CN216512437U

CN216512437U - Large-span heavy-duty lifting mechanical arm device

Info

Publication number: CN216512437U
Application number: CN202123233864.2U
Authority: CN
Inventors: 卢争驰
Original assignee: Shenzhen Hkd Ultrasonic Equipment Co ltd
Current assignee: Shenzhen Hkd Ultrasonic Equipment Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-05-13
Anticipated expiration: 2031-12-21

Abstract

The utility model discloses a large-span heavy-duty lifting mechanical arm device, which comprises a transverse moving mechanism, a lifting mechanism and a clamping mechanism, wherein the lifting mechanism comprises a lifting frame, a hydraulic system and a pair of lifting hydraulic cylinders which act synchronously, the clamping mechanism comprises two groups of clamping cylinders which are connected to the bottom of the lifting frame and correspond to the pair of lifting hydraulic cylinders and two groups of hooks which correspond to the two groups of clamping cylinders, the transverse moving mechanism is used for driving the lifting mechanism to move to a proper station, then the lifting mechanism drives the clamping mechanism to move up and down to realize the grabbing of a hanging basket, the lifting mechanism adopts a pair of lifting hydraulic cylinders which act synchronously to lift together, the lifting mechanical arm device is suitable for heavier loads, the synchronous movement of the two hydraulic cylinders can be really ensured due to the incompressible liquid, and the effect of large-span lifting can be realized by matching with the two groups of hooks which are symmetrically distributed, and the whole device has compact structure, and the whole volume and weight can be controlled in proper size.

Description

Large-span heavy-duty lifting mechanical arm device

Technical Field

The utility model relates to the field of machinery industry, in particular to a large-span heavy lifting mechanical arm device.

Background

At present, the modernization and automation of industrial equipment become the development trend of the current industry, and more industrial manipulators appear, but a plurality of industrial manipulators have larger volume, heavier weight and limited application range. For example, the heavy gantry mechanical arm is only suitable for products with the length of less than 3 meters and the weight of less than 500KG, and is slightly insufficient for products beyond the range, and meanwhile, the heavy gantry mechanical arm also has the problems of complex structure, old style and the like. In order to meet the requirements of lifting larger and heavier, the mechanical arm is guaranteed to stably operate, and meanwhile the size and the weight of the whole mechanical arm are controlled, a novel large-span heavy lifting mechanical arm needs to be developed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that aiming at the defects in the prior art, the utility model provides a large-span heavy-duty mechanical arm device which can meet the large-span washing basket hoisting requirement, ensures stable operation and can control the whole volume and weight to be proper.

The technical scheme adopted by the utility model for solving the technical problems is as follows: constructing a large-span heavy-duty mechanical arm device, which comprises a transverse moving mechanism, a lifting mechanism and a clamping mechanism, wherein the lifting mechanism is connected with the transverse moving mechanism and can move along a first horizontal direction along with the transverse moving mechanism, the clamping mechanism is connected with the lifting mechanism and can move along a vertical direction along with the lifting mechanism, the transverse moving mechanism is symmetrical about a first vertical plane, and the first vertical plane is parallel to the first horizontal direction;

the lifting mechanism comprises a lifting frame, a hydraulic system and a pair of lifting hydraulic cylinders controlled by the hydraulic system to synchronously act, the pair of lifting hydraulic cylinders are arranged in a second horizontal direction and symmetrically distributed on two sides of the first vertical plane, the second horizontal direction is perpendicular to the first horizontal direction, and the lifting frame is positioned below the pair of lifting hydraulic cylinders and connected with moving ends of the pair of lifting hydraulic cylinders;

the clamping mechanism comprises two groups of clamping cylinders and two groups of hooks, the two groups of clamping cylinders are connected to the bottom of the lifting frame and correspond to the lifting hydraulic cylinders, the two groups of hooks are symmetrically distributed on two sides of a first vertical plane, and the clamping cylinders are arranged in a first horizontal direction and are symmetrical about a second vertical plane where the arrangement lines of the lifting hydraulic cylinders are located.

Preferably, the lifting hydraulic cylinder is an oil cylinder, and the hydraulic system comprises a hydraulic oil tank.

Preferably, the lifting mechanism further comprises two groups of guide shafts extending in the vertical direction, the guide shafts movably penetrate through the transverse moving mechanism, the bottoms of the guide shafts are connected with the lifting frame, the two groups of guide shafts are symmetrically distributed on two sides of the first vertical plane, and each group of guide shafts are arranged in the first horizontal direction and are symmetrical about the second vertical plane.

Preferably, the two groups of clamping cylinders are distributed by two sides of the lifting frame parallel to the first horizontal direction, and the two groups of guide shafts are distributed by two sides of the lifting frame parallel to the first horizontal direction.

Preferably, the distance between the pair of lifting hydraulic cylinders is smaller than the distance between the two groups of clamping cylinders, and is smaller than the distance between the two groups of guide shafts.

Preferably, each group of the clamping cylinders comprises two clamping cylinders, and each group of the guide shafts comprises two guide shafts.

Preferably, the traversing mechanism includes a traversing frame, a traversing motor, a pair of transmission shafts, a pair of traversing gears corresponding to the pair of transmission shafts, and a pair of traversing racks corresponding to the pair of traversing gears, the traversing motor is located above the traversing frame and connected to the traversing frame, the transmission shafts extend in a second horizontal direction, the pair of transmission shafts, the pair of traversing gears, and the pair of traversing racks are all symmetrically distributed about the first vertical plane, one end of the pair of transmission shafts close to each other is connected to the transmission ends on both sides of the traversing motor, one end of the pair of transmission shafts far from each other is coaxially connected to the corresponding traversing gear, and each traversing gear is engaged with the corresponding traversing rack.

Preferably, the traversing mechanism further comprises a pair of traverse slide rails symmetrically distributed about the first vertical plane, the traverse slide rails extend along the first horizontal direction, and the traversing rack is connected with the pair of traverse slide rails in a sliding manner near two sides of the traversing rack parallel to the first horizontal direction.

Preferably, the pair of the traverse slide rails is located at the bottom of the traverse frame, a pair of sliding blocks is fixed at the bottom of the traverse frame at positions close to two sides of the traverse frame parallel to the first horizontal direction, and the pair of sliding blocks is slidably sleeved on the pair of the traverse slide rails.

Preferably, the device further comprises an outer frame support, the pair of traverse slide rails is fixedly connected with the outer frame support, the traverse rack is rotatably mounted on the outer frame support, and the traverse motor is a speed reduction motor.

The large-span heavy lifting mechanical arm device has the following beneficial effects: the lifting mechanism is driven by the transverse moving mechanism to move to a proper station, then the lifting mechanism drives the clamping mechanism to move up and down to realize the grabbing of the hanging basket, and the lifting mechanism adopts a pair of lifting hydraulic cylinders which synchronously act to lift together, so that the lifting mechanism is suitable for heavier loads.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts:

fig. 1 is a schematic structural view of a large-span heavy-duty lifting arm apparatus of the present invention;

fig. 2 is a schematic view of another angle structure of the large-span heavy lift arm apparatus of the present invention.

Detailed Description

To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Exemplary embodiments of the utility model are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the embodiments and specific features in the embodiments of the present invention are described in detail in the present application, but not limited to the present application, and the features in the embodiments and specific features in the embodiments of the present invention may be combined with each other without conflict.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

The terms including ordinal numbers such as "first", "second", and the like used in the present specification may be used to describe various components, but the components are not limited by the terms. These terms are used only for the purpose of distinguishing one constituent element from other constituent elements. For example, a first component may be named a second component, and similarly, a second component may also be named a first component, without departing from the scope of the present invention.

Referring to fig. 1-2, the large-span heavy-duty mechanical arm apparatus of this embodiment includes an outer frame support 4, a traverse mechanism fixed on the outer frame support 4, a lifting mechanism connected to the traverse mechanism and capable of moving along a first horizontal direction along with the traverse mechanism, and a clamping mechanism connected to the lifting mechanism and capable of moving along a vertical direction along with the lifting mechanism.

The whole frame support 4 can be arranged in the equipment, and referring to fig. 2, the frame support is divided into a plurality of intervals along the first horizontal direction, and each interval represents a station. The whole outer frame support 4 is a rectangular frame, the top of the outer frame support includes a pair of vertical connecting plates 41 along a first horizontal direction, two ends of each vertical connecting plate 41 are erected on a pair of connecting rods along a second horizontal direction at the top of the outer frame support 4, and one side of each vertical connecting plate 41, which is deviated from the opposite vertical connecting plate 41, is stabilized by an oblique rod.

The second horizontal direction is perpendicular to the first horizontal direction, which is the front-back direction in fig. 1, and the second horizontal direction is the left-right direction in fig. 1, taking fig. 1 as an example.

The transverse moving mechanism is symmetrical about a first vertical plane, the first vertical plane is parallel to a first horizontal direction, and specifically, the transverse moving mechanism comprises a transverse moving frame 11, a transverse moving motor 12, a pair of transmission shafts 13, a pair of transverse moving gears 14 corresponding to the pair of transmission shafts 13, a pair of transverse moving racks 15 corresponding to the pair of transverse moving gears 14, and a pair of transverse moving slide rails 16.

The traverse motor 12 is positioned at the center above the traverse frame 11 and connected with the traverse frame 11, the transmission shaft 13 extends along the second horizontal direction, and the traverse slide rail 16 extends along the first horizontal direction. The pair of transmission shafts 13, the pair of traverse gears 14, the pair of traverse racks 15, and the pair of traverse slide rails 16 are all symmetrically distributed about the first vertical plane. The transverse moving frame 11 is connected with a pair of transverse moving slide rails 16 in a sliding way at the positions close to two sides of the transverse moving frame parallel to the first horizontal direction. One ends of the pair of transmission shafts 13 close to each other are connected to transmission ends on both sides of the traverse motor 12, one ends of the pair of transmission shafts 13 far from each other are coaxially connected to the corresponding traverse gears 14, and each traverse gear 14 is engaged with the corresponding traverse rack 15.

For example, in the present embodiment, the traverse motor 12 is a reduction motor. One side of each vertical connecting plate 41 of the outer frame support 4, which faces the opposite vertical connecting plate 41, is rotatably provided with one transverse rack 15, the transverse rack 15 is meshed with the transverse gear 14 above the transverse gear, a pair of transverse slide rails 16 are specifically arranged at the bottom of the transverse frame 11, a pair of strip-shaped slide blocks are fixed at the positions, close to two side edges of the transverse frame 11 in the first horizontal direction, of the bottom of the transverse frame 11, the pair of slide blocks are slidably sleeved on the pair of transverse slide rails 16, and two ends of each transverse slide rail 16 are respectively fixedly connected with a pair of connecting rods at the top of the outer frame support 4 in the second horizontal direction.

The lifting mechanism comprises a lifting frame 21, a hydraulic system 22, a pair of lifting hydraulic cylinders 23 controlled by the hydraulic system 22 to synchronously act, and two sets of guide shafts 24, wherein the lifting mechanism is horizontally arranged, the hydraulic system 22 can be configured with a synchronization valve to control the two hydraulic cylinders 23 to be synchronous, the lifting hydraulic cylinders 23 are specifically oil cylinders in the embodiment, and the hydraulic system 22 specifically comprises a hydraulic oil tank.

The pair of lifting hydraulic cylinders 23 is fixed on the transverse frame 11 of the transverse mechanism, and the pair of lifting hydraulic cylinders 23 are arranged in the second horizontal direction and symmetrically distributed on two sides of the first vertical plane. The guide shaft 24 extends along the vertical direction, the transverse moving frame 11 of the transverse moving mechanism is movably arranged in a penetrating mode, the lifting frame 21 is located below the lifting hydraulic cylinders 23 and the guide shafts 24, the bottoms of the guide shafts 24 and the moving ends of the lifting hydraulic cylinders 23 are connected with the lifting frame 21, the guide shafts 24 are symmetrically distributed on two sides of the first vertical plane, each guide shaft 24 is arranged in the first horizontal direction and is symmetrical about the second vertical plane, and the guide shafts 24 are arranged in two groups and specifically lean on two sides of the lifting frame 21, which are parallel to the first horizontal direction, to be distributed.

The clamping mechanism comprises two groups of clamping cylinders 31 which are connected to the bottom of the lifting frame 21 and correspond to the pair of lifting hydraulic cylinders 23 and two groups of hooks 32 which correspond to the clamping cylinders 31, each clamping cylinder 31 is connected with one hook 32, and a specific sliding block which can clamp the clamping cylinder 31 is connected with the hook 32. The two groups of the clamping cylinders 31 are symmetrically distributed on two sides of the first vertical plane, each group of the clamping cylinders 31 is arranged in a first horizontal direction and is symmetrical with respect to a second vertical plane where a distribution line of the pair of the lifting hydraulic cylinders 23 is located, and the two groups of the clamping cylinders 31 are specifically distributed on two sides of the lifting frame 21 parallel to the first horizontal direction.

The distance between the pair of lifting hydraulic cylinders 23 is smaller than the distance between the two groups of clamping cylinders 31, and is smaller than the distance between the two groups of guide shafts 24.

In this embodiment, each set of the clamping cylinders 31 includes two clamping cylinders 31, i.e., the whole device has a total of four clamping cylinders 31. Each set of guide shafts 24 comprises two guide shafts 24, i.e. a total of four guide shafts 24 in the entire device.

The cylinder is difficult to realize two cylinders synchronous motion on a large span due to the characteristic that gas can be compressed, so a hydraulic system 22 is adopted in the embodiment, and due to the fact that liquid cannot be compressed, after a synchronous valve is configured to control the two hydraulic cylinders 23, the two cylinders can realize two cylinders synchronous motion, the two cylinders work synchronously, and in addition, the two groups of clamping cylinders 31 are used for symmetrically lifting the washing basket, so that the lifting of the large-span heavy washing basket can be realized.

The device of fig. 1 and 2 can be integrally arranged in the equipment and controlled by the equipment PLC, when the washing basket needs to be lifted, the traverse motor 12 works to drive the traverse gear 14 to rotate, the traverse gear 14 rotates and moves along the traverse rack 15, the traverse rack 11 also moves along the traverse slide rail 16, when the basket washing position is reached, when the transverse moving motor 12 stops working and an oil pump of a hydraulic oil tank is started, the two oil cylinders are driven to synchronously lower the lifting frame 21, and when the position reaches the basket washing hanging lug, when the oil pump stops, the clamping cylinder 31 acts to extend the hook 32 into the hanging lug of the washing basket, and after the clamping cylinder 31 senses the position, oil pump restart, two synchronous lifts of hydro-cylinder of drive wash the basket, reach and carry the high back, sideslip motor 12 action will wash the basket and transport to next station, through our many times experiment, this embodiment is applicable in length 5 meters in practical application, the basket hoist and mount demand of washing of weight 1000 KG.

In summary, the large-span heavy lifting mechanical arm device provided by the utility model has the following beneficial effects: the lifting mechanism is driven by the transverse moving mechanism to move to a proper station, then the lifting mechanism drives the clamping mechanism to move up and down to realize the grabbing of the hanging basket, and the lifting mechanism adopts a pair of lifting hydraulic cylinders which synchronously act to lift together, so that the lifting mechanism is suitable for heavier loads.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. A large-span heavy-duty lifting mechanical arm device is characterized by comprising a transverse moving mechanism, a lifting mechanism and a clamping mechanism, wherein the lifting mechanism is connected with the transverse moving mechanism and can move along a first horizontal direction along with the transverse moving mechanism;

2. The large-span heavy lift boom apparatus of claim 1, wherein said hydraulic lift cylinder is a cylinder and said hydraulic system comprises a hydraulic tank.

3. The large-span heavy-duty lifting arm apparatus according to claim 1, wherein said lifting mechanism further comprises two sets of guide shafts extending in a vertical direction, said guide shafts movably penetrate said traversing mechanism, a bottom portion of said guide shafts is connected to said lifting frame, said two sets of guide shafts are symmetrically distributed on two sides of said first vertical plane, each set of said guide shafts is arranged in a first horizontal direction and is symmetrical with respect to said second vertical plane.

4. The large-span heavy lift boom apparatus of claim 3, wherein two sets of said clamp cylinders are located on both sides of said lift frame parallel to the first horizontal direction, and two sets of said guide shafts are located on both sides of said lift frame parallel to the first horizontal direction.

5. The large-span heavy lift boom apparatus of claim 3, wherein a spacing between a pair of said lift cylinders is less than a spacing between two sets of said clamp cylinders and less than a spacing between two sets of said guide shafts.

6. The large-span heavy lift boom apparatus of claim 3, wherein each set of said clamp cylinders comprises two said clamp cylinders and each set of said guide shafts comprises two said guide shafts.

7. The large-span heavy lift arm apparatus of claim 1, wherein said traverse mechanism comprises a traverse frame, a traverse motor, a pair of transmission shafts, a pair of traverse gears corresponding to said pair of transmission shafts, a pair of traverse racks corresponding to said pair of traverse gears, said traverse motor being disposed above said traverse frame and connected to said traverse frame, said transmission shafts extending in a second horizontal direction, said pair of transmission shafts, said pair of traverse gears, and said pair of traverse racks being symmetrically arranged with respect to said first vertical plane, one end of said pair of transmission shafts adjacent to each other being connected to both side transmission ends of said traverse motor, one end of said pair of transmission shafts remote from each other being coaxially connected to said corresponding traverse gear, each of said traverse gears being engaged with said corresponding traverse rack.

8. The large-span heavy lift boom apparatus of claim 7, wherein said traverse mechanism further comprises a pair of traverse rails symmetrically disposed about said first vertical plane, said traverse rails extending in a first horizontal direction, said traverse frame being slidably coupled to said pair of traverse rails near both sides thereof parallel to said first horizontal direction.

9. The large-span heavy lift arm apparatus of claim 8, wherein a pair of said cross runners are located at a bottom portion of said cross frame, said bottom portion of said cross frame having a pair of sliders fixed thereto at positions close to both sides thereof parallel to the first horizontal direction, said pair of sliders being slidably fitted over said pair of said cross runners.

10. The large-span heavy-duty lifting arm device according to claim 8, further comprising an outer frame support, a pair of said traverse slide rails being fixedly connected to said outer frame support, said traverse rack being rotatably mounted to said outer frame support, said traverse motor being a speed reduction motor.