CN117486044B - Adjustable manipulator for hoisting large steel piece - Google Patents
Adjustable manipulator for hoisting large steel piece Download PDFInfo
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- CN117486044B CN117486044B CN202311840603.8A CN202311840603A CN117486044B CN 117486044 B CN117486044 B CN 117486044B CN 202311840603 A CN202311840603 A CN 202311840603A CN 117486044 B CN117486044 B CN 117486044B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 101
- 239000010959 steel Substances 0.000 title claims abstract description 101
- 238000010030 laminating Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 9
- 238000010276 construction Methods 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention relates to the technical field of hoisting manipulators and discloses an adjustable manipulator for hoisting large steel parts, which comprises a hoisting ring part, wherein the hoisting ring part comprises a steel ring body, an earring connected with an external sling is sleeved on the outer surface of the steel ring body, the hoisting part comprises a hoisting plate, the hoisting plate is rotationally connected with a clamping plate attached to the outer surface of an external H-shaped steel beam through a rotary groove arranged on the side surface of the hoisting plate, and one side of the clamping plate far away from the external H-shaped steel beam is fixedly connected with an electromagnet. This manipulator with adjustable large-scale steel part hoist and mount can solve among the prior art effectively, when H shaped steel roof beam hoist and mount construction, adopts steel part hoisting equipment to hoist generally, according to H shaped steel roof beam's hoist and mount scheme, need adopt wire rope to embrace around girder steel round buckling before the hoist and mount, the wire rope position after the buckling hardly carries out the regulation of controlling a lot of, and then hoist and mount in-process, can't guarantee the balanced problem of steel part atress.
Description
Technical Field
The invention relates to the technical field of hoisting manipulators, in particular to an adjustable manipulator for hoisting large steel parts.
Background
The steel part hoisting equipment is specially used for hoisting steel parts, and is generally composed of a manipulator, a control system, a travelling crane system and the like, so that the operations of grabbing, transporting, placing and the like of the steel parts can be realized. In the hoisting process, the steel part is grabbed by the manipulator, then transported to a designated position by the manipulator for placement, and meanwhile, the manipulator can also accurately position and adjust by the control system, so that the stability and accuracy of the steel part in the hoisting process are ensured.
For example, when H-shaped steel beam hoisting construction, generally, steel piece hoisting equipment is adopted for hoisting, according to the hoisting scheme of the H-shaped steel beam, a steel wire rope is required to be used for wrapping the steel beam for one circle for fastening before hoisting, the position of the steel wire rope after fastening is difficult to carry out multiple left-right movement adjustment, and further, in the hoisting process, the stress balance of the steel piece cannot be ensured, so that a steel piece hoisting manipulator capable of freely moving and adjusting is urgently needed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects existing in the prior art, the invention provides an adjustable manipulator for hoisting large steel parts, which can effectively solve the problems that in the prior art, steel part hoisting equipment is generally adopted for hoisting when an H-shaped steel beam is hoisted, steel wire ropes are required to be used for wrapping the steel beam for one circle for fastening before hoisting according to the hoisting scheme of the H-shaped steel beam, the positions of the fastened steel wire ropes are difficult to move and adjust for a plurality of times, and the stress balance of the steel parts cannot be guaranteed in the hoisting process.
Technical proposal
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention provides an adjustable manipulator for hoisting large steel pieces, which comprises:
the lifting ring part comprises a steel ring body, and an earring connected with an external sling is sleeved on the outer surface of the steel ring body;
the hoisting part comprises a hoisting plate, the hoisting plate is rotationally connected with a clamping plate attached to the outer surface of the external H-shaped steel beam through a rotary groove formed in the side surface of the hoisting plate, and one side, far away from the external H-shaped steel beam, of the clamping plate is fixedly connected with an electromagnet;
wherein, be provided with the shielding piece that can be used for restricting the clamp plate and rotate above the hanging plate, and this shielding piece upper surface is connected with steel ring body bottom.
Further, a pull rod is fixedly connected to one side, far away from the hanging plate, of the clamping plate, and a pair of adjacent faces of the output ends of the electromagnets are magnetically connected.
Further, the shielding piece comprises a shielding plate, a chute which slides with the lower surface of the shielding plate is formed in the top of the lifting plate, a right triangular block is fixedly connected to the top of the shielding plate, a counterweight plate is connected to the inclined surface of the right triangular block in a sliding mode, the upper surface of the counterweight plate is fixedly connected with the bottom end of the steel ring body, and the right triangular block is provided with two counterweight plates and is distributed symmetrically with the counterweight plate as the center.
Further, the lifting plate is fixedly connected with a limiting rod which slides inside the counterweight plate through a groove formed in the top of the lifting plate, a buffer spring is sleeved on the circumferential outer surface of the limiting rod, and the end face of the counterweight plate is fixedly connected with a laminating plate which slides on the side face of the straight triangular block.
Further, the fixed surface is connected with the semicircle piece under the shielding plate, and this semicircle piece is equipped with two and uses right triangular block as central symmetry distribution, the semicircle groove that slides mutually with semicircle piece circumference surface is seted up at hoist and mount board top, the terminal surface of semicircle piece is provided with the reset spring who is connected with semicircle groove inner wall.
Further, a hemispherical groove is formed in one side, close to the clamping plate, of the shielding plate, and a ball rod attached to the inner wall of the hemispherical groove is fixedly connected to the side face of the clamping plate.
Further, one side of the shielding plate, which is close to the hemispherical groove, adopts a cambered surface design.
Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the invention is provided with a hoisting part, the hoisting plate is attached to the upper surface of the H-shaped steel beam, then the counterweight plate is influenced by self gravity, the counterweight plate slides downwards along the circumferential outer surface of the limiting rod, the buffer spring is pressed to generate elastic deformation, in the downward moving process of the counterweight plate along the inclined plane of the right triangular block, the counterweight plate generates outward thrust to the right triangular blocks on two sides of the counterweight plate, the right triangular block drives the shielding plate to slide outwards along the inner wall of the chute, the semicircular block is driven to slide along the inner wall of the semicircular groove, the reset spring is pressed to generate elastic deformation until the gravity of the counterweight plate, the buffer spring and the elastic force of the reset spring reach an equilibrium state, and at the moment, the sliding shielding plate is just separated from the outer side of the clamping plate, and further the two groups of clamping plates can rotate freely around the rotary groove. To sum up, when lifting part and H shaped steel roof beam combine, lifting plate on the lifting part can freely place in H shaped steel roof beam upper surface optional position, and lifting plate, grip block can freely slide and correct at H shaped steel roof beam upper surface, until reaching the position of predetermineeing, two sets of electro-magnet circular telegrams back, two mutual magnetic attraction, drive two sets of grip blocks and tightly laminate at H shaped steel roof beam surface, lifting plate, grip block and H shaped steel roof beam combine into a whole this moment, then hoist and mount H shaped steel roof beam can.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic perspective view of an adjustable manipulator for hoisting large steel members according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a lifting ring part, a lifting part and an H-shaped steel beam according to an embodiment of the present invention;
FIG. 3 is an exploded view of a lifting portion according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a hoisting portion according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of a shield according to an embodiment of the invention;
FIG. 6 is a schematic view of a partial enlarged structure at A in FIG. 5;
fig. 7 is a schematic view showing the structure of the clamping plate and the rotary groove according to the embodiment of the present invention.
Reference numerals in the drawings represent respectively: 1. a hanging ring part; 11. a steel ring body; 12. ear rings; 2. a hoisting part; 21. a hanging plate; 211. a chute; 212. a groove; 213. a limit rod; 214. a buffer spring; 215. a semicircular groove; 22. a rotary groove; 23. a clamping plate; 231. a pull rod; 232. a cue; 24. an electromagnet; 25. a shield; 251. a shielding plate; 2511. a semicircle block; 2512. a return spring; 2513. hemispherical grooves; 252. a right triangular block; 253. a weight plate; 2531. and (5) attaching the plates.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Examples:
referring to fig. 1 to 7, the present invention provides a technical solution: an adjustable manipulator for hoisting large steel pieces, comprising:
the lifting ring part 1, the lifting ring part 1 comprises a steel ring body 11, and an earring 12 connected with an external sling is sleeved on the outer surface of the steel ring body 11;
the hoisting part 2, the hoisting part 2 comprises a hoisting plate 21, the hoisting plate 21 is rotationally connected with a clamping plate 23 attached to the outer surface of the external H-shaped steel beam through a rotary groove 22 formed in the side surface of the hoisting plate 21, and one side of the clamping plate 23 far away from the external H-shaped steel beam is fixedly connected with an electromagnet 24;
wherein, a shielding piece 25 which can be used for limiting the clamping plate 23 to rotate is arranged above the hanging plate 21, and the upper surface of the shielding piece 25 is connected with the bottom end of the steel ring body 11.
The clamping plate 23 is fixedly connected with a pull rod 231 at one side far away from the hanging plate 21, and the adjacent surfaces of the output ends of the pair of electromagnets 24 are magnetically connected. The primary function of the electromagnet 24 is: firstly, after two groups of electromagnets 24 are electrified, the two groups of electromagnets are attracted by magnetic force to drive two groups of clamping plates 23 to be tightly attached to the outer surface of the H-shaped steel beam, at the moment, the lifting plate 21, the clamping plates 23 and the H-shaped steel beam are combined into a whole, and then the H-shaped steel beam is lifted; secondly, after the two groups of electromagnets 24 are electrified, the two groups of electromagnets are attracted by magnetic force to drive the two groups of clamping plates 23 to rotate and reset, and then the upper ends of the clamping plates 23 are reset to a horizontal state, so that the sliding of the follow-up shielding plates 251 is facilitated, and the clamping plates 23 are limited and locked.
The shielding member 25 comprises a shielding plate 251, a chute 211 sliding with the lower surface of the shielding plate 251 is arranged at the top of the hanging plate 21, a right triangular block 252 is fixedly connected with the top of the shielding plate 251, a counterweight plate 253 is slidingly connected with the inclined surface of the right triangular block 252, the upper surface of the counterweight plate 253 is fixedly connected with the bottom end of the steel ring body 11, and the two right triangular blocks 252 are symmetrically distributed by taking the counterweight plate 253 as the center.
The hanging plate 21 is fixedly connected with a limiting rod 213 sliding with the inside of the weight plate 253 through a groove 212 formed in the top of the hanging plate 21, a buffer spring 214 is sleeved on the circumferential outer surface of the limiting rod 213, and an attaching plate 2531 sliding with the side surface of the right triangular block 252 is fixedly connected with the end surface of the weight plate 253. The application needs to emphasize that, when outside hoist cable pulls earring 12, steel ring body 11, gag lever post 213 mainly plays the bearing effect, takes place rotatory rotation for avoiding counterweight plate 253, this application at counterweight plate 253 terminal surface fixedly connected with laminating board 2531, laminating board 2531 presss from both sides right triangular block 252 from both sides, can guarantee that counterweight plate 253 can not take place rotatoryly. Similarly, the straight triangle block 252 is fixedly connected with the shielding plate 251, in order to improve the connection strength between the shielding plate 251 and the lifting plate 21 (the bottom of the shielding plate 251 is attached to the inner wall of the sliding groove 211), two sides of the lifting plate 21 are designed to be cambered surfaces, meanwhile, the bottom of the shielding plate 251 is tightly attached to two cambered surfaces of the lifting plate 21, the connection strength between the shielding plate 251 and the lifting plate 21 is further improved, and the shielding plate 251 and the straight triangle block 252 are prevented from rotating loose.
The lower surface of the shielding plate 251 is fixedly connected with semicircular blocks 2511, the semicircular blocks 2511 are provided with two semicircular grooves 215 which are symmetrically distributed by taking the right triangular blocks 252 as the center, the top of the hanging plate 21 is provided with semicircular grooves 215 which slide with the circumferential outer surfaces of the semicircular blocks 2511, and the end surfaces of the semicircular blocks 2511 are provided with reset springs 2512 which are connected with the inner walls of the semicircular grooves 215.
A hemispherical groove 2513 is formed in one side, close to the clamping plate 23, of the shielding plate 251, and a ball rod 232 attached to the inner wall of the hemispherical groove 2513 is fixedly connected to the side face of the clamping plate 23. When the hoisting is finished, the shielding piece 25 automatically loses the limit locking of the clamping plate 23, at the moment, only the pull rod 231 is lifted upwards by two hands, the clamping plate 23 is driven to rotate upwards until the ball rod 232 is clamped into the hemispherical groove 2513, at the moment, the two groups of clamping plates 23 are in a horizontal unfolding state, and the quick separation between the hoisting part 2 and the H-shaped steel beam is facilitated (the reset spring 2512 plays a buffering role on the clamping of the ball rod 232). When the lifting plate 21 is transferred to the upper surfaces of other H-shaped steel beams, the gravity of the weight plate 253 is balanced with the elastic forces of the buffer spring 214 and the return spring 2512, so that the hemispherical groove 2513 can be quickly separated from the outer surface of the club 232 only by pressing the upper surface of the weight plate 253 downwards, then the clamping plate 23 is free to rotate and fall, and then subsequent lifting is performed.
The side of the shielding plate 251 close to the hemispherical groove 2513 adopts a cambered surface design, so that the shielding plate 251 can conveniently and rapidly slide to the upper end surface of the clamping plate 23.
Referring to fig. 1-7, for example, when an H-shaped steel beam is lifted, steel piece lifting equipment is generally adopted for lifting, according to the lifting scheme of the H-shaped steel beam, a steel wire rope is required to be wound around the steel beam for one circle for fastening before lifting, and the position of the steel wire rope after fastening is difficult to move and adjust for a plurality of times, so that the stress balance of the steel piece cannot be ensured in the lifting process;
in order to overcome the defects, the invention designs an adjustable manipulator for hoisting large steel pieces.
At first, the lifting plate 21 on the lifting part 2 is attached to the upper surface of the H-shaped steel beam, then the counterweight plate 253 on the shielding piece 25 is affected by self gravity, the counterweight plate 253 slides downwards along the circumferential outer surface of the limiting rod 213, the buffer spring 214 is pressed to elastically deform, in the process that the counterweight plate 253 moves downwards along the inclined plane of the right triangular block 252, the right triangular block 252 on two sides of the counterweight plate 253 generates outward thrust, the right triangular block 252 drives the shielding plate 251 to slide outwards along the inner wall of the sliding groove 211, the semicircular block 2511 is driven to slide along the inner wall of the semicircular groove 215, the reset spring 2512 is pressed to elastically deform until the gravity of the counterweight plate 253 and the elastic force of the buffer spring 214 and the reset spring 2512 reach an equilibrium state, at the moment, the sliding shielding plate 251 just breaks away from the outer side of the clamping plate 23, and then the two groups of the clamping plates 23 can freely rotate around the rotating groove 22 (the rotating range is 0-95 degrees), and when the lifting part 2 is combined with the H-shaped steel beam, the lifting plate 21 on the lifting part 2 can be freely placed on any position on the upper surface of the H-shaped steel beam.
In this application, when the laminating of hanger plate 21 behind H shaped steel roof beam upper surface, two sets of clamping plates 23 distribute in H shaped steel roof beam both sides, compare traditional wire rope to embrace around girder steel round hasp, this application as long as the hoist cable has not pull earring 12, steel ring body 11 yet, and hanger plate 21, clamping plates 23 alright free slip correction in H shaped steel roof beam upper surface, until reaching preset position.
The application needs to emphasize that, because clamping plate 23 self adopts L type design, when receiving self gravity influence, clamping plate 23 is in the state of outwards expanding, and firstly, clamping plate 23 surface is not laminated with H shaped steel roof beam surface, and secondly, clamping plate 23 upper end is in the tilt state, and then hinders the slip of follow-up shielding plate 251, still is equipped with electro-magnet 24 to this application, electro-magnet 24's main effect: firstly, after two groups of electromagnets 24 are electrified, the two groups of electromagnets are attracted by magnetic force to drive two groups of clamping plates 23 to be tightly attached to the outer surface of the H-shaped steel beam, at the moment, the lifting plate 21, the clamping plates 23 and the H-shaped steel beam are combined into a whole, and then the H-shaped steel beam is lifted; secondly, after the two groups of electromagnets 24 are electrified, the two groups of electromagnets are attracted by magnetic force to drive the two groups of clamping plates 23 to rotate and reset, and then the upper ends of the clamping plates 23 are reset to a horizontal state, so that the sliding of the follow-up shielding plates 251 is facilitated, and the clamping plates 23 are limited and locked.
The application still needs to emphasize that current part hoist device adopts magnetism to inhale hoist and mount, and is basically unanimous with electro-magnet 24 in this application, if when sudden outage, H shaped steel roof beam exists the risk that drops, and the security is low. For this, this application still is equipped with shielding member 25, can realize when lifting by crane, shielding member 25 carries out spacing locking to clamping plate 23, and then clamping plate 23 receives "double protection" to the clamp of H shaped steel girder (even if electro-magnet 24 outage inefficacy, shielding member 25 still can realize spacing locking to clamping plate 23), when not lifting by crane, shielding member 25 automatic lose spacing locking to clamping plate 23, make things convenient for quick separation between hoist and mount portion 2 and the H shaped steel girder to and follow-up hoist and mount of other H shaped steel girders.
Specifically, when the external sling pulls the earring 12 and the steel ring 11 upwards, the weight plate 253 slides upwards along the circumferential outer surface of the limiting rod 213, the buffer spring 214 is reset, in the process that the weight plate 253 moves upwards along the inclined surface of the straight triangular block 252, the inclined surface of the straight triangular block 252 is always attached to the outer surface of the weight plate 253 under the action of the elastic force of the reset spring 2512, the shielding plate 251 drives the straight triangular block 252 to slide inwards along the inner wall of the chute 211, the semicircular block 2511 is driven to slide and reset along the inner wall of the semicircular groove 215, the reset spring 2512 is gradually reset, but is always in a compressed state, at the moment, the shielding plate 251 slides to be right above the clamping plate 23, the lower surface of the shielding plate 251 is attached to the upper end surface of the clamping plate 23, free rotation of the clamping plate 23 can be avoided, and the hanging plate 21, the clamping plate 23 and the H-shaped steel beam are always integrated.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. Adjustable manipulator for hoisting large steel pieces, which is characterized by comprising:
the lifting ring part (1), the lifting ring part (1) comprises a steel ring body (11), and an earring (12) connected with an external sling is sleeved on the outer surface of the steel ring body (11);
the hoisting part (2), the hoisting part (2) comprises a hoisting plate (21), the hoisting plate (21) is rotationally connected with clamping plates (23) attached to the outer surfaces of the external H-shaped steel beams through rotating grooves (22) formed in the two opposite side surfaces of the hoisting plate, and one side, far away from the external H-shaped steel beams, of the clamping plates (23) is fixedly connected with an electromagnet (24);
a shielding piece (25) which can be used for limiting the clamping plate (23) to rotate is arranged above the lifting plate (21), and the upper surface of the shielding piece (25) is connected with the bottom end of the steel ring body (11);
wherein the shielding piece (25) comprises a shielding plate (251), the top of the lifting plate (21) is provided with a sliding groove (211) which slides with the lower surface of the shielding plate (251), the top of the shielding plate (251) is fixedly connected with a right triangular block (252), the inclined plane of the right triangular block (252) is connected with a counterweight plate (253) in a sliding way, and the upper surface of the counterweight plate (253) is fixedly connected with the bottom end of the steel ring body (11), the right triangular blocks (252) are provided with two and are symmetrically distributed by taking the counterweight plates (253) as the center, the lifting plate (21) is fixedly connected with a limiting rod (213) which slides with the inside of the counterweight plate (253) through a groove (212) arranged at the top of the lifting plate, and a buffer spring (214) is sleeved on the circumferential outer surface of the limiting rod (213), the end face of the counterweight plate (253) is fixedly connected with a laminating plate (2531) which slides with the side face of the right triangular block (252), the lower surface of the shielding plate (251) is fixedly connected with a semicircular block (2511), and the semicircular blocks (2511) are arranged and symmetrically distributed by taking the right triangular block (252) as the center, a semicircular groove (215) which slides with the circumferential outer surface of the semicircular block (2511) is formed at the top of the lifting plate (21), the end face of the semicircular block (2511) is provided with a reset spring (2512) connected with the inner wall of the semicircular groove (215).
2. The adjustable manipulator for hoisting large steel parts according to claim 1, wherein: one side of the clamping plate (23) far away from the hanging plate (21) is fixedly connected with a pull rod (231), and the adjacent surfaces of the output ends of the pair of electromagnets (24) are magnetically connected.
3. The adjustable manipulator for hoisting large steel parts according to claim 1, wherein: hemispherical grooves (2513) are formed in one side, close to the clamping plate (23), of the shielding plate (251), and a ball rod (232) attached to the inner wall of the hemispherical grooves (2513) is fixedly connected to the side face of the clamping plate (23).
4. An adjustable manipulator for lifting large steel parts according to claim 3, wherein: one side of the shielding plate (251) close to the hemispherical groove (2513) adopts a cambered surface design.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311840603.8A CN117486044B (en) | 2023-12-29 | 2023-12-29 | Adjustable manipulator for hoisting large steel piece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311840603.8A CN117486044B (en) | 2023-12-29 | 2023-12-29 | Adjustable manipulator for hoisting large steel piece |
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| CN117486044A CN117486044A (en) | 2024-02-02 |
| CN117486044B true CN117486044B (en) | 2024-04-09 |
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| CN202311840603.8A Active CN117486044B (en) | 2023-12-29 | 2023-12-29 | Adjustable manipulator for hoisting large steel piece |
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| CN117486044A (en) | 2024-02-02 |
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