CN113387133A - Multi-size pressure container conveying device - Google Patents
Multi-size pressure container conveying device Download PDFInfo
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- CN113387133A CN113387133A CN202110633525.9A CN202110633525A CN113387133A CN 113387133 A CN113387133 A CN 113387133A CN 202110633525 A CN202110633525 A CN 202110633525A CN 113387133 A CN113387133 A CN 113387133A
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims 3
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
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Classifications
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Structural Engineering (AREA)
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Abstract
本发明属于输送装置技术领域，具体涉及一种多尺寸压力容器输送装置，包括移动平台和支撑平台，支撑平台通过横移机构与移动平台连接，通过横移机构可以驱动支撑平台左右移动；支撑平台包括固定支撑台和活动支撑台，固定支撑台与活动支撑台滑动连接，固定支撑台与活动支撑台之间设有驱动机构，通过驱动机构可以带动活动支撑平台移动，改变固定支撑台与活动支撑台之间的距离；固定支撑台与活动支撑台上均设有凹槽。通过支撑平台可以对压力容器进行支撑，并且支撑平台通过横移机构与移动平台连接，通过横移机构可以驱动支撑平台左右移动，从而实现压力容器的输送。移动平台也可以实现多自由度的移动，从而可以根据需要移动到不同的工位。
The invention belongs to the technical field of conveying devices, and in particular relates to a conveying device for multi-size pressure vessels, comprising a moving platform and a supporting platform. It includes a fixed support platform and a movable support platform. The fixed support platform and the movable support platform are slidably connected, and a driving mechanism is arranged between the fixed support platform and the movable support platform. The distance between the tables; the fixed support table and the movable support table are provided with grooves. The pressure vessel can be supported by the support platform, and the support platform is connected with the moving platform through the traverse mechanism, and the support platform can be driven to move left and right through the traverse mechanism, thereby realizing the transportation of the pressure vessel. The mobile platform can also achieve multi-degree-of-freedom movement, so that it can be moved to different stations as needed.
Description
Technical Field
The invention belongs to the technical field of conveying devices, and particularly relates to a conveying device for multi-size pressure containers.
Background
Pressure vessels are widely used in the fields of industrial production, medical care and public health, daily life and the like, and along with the popularization of hydrogen energy, pressure vessels are widely used in the field of vehicles. Based on the large-scale use of the pressure vessel, high requirements are put on the capacity and related enterprises. The following problems mainly exist at present: 1. the automation degree of each container conveying link is low; 2. the replacement between the containers with different sizes still adopts manual operation, the efficiency is low, and the production flow of the pressure container and the production working hour of a unit container are restricted.
Disclosure of Invention
In view of the above technical problems, the present invention provides a multi-sized pressure vessel conveying device, which can adjust and convey vessels of different sizes, and can improve production efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that:
a multi-size pressure container conveying device comprises a moving platform and a supporting platform, wherein the supporting platform is connected with the moving platform through a transverse moving mechanism and can be driven to move left and right through the transverse moving mechanism; the supporting platform comprises a fixed supporting platform and a movable supporting platform, the fixed supporting platform is connected with the movable supporting platform in a sliding mode, a driving mechanism is arranged between the fixed supporting platform and the movable supporting platform, the movable supporting platform can be driven to move through the driving mechanism, and the distance between the fixed supporting platform and the movable supporting platform is changed; the fixed supporting platform and the movable supporting platform are both provided with grooves.
The driving mechanism comprises a first servo motor, a solenoid and a screw rod, one end of the screw rod is fixedly connected with the movable supporting table, a shell of the first servo motor is fixed on the fixed supporting table, an output shaft of the first servo motor is connected with the solenoid through the screw rod, and the screw rod is in threaded connection with the solenoid.
The transverse moving mechanism adopts a linear motor or a ball screw driving mechanism.
The mobile platform comprises a base and a lifting platform, the lifting platform is connected with the base through a mobile mechanism, and the lifting platform can be driven to move back and forth through the mobile mechanism; the lifting platform comprises an upper platform and a lower platform, the upper platform is connected with the lower platform through a guide post, a lifting mechanism is arranged between the upper platform and the lower platform, the upper platform is driven to lift through the lifting mechanism, the lower platform is connected with a moving mechanism, and the upper platform is connected with a supporting platform.
The lower platform is connected with the base in a sliding mode, the moving mechanism comprises a second servo motor and a rack, the rack is fixed on the base, a shell of the second servo motor is fixedly connected with the lower platform, and a gear meshed with the rack is arranged on an output shaft of the second servo motor.
The lifting mechanism comprises a third servo motor, a screw rod and a nut, a shell of the third servo motor is fixed on the lower platform, the upper platform is provided with a connecting frame, two ends of the screw rod are respectively in rotary connection with the connecting frame, and the nut is in threaded connection with the screw rod; and the third servo motor is connected with the nut and drives the nut to rotate through the third servo motor.
The third servo motor is connected with a nut through a synchronous belt transmission mechanism, and a corresponding synchronous belt wheel is arranged on the nut.
And the moving platform and the supporting platform are respectively provided with a corresponding displacement sensor, the sensors are connected with a controller, and the controller is used for controlling the movement of the moving platform and the supporting platform.
Compared with the prior art, the invention has the following beneficial effects:
can support pressure vessel through supporting platform to supporting platform passes through the sideslip mechanism and is connected with moving platform, can drive supporting platform through the sideslip mechanism and remove about, thereby realizes pressure vessel's transport. The mobile platform can also realize the movement with multiple degrees of freedom, so that the mobile platform can be moved to different stations for transfer and conveying according to the requirements.
Be equipped with actuating mechanism between fixed brace table and the movable support table, can drive movable supporting platform through actuating mechanism and remove, change the distance between fixed brace table and the movable support table to can adapt to not unidimensional pressure vessel, realize the transport of not unidimensional container.
The sensor and the controller are arranged, so that the actions of the mobile platform and the supporting platform can be controlled, and automation is realized.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is an isometric view of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a schematic cross-sectional view of the present invention;
FIG. 7 is a partial enlarged view at B in FIG. 6;
FIG. 8 is a schematic structural view of the support platform of the present invention;
FIG. 9 is a schematic diagram of the sensor configuration of the present invention;
FIG. 10 is a control schematic of the present invention;
a simple modification is shown in fig. 6 and 7 at nut 602.
Wherein: 1 is a movable platform, 100 is a base, 101 is a lifting platform, 1010 is an upper platform, 1011 is a lower platform, 1012 is a guide post, 2 is a supporting platform, 200 is a fixed supporting platform, 201 is a movable supporting platform, 202 is a driving mechanism, 2020 is a first servo motor, 2021 is a solenoid, 2022 is a screw, 3 is a traversing mechanism, 4 is a groove, 5 is a moving mechanism, 500 is a second servo motor, 501 is a rack, 502 is a gear, 6 is a lifting mechanism, 600 is a third servo motor, 601 is a screw rod, 602 is a nut, 7 is a connecting frame, 8 is a synchronous belt transmission mechanism, 800 is a synchronous pulley, 801 is a synchronous belt, 9 is a displacement sensor, and 10 is a computer.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, the multi-size pressure vessel conveying device comprises a moving platform 1 and a supporting platform 2, wherein the supporting platform 2 is connected with the moving platform 1 through a transverse moving mechanism 3, and the supporting platform 2 can be driven to move left and right through the transverse moving mechanism 3. The pressure container is supported by the supporting platform 2, and the supporting platform 2 and the pressure container thereon can be driven to move by the transverse moving mechanism 3.
Due to the different sizes of the pressure vessels, in order to adapt to the pressure vessels with different sizes, the support platform 2 adopts the following structural arrangement:
the device comprises a fixed supporting platform 200 and a movable supporting platform 201, wherein the fixed supporting platform 200 is connected with the movable supporting platform 201 in a sliding manner, a driving mechanism 202 is arranged between the fixed supporting platform 200 and the movable supporting platform 201, and the movable supporting platform 201 can be driven to move by the driving mechanism 202 to change the distance between the fixed supporting platform 200 and the movable supporting platform 201; the fixed supporting platform 200 and the movable supporting platform 201 are both provided with grooves 4.
During conveying, the pressure container is placed on the fixed supporting platform 200 and the movable supporting platform 201, two ends of the pressure container are placed in the grooves 4, so that the movement of the pressure container is limited, and then the transverse moving mechanism 3 drives the pressure container to convey. The moving platform 1 can also move, so that the requirements for conveying different stations are met.
When pressure vessels of different sizes need to be conveyed, the distance between the fixed supporting platform 200 and the movable supporting platform 201 can be changed by the driving mechanism 202 according to the length of the pressure vessels, so that the two ends of the pressure vessels can be placed in the grooves 4.
The conveying of the pressure container can be realized through the structure, and the conveying requirements of different sizes and different stations can be met.
For the sliding connection between the fixed support platform 200 and the movable support platform 201, those skilled in the art can use common structures such as sliding grooves, sliding rails, sliding columns, etc.
Further, the driving mechanism 202 may adopt a structure such as an electric telescopic cylinder which is common in the prior art, and whatever structure is adopted, it is only necessary to drive the movable supporting platform 201 to move. The following structure is preferably employed:
the driving mechanism 202 comprises a first servo motor 2020, a screw tube 2021 and a screw 2022, one end of the screw 2022 is fixedly connected with the movable supporting platform 201, a housing of the first servo motor 2020 is fixed on the fixed supporting platform 200, an output shaft of the first servo motor 2020 is connected with the screw tube 2021 through the screw 2022, and the screw 2022 is in threaded connection with the screw tube 2021.
During adjustment, the first servo motor 2020 drives the screw 2022 to rotate, and due to the threaded connection between the screw 2022 and the screw tube 2021, the rotational motion can be converted into a linear motion of the movable support platform 201, thereby achieving the adjustment of the distance. Meanwhile, because the screw 2022 is in threaded connection with the screw tube 2021, precise adjustment can be realized.
Further, the traversing mechanism 3 is mainly used for driving the supporting platform 2 to move left and right, and can adopt a structure common in the prior art, such as: the linear motor or the ball screw driving mechanism can drive the supporting platform 2 to move left and right no matter what structure is adopted.
Taking a linear motor as an example: the base of the linear motor is fixed on the movable platform 1, and the moving part (sliding seat) of the linear motor is fixedly connected with the fixed supporting platform 200, so that the fixed supporting platform 200 can be driven to move. Of course, as shown in the figure, a ball screw driving mechanism may also be adopted, when the ball screw structure is adopted, the fixed support platform 200 is slidably connected with the movable platform 1, a nut in the ball screw driving mechanism is fixedly connected with the fixed support platform 200, and a servo motor in the mechanism drives a screw to rotate, so that the support platform 2 is moved.
The mobile platform 1 comprises a base 100 and a lifting platform 101, wherein the lifting platform 101 is connected with the base 100 through a moving mechanism 5, and the lifting platform 101 can be driven to move back and forth through the moving mechanism 5; the lifting platform 101 comprises an upper platform 1010 and a lower platform 1011, the upper platform 1010 and the lower platform 1011 are connected through guide posts 1012, a lifting mechanism 6 is arranged between the upper platform 1010 and the lower platform 1011, the upper platform 1010 is driven to lift through the lifting mechanism 6, the lower platform 1011 is connected with a moving mechanism 5, and the upper platform 1010 is connected with a supporting platform 2. The guide column 1012 can be a telescopic rod commonly used in the prior art, and two ends of the telescopic rod are respectively fixedly connected with the upper platform 1010 and the lower platform 1011.
Through the structure, the device can move back and forth and move up and down, and is matched with the transverse moving mechanism 3 to move left and right, so that the device has three-direction freedom degrees.
Further, as above, the moving mechanism 5 can also be implemented by various structures in the prior art, and preferably adopts the following structure:
The second servo motor 500 drives the gear 502 to rotate, and the gear 502 is engaged with the rack 501, so that the lifting table 101 moves back and forth relative to the base 100.
Further, the lifting mechanism 6 comprises a third servo motor 600, a screw rod 601 and a nut 602, a shell of the third servo motor 600 is fixed on the lower platform 1011, the upper platform 1010 is provided with a connecting frame 7, two ends of the screw rod 601 are respectively rotatably connected with the connecting frame 7, and the nut 602 is in threaded connection with the screw rod 601; the third servo motor 600 is connected to the nut 602, and the nut 602 is driven to rotate by the third servo motor 600.
The third servo motor 600 is connected with a nut 602 through a synchronous belt transmission mechanism 8, the nut 602 is fixed with a corresponding synchronous pulley 800, an output shaft of the third servo motor 600 is also connected with the corresponding synchronous pulley 800, and the two synchronous pulleys 800 are connected through a synchronous belt 801. Nut 602 is rotatably connected to lower platform 1011 and is immovable. The third servo motor 600 drives the nut 602 to rotate to realize the movement of the screw rod 601, so that the lifting function is realized.
As shown in fig. 9 and 10, the moving platform 1 and the supporting platform 2 are both provided with corresponding displacement sensors, and the sensors are connected with a controller, so that the controller controls the actions of the moving platform 1 and the supporting platform 2. The number and the position of the sensors can be adjusted and arranged according to actual conditions, and the structural arrangement shown in the figure can also be used for reference. Each servo motor and each sensor are connected with the controller.
Specifically, the method comprises the following steps: the control system is characterized in that a computer or an industrial personal computer is used for inputting instructions and acquiring information, a controller can be dSPACE or PLC and other control equipment, the object of the control system is a servo motor for driving each mechanical structure to move, and each displacement sensor feeds back the movement information of each mechanical structure.
The lower platform 1011 is driven by the moving mechanism 5, and the computer transmits the instruction to the second servo motor 500 through the controller, so that the gear 502 is driven to move; corresponding displacement sensors are arranged along the direction of the displacement sensors, and information of the displacement sensors can be fed back to a computer;
the upper platform 1010 is driven by the lifting mechanism 6 to move in the vertical direction; similarly, the computer gives an instruction, the controller can control the third servo motor 600 to rotate, so that the upper platform 1010 moves, and the corresponding displacement sensor is arranged in the moving direction of the upper platform 1010, so that the position of the upper platform 1010 can be fed back in real time;
the supporting platform 2 can be driven to move left and right through the transverse moving mechanism 3, the transverse moving mechanism 3 adopts a linear motor or a ball screw driving mechanism, a power element (a servo motor) in the transverse moving mechanism 3 is also controlled through a controller, and a corresponding displacement sensor is arranged in the moving direction of the power element, so that the moving position of the power element is fed back;
a driving mechanism 202 is arranged between the fixed supporting platform 200 and the movable supporting platform 201, the movable supporting platform 201 can be driven to move through the driving mechanism 202, the first servo motor 2020 can be controlled through a controller, a corresponding displacement sensor is also arranged in the moving direction of the first servo motor, and the relative position between the fixed supporting platform 200 and the movable supporting platform 201 can be fed back.
The device has the advantages that the servo motor is driven to realize the movement of the mechanical structure, meanwhile, a plurality of closed-loop control systems are formed according to the information feedback of each displacement sensor, the automatic movement of the device is realized through the control of high response, high precision and high sensitivity, and meanwhile, the structure of the control system can be flexibly adjusted according to different actual working conditions and different pressure container sizes, so that different mechanical movement collocation is realized, and the conveying requirement of the multi-freedom-degree and multi-size pressure container of the device is met.
Although only 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, and all changes are encompassed in the scope of the present invention.
Claims (8)
1. A multi-size pressure vessel conveying device is characterized in that: the device comprises a moving platform (1) and a supporting platform (2), wherein the supporting platform (2) is connected with the moving platform (1) through a transverse moving mechanism (3), and the supporting platform (2) can be driven to move left and right through the transverse moving mechanism (3); the supporting platform (2) comprises a fixed supporting platform (200) and a movable supporting platform (201), the fixed supporting platform (200) is connected with the movable supporting platform (201) in a sliding mode, a driving mechanism (202) is arranged between the fixed supporting platform (200) and the movable supporting platform (201), the movable supporting platform (2) can be driven to move through the driving mechanism (202), and the distance between the fixed supporting platform (200) and the movable supporting platform (201) is changed; grooves (4) are arranged on the fixed supporting platform (200) and the movable supporting platform (201).
2. A multi-sized pressure vessel delivery apparatus as defined in claim 1, wherein: the driving mechanism (202) comprises a first servo motor (2020), a solenoid (2021) and a screw (2022), one end of the screw (2022) is fixedly connected with the movable supporting table (201), a shell of the first servo motor (2020) is fixed on the fixed supporting table (200), an output shaft of the first servo motor (2020) is connected with the solenoid (2021) through the screw (2022), and the screw (2022) is in threaded connection with the solenoid (2021).
3. A multi-sized pressure vessel delivery apparatus as defined in claim 1, wherein: the transverse moving mechanism (3) adopts a linear motor or a ball screw driving mechanism.
4. A multi-sized pressure vessel delivery apparatus as defined in claim 1, wherein: the moving platform (1) comprises a base (100) and a lifting platform (101), wherein the lifting platform (101) is connected with the base (100) through a moving mechanism (5), and the lifting platform (101) can be driven to move back and forth through the moving mechanism (5); elevating platform (101) include platform (1010) and lower platform (1011), go up platform (1010) and be connected through guide post (1012) down between platform (1011), go up platform (1010) and be equipped with elevating system (6) down between platform (1011), through the lift of elevating system (6) drive upper mounting plate (1010), lower platform (1011) are connected with moving mechanism (5), upper mounting plate (1010) are connected with supporting platform (2).
5. A multi-sized pressure vessel delivery apparatus as defined in claim 4, wherein: lower platform (1011) and base (100) sliding connection, moving mechanism (5) include second servo motor (500) and rack (501), rack (501) are fixed on base (100), the casing and lower platform (1011) fixed connection of second servo motor (500), be equipped with on the output shaft of second servo motor (500) with rack (501) engaged with gear (502).
6. A multi-sized pressure vessel delivery apparatus as defined in claim 4, wherein: the lifting mechanism (6) comprises a third servo motor (600), a screw rod (601) and a nut (602), a shell of the third servo motor (600) is fixed on the lower platform (1011), a connecting frame (7) is arranged on the upper platform (1010), two ends of the screw rod are respectively rotatably connected with the connecting frame (7), and the nut (602) is in threaded connection with the screw rod (601); and the third servo motor (600) is connected with the nut (602), and the nut (602) is driven to rotate by the third servo motor (600).
7. A multi-sized pressure vessel delivery apparatus as defined in claim 6, wherein: and the third servo motor (600) is connected with a nut (602) through a synchronous belt transmission mechanism (8), and a corresponding synchronous belt wheel (800) is arranged on the nut (602).
8. A multi-sized pressure vessel delivery apparatus according to any one of claims 1 to 7, wherein: the device is characterized in that corresponding displacement sensors are arranged on the moving platform (1) and the supporting platform (2), the sensors are connected with a controller, and the controller controls the moving platform (1) and the supporting platform (2) to move.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110633525.9A CN113387133A (en) | 2021-06-07 | 2021-06-07 | Multi-size pressure container conveying device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110633525.9A CN113387133A (en) | 2021-06-07 | 2021-06-07 | Multi-size pressure container conveying device |
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| CN113387133A true CN113387133A (en) | 2021-09-14 |
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| CN202110633525.9A Pending CN113387133A (en) | 2021-06-07 | 2021-06-07 | Multi-size pressure container conveying device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115370916A (en) * | 2022-08-01 | 2022-11-22 | 浙江运达风电股份有限公司 | Movable generator cooling system supporting platform |
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Application publication date: 20210914 |
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| RJ01 | Rejection of invention patent application after publication |