more stable.

The implementation principle of the turnover truss manipulator for the aerial work platform is as follows: when the workpiece is taken out of the warehouse, the cross beam 2 slides on the truss 1 along the horizontal direction, the mounting seat 4 slides horizontally on the cross beam 2 along the direction vertical to the sliding direction of the cross beam 2, the upright post 6 slides on the mounting seat 4, the clamping device 9 is moved to a proper position, the clamping device 9 rotates to a proper angle on the upright post 6, then the clamping device 9 clamps the workpiece between the two clamping rods 92 and between the clamping sheet 941 and the positioning sheet 922 from the proper angle, so that the clamping device 9 can stably clamp the workpiece from different angles according to the shape of the workpiece, and parts which are difficult to clamp on the workpiece are avoided during clamping.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a upset truss manipulator for aerial working platform, includes truss (1), its characterized in that: the truss is characterized in that a cross beam (2) is connected to the truss (1) in a sliding mode in the horizontal direction, a first driving portion (3) used for driving the cross beam (2) to slide is arranged between the cross beam (2) and the truss (1), an upright post (6) is connected to the cross beam (2) in a sliding mode in the vertical direction, a second driving portion (7) used for driving the upright post (6) to slide is arranged between the upright post (6) and the cross beam (2), a clamping device (9) is connected to the upright post (6) in a rotating mode, and a third driving portion (8) used for driving the clamping device (9) to rotate is arranged between the clamping device (9) and the upright post (6); the third driving part (8) comprises a hydraulic oil cylinder (81), a driving rack (82) and a driving gear (83), the driving gear (83) is rotatably connected with the upright post (6) and is connected with the clamping device (9), the driving rack (82) is slidably connected with the upright post (6) and is matched with the driving gear (83) for use, and the hydraulic oil cylinder (81) is fixedly arranged on the upright post (6) and is used for driving the driving rack (82) to slide.

2. The inverted truss manipulator for aerial work platforms of claim 1, wherein: the clamping device (9) comprises a fixing plate (91), two clamping rods (92) arranged on the fixing plate (91) and a clamping driving piece for driving the two clamping rods (92) to approach or separate from each other.

3. The inverted truss manipulator for aerial work platforms of claim 2, wherein: one end of each of the two clamping rods (92) extends towards the direction of approaching each other to form a positioning piece (922).

4. The inverted truss manipulator for aerial work platforms of claim 3, wherein: two one side that clamping rod (92) are close to each other all is provided with and presss from both sides tight piece (941), presss from both sides tight piece (941) just to setting up with location piece (922), and clamping device (9) still press from both sides tight driving piece that piece (941) are close to or keep away from location piece (922) including being used for the drive.

5. The inverted truss manipulator for aerial work platforms of claim 1, wherein: and a plurality of upright posts (6) are arranged on the cross beam (2) along the direction vertical to the sliding direction of the cross beam.

6. The inverted truss manipulator for aerial work platforms of claim 5, wherein: and an adjusting driving part (5) used for adjusting the distance between the adjacent upright columns (6) is also arranged between the cross beam (2) and the upright columns (6).

7. The inverted truss manipulator for aerial work platforms of claim 4, wherein: one side of the clamping piece (941) and one side of the positioning piece (922) which are close to each other are both fixedly provided with a protective pad (923).

8. The inverted truss manipulator for aerial work platforms of claim 2, wherein: the fixed plate (91) is gone up the fixed guide rail (911) that is provided with, and the length direction of guide rail (911) is the direction that two supporting rod (92) are close to each other or keep away from, and equal fixedly connected with guide pin bushing (921) with guide rail (911) sliding connection on two supporting rod (92).

9. The inverted truss manipulator for aerial work platforms of claim 1, wherein: crossbeam (2) level sets up, and the length direction of crossbeam (2) is perpendicular rather than the slip direction, and crossbeam (2) length direction's both ends all with truss (1) sliding connection.