CN210081752U

CN210081752U - Feeding mechanical arm

Info

Publication number: CN210081752U
Application number: CN201920694534.7U
Authority: CN
Inventors: 张会强
Original assignee: Zhejiang Voloda Energy Saving Technology Co Ltd
Current assignee: Zhejiang Voloda Energy Saving Technology Co Ltd
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2020-02-18
Anticipated expiration: 2029-05-14

Abstract

The utility model relates to a material loading arm, including base, fixed arm, first pneumatic cylinder, swinging boom, motor, reduction gears, hopper, second pneumatic cylinder etc. The fixed arm is erected on the base, the upper end of the fixed arm is rotatably connected with one end of the rotating arm, the other end of the rotating arm is connected with the hopper through a joint shaft II, one end of the joint shaft II is fixed with the hopper, and the other end of the joint shaft II is rotatably connected with the rotating arm; the fixed arm rear portion is provided with the first pneumatic cylinder that is used for driving the swinging boom rotatory, and the hopper discharge opening is provided with the flap valve, and this flap valve is through setting up the second pneumatic cylinder drive in the hopper side. The utility model discloses area is little, and simple and practical can replace artifical material loading, has solved the enterprise because of the difficult problem of the unable fork truck material loading of place restriction, has alleviateed operating personnel amount of labour and has improved efficiency, is a practical new design.

Description

Feeding mechanical arm

Technical Field

The utility model relates to a material loading arm.

Background

In steelmaking production and old and useless metal processing, often will add alloy or scrap steel into heating in the big roaster, the usual way is to carry out the material loading with fork truck, and this kind of mode needs the scene to have enough height and space to use fork truck usually, but some enterprise processing place spaces are not enough or highly restricted, can't use fork truck material loading, bring very big difficulty for enterprise's production, cause personnel's amount of labour to increase, waste time and energy and inefficiency.

Disclosure of Invention

In order to solve the problem, the utility model provides a material loading arm can not receive the influence of on-the-spot space and height, according to the not arm of co-altitude of on-the-spot operating mode preparation, area is little, and simple and practical can replace artifical material loading, has solved the enterprise and can't use the difficult problem of overhead traveling crane or fork truck material loading because of the place restriction, is a practical new design.

The utility model discloses a realize through following technical scheme.

The utility model provides a feeding mechanical arm, including at least two bases, be fixed with the fixed arm on each base, all be provided with the first support that plays the enhancement fixed action between each fixed arm leading flank and the corresponding base, each fixed arm upper end all is connected with the one end rotation of swinging boom through articulated shaft I, the swinging boom can be rotatory around articulated shaft I; the other end of the rotating arm is connected with the hopper through a joint shaft II, one end of the joint shaft II is fixed with the hopper, and the other end of the joint shaft II is connected with the rotating arm through a bearing; the rear part of the fixed arm is provided with a first hydraulic cylinder for driving the rotating arm to rotate, one end of the first hydraulic cylinder is hinged with the base, the other end of the first hydraulic cylinder is hinged with a second bracket, and the second bracket is fixed at the rear part of the rotating arm; a motor is further mounted at one end of the rotating arm connected with the hopper, the motor is further connected with a speed reducing mechanism, and the speed reducing mechanism is further connected with a joint shaft II;

a material discharging opening of the hopper is provided with a flap valve which is driven by a second hydraulic cylinder and is opened during material discharging and closed after the material discharging is finished; the second hydraulic cylinder can be one and is arranged on one side surface of the hopper, and the opening and closing of the flap valve are driven by one side of the second hydraulic cylinder; or the two second hydraulic cylinders are respectively arranged on two side faces of the hopper and work synchronously, and the opening and closing of the flap valve are driven by the two sides of the two second hydraulic cylinders which work synchronously.

Furthermore, the speed reducing mechanism comprises a speed reducer connected with the motor, a first gear connected with an output shaft of the speed reducer, and a second gear meshed with the first gear; the first gear and the second gear are both arranged between the rotating arm and the hopper, and the diameter of the first gear is smaller than that of the second gear.

Further, the second gear is fixed in the hopper side, and II one ends of articulated shaft are fixed in the second gear, and the other end passes through the bearing with the swinging boom and rotates and be connected, the bearing set up in the bearing housing, bearing housing and speed reducer all set up in the casing of swinging boom.

Furthermore, a stop block is arranged on the rotating arm, and a limit switch is arranged on the fixed arm; or, a limit switch is arranged on the first hydraulic cylinder body, and a stop block is connected to the telescopic rod of the first hydraulic cylinder through a pull rod.

Further, the limit switch adopts a proximity switch or a travel switch.

Further, the rotation amplitude of the rotating arm is limited through the stroke of the first hydraulic cylinder.

Further, the feeding mechanical arm comprises two bases, two fixed arms and two rotating arms, a first cross beam is further arranged between the two bases, a second cross beam is further arranged between the two fixed arms, and a third cross beam is further arranged between the two rotating arms.

Furthermore, one first hydraulic cylinder is arranged at the rear part of one fixed arm and is driven by a single side, the corresponding rotating arm is driven to rotate by the first hydraulic cylinder, and the other rotating arm is driven to rotate; or the number of the first hydraulic cylinders is equal to that of the fixed arms, and the rear part of each fixed arm is provided with the first hydraulic cylinders. If two fixed arms are provided, a first hydraulic cylinder is arranged at the rear part of each fixed arm, the two first hydraulic cylinders work synchronously for bilateral driving, and the two rotating arms are driven to rotate synchronously by the two first hydraulic cylinders.

Furthermore, a motor and a speed reducing mechanism can be arranged on one side of the hopper, and the hopper is driven to rotate by one side; or, the two sides of the hopper can be provided with the motor and the speed reducing mechanism, the motor and the speed reducing mechanism on the two sides of the hopper work synchronously, and the rotation of the hopper is controlled synchronously through the motor and the speed reducing mechanism on the two sides of the hopper.

The utility model discloses following beneficial effect has:

the utility model discloses simple structure, reasonable in design, easy to operate drives the hopper through the rotation of first pneumatic cylinder control swinging boom and rises or descend, through opening and close of second pneumatic cylinder control hopper discharge opening flap valve, through motor and reduction gears control hopper at the in-process that rises the level that remains all the time, avoids the hopper to take place to incline when the swinging boom rises and makes alloy material or scrap steel material drop and cause the incident, and unloads at the position of unloading swivelling joint through motor and reduction gears control hopper. The utility model discloses the fixed arm and the swinging boom height of arm are not limited, can make the arm of suitable height according to the site work condition, and environmental suitability is good. The utility model discloses a feeding device, including the feeding arm, the feeding arm is fixed in the arm and is used for the feeding of alloy stove, the feeding arm is used for the.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a perspective view of fig. 1.

Fig. 4 is a schematic view of the loading state of fig. 1.

Fig. 5 is a schematic structural view of the speed reducing mechanism.

Fig. 6 is an enlarged view of a portion a in fig. 5.

Fig. 7 is a left perspective view of fig. 4.

Figure 8 is a schematic view of the present invention discharging into an alloy furnace.

Fig. 9 is a schematic view of the stopper mechanism provided in fig. 1.

Fig. 10 is an enlarged view of a portion B in fig. 9.

FIG. 11 is a schematic view of a robotic arm with a spacing mechanism discharging into an alloying furnace.

Fig. 12 is an enlarged view of a portion C in fig. 11.

Fig. 13 is a schematic view of a stopper mechanism provided on the first hydraulic cylinder.

[ description of main element symbols ]

1-a base; 2-a fixed arm; 3-a first scaffold; 4-joint axis I; 5-a rotating arm; 6-a hopper; 7-joint axis II; 8-a first hydraulic cylinder; 9-a motor; 10-a first gear; 11-a second gear; 12-a flap valve; 13-a second hydraulic cylinder; 14-a first beam; 15-a second beam; 16-a third beam; 17-a baffle; 18-a speed reducer; 19-a bearing sleeve; 20-a second scaffold; 21-a stopper; 22-limit switch; 23-flange plate I; 24-flange II.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined purpose, the following detailed description will be given to a feeding mechanical arm according to the present invention with reference to the accompanying drawings and preferred embodiments.

It should be noted that the terms "upper", "lower", "front", "rear", "left", "right" and the like in the present invention are only based on the orientation or positional relationship shown in the drawings, and are only for convenience of description of the present invention, and do not imply that the device or element referred to must have a specific orientation, and therefore, should not be construed as limiting the present invention.

The utility model discloses mainly be to some on-the-spot processing place spaces not enough or height is limited, can't use overhead traveling crane or fork truck material loading and a solution that proposes, specifically a material loading mechanical arm, can be used to in the material loading of alloy material loading or other materials, explain for example with the attached drawing, material loading mechanical arm includes that at least two set up in ground or the base 1 of platform, all be fixed with fixed arm 2 on each base, the fixed arm stands on the base, all be provided with between the base that plays the reinforcing fixed action 3 between each fixed arm leading flank and the corresponding base, each fixed arm upper end all is connected with a swinging boom 5 through articulated shaft I4, the swinging boom can rotate around articulated shaft I; the other end of the rotating arm is connected with the hopper 6 through a joint shaft II 7. The fixed arm rear portion is provided with first pneumatic cylinder 8, and this first pneumatic cylinder one end is articulated the other end with the base and is fixed in the second support 20 at the swinging boom rear portion that corresponds and articulated, and motor 9 is still installed to the one end that the swinging boom is connected with the hopper, and motor 9 still links to each other with reduction gears, and reduction gears still links to each other with articulated shaft II. The speed reducing mechanism comprises a speed reducer 18 connected with the motor 9, a first gear 10 connected with an output shaft of the speed reducer 18, and a second gear 11 meshed with the first gear. The first gear and the second gear are both arranged between the rotating arm and the hopper, the diameter of the first gear is smaller than that of the second gear, and the second gear 11 is fixed on the side face of the hopper. One end of the joint shaft II 7 is fixedly arranged on the second gear 11 through a flange II 24, the other end of the joint shaft II is rotatably connected with the rotating arm 5 through a bearing, the bearing is arranged in a bearing sleeve 19, the bearing sleeve 19 and the speed reducer 18 are fixedly arranged in a shell at one end of the rotating arm connected with the hopper, and the bearing sleeve 19 is fixedly arranged on the rotating arm through a flange I23. The structure and position of the speed reducer, the bearing sleeve, the first gear and the second gear are schematically shown in fig. 5 and 6, the structure and position of the speed reducer, the bearing sleeve, the first gear and the second gear are more clearly shown by hiding the right rotating arm in fig. 5, a bearing connected with the joint shaft II is installed in the bearing sleeve 19 in fig. 5, and the bearing in the bearing sleeve is not shown in fig. 5. When the motor output shaft rotates, the first gear is driven to rotate through the reducer output shaft, the first gear simultaneously drives the second gear meshed with the first gear to rotate, and because one end of the joint shaft II is fixed to the second gear and the second gear is fixed to the side face of the hopper, the joint shaft II and the hopper are fixed, and the joint shaft II and the rotating arm are rotatably connected through the bearing, so that the rotation of the second gear can simultaneously drive the joint shaft II and the hopper to rotate simultaneously.

The discharge opening of the hopper is also provided with a flap valve 12 which is driven by a second hydraulic cylinder 13 arranged on the side surface of the hopper, is opened during discharging and is closed after discharging; the second hydraulic cylinder can be one and is arranged on one side surface of the hopper, and the opening and closing of the flap valve are driven by the single side of the second hydraulic cylinder. Or the two second hydraulic cylinders are respectively arranged on two side surfaces of the hopper and work synchronously, and the opening and closing of the flap valve are driven by the two sides of the two second hydraulic cylinders which work synchronously. The discharge opening of the hopper is located on the side opposite the first hydraulic cylinder when discharging, as shown in fig. 4. Further, a baffle 17 is arranged on the side opposite to the discharge opening of the hopper. The discharge end of the hopper is contracted with gradually changed diameter to facilitate discharging, as shown in figure 2.

Adopt the utility model discloses a during arm material loading, can pour alloy or steel scrap into the hopper of this arm earlier through the travelling car in, then start first pneumatic cylinder and make the swinging boom rotatory upwards around I joint axis, under the swinging boom drives, the hopper shifts up gradually and is close to the charge door of alloy stove, the ascending in-process of hopper, through motor and reduction gears control hopper bottom surface keep the level all the time and prevent to rise the in-process because alloy or steel scrap in the hopper slope makes the hopper drop and cause the incident, specifically be: when the motor output shaft rotates, the first gear is driven to rotate through the speed reducer, the first gear drives the second gear to rotate, the second gear drives the hopper fixedly connected with the second gear to rotate simultaneously, and the bottom surface of the hopper is always in a horizontal state to avoid alloy or scrap steel falling under the combined action of the motor and the speed reducer when the hopper ascends. When the rotating arm rotates to drive the hopper to the charging opening of the alloy furnace, the first hydraulic cylinder is suspended to enable the position of the rotating arm to be fixed, the joint shaft II slowly rotates in the bearing under the action of the motor and the speed reducing mechanism, the hopper fixed to one end of the joint shaft II slowly rotates to finally enable the discharging opening of the hopper to be aligned with the charging opening of the alloy furnace, the second hydraulic cylinder is started to enable the flap valve to be slowly opened, and alloy or waste steel in the hopper can be poured into the alloy furnace after the flap valve is completely opened to finish feeding.

After the loading is finished, the flap valve is closed through the second hydraulic cylinder, and meanwhile, under the action of the motor and the speed reducing mechanism, the joint shaft II slowly rotates in the bearing and drives the empty hopper to rotate, the rotation direction of the empty hopper is opposite to that of the hopper during unloading, so that the empty hopper finally rotates to be in a horizontal state; the first hydraulic cylinder is used for enabling the rotating arm to rotate downwards around the joint shaft I, and the empty hopper gradually moves downwards and finally descends to the ground or a platform under the driving of the rotating arm. And in the downward moving process of the hopper, the bottom surface of the hopper is controlled to be always kept horizontal through the motor and the speed reducing mechanism.

Further, the utility model discloses a arm can be fixed on alloy heating furnace next door and make the hopper discharge opening aim at the charge door of alloy heating furnace when the material loading, is fixed in ground or platform through the base with the arm after the position has been selected. As shown in fig. 8.

Further, the utility model discloses a mechanical arm includes two bases, two fixed arms and two swinging booms, can also set up first crossbeam 14 between two bases, can also set up second crossbeam 15 between two fixed arms, can also set up third crossbeam 16 between two swinging booms. As shown in fig. 7. In this case, the first hydraulic cylinder 8 may be one, is disposed at the rear of one fixed arm, and is driven by a single side, and the corresponding rotating arm is driven to rotate by the one first hydraulic cylinder, and the other rotating arm is driven to rotate. Preferably, each rear portion of the fixing arms is provided with two first hydraulic cylinders, in fig. 7, the two first hydraulic cylinders 8 are respectively arranged at the rear portions of the two fixing arms and are driven bilaterally, and the two first hydraulic cylinders work synchronously to drive the two rotating arms to rotate synchronously.

Further, the motor 9 and the speed reducing mechanism can be arranged on one side of the hopper, the hopper is driven to rotate on a single side, and one side, which is not provided with the motor and the speed reducing mechanism, of the hopper is only in rotating connection with the rotating arm through the joint shaft II and the bearing. Preferably, a motor and a speed reducing mechanism are arranged on both sides of the hopper, the motor and the speed reducing mechanism on both sides of the hopper work synchronously, and the rotation of the hopper is controlled synchronously through the motor and the speed reducing mechanism on both sides of the hopper.

Further, the fixed arm and the rotating arm may be provided with a limiting mechanism, as shown in fig. 9-12. The method comprises the following steps: the rotating arm 5 can be provided with a stop 21, the fixed arm can be provided with a limit switch 22, and the limit switch 22 can be a proximity switch or a travel switch. Take proximity switch as an example, the swinging boom drives the hopper at the slow rotatory in-process that rises, dog 21 slowly is close to the proximity switch on the fixed arm, when the swinging boom drives the hopper to the charge door of alloy stove, when the swinging boom is rotatory to the best discharge position promptly, the dog still has 2mm from proximity switch this moment, trigger proximity switch, proximity switch transmission signal gives PLC, issue the first pneumatic cylinder stop work of command control through PLC, make the swinging boom position motionless, make the hopper rotate through motor and reduction gears again, make the discharge opening aim at the charge door of alloy stove, open through the second pneumatic cylinder drive flap valve simultaneously and unload. The maximum angle of the upward rotation of the rotating arm is limited by the proximity switch and the stop block, so that the rotating arm is prevented from excessively rotating. The stop block and the proximity switch are arranged in the embodiment, so that the rotation of the rotating arm is not influenced, and the distance between the stop block and the proximity switch is enough to trigger the proximity switch to start and transmit a signal when the rotating arm rotates upwards to the optimal discharging position. The limiting mechanism can be arranged on a group of fixed arms and rotating arms, and can also be arranged on each group of fixed arms and rotating arms. Limiting mechanisms can be arranged on two sides of a group of fixed arms and two sides of the rotating arm, and can also be arranged on one side of a group of fixed arms and one side of the rotating arm. Fig. 9-12 are schematic views showing a limit mechanism provided on each set of the fixed arm and the rotating arm, and a limit switch 22 and a stopper 21 are provided only on the outer sides of the fixed arm and the rotating arm, respectively.

Alternatively, the limit switch 22 may be provided on the cylinder body of the first hydraulic cylinder, and the limit switch may be a proximity switch or a travel switch. Dog 21 is connected through the pull rod on the telescopic link of first pneumatic cylinder, and when first pneumatic cylinder telescopic link stretched out the drive swinging boom and rose, the telescopic link stretched out and drives the dog and shift up and be close to proximity switch, and the dog triggers proximity switch when being close enough from proximity switch, and proximity switch transmission signal gives PLC, issues the stop work of the first pneumatic cylinder of command control through PLC, carries on spacingly to the swinging boom. A schematic diagram of which is shown in fig. 13.

Further, under the condition that a limiting mechanism is not arranged, the maximum angle of upward rotation of the rotating arm can be limited through the stroke of the first hydraulic cylinder, namely, the first hydraulic cylinders with different strokes are selected according to the requirements of different project sites, and during selection, the maximum stroke of the first hydraulic cylinder just can enable the rotating arm to rotate to the optimal discharging position.

Furthermore, the flap valve of the hopper discharge opening can be opened automatically by the gravity of the flap valve and the pressure of the scrap steel or alloy material when the flap valve rotates by a certain angle for discharging, and the flap valve is closed automatically by the gravity of the flap valve when the flap valve is closed.

The utility model discloses control to motor, speed reducer, first pneumatic cylinder, second pneumatic cylinder etc. can set up the control box on ground or platform through the operation and realize, is equipped with PLC in this control box and is used for adjusting motor slew velocity's converter, controls converter, motor, speed reducer, first pneumatic cylinder, second pneumatic cylinder work through PLC and has been current common technical means, the utility model discloses no longer describe. The first hydraulic cylinder can also be used for purchasing the hydraulic cylinder with the adaptive stroke according to the rotation amplitude of the field rotating arm, and the second hydraulic cylinder can be used for purchasing the hydraulic cylinder with the adaptive stroke according to the opening and closing amplitude of the flap valve.

The technical scheme of the utility model can not receive the influence of on-the-spot space and height, make not arm of co-altitude according to on-the-spot operating mode, for example the arm of co-altitude can be according to the concrete customization of different site conditions of fixed arm and swinging boom, make not unidimensional arm, adapt to different site work condition.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any person skilled in the art can make any simple modification, equivalent change and modification to the above embodiments according to the technical spirit of the present invention without departing from the technical scope of the present invention.

Claims

1. A feeding mechanical arm is characterized by comprising at least two bases (1), wherein each base is fixedly provided with a fixed arm (2), a first support (3) for strengthening and fixing is arranged between the front side face of each fixed arm (2) and the corresponding base, the upper end of each fixed arm is rotatably connected with one end of a rotating arm (5) through a joint shaft I (4), and the rotating arm (5) can rotate around the joint shaft I (4); the other end of the rotating arm is connected with the hopper (6) through a joint shaft II (7), one end of the joint shaft II (7) is fixed with the hopper, and the other end of the joint shaft II (7) is connected with the rotating arm through a bearing; a first hydraulic cylinder (8) for driving the rotating arm to rotate is arranged at the rear part of the fixed arm, one end of the first hydraulic cylinder is hinged with the base, the other end of the first hydraulic cylinder is hinged with a second bracket (20), and the second bracket (20) is fixed at the rear part of the rotating arm; a motor (9) is further mounted at one end of the rotating arm connected with the hopper, the motor (9) is further connected with a speed reducing mechanism, and the speed reducing mechanism is further connected with a joint shaft II (7);

a flap valve (12) is arranged at the discharge opening of the hopper, is driven by a second hydraulic cylinder (13), and is opened during discharging and closed after discharging; the second hydraulic cylinder (13) is provided with one and is arranged on one side surface of the hopper; or two second hydraulic cylinders (13) are arranged on two side surfaces of the hopper respectively.

2. The loading mechanical arm according to claim 1, wherein the speed reducing mechanism comprises a speed reducer (18) connected with the motor (9), a first gear (10) connected with an output shaft of the speed reducer (18), and a second gear (11) meshed with the first gear; the first gear and the second gear are both arranged between the rotating arm and the hopper, and the diameter of the first gear is smaller than that of the second gear.

3. The loading mechanical arm according to claim 2, wherein the second gear (11) is fixed on the side of the hopper, one end of the joint shaft ii (7) is fixed on the second gear (11), the other end of the joint shaft ii is rotatably connected with the rotating arm (5) through a bearing, the bearing is arranged in a bearing sleeve (19), and the bearing sleeve (19) and the speed reducer (18) are both arranged in the shell of the rotating arm.

4. The loading mechanical arm according to claim 1, wherein the rotating arm (5) is further provided with a stop block (21), and the fixed arm is further provided with a limit switch (22); or, a limit switch is arranged on the first hydraulic cylinder body, and a stop block is connected to the telescopic rod of the first hydraulic cylinder through a pull rod.

5. The loading mechanical arm according to claim 4, wherein the limit switch is a proximity switch or a travel switch.

6. The loading robot arm of claim 1, wherein the rotational amplitude of the pivot arm is limited by the travel of the first hydraulic cylinder.

7. The loading mechanical arm according to claim 1, comprising two bases, two fixed arms, and two rotating arms, wherein a first beam (14) is disposed between the two bases, a second beam (15) is disposed between the two fixed arms, and a third beam (16) is disposed between the two rotating arms.

8. The loading robot arm according to claim 1 or 7, wherein the first hydraulic cylinder (8) has one, provided at the rear of one fixed arm; or the number of the first hydraulic cylinders (8) is equal to that of the fixed arms, and the rear part of each fixed arm is provided with the first hydraulic cylinders.

9. The loading mechanical arm according to claim 2, wherein a motor and a speed reducing mechanism are arranged on one side of the hopper, and the hopper is driven to rotate on one side; or the two sides of the hopper are respectively provided with the motor and the speed reducing mechanism, the motors and the speed reducing mechanisms on the two sides of the hopper work synchronously, and the rotation of the hopper is controlled synchronously through the motors and the speed reducing mechanisms on the two sides of the hopper.