CN206188225U - Blade clamping machine hand device - Google Patents
Blade clamping machine hand device Download PDFInfo
- Publication number
- CN206188225U CN206188225U CN201621144114.4U CN201621144114U CN206188225U CN 206188225 U CN206188225 U CN 206188225U CN 201621144114 U CN201621144114 U CN 201621144114U CN 206188225 U CN206188225 U CN 206188225U
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- mechanical arm
- blade
- clamping manipulator
- arm
- suspension bracket
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Load-Engaging Elements For Cranes (AREA)
Abstract
The utility model discloses a blade clamping machine hand device, blade clamping machine hand device includes gallows, clamping machine hand, execution unit, locking unit and spacing unit, be provided with four at least hoisting points on the gallows, the clamping machine hand is unsettled to be installed and the clamping machine hand is provided with at least two sets on the gallows, and clamping machine handbag draws together first arm and second arm, and first arm and second arm all include stiff end and free end, execution unit sets up between the stiff end of the stiff end of first arm and second arm and/or sets up between first arm and second arm and gallows, locking unit sets up at the free end of first arm and/or second arm and the hookup between the free end of the free end that is used for realizing first arm and second arm is locked, spacing unit setting is and be used for limiting and open the angle the most greatly between first arm and the second arm of clamping machine hand on the gallows.
Description
Technical field
The utility model is related to technical field of wind power generating equipment, more particularly, is related to a kind of blade clamping manipulator
Device, can be used to aid in single blade lifting during installation or removal blade of wind-driven generator.
Background technology
The lifting of fan blade mainly has two ways, and a kind of monoblock type for applying to the lifting of small wind unit fan blade rises
Hang, a kind of split type progressively lifting for applying to the lifting of large-scale wind electricity unit fan blade.
Due to being located at land or ocean area that wind resource enriches Wind turbines infield, for more large-scale more
Fan blade is used for sea, lifting or all extremely inconvenience of dismounting fan blade.With being stepped up for Wind turbines, installed capacity is entered
One step is increased, and the hoisting to lifting by crane fan blade also has different technical needs from suspender.
At present, the fan blade suspender for using at home is purchase external product mostly, all exist in use or it is many or
Few inconvenience.The installation of Wind turbines needs reform of nature environment, service-strong hanging device and suspender, to each single item requirement
All very strict, wherein fan blade suspender is then its essential critical equipment, either lifts by crane or dismantle fan blade or fan blade
Aerial statue adjustment etc. fan blade suspender is required to complete, so its fan blade safety lifting during effect very weigh
Will.The production domesticization of fan blade suspender can reduces cost, expand its applicability.
Such as Application No. CN201410143354.1 and a kind of entitled split type mounting process of offshore wind turbine of utility model
Chinese utility model patent, it discloses a kind of processing step of the split type installation of offshore wind turbine：Offshore wind farm is installed first
Platform positioning is lifted to assembling place；Fan blade is assembled with wheel hub on wind-powered electricity generation mounting platform at sea；Wind wheel is assembled
The contents of tower are installed after finishing；Contents hang installation tower successively after installing on jacket；Cabin is lifted
To the top of top tower；Impeller entirety turnover hoisting；Impeller integral hoisting is in place.The utility model have solve coastal waters and
The problem of deep-sea wind-powered electricity generation scene partial installation, eliminates needs and first installs several groups of fan blades on harbour, then whole machine transport to
Fabricating yard carries out secondary installing；With wider array of Wind turbines applicability, construction cost is greatly reduced, reduce construction ring
Section, greatly reduces security risk, accelerates the advantage of the efficiency of offshore wind turbine installation.
But, during the split type mounting process of the blower fan, the concrete structure of fan blade suspender is not referred to.
Utility model content
In order to solve problems of the prior art, the purpose of this utility model is to provide a kind of suitable for blower fan split
Formula mounting process simultaneously can be used to aid in the blade clamping manipulator device of installation or removal wind-driven generator single blade.
The utility model provides a kind of blade clamping manipulator device, and the blade clamping manipulator device includes hanging
Frame, clamping manipulator, execution unit, lock cell and position-limiting unit；
At least four suspension centres are provided with the suspension bracket；
The clamping manipulator is vacantly arranged on the suspension bracket and clamping manipulator is provided with least two sets, wherein,
The clamping manipulator includes first mechanical arm and second mechanical arm, and the first mechanical arm and second mechanical arm include fixing
End and free end, the fixing end of the first mechanical arm are hinged on suspension bracket with the fixing end of second mechanical arm and can occur
It is pivoted relative to each other and realizes the folding of clamping manipulator；The free end of the first mechanical arm is mutual with the free end of second mechanical arm
Match and can mutually couple locking and make to be formed between the first mechanical arm and second mechanical arm of the clamping manipulator and use
In the interior die cavity for accommodating blade；
The execution unit be arranged between the fixing end of the first mechanical arm and the fixing end of second mechanical arm and/or
It is arranged between the first mechanical arm and second mechanical arm and suspension bracket and for driving the first mechanical arm and/or second
The pivoting action of mechanical arm；
The lock cell is arranged on the free end of the first mechanical arm and/or second mechanical arm and for realizing
Couple locking between the free end of one mechanical arm and the free end of second mechanical arm；
The position-limiting unit be arranged on the suspension bracket and for limit the first mechanical arm of the clamping manipulator with
Maximum opening angle between second mechanical arm.
According to one embodiment of the utility model blade clamping manipulator device, profile and the blade of the interior die cavity are pressed from both sides
Hold that the blade profile at section is identical and the interior die cavity can wrap up the blade under clamp position.
According to one embodiment of the utility model blade clamping manipulator device, the fixing end of the first mechanical arm and
The fixing end of second mechanical arm is provided with pan, and the fixing end of the first mechanical arm is led to the fixing end of second mechanical arm
The hinge crossed through pan is hinged on suspension bracket, and the first mechanical arm and second mechanical arm can occur around the hinge
It is pivoted relative to each other and realizes the folding of clamping manipulator.
According to one embodiment of the utility model blade clamping manipulator device, the free end of the first mechanical arm and
The free end of second mechanical arm is provided with lockpin hole, and the lock cell includes that being inserted into lockpin hole realizes connection locking
The driving subelement that lock pin and the control lock pin are inserted or pull out.
According to one embodiment of the utility model blade clamping manipulator device, the driving subelement is to provide
The motor of rectilinear motion mode, oil cylinder or line handspike.
According to one embodiment of the utility model blade clamping manipulator device, when the execution unit is arranged on first
When between the fixing end of mechanical arm and the fixing end of second mechanical arm, the two ends of the execution unit are respectively hinged at the first machinery
On first hinge hole of arm and on the second hinge hole of second mechanical arm.
According to one embodiment of the utility model blade clamping manipulator device, when the execution unit be arranged on it is described
When between first mechanical arm and second mechanical arm and suspension bracket, at least provided with two execution units, wherein, execution unit
One end is hinged with the 3rd hinge hole of suspension bracket side and the other end is hinged with the 4th hinge hole of first mechanical arm, another execution
One end of unit is hinged with the 5th hinge hole of suspension bracket opposite side and the other end is hinged with the 6th hinge hole of second mechanical arm.
According to one embodiment of the utility model blade clamping manipulator device, the execution unit is straight for that can provide
The motor of line motion mode, oil cylinder or line handspike.
According to one embodiment of the utility model blade clamping manipulator device, the position-limiting unit is included with clamping machine
The symmetrically arranged two sub- position-limiting units of pivoting centre of tool hand, the sub- position-limiting unit is mechanical position limitation part or electric limiting
Part.
Compared with prior art, the clamping manipulator device of lifting wind-driven generator single blade of the present utility model can not
The rapidly clamping blade using suspender belt, has simplified artificial operating process and has alleviated workload, is shortened by saving human resources
Work period controls the purpose of cost to reach.
Brief description of the drawings
Fig. 1 shows the blade clamping manipulator device according to the utility model exemplary embodiment under non-clamping state
Work structuring schematic diagram.
Fig. 2 shows the blade clamping manipulator device according to the utility model exemplary embodiment under clamp position
Work structuring schematic diagram.
Clamping manipulator in the blade clamping manipulator device that Fig. 3 shows according to the utility model exemplary embodiment
Structural representation.
Fig. 4 shows the structural representation of the blade clamping manipulator device according to the utility model exemplary embodiment.
Description of reference numerals：
100- blade clamping manipulators device, 101- hoist cables, 1- suspension brackets, 2- clamping manipulators, 3- hinges, 4- perform list
Die cavity in unit, 5- first mechanical arms, 6- second mechanical arms, 7- suspension centres, 8- position-limiting units, 9- pans, 10-, 11- blades,
12- lockpin holes, 13- lock pins, the hinge holes of 14- first, the hinge holes of 15- second, the hinge holes of 16- the 3rd, the hinge holes of 17- the 4th, 18-
5th hinge hole, the hinge holes of 19- the 6th, 20- drive subelement.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.Schematical shown in accompanying drawing, and not fully into than
Example.In some accompanying drawings, similar or associated component is indicated by identical reference numerals.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
It is used to lift the structure and principle of the clamping manipulator device of wind-driven generator single blade to the utility model below
It is described in detail.Lifting is single when clamping manipulator device of the present utility model can be used to install or remove blade of wind-driven generator
Blade is used, but application scenario is not limited only to this.
Fig. 1 shows the blade clamping manipulator device according to the utility model exemplary embodiment under non-clamping state
Work structuring schematic diagram, Fig. 2 shown according to the blade clamping manipulator device of the utility model exemplary embodiment in folder
The work structuring schematic diagram under state is held, Fig. 3 shows the blade clamping manipulator according to the utility model exemplary embodiment
The structural representation of clamping manipulator in device, Fig. 4 shows the blade clamping machine according to the utility model exemplary embodiment
The structural representation of tool arm device.
As shown in Figures 1 to 4, it is described for lifting wind-driven generator list according to exemplary embodiment of the present utility model
The blade clamping manipulator device 100 of blade includes suspension bracket 1, clamping manipulator 2, execution unit 4, lock cell and spacing list
Unit.Wherein, suspension bracket 1 can be connected and for installing other assemblies with boom hoisting and hoist cable 101, be the key of lifting and stress
Component；Clamping manipulator 2 is used to clamp and fix blade；Execution unit 4 controls the action of clamping manipulator 2；Lock cell is locked
Determine the clamp position of clamping manipulator；Position-limiting unit is used to limit the expansion action of clamping manipulator, it is ensured that clamping manipulator is opened
The repeatability and controllability of conjunction.
Specifically, at least four suspension centres 7 are provided with suspension bracket 1, to ensure that blade 11 can be lifted by crane by level, and then are ensured
The security of lifting and the stability of docking.Suspension centre 7 is connected by with hoist cable 101 and boom hoisting, you can realize clamping machinery
The integral lifting of arm device 100.
Clamping manipulator 2 is vacantly arranged on suspension bracket 1 and clamping manipulator is provided with least two sets, wherein, clamping machine
Tool hand 2 includes first mechanical arm 5 and second mechanical arm 6, and first mechanical arm 5 and second mechanical arm 6 include fixing end and freedom
End.As shown in figure 4, the fixing end of first mechanical arm 5 is hinged on suspension bracket 1 and can send out with the fixing end of second mechanical arm 6
Give birth to the folding for being pivoted relative to each other and realizing clamping manipulator 2；The free end of first mechanical arm 5 is mutual with the free end of second mechanical arm 6
Match and can mutually couple locking and make to form use between the first mechanical arm 5 of clamping manipulator 2 and second mechanical arm 6
In the interior die cavity 10 for accommodating blade 11.
Preferably, the blade profile at the profile of interior die cavity 10 and blade clamping section is identical and interior die cavity 10 can be
Blade 11 is wrapped up under clamp position, that is to say, that the shape of interior die cavity 10 should be identical with the blade profile of blade holding position
, and the position sectional dimension to be clamped with blade of interior die cavity 10 is consistent, so as to ensure the inner surface of interior die cavity 10
Can completely be fitted with the blade outer surface of blade holding position, the clamping manipulator 2 after fixing can carry the weight of blade 11
Realize clamping blade after lifted purpose and advantageously ensure that blade 11 clamp after steadiness.
As shown in figure 3, according to a specific embodiment of the present utility model, the fixing end of first mechanical arm 5 and the second machine
The fixing end of tool arm 6 is provided with pan 9, the fixing end of first mechanical arm 5 and the fixing end of second mechanical arm 6 by through
The hinge 3 of pan 9 is hinged on suspension bracket 1, then first mechanical arm 5 and second mechanical arm 6 can occur relative pivot around hinge 3
Then realize the folding of clamping manipulator 2.After first mechanical arm 5 and second mechanical arm 6 are pivoted relative to each other certain angle, lower end is beaten
Gap, can just make blade 11 enter or remove clamping by the way that the manipulation clamping manipulator of hoist cable 101 device 100 is down or up
Robot device 100.
The free end of first mechanical arm 5 and the free end of second mechanical arm 6 are provided with lockpin hole 12, first mechanical arm 5
Free end and the free end of second mechanical arm 6 pass through the lock cell that matches each other and lockpin hole 12 realizes connection locking.Tool
Body ground, lock cell is arranged on the free end of first mechanical arm 5 and/or second mechanical arm 6 and for realizing first mechanical arm
Free end and the free end of second mechanical arm between couple locking.Lock cell includes that being inserted into lockpin hole 12 realizes connection
Connect the driving subelement 20 that the lock pin 13 and control lock pin 13 of locking are inserted or pull out.Wherein, subelement 20 is driven to be preferably energy
Motor, oil cylinder or the line handspike of rectilinear motion mode are enough provided, are advantageously implemented and automatic solution is realized by controller in high-altitude
Except or disengage lock pin.The insertion of lock pin 13 is driven by driver element 20, it is possible to realize the free end of first mechanical arm 5 and the
Connection locking between the free end of two mechanical arms 6, and then limit the relative pivot between first mechanical arm 5 and second mechanical arm 6
Turn and enable the two to surround an interior die cavity 10 for meeting clamping shape requirement and fixed entirety；Driven by driver element 20
The extraction of lock pin 13, it is possible to release the connecting lock between the free end of first mechanical arm 5 and the free end of second mechanical arm 6
It is fixed, and then control the first mechanical arm 5 and second mechanical arm 6 of clamping manipulator device 100 to open to form breach.
Execution unit 4 is arranged between the fixing end of the fixing end of first mechanical arm 5 and second mechanical arm 6 and/or sets
Between first mechanical arm 5 and second mechanical arm 6 and suspension bracket 1 and for driving first mechanical arm 5 and/or second mechanical arm 6
Pivoting action.
According to the utility model, the set-up mode of execution unit 4 mainly has two kinds, specific as shown in Figure 4.
When execution unit 4 is arranged between the fixing end of the fixing end of first mechanical arm 5 and second mechanical arm 6, perform
The two ends of unit 4 are respectively hinged on the first hinge hole 14 of first mechanical arm 5 the second hinge hole 15 with second mechanical arm 6
On.When executive component 4 stretches, you can push-and-pull first mechanical arm 5 and second mechanical arm 6 are pivoted relative to each other and realize clamping machine
The folding of tool hand 2.
When execution unit 4 is arranged between first mechanical arm 5 and second mechanical arm 6 and suspension bracket 1, at least provided with two
Execution unit 4, wherein, an one end for execution unit 4 is hinged and the other end and first with the 3rd hinge hole 16 of the side of suspension bracket 1
4th hinge hole 17 of mechanical arm 5 is hinged, and one end and the 5th hinge hole 18 of the opposite side of suspension bracket 1 of another execution unit 4 cut with scissors
Connect and the other end is hinged with the 6th hinge hole 19 of second mechanical arm 6.The first machine is driven respectively by two the flexible of executive component 4
Tool arm 5 and second mechanical arm 6 are pivoted relative to each other to realize the folding of clamping manipulator 2.Wherein, execution unit 4 also, it is preferred that
For motor, oil cylinder or the line handspike of rectilinear motion mode can be provided, to drive first mechanical arm 5 and second mechanical arm 6
Move pivotally.
The set-up mode of above two executive component 4 can be used simultaneously, also can only select one of which set-up mode,
Can reach the purpose for loosening and clamping blade.
Position-limiting unit is arranged on suspension bracket 1 and for limiting the first mechanical arm 5 and second mechanical arm of clamping manipulator 2
Maximum opening angle between 6.According to one embodiment of the present utility model, position-limiting unit is included with the pivot of clamping manipulator 2
Turn two sub- position-limiting units 8 of Central Symmetry setting, sub- position-limiting unit can be mechanical position limitation part or electric limiting part, this practicality
New not limited to this.
As can be seen here, in the utility model the first mechanical arm 5 of clamping manipulator 2 and second mechanical arm 6 fixing means
It is that be hinged on two mechanical arms on suspension bracket 1 by hinge by one end, the other end is then locked together by the interspersed connection of lock pin
Realize, it is to realize to be pivoted relative to each other or solid between two mechanical arms that above-mentioned articulated manner and lock pin disengage mode automatically
Determine and set.As depicted in figs. 1 and 2, when without interspersed lock pin, can be sent out between first mechanical arm 5 and second mechanical arm 6
Life is pivoted relative to each other, the purpose being pivoted relative to each other be in order that first mechanical arm 5 is made a breach with the bottom of second mechanical arm 6, so as to
Interior die cavity that blade can enter clamping manipulator from indentation, there is in place etc. to be held；After interspersed lock, first mechanical arm 5 and the
Two mechanical arms 6 are relatively fixed, and fixed purpose is held in order that having after first mechanical arm 5 and second mechanical arm 6 clamping blade
The lifting rigidity of loading capacity and the ability of holding blade stabilization.
And the power that is pivoted relative to each other between first mechanical arm 5 and second mechanical arm 6 is then provided by execution unit 4, perform
Unit 4 is preferably linear running mode.When one end of execution unit 4 is hinged and the other end and some mechanical arm with suspension bracket 1
It is hinged, then the folding that can just control the mechanical arm is shortened by the elongation of execution unit 4.By this kind of execution unit set-up mode
Extension control can also realize deflection of the clamping manipulator 3 around run-on point certain angle, realize the next execution of this kind of operating mode
Unit 4 extends and another control of the retraction of execution unit 4.In addition to above-mentioned set-up mode, the setting peace of another execution unit 4
Dress mode can also realize identical purpose.Will one end and the first mechanical arm of execution unit 4 be hinged and the other end and the second machine
Tool arm is hinged, when execution unit 4 is elongated or shortened, you can promote first mechanical arm with second mechanical arm along pivot point at hinge
From.
Due to being additionally provided with position-limiting unit on blade clamping manipulator device of the present utility model, therefore need not consider above-mentioned
Driving stationary problem under two kinds of drive patterns between two mechanical arms, no matter acting successively finally can realize same purpose
And reach identical position.
Also, the utility model mainly carries out emphasis and says to the mechanical structure and operation principle of blade clamping manipulator device
Bright and protection, is excessively illustrated that those skilled in the art can be with root without the electrical system and control system to being directed to
Corresponding electrical system and control system are designed according to the mechanical structure and operation principle of above-mentioned blade clamping manipulator device.
When leaf blade hanging is carried out using above-mentioned blade clamping manipulator device, following steps can be specifically included：
Sling using boom hoisting and hoist cable the blade top of blade clamping manipulator device and clamping needed for being moved to；
Drive execution unit to work and pivot the first mechanical arm of clamping manipulator and second mechanical arm and open to form scarce
Mouthful；
Transferred after controlling the notch alignment blade of blade clamping manipulator device, the decentralization dynamic execution unit work of rear-guard in place
And first mechanical arm and second mechanical arm is closed up closing, and after the fully wrapped around blade of interior die cavity of manipulator to be held, connecting lock
In determining first mechanical arm and second mechanical arm and securing the vanes to the interior die cavity of clamping manipulator；
Blade clamping manipulator device after the fixed blade of lifting carries out the blade docking of wind-driven generator rotating hub；
After the completion of blade docking, the connection locking between first mechanical arm and second mechanical arm is released, drive execution unit
Work and make the first mechanical arm and second mechanical arm of clamping manipulator to pivot to open to form breach, using boom hoisting and hoist cable
To be moved on blade clamping manipulator device and leave blade, thus complete the lifting work of single blade.
Above operating procedure is exemplary only, and the mode of operation of blade clamping manipulator device of the present utility model is not limited
In this.
In sum, blade clamping manipulator device of the present utility model can not use suspender belt and rapidly clamping leaf
Piece, has simplified artificial operating process and has alleviated workload, can shorten the work period and reach control by saving human resources
It is made this purpose.
The utility model is not limited to foregoing specific embodiment.The utility model expands to any in this specification
The new feature of middle disclosure or any new combination, and disclose any new method or process the step of or any new group
Close.
Claims (9)
1. a kind of blade clamping manipulator device, it is characterised in that the blade clamping manipulator device includes suspension bracket, clamping machine
Tool hand, execution unit, lock cell and position-limiting unit；
At least four suspension centres are provided with the suspension bracket；
The clamping manipulator is vacantly arranged on the suspension bracket and clamping manipulator is provided with least two sets, wherein, it is described
Clamping manipulator includes first mechanical arm and second mechanical arm, the first mechanical arm and second mechanical arm include fixing end and
Free end, the fixing end of the first mechanical arm is hinged on suspension bracket with the fixing end of second mechanical arm and can occur relative
Pivot and realize the folding of clamping manipulator；The free end of the first mechanical arm matches each other with the free end of second mechanical arm
And can mutually couple locking and make to be formed for holding between the first mechanical arm and second mechanical arm of the clamping manipulator
Receive the interior die cavity of blade；
The execution unit is arranged between the fixing end of the first mechanical arm and the fixing end of second mechanical arm and/or sets
Between the first mechanical arm and second mechanical arm and suspension bracket and for driving the first mechanical arm and/or the second machinery
The pivoting action of arm；
The lock cell is arranged on the free end of the first mechanical arm and/or second mechanical arm and for realizing the first machine
Couple locking between the free end of tool arm and the free end of second mechanical arm；
The position-limiting unit is arranged on the suspension bracket and for limiting the first mechanical arm and second of the clamping manipulator
Maximum opening angle between mechanical arm.
2. blade clamping manipulator device according to claim 1, it is characterised in that the profile and blade of the interior die cavity
Blade profile at clamping section is identical and the interior die cavity can wrap up the blade under clamp position.
3. blade clamping manipulator device according to claim 1, it is characterised in that the fixing end of the first mechanical arm
Pan, the fixing end of the first mechanical arm and the fixing end of second mechanical arm are provided with the fixing end of second mechanical arm
It is hinged on suspension bracket by the hinge through pan, the first mechanical arm and second mechanical arm can be sent out around the hinge
Give birth to the folding for being pivoted relative to each other and realizing clamping manipulator.
4. blade clamping manipulator device according to claim 1, it is characterised in that the free end of the first mechanical arm
Lockpin hole is provided with the free end of second mechanical arm, the lock cell includes that being inserted into lockpin hole realizes connection locking
Lock pin and the driving subelement that inserts or pull out of the control lock pin.
5. blade clamping manipulator device according to claim 4, it is characterised in that the driving subelement is can to carry
Motor, oil cylinder or line handspike for rectilinear motion mode.
6. blade clamping manipulator device according to claim 1, it is characterised in that when the execution unit is arranged on
When between the fixing end of one mechanical arm and the fixing end of second mechanical arm, the two ends of the execution unit are respectively hinged at the first machine
On first hinge hole of tool arm and on the second hinge hole of second mechanical arm.
7. blade clamping manipulator device according to claim 1, it is characterised in that when the execution unit is arranged on institute
State when between first mechanical arm and second mechanical arm and suspension bracket, at least provided with two execution units, wherein, an execution unit
One end be hinged with the 3rd hinge hole of suspension bracket side and the other end is hinged with the 4th hinge hole of first mechanical arm, another is held
One end of row unit is hinged with the 5th hinge hole of suspension bracket opposite side and the other end is hinged with the 6th hinge hole of second mechanical arm.
8. the blade clamping manipulator device according to claim 6 or 7, it is characterised in that the execution unit is for can
Motor, oil cylinder or the line handspike of rectilinear motion mode are provided.
9. blade clamping manipulator device according to claim 1, it is characterised in that the position-limiting unit includes clamping
The symmetrically arranged two sub- position-limiting units of pivoting centre of manipulator, the sub- position-limiting unit is mechanical position limitation part or electric limiting
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621144114.4U CN206188225U (en) | 2016-10-21 | 2016-10-21 | Blade clamping machine hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621144114.4U CN206188225U (en) | 2016-10-21 | 2016-10-21 | Blade clamping machine hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206188225U true CN206188225U (en) | 2017-05-24 |
Family
ID=58732653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621144114.4U Active CN206188225U (en) | 2016-10-21 | 2016-10-21 | Blade clamping machine hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206188225U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429820A (en) * | 2016-10-21 | 2017-02-22 | 成都世唯科技有限公司 | Blade clamping manipulator device and hoisting method thereof |
| CN108622789A (en) * | 2018-05-14 | 2018-10-09 | 东北大学 | A kind of hoisting device and operating method of installation wind turbine blade |
| CN115009980A (en) * | 2022-08-09 | 2022-09-06 | 山东金科星机电股份有限公司 | Special underground cantilever crane lifting appliance for mine and lifting method |
-
2016
- 2016-10-21 CN CN201621144114.4U patent/CN206188225U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429820A (en) * | 2016-10-21 | 2017-02-22 | 成都世唯科技有限公司 | Blade clamping manipulator device and hoisting method thereof |
| CN108622789A (en) * | 2018-05-14 | 2018-10-09 | 东北大学 | A kind of hoisting device and operating method of installation wind turbine blade |
| CN115009980A (en) * | 2022-08-09 | 2022-09-06 | 山东金科星机电股份有限公司 | Special underground cantilever crane lifting appliance for mine and lifting method |
| CN115009980B (en) * | 2022-08-09 | 2022-10-25 | 山东金科星机电股份有限公司 | Special underground cantilever crane lifting appliance for mine and lifting method |
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