CN202912588U - Workpiece Lifting Mechanism and Lifting Robotic Arm - Google Patents

Abstract

The utility model provides a workpiece lifting mechanical device, which comprises a lifting mechanical arm and a manipulator arranged under the rocker arm of the lifting mechanical arm. The lifting mechanical arm of the utility model includes a column and a rocker arm connected to the column. The rocker arm can slide up and down along the column. The lifting mechanical arm further includes an oil cylinder that can drive the rocker arm to slide up and down. The piston joint of the oil cylinder is connected to the rocker. Arm articulation. The oil cylinder is used to drive the rocker arm up and down to realize the lifting of heavy objects and the control of the lifting speed. The structure changes speed quickly, which can ideally realize the slow and stable falling of the board. The lifting mechanical arm of the utility model adopts the oil cylinder as the drive for the lifting of the rocker arm, so as to realize the lifting of the heavy object and the control of the lifting speed. The design of the oil cylinder attached to the column makes it easy to control the oil circuit conversion of the oil cylinder without the influence of system inertia, making the speed change process fast and stable, so that the slow-speed plate falling can be realized in a timely and ideal manner. The workpiece lifting mechanical device of the utility model can realize the effective and controllable descending speed when turning the workpiece on the spot and placing the workpiece.

Description

Workpiece Lifting Mechanism and Lifting Robotic Arm

technical field

The utility model relates to a mechanical assembly tool, in particular to a workpiece lifting mechanical device and a lifting mechanical arm thereof.

Background technique

At a certain station in the assembly line, products of relatively high quality often need to be turned over in situ in a timely, easy and accurate manner, and each turnover always needs to be accompanied by an indirect movement: that is, before turning over, the manipulator that has firmly grasped the workpiece must start from the Lift the pallet to an appropriate height, and then lower it in time after the flip is over, and put the product back on the pallet. During this period, if the speed is not well controlled when it is lowered to a height close to the carriage, the carriage will be subjected to excessive impact and damage.

Traditionally, the mechanical equipment used for moving large-scale products on the assembly line uses a balance crane, which is equipped with a folding arm and a hook. The working principle is: lifting a heavy object is driven by a rear motor to drive a vertical screw Vice, the displacement of heavy objects, front and rear, left and right are all drawn by hand at the hook. Because the folding arm hangs all the time, it cannot stand by at the required height of the workpiece turning position, so it is very inconvenient in application. The folding arm and the rear counterweight iron directly occupy the human activity space, which will hinder the operation and cannot be controlled. Its ascending and descending speed, also can't realize workpiece turning over.

Another tool commonly used in the industry for flipping and moving larger quality products on the assembly line is the cantilever crane. The general cantilever crane includes a column and a rocker. The length of the column and the rocker is fixed. The angle between the rocker and the column Connected with a support triangle, the rocker arm and the support triangle can rotate around the column. A wire rope roller is installed on the rocker arm, and a motor is used to drive the roller winding the wire rope to lift the product at the lower end of the wire rope. When the wire crane product descends, it generally descends quickly first, and then descends slowly after reaching a certain height. The speed change is realized by controlling the speed of the motor driving the roller. Due to the inertia of the motor, the lowering speed of the cantilever crane cannot be changed in time, and the proper speed control cannot be achieved, which will cause impact on the carriage; there is no way to add a command switch to the lifting and lowering height positions, so that the highest rising point cannot be effectively limited ; The overall size is huge, the floor area and space occupied are relatively large, and the support triangular plate is suspended above the operator, occupying a large space.

Contents of the invention

The purpose of the utility model is to provide a lifting mechanical arm which is simple and can effectively control the lifting speed.

Another object of the present invention is to provide a workpiece lifting mechanical device that can effectively control the lifting speed of the lifting mechanical arm when moving and turning the workpiece on the assembly line.

For realizing the purpose of the utility model, the following technical solutions are provided:

A lifting mechanical arm, which includes a column and a rocker arm connected to the column, the rocker arm can slide up and down along the column, the lifting mechanical arm further includes an oil cylinder that can drive the rocker arm to slide up and down, the piston joint of the oil cylinder and the rocker arm hinged. The oil cylinder is used to drive the rocker arm up and down to realize the lifting of the heavy object and the control of the lifting speed. The structure changes speed quickly, which can ideally realize the slow and stable falling of the board.

In some embodiments, a lower magnetic sensor switch is provided at an appropriate position outside the oil cylinder. The position of the lower magnetic sensor switch is within the stroke of the piston rod of the oil cylinder. Through the setting of the magnetic induction switch, the system can realize timely and accurate control and shearing of the rising height and falling speed through the timely switching of the oil circuit, which can ensure the soft landing of large-mass workpieces on the carriage, which can be timely and accurately The realization of slow falling board.

The setting of the magnetic induction switch can also set the upper magnetic induction switch to control the upper limit height position according to the work needs, or set the speed conversion height position magnetic induction switch, etc., and set the required magnetic induction switch according to the movement characteristics required by the process to realize the movement required by the work. control.

In some embodiments, the lifting mechanical arm further includes a rocker arm seat, the rocker arm is mounted on the rocker arm seat, the rocker arm seat is installed on the column and slides up and down with the column, so as to realize the vertical sliding of the rocker arm.

In some embodiments, an anti-rotation positioning assembly cooperating with each other is provided between the rocker arm base and the upright, so that the rocker arm base and the upright only slide up and down without relative rotation. In some embodiments, the anti-rotational detent assembly is a key and keyway.

In some embodiments, the root of the rocker arm is coaxially hinged with the lower hinge hole of the rocker arm base and the cylinder-piston joint.

In some embodiments, it further includes a diagonal tie rod assembly arranged above the rocker arm and connecting the rocker arm and the rocker arm seat, restricting the rocker arm so that it cannot rotate downwards, and greatly improving the bending moment resistance of the rocker arm , the section of the supporting rocker arm can be made doubly compact, and avoids the complex structure and safety problems brought to the operator by the application of the large support triangular plate. In some embodiments, the diagonal tie rod assembly includes a double-thread nut and an upper screw rod and a lower screw rod connecting two ends of the double-thread nut. The upper end of the upper screw rod is hinged to the rocker arm seat, and the lower end of the lower screw rod is hinged to the rocker arm. The combination of components of the diagonal tie rod assembly makes the length of the diagonal tie rod adjustable, that is, the angle of the rocker arm is adjustable, ensuring the best working state during the work will not be out of shape due to the long-term tension of the diagonal stay rod, making the work easier Stablize.

In some embodiments, it further includes a cylinder mount, the cylinder mounted on the cylinder mount, the cylinder mount mounted on the column. Further, the oil cylinder can be attached to the column in parallel. This structure saves space and can facilitate the up and down sliding of the rocker arm and the installation of the upper magnetic switch and the lower magnetic switch.

In some embodiments, it further includes a base, and the column and the oil cylinder seat are respectively rotatable relative to the base. In some embodiments, rolling bearings are installed between the column and the base, and between the oil cylinder seat and the base. Due to the installation of the column rolling bearing and the oil cylinder seat rolling bearing, the column and the oil cylinder seat can rotate around the base, so that the working point of the cantilever crane is not limited by the installation angle, and the cantilever crane can be called to work at any process point within 360 degrees.

The utility model also provides a workpiece lifting mechanical device, which includes the above-mentioned lifting mechanical arm, and a manipulator arranged under the rocker arm of the lifting mechanical arm.

Compared with the prior art, the utility model has the following advantages:

The lifting mechanical arm of the utility model adopts the oil cylinder as the drive for the lifting of the rocker arm, so as to realize the lifting of the heavy object and the control of the lifting speed. The oil cylinder is attached to the column design, the control of the oil circuit conversion of the oil cylinder is convenient, and there is no influence of system inertia, so that the speed change process is fast and stable, so that the slow-speed plate falling can be realized in a timely and ideal manner. In addition, the upper oblique pull of the lifting mechanical arm of the present invention replaces the lower oblique support of the existing cantilever crane, so that the pure cantilever state is improved into a double hinge support, which greatly improves the bending resistance of the rocker beam, making the material twice as compact and durable. It has the remarkable effect of saving materials and convenient operation. The workpiece lifting mechanical device of the present invention can realize the flipping of workpieces in different places and effectively controllable the descending speed when placing workpieces, ideally realizes slow and stable falling of workpieces, and is easy to operate.

Description of drawings

Fig. 1 is the structural representation of the utility model lifting mechanical arm;

Fig. 2 is a sectional view along A-A direction in Fig. 1 .

Detailed ways

Please refer to Fig. 1, the lifting mechanical arm of the utility model comprises a column 3 and a rocker 13 connected to the column 3, the section of the rocker 13 is I-shaped steel, the rocker 13 can slide up and down along the column 3, and The root hole near the column 3 ends is connected with the rocker arm hinge 10 at the lower earhole of the rocker seat 4 coaxially sleeved on the column 13 top. The rocker arm seat 4 is installed on the column and slides up and down with the column to cooperate, so as to realize the up and down sliding of the rocker arm 13. The rocker arm seat 4 is locked between the wide key 5 and the column 3, so that the gap between the rocker arm seat 4 and the column 3 do not rotate each other.

The lifting mechanical arm also includes an oil cylinder 7 that can drive the rocker arm to slide up and down. The piston joint of the oil cylinder 7 is coaxially hinged with the rocker arm 13 and the rocker arm seat 4 with the rocker arm hinge shaft 10 . The oil cylinder is used to drive the rocker arm up and down to realize the lifting of the heavy object and the control of the lifting speed. The structure changes the speed in time, which can ideally realize the slow and stable falling plate. The oil circuit switching of the oil cylinder 7 is manually controllable by connecting the switch box 15.

This oil cylinder 7 is hingedly installed on the oil cylinder base 2 with hinge shaft 6, and this oil cylinder base 2 is installed on the column 3, and its center hole and column 3 are coaxially matched with wide key 5, and this structure saves space, can be beneficial to Realize the up and down sliding of the rocker arm, and install the upper magnetic sensor switch and the lower magnetic sensor switch.

Above the rocker arm, there is an oblique tie rod assembly 8 connecting the rocker arm 13 and the rocker arm seat 4 to limit the rocker arm so that it cannot rotate downward. The upper screw rod 81 and the lower screw rod 83 at both ends, the double thread nut 82 has left and right reversed fine thread holes, and the left and right sides of the double thread nut 82 are connected with the upper screw rod 81 and the lower screw rod 83 respectively. The upper end (non-threaded end) of the upper screw rod 81 is provided with a hinge hole, which is hinged with the rocker arm seat 4 by a hinge shaft 84; , the hinge shaft is set at the outer end of the middle section of the rocker arm. The combination of components of the diagonal tie rod assembly 8 makes the length of the diagonal stay rod adjustable, that is, the angle of the rocker arm is adjustable, so as to ensure that the best working state in the work will not be out of shape due to the long-term tension of the diagonal stay rod, making the work more stable.

Please also refer to Figure 2, the column 3 is installed on the base 1, the column 3 and the oil cylinder base 2 and the whole system of the above rocker arm can rotate relative to the base 1 at the same time, supported by a larger rolling bearing, and the rocker arm revolves around the column 3 The rotation of the manipulator occurs when the operator randomly pulls the manipulator.

Below the rocking arm 13, the oil cylinder 7 is provided with an upper magnetic sensor switch 91 and a lower magnetic sensor switch 92 for controlling the upper limit and the lower limit height position. The positions of the upper magnetic sensor switch 91 and the lower magnetic sensor switch 92 are within the stroke of the piston rod of the oil cylinder. Through the setting of the magnetic induction switch, the system can realize timely and accurate control and shearing of the rising height and falling speed through the timely switching of the oil circuit, which can ensure the soft landing of large-mass workpieces on the carriage, which can be timely and accurately The realization of slow falling board.

The utility model also provides a workpiece lifting mechanical device, which includes the above-mentioned lifting mechanical arm, and a manipulator 16 installed below the rocker arm of the lifting mechanical arm through a suspension roller set 14 .

When the workpiece lifting mechanism works, the details are as follows:

1) Leveling the rocker arm: lightly turn the double-thread nut 82 in the middle of the diagonal tie rod assembly 8, and change the length of the diagonal tie rod assembly 8 until the rocker arm 13 is basically horizontal and the end is slightly higher. In the embodiment, it is about 8~ 10mm;

2) Waiting state: In the waiting state, the rocker arm 13 is at the set "high position", and the manipulator 15 is lightly moved by hand, so that the rocker arm 13 is rotated to a position parallel to the assembly line;

3) Grab the workpiece: easily pull the manipulator, turn the rocker arm 13 backward, make the manipulator 16 directly above the workpiece on the assembly line, touch the down button in the switch box 15, the piston rod head of the oil cylinder 7 moves downward, and the rocker arm 13 carries The manipulator 16 descends to the height of "grasping parts", presses the switch to stop the descent, and makes the manipulator hold the workpiece firmly;

4) Lifting and flipping parts: press the up button in the switch box 15, the piston rod head of the oil cylinder 7 extends upwards, and the rocker arm hinge shaft 10, the rocker arm 13 carries the manipulator, and the workpiece rises, and when it meets the magnetic switch 91, it stops. The design height, then the manipulator 16 and the workpiece are turned over at the designed angle at the same time, so that the product base surface is horizontal;

5) Down: Touch the down button in the switch box 15, the rocker arm 13 carries the product down, and starts quickly, until it is close to the pallet on the assembly line, such as 60mm above the pallet, when the magnetic induction switch 92 is encountered, it instructs the oil circuit to switch to slow speed , The 495kg assembly slowly stabilized and achieved a "soft landing".

The above-mentioned embodiments only express several implementations of the utility model, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the utility model. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the utility model patent should be based on the appended claims.

Claims (14)

1. elevation and subsidence mechanical arm, it comprises column and is connected to rocking arm on the column, and it is characterized in that this rocking arm can slide up and down along column, this elevation and subsidence mechanical arm further comprises can drive the oil cylinder that rocking arm slides up and down, and piston joint and the rocking arm of this oil cylinder are hinged.

2. elevation and subsidence mechanical arm as claimed in claim 1 is characterized in that, is provided with lower magnetic sensible switch at suitable height on this oil cylinder.

3. elevation and subsidence mechanical arm as claimed in claim 1 or 2 is characterized in that, also is provided with magnetic sensible switch on this oil cylinder.

4. elevation and subsidence mechanical arm as claimed in claim 1 is characterized in that, it further comprises rocker arm bracket, and this rocking arm is installed on the rocker arm bracket, and this rocker arm bracket is installed on the column and slides up and down with column and cooperates.

5. elevation and subsidence mechanical arm as claimed in claim 4 is characterized in that, is provided with the rotation-prevention positioning component that cooperatively interacts between this rocker arm bracket and the column.

6. elevation and subsidence mechanical arm as claimed in claim 5 is characterized in that, this rotation-prevention positioning component is key and keyway.

7. elevation and subsidence mechanical arm as claimed in claim 4 is characterized in that, the root of this rocking arm is coaxial hinged with lower hinge hole and the oil cylinder piston nipple orifice of rocker arm bracket.

8. elevation and subsidence mechanical arm as claimed in claim 4 is characterized in that, it further comprises the digonal link assembly that is arranged on rocking arm top and connecting rocker arm and rocker arm bracket.

9. elevation and subsidence mechanical arm as claimed in claim 8 is characterized in that, this digonal link assembly comprises mariages nut and the upper screw that is connected mariages nut two ends and bottom screw rod, and this upper screw upper end is hinged with rocker arm bracket, and this screw rod lower end, bottom and rocking arm are hinged.

10. elevation and subsidence mechanical arm as claimed in claim 1 is characterized in that, it further comprises oil cylinder seat, and this oil cylinder is installed on the oil cylinder seat, and this oil cylinder seat is installed on the column.

11. elevation and subsidence mechanical arm as claimed in claim 10 is characterized in that, the parallel column that is attached at of this oil cylinder.

12. elevation and subsidence mechanical arm as claimed in claim 10 is characterized in that, it further comprises base, and this column and oil cylinder seat can rotate relative to base respectively.

13. elevation and subsidence mechanical arm as claimed in claim 12 is characterized in that, between this column and the base, and between this oil cylinder seat and the base antifriction-bearing box is installed.

14. a workpiece lifting machinery device is characterized in that it comprises elevation and subsidence mechanical arm as claimed in claim 1, and the manipulator that is arranged on the rocking arm below of elevation and subsidence mechanical arm.

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