CN208215390U - A kind of I-shaped drum crawl special manipulator - Google Patents

Abstract

The utility model provides a kind of I-shaped drum crawl special manipulator, including support base and crawl ontology；The support base includes top mounting box and four vertical hollow mounting cylinders for being fixed at each corner position of top mounting box, and the crawl ontology includes the mounting flange that top mounting box upper end is arranged in, the first crank block, the second crank block, third crank block, the 4th crank block, first connecting rod, second connecting rod and third connecting rod；A cylinder is fixedly installed between the mounting flange and top mounting box, the piston rod rotation of the cylinder is connected to the upper end of the first crank block, the upper end of first crank block is also rotatably connected on one end of first connecting rod, and the lower end of first crank block is fixedly connected with the first suspension hook；The utility model solves the problems, such as that traditional robot mechanical hand is not suitable for the medium-sized drum of crawl, and structure is practical simple, safe and reliable, it is only necessary to carry out expanding-contracting action for controlling cylinder by button, realize the folding and unfolding of handgrip.

Description

A kind of I-shaped drum crawl special manipulator

Technical field

The utility model, which belongs to, carries industry machinery field, and in particular to a kind of I-shaped drum crawl special manipulator.

Background technique

Currently, strand winder automation used in most of cable, optical cable manufacturing enterprise is insufficient, medium-sized drum (diameter Installation and removal 400mm) need more people to complete with merging by pulley blocks, and not only working efficiency is lower, but also security risk It is larger.The space of drum installation site is more compact, and conventional robot is difficult to adapt to job requirement, grabs currently used for medium-sized drum The rare research of the manipulator taken can not achieve the crawl work of medium-sized drum.

Utility model content

The technical problem to be solved by the present invention is to provide a kind of I-shaped drums to grab special manipulator, to solve background The problem of proposed in technology.

In order to solve the above technical problems, the embodiments of the present invention provide a kind of I-shaped drum crawl special manipulator, It is characterised in that it includes support base and crawl ontology；The support base includes that the top mounting box of rectangular shape and fixation are set Four vertical hollow mounting cylinders in each corner position of top mounting box are set, the four mounting cylinder sides are fixedly installed respectively First support arm, the second support arm, third support arm and the 4th support arm, first support arm and the second support arm are set in parallel It sets, the third support arm and the 4th support arm are arranged in parallel, and first support arm and the 4th support arm upper end are connected and shape Arched notch, second support arm are connected with third support arm upper end and form arch notch；First support arm and Between second support arm, between third support arm and the 4th support arm there are the gap passed in and out for I-shaped drum, described first Gap, third support arm between support arm and the second support arm and the gap between the 4th support arm are all larger than I-shaped drum Width；

The crawl ontology includes the mounting flange that top mounting box upper end is arranged in, the first crank block, the second crank Sliding block, third crank block, the 4th crank block, first connecting rod, second connecting rod and third connecting rod；The mounting flange is fixed to be connected It connects and is fixedly installed a cylinder between the top of top mounting box, the mounting flange and top mounting box, the cylinder Piston rod rotation is connected to the upper end of the first crank block, and the upper end of first crank block is also rotatably connected on first connecting rod One end, the lower end of first crank block is fixedly connected with the first suspension hook；The other end of the first connecting rod is rotatablely connected In the top of the second crank block, the lower end of second crank block is fixedly connected with the second suspension hook, second slide crank The lower end of block is also rotatably connected on one end of second connecting rod；The other end of the second connecting rod is rotatably connected on third crank block Lower end, the lower end of the third crank block is also fixedly connected with third suspension hook, the upper end rotation of the third crank block It is connected to one end of third connecting rod；The other end of the third connecting rod is rotatably connected on the upper end of the 4th crank block, and described The lower end of four crank blocks is fixedly connected with the 4th suspension hook, first suspension hook, the second suspension hook, third suspension hook and the 4th suspension hook point It passes through in four mounting cylinders and is stretched out from the bottom of mounting cylinder, first suspension hook, the second suspension hook, third suspension hook not under upper It is freely rotatable in mounting cylinder with the 4th suspension hook, the lower end of first suspension hook, the second suspension hook, third suspension hook and the 4th suspension hook It is provided with the horizontal hook of support I-shaped drum.

Preferably, first suspension hook, the second suspension hook, third suspension hook and the 4th suspension hook are disposed as L-shaped structure, including perpendicular Direct puncture crosses the pull rod of four mounting cylinders and the horizontal hook for being vertically set on pull rod bottom；

Four horizontal are hooked under non-gripping state are parallel to the first support arm, the second support arm, third support arm and The bottom of four support arms, four horizontal are hooked under seized condition turn to the inside until four horizontal hooks and the first support Arm, the second support arm, third support arm and the 4th support arm bottom be in 90 ° of angles.

Further, first crank block is consistent with the shape of third crank block, second crank block with The shape of 4th crank block is consistent.

Above-mentioned, first crank block and third crank block include the first round base, are fixed at The first mounting blocks and the second mounting blocks on one round base, it is at an acute angle between first mounting blocks and the second mounting blocks to set It sets.

Wherein, first suspension hook is fixed at the lower end of the first round base of the first crank block, the cylinder Piston rod and one end of first connecting rod be rotatably connected on the first mounting blocks of the first crank block；The third suspension hook is fixed It is arranged on the first round base of third crank block, one end of the third connecting rod is rotatably connected on third crank block The upper end of first mounting blocks.

Above-mentioned, second crank block and the 4th crank block include the second round base, are fixed at Third mounting blocks, the 4th mounting blocks and the 5th mounting blocks on two round bases, the third mounting blocks and the 4th mounting blocks it Between in 180 ° setting, setting at an acute angle between the 5th mounting blocks and third mounting blocks.

Wherein, second suspension hook is fixed at the lower end of the second round base of the second crank block, and described first The other end of connecting rod is rotatably connected on the upper end of the 5th mounting blocks of the second crank block, and one end of the second connecting rod, which rotates, to be connected It connects in the lower end of the 4th mounting blocks of the second crank block；4th suspension hook is fixed at the second circle of the 4th crank block The lower end of shape pedestal, the other end of the second connecting rod are rotatably connected on the lower end of the third mounting blocks of the 4th crank block, institute State third connecting rod one end be rotatably connected on the 4th crank block the 5th mounting blocks upper end.

Preferably, the mounting flange includes the ring flange that upper end is arranged in and each fixation that ring flange lower end is arranged in Pawl, the fixed jaw are mounted by means of bolts on the upper end of top mounting box.

Preferably, the cylinder body of the cylinder is fixed at fixation by being separately positioned on two cushion blocks of cylinder body upper and lower ends Between flange and top mounting box.

Preferably, the piston rod top end of the cylinder is set as concave-shaped structure, and the both sides of the concave-shaped structure are symmetrical It is provided with the first pin hole and the second pin hole, the first connecting rod and the first crank block connecting pin are provided with a first through hole, institute It states and is provided with one second through-hole on the first mounting blocks of the first crank block, first crank block and first connecting rod pass through one The connection of first pin, the upper end of first pin is provided with third through-hole, between first pin and the piston rod of cylinder The first pin hole, third through-hole and the second pin hole are passed through by one second pin and are fixedly connected by nut.

The above-mentioned technical proposal of the utility model has the beneficial effect that:

(1) the utility model includes support base and crawl ontology, and crawl ontology includes mounting flange, cylinder, the first crank Sliding block, the second crank block, third crank block, the 4th crank block, first connecting rod, second connecting rod, third connecting rod and first Suspension hook, the second suspension hook, third suspension hook and the 4th suspension hook drive the first crank block, the second slide crank in the presence of cylinder Block, third crank block, the 4th crank block, first connecting rod, second connecting rod, third connecting rod and the first suspension hook, the second suspension hook, Three suspension hooks and the movement of the 4th suspension hook, to realize that the horizontal hook for driving the first suspension hook, the second suspension hook, third suspension hook, the 4th suspension hook is pressed The lower end of I-shaped drum is turned to according to assigned direction；Be not suitable for the medium-sized drum of crawl to solve traditional robot mechanical hand Problem, structure is practical simple, safe and reliable, when being used cooperatively with robot, it is only necessary to pass through the button being arranged in robot Expanding-contracting action is carried out for controlling cylinder, realizes the folding and unfolding of handgrip.

(2) the first crank block, the second crank block, third crank block and the 4th slide crank are added in the utility model Block can evade dead point interference, simplify, easy to use.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the utility model；

Fig. 2 is the top view of the utility model；

Fig. 3 is the side view of the utility model；

Fig. 4 is the structural schematic diagram of the first crank block and third crank block in the utility model；

Fig. 5 is the structural schematic diagram of the second crank block and the 4th crank block in the utility model.

Description of symbols: 1, top mounting box；2, mounting cylinder；3, the first support arm；4, the second support arm；5, third branch Brace；6, the 4th support arm；7, arch notch；8, I-shaped drum；9, ring flange；10, fixed jaw；11, the first crank block； 12, the second crank block；13, third crank block；14, the 4th crank block；111, the first round base；112, the first installation Block；113, the second mounting blocks；121, the second round base；122, third mounting blocks；123, the 4th mounting blocks；124, the 5th installation Block；15, first connecting rod；16, second connecting rod；17, third connecting rod；18, the piston rod of cylinder；19, horizontal hook.

Specific embodiment

In order to make the technical problems, technical solutions and advantages to be solved by the utility model clearer, below in conjunction with attached drawing And specific embodiment is described in detail.

It is in the description of the present invention, it should be noted that term " center ", "upper" "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside", "front", "rear" is orientation based on the figure or position Relationship is set, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning It must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.This Outside, term " first ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " should be used as broadly understood, for example, it may be being fixedly connected, may be a detachable connection, or one Ground connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, the indirect phase of intermediary can also be passed through Even, it can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned The concrete meaning of term in the present invention.

As shown in Figure 1, Figure 2 and Figure 3, a kind of I-shaped drum grabs special manipulator, including support base and crawl ontology；Institute State top mounting box 1 that support base includes rectangular shape and be fixed at four of each corner position of top mounting box 1 it is perpendicular Straight hollow mounting cylinder 2, four 2 sides of mounting cylinder are fixedly installed the first support arm 3, the second support arm 4, third branch respectively Brace 5 and the 4th support arm 6, first support arm 3 and the second support arm 4 are arranged in parallel, the third support arm 5 and the 4th Support arm 6 is arranged in parallel, feasible, and first support arm 3, the second support arm 4, third support arm 5 and the 4th support arm 6 are It is set as cuboid solid construction；First support arm 3 is connected with 6 upper end of the 4th support arm and forms arch notch 7, described The setting of arch notch 7, convenient for observing the propulsion of I-shaped drum 8 and releasing situation, second support arm 4 and third support arm 5 upper ends are connected and form arch notch 7；Between first support arm 3 and the second support arm 4, third support arm 5 and the 4th There are the gaps passed in and out for I-shaped drum 8 between brace 6, gap between first support arm 3 and the second support arm 4, Gap between third support arm 5 and the 4th support arm 6 is all larger than the width of I-shaped drum 8；In actual production, according to I-shaped line The length of disk 8 and the specific size of width are arranged between size, the first support arm 3 and the second support arm 4 of top mounting box 1 The distance between distance, third support arm 5 and the 4th support arm 6, the first support arm 3, the second support arm 4, third support arm 5 and The height of 4th support arm 6.It is feasible, the top mounting box 1 and mounting cylinder 2, the first support arm 3, the second support arm 4, the Between three support arms 5 and the 4th support arm 6, mounting cylinder 2 and the first support arm 3, the second support arm 4, third support arm 5 and the 4th It is fixedly connected in such a way that integrated formed structure is fixedly connected or is welded and fixed between support arm 6.

The crawl ontology includes the mounting flange that 1 upper end of top mounting box is arranged in, first the 11, second song of crank block Handle sliding block 12, third crank block 13, the 4th crank block 14, first connecting rod 15, second connecting rod 16 and third connecting rod 17；It is described Mounting flange is fixedly connected on the top of top mounting box 1, it is preferred that the mounting flange includes the ring flange that upper end is arranged in 9 and each fixed jaw 10 of 9 lower end of ring flange is set, the fixed jaw 10 is mounted by means of bolts on top mounting box 1 Upper end, ring flange 9 with external robot for being attached.It is fixedly installed between the mounting flange and top mounting box 1 One cylinder, it is preferred that the cylinder body of the cylinder is fixedly installed by being separately positioned on two cushion blocks of the cylinder body upper and lower ends of cylinder Feasible between mounting flange and top mounting box 1, two cushion blocks are bolted on the lower section of mounting flange respectively Or the top of top mounting box 1, cylinder are bolted between two cushion blocks.The piston rod 18 of the cylinder is rotatably connected on The upper end of the upper end of first crank block 11, first crank block 11 is also rotatably connected on one end of first connecting rod 15, excellent Choosing, 18 top of piston rod of the cylinder is set as concave-shaped structure, and the both sides of the concave-shaped structure are symmetrically arranged with the One pin hole and the second pin hole, the first connecting rod 15 and 11 connecting pin of the first crank block are provided with a first through hole, and described One second through-hole, first crank block 11 and first connecting rod 15 are provided on first mounting blocks 111 of one crank block 11 It is connected by one first pin, the upper end of first pin is provided with third through-hole, the piston of first pin and cylinder First pin hole, third through-hole and the second pin hole are passed through by one second pin between bar 18 and are fixedly connected by nut.It is described The lower end of first crank block 11 is fixedly connected with the first suspension hook, feasible, first suspension hook and the first crank block 11 it Between be bolted to connection；The other end of the first connecting rod 15 is rotatably connected on the top of the second crank block 12, described The lower end of second crank block 12 is fixedly connected with the second suspension hook, feasible, second suspension hook and the second crank block 12 it Between be bolted to connection；The lower end of second crank block 12 is also rotatably connected on one end of second connecting rod 16；It is described The other end of second connecting rod 16 is rotatably connected on the lower end of third crank block 13, and the lower end of the third crank block 13 is also solid Surely it is connected with third suspension hook, it is feasible, it is bolted to connection between the third suspension hook and third crank block 13；It is described The upper end of third crank block 13 is rotatably connected on one end of third connecting rod 17；The other end of the third connecting rod 17 is rotatablely connected It is fixedly connected with the 4th suspension hook in the lower end of the upper end of the 4th crank block 14, the 4th crank block 14, it is feasible, it is described It is bolted to connection between 4th suspension hook and the 4th crank block 14；First suspension hook, the second suspension hook, third suspension hook and 4th suspension hook is passed through under upper in four mounting cylinders 2 respectively and is stretched out from the bottom of mounting cylinder 2, first suspension hook, second Suspension hook, third suspension hook and the 4th suspension hook are freely rotatable in mounting cylinder, first suspension hook, the second suspension hook, third suspension hook and The lower end of 4th suspension hook is provided with the horizontal hook 19 of support I-shaped drum 8.Preferably, first suspension hook, the second suspension hook, third Suspension hook and the 4th suspension hook are disposed as L-shaped structure, including passing vertically through the four-pull-rod of four mounting cylinders respectively and being vertically set on each The horizontal hook 19 of pull rod bottom, the pull rod and horizontal hook 19 are integrally formed or are welded and fixed structure；Four described horizontal to be hooked in non-grab The bottom that the first support arm 3, the second support arm 4, third support arm 5 and the 4th support arm 6 are parallel under state is taken, described in four Horizontal hook 19 turns to the inside under seized condition until four horizontal hooks 19 and the first support arm 3, the second support arm 4, third The bottom of support arm 5 and the 4th support arm 6 is in 90 ° of angles；It is feasible, first crank block 11, the second crank block 12, It is provided with bearing below third crank block 13 and the 4th crank block 14 and is socketed in the bearing block of Bearing outer, first hangs Hook, the second suspension hook, third suspension hook and the 4th suspension hook pull rod pass through bearing respectively with the first crank block 11, the second crank block 12, third crank block 13 is fixedly connected with the 4th crank block 14, and the upper end of the bearing block is provided with ball, reduces first Rubbing between crank block 11, the second crank block 12, third crank block 13 and the 4th crank block 14 and top mounting box 1 Power is wiped, meanwhile, the friction between the first suspension hook of reduction, the second suspension hook, third suspension hook and the pull rod and mounting cylinder 2 of the 4th suspension hook Power rotates sensitiveer.

In further embodiment, as shown in Figure 4 and Figure 5, first crank block 11 and third crank block 13 Shape is consistent, and second crank block 12 is consistent with the shape of the 4th crank block 14.Above-mentioned, first crank block 11 and third crank block 13 include the first round base 111, be fixed on the first round base 111 first installation Block 112 and the second mounting blocks 113, setting at an acute angle between first mounting blocks 112 and the second mounting blocks 113, it is preferred that the It is in 45 ° of angles, feasible, first mounting blocks 112, the second mounting blocks between one mounting blocks 112 and the second mounting blocks 113 113 and first are an integral molding structure between round base 111.Wherein, first suspension hook is bolted setting the The lower end of first round base 111 of one crank block 11, one end rotation of the piston rod 18 and first connecting rod 15 of the cylinder It is connected on the first mounting blocks 112 of the first crank block 11；The third suspension hook is fixed at third crank block 13 On first round base 111, one end of the third connecting rod 17 is rotatably connected on the first of third crank block 13 by pin shaft The upper end of mounting blocks 112.Above-mentioned, second crank block 12 and the 4th crank block 14 include the second round base 121, third mounting blocks 122, the 4th mounting blocks 123 and the 5th mounting blocks 124 being fixed on the second round base 121, It is feasible, it is one between the third mounting blocks 122, the 4th mounting blocks 123, the 5th mounting blocks 124 and the second round base 121 Forming structure, in 180 ° of settings between the third mounting blocks 122 and the 4th mounting blocks 123, the 5th mounting blocks 124 with Setting at an acute angle between third mounting blocks 122, it is preferred that be in 30 ° of angles between the 5th mounting blocks 124 and third mounting blocks 122. Wherein, second suspension hook is fixed at the lower end of the second round base 121 of the second crank block 12, the first connecting rod 15 other end is rotatably connected on the upper end of the 5th mounting blocks 124 of the second crank block 12, the second connecting rod by pin shaft 16 one end is rotatably connected on the lower end of the 4th mounting blocks 123 of the second crank block 12 by pin shaft；4th suspension hook is logical Cross the lower end that bolt is fixed at the second round base 121 of the 4th crank block 123, the other end of the second connecting rod 16 The lower end of the third mounting blocks 122 of the 4th crank block 14 is rotatably connected on by pin shaft, one end of the third connecting rod 17 is logical Cross the upper end that pin shaft is rotatably connected on the 5th mounting blocks 124 of the 4th crank block 14；It is feasible, first mounting blocks 112, It is provided on second mounting blocks 113, third mounting blocks 122, the 4th mounting blocks 123 and the 5th mounting blocks 124 and is passed through for pin shaft Through-hole.

The course of work of specific embodiment of the utility model: in the utility model, when needing porter's wordline disk, lead to The button crossed in robot is operated, and the piston rod 18 for controlling cylinder extends, and pushes the first installation of the first crank block 11 The horizontal hook 19 of block 112, the first suspension hook is rotated towards 4 direction of the second support arm；112 band of the first mounting blocks of first crank block 11 Dynamic first connecting rod 15, first connecting rod 15 pull the 5th mounting blocks 124 of the second crank block 12,19 direction of horizontal hook of the second suspension hook The rotation of first support arm, 3 direction；Meanwhile second the 4th mounting blocks 123 of crank block 12 push out, the second crank block 12 The 4th mounting blocks 123 pull second connecting rod 16, second connecting rod 16 pulls 122 turns of third mounting blocks of the 4th crank block 14 It is dynamic, at this point, the horizontal hook 19 of the 4th suspension hook is rotated to 5 direction of third support arm, meanwhile, the 5th mounting blocks of the 4th crank block 14 124 rotate with the 4th crank block 14, push third connecting rod 17；Third connecting rod 17 pushes the first peace of third crank block 13 Block 112 is filled, at this point, the horizontal hook 19 of third suspension hook is rotated towards 6 direction of the 4th support arm, until the first suspension hook, the second suspension hook, the The horizontal hook 19 of three suspension hooks and the 4th suspension hook distinguishes horizontal direction inwardly perpendicular to the first support arm 3, the second supporting walls 4, third Support arm 5 and the 4th support arm 6.It when needing to unload I-shaped drum, is operated by the button in robot, controls cylinder Piston rod 18 shorten, pull the first mounting blocks 112 of the first crank block 11, the horizontal hook 19 of the first suspension hook is directed parallel to the The rotation of one support arm, 3 direction；First mounting blocks 112 of the first crank block 11 drive first connecting rod 15, and first connecting rod 15 pushes The horizontal hook 19 of 5th mounting blocks 124 of the second crank block 12, the second suspension hook is rotated towards parallel second support arm, 4 direction；Together When, the 4th mounting blocks 123 of the second crank block 12 inwardly pull, and the 4th mounting blocks 123 of the second crank block 12 push the Two connecting rods 16, second connecting rod 16 pushes the third mounting blocks 122 of the 4th crank block 14 to rotate, at this point, the horizontal hook of the 4th suspension hook 19 are directed parallel to the rotation of 14 direction of the 4th support arm, meanwhile, the 5th mounting blocks 124 of the 4th crank block 14 are with the 4th song Handle sliding block 14 rotates, and pulls third connecting rod 17；Third connecting rod 17 pulls the first mounting blocks of third crank block 13, at this point, the The horizontal hook 19 of three suspension hooks be directed parallel to 5 direction of third support arm rotation, until the first suspension hook, the second suspension hook, third suspension hook and The horizontal hook 19 of 4th suspension hook distinguishes horizontal direction and the first support arm 3, the second supporting walls 4, third support arm 5 and the 4th support arm Angle between 6 bottom is 0 °, is returned to original state.

The above is preferred embodiments of the present invention, it is noted that for the ordinary skill of the art For personnel, under the premise of not departing from principle described in the utility model, it can also make several improvements and retouch, these improvement It also should be regarded as the protection scope of the utility model with retouching.

Claims (10)

1. a kind of I-shaped drum grabs special manipulator, which is characterized in that including support base and crawl ontology；The support base packet It includes the top mounting box of rectangular shape and is fixed at four vertical hollow installations of each corner position of top mounting box Cylinder, the four mounting cylinder sides are fixedly installed the first support arm, the second support arm, third support arm and the 4th support respectively Arm, first support arm and the second support arm are arranged in parallel, and the third support arm and the 4th support arm are arranged in parallel, described First support arm and the 4th support arm upper end are connected and form arch notch, second support arm and third support arm upper end phase Even and form arch notch；Between first support arm and the second support arm, between third support arm and the 4th support arm There are the gap passed in and out for I-shaped drum, the gap, third support arm between first support arm and the second support arm and Gap between four support arms is all larger than the width of I-shaped drum；

The crawl ontology include the mounting flange that top mounting box upper end is set, the first crank block, the second crank block, Third crank block, the 4th crank block, first connecting rod, second connecting rod and third connecting rod；The mounting flange is fixedly connected on The top of top mounting box is fixedly installed a cylinder, the piston of the cylinder between the mounting flange and top mounting box Bar is rotatably connected on the upper end of the first crank block, and the upper end of first crank block is also rotatably connected on the one of first connecting rod End, the lower end of first crank block is fixedly connected with the first suspension hook；The other end of the first connecting rod is rotatably connected on The top of two crank blocks, the lower end of second crank block are fixedly connected with the second suspension hook, second crank block Lower end is also rotatably connected on one end of second connecting rod；The other end of the second connecting rod is rotatably connected under third crank block End, the lower end of the third crank block are also fixedly connected with third suspension hook, the upper end rotation connection of the third crank block In one end of third connecting rod；The other end of the third connecting rod is rotatably connected on the upper end of the 4th crank block, and the described 4th is bent The lower end of handle sliding block is fixedly connected with the 4th suspension hook, first suspension hook, the second suspension hook, third suspension hook and the 4th suspension hook respectively from It passes through under upper in four mounting cylinders and is stretched out from the bottom of mounting cylinder, first suspension hook, the second suspension hook, third suspension hook and the Four suspension hooks are freely rotatable in mounting cylinder, first suspension hook, the second suspension hook, third suspension hook and the 4th suspension hook lower end be all provided with It is equipped with the horizontal hook of support I-shaped drum.

2. a kind of I-shaped drum according to claim 1 grabs special manipulator, which is characterized in that first suspension hook, Second suspension hook, third suspension hook and the 4th suspension hook are disposed as L-shaped structure, including passing vertically through the pull rod of four mounting cylinders and vertically setting Set the horizontal hook in pull rod bottom；

Four horizontal are hooked under non-gripping state are parallel to the first support arm, the second support arm, third support arm and the 4th The bottom of brace, four horizontal are hooked under seized condition turn to the inside until four horizontal hooks and the first support arm, the The bottom of two support arms, third support arm and the 4th support arm is in 90 ° of angles.

3. a kind of I-shaped drum according to claim 1 grabs special manipulator, which is characterized in that first slide crank Block is consistent with the shape of third crank block, and second crank block is consistent with the shape of the 4th crank block.

4. a kind of I-shaped drum according to claim 3 grabs special manipulator, which is characterized in that first slide crank Block and third crank block include the first round base, the first mounting blocks and second being fixed on the first round base Mounting blocks, setting at an acute angle between first mounting blocks and the second mounting blocks.

5. a kind of I-shaped drum according to claim 4 grabs special manipulator, which is characterized in that first suspension hook is solid The lower end of first round base of the first crank block, one end rotation of the piston rod and first connecting rod of the cylinder are set calmly It is connected on the first mounting blocks of the first crank block；The third suspension hook is fixed at the first circle of third crank block On pedestal, one end of the third connecting rod is rotatably connected on the upper end of the first mounting blocks of third crank block.

6. a kind of I-shaped drum according to claim 3 grabs special manipulator, which is characterized in that second slide crank Block and the 4th crank block include the second round base, the third mounting blocks being fixed on the second round base, the 4th Mounting blocks and the 5th mounting blocks, between the third mounting blocks and the 4th mounting blocks in 180 ° setting, the 5th mounting blocks with Setting at an acute angle between third mounting blocks.

7. a kind of I-shaped drum according to claim 6 grabs special manipulator, which is characterized in that second suspension hook is solid The lower end of second round base of the second crank block is set calmly, and the other end of the first connecting rod is rotatably connected on the second song The upper end of 5th mounting blocks of handle sliding block, one end of the second connecting rod are rotatably connected on the 4th mounting blocks of the second crank block Lower end；4th suspension hook is fixed at the lower end of the second round base of the 4th crank block, the second connecting rod The other end is rotatably connected on the lower end of the third mounting blocks of the 4th crank block, and one end of the third connecting rod is rotatably connected on The upper end of 5th mounting blocks of four crank blocks.

8. a kind of I-shaped drum according to claim 1 grabs special manipulator, which is characterized in that the mounting flange packet Each fixed jaw for including the ring flange that upper end is arranged in and ring flange lower end being arranged in, the fixed jaw are mounted by means of bolts on The upper end of top mounting box.

9. a kind of I-shaped drum according to claim 1 grabs special manipulator, which is characterized in that the cylinder body of the cylinder Two cushion blocks by being separately positioned on cylinder body upper and lower ends are fixed between mounting flange and top mounting box.

10. a kind of I-shaped drum according to claim 1 grabs special manipulator, which is characterized in that the work of the cylinder Stopper rod top is set as concave-shaped structure, and the both sides of the concave-shaped structure are symmetrically arranged with the first pin hole and the second pin hole, institute It states first connecting rod and the first crank block connecting pin is provided with a first through hole, on the first mounting blocks of first crank block It is provided with one second through-hole, first crank block is connect with first connecting rod by one first pin, first pin Upper end is provided with third through-hole, between first pin and the piston rod of cylinder by one second pin pass through the first pin hole, Third through-hole and the second pin hole are simultaneously fixedly connected by nut.