CN220408734U - Auxiliary mechanical arm for ship manufacturing - Google Patents

Abstract

The utility model provides an auxiliary manipulator for ship manufacturing, which belongs to the field of ship manufacturing and comprises a supporting seat, an upright post which is circumferentially rotated on the supporting seat, a first motor which is fixed on the supporting seat and used for driving the upright post to rotate, a lifting arm with the tail end hinged to the top of the upright post, a first driving piece which is arranged on the upright post and used for driving the lifting arm to move on the upright post, a clamping mechanism which is rotated at the front end of the lifting arm, a second motor which is fixedly arranged at the front end of the lifting arm and used for driving the clamping mechanism to rotate, a sudden braking mechanism which is arranged outside the first motor and the second motor, and an infrared sensor which is arranged on the clamping mechanism.

Description

Auxiliary mechanical arm for ship manufacturing

Technical Field

The utility model belongs to the technical field of ship manufacturing, and particularly relates to an auxiliary manipulator for ship manufacturing.

Background

As seen from the change of the world shipbuilding market share of the chinese shipbuilding industry in the last ten years, the specific gravity of the chinese shipbuilding industry in the global market is increasing significantly, and china has become one of the global important shipbuilding centers, in shipbuilding, the hull is first constructed by a plurality of steel plates, and the hull often uses steel plates with higher strength based on the quality requirements of the technical indexes such as strength, stress resistance and the like of the ship itself.

At present, in the course of working, because parts such as steel sheet are relatively large in area, still very heavy, in the transportation, use ordinary forklift can't carry, and the crane of hoist and mount needs a large amount of manpowers to fix and bind, and the clamping is unstable, and there is certain risk, and staff's operation is very dangerous, and in the transportation, needs the dispatch personnel to carry out real-time tracking, and is very inconvenient, can't guarantee the security of work, can not satisfy regional all-round transfer, and is huge to manufacturing progress influence.

Disclosure of Invention

The embodiment of the utility model provides an auxiliary manipulator for ship manufacturing, which aims to solve the problems in the background technology.

The embodiment of the utility model is realized in such a way that the auxiliary manipulator for manufacturing the ship comprises a supporting seat, an upright post which is circumferentially rotated on the supporting seat, a first motor which is fixed on the supporting seat and used for driving the upright post to rotate, a lifting arm with the tail end hinged to the top of the upright post, a first driving piece which is arranged on the upright post and used for driving the lifting arm to move on the upright post, a clamping mechanism which is rotated at the front end of the lifting arm, a second motor which is fixedly arranged at the front end of the lifting arm and used for driving the clamping mechanism to rotate, a sudden braking mechanism which is arranged outside the first motor and the second motor, and an infrared sensor which is arranged on the clamping mechanism;

the clamping mechanism comprises a hanging rod fixedly arranged at the output end of the second motor, a clamp rotating at one end of the hanging rod far away from the second motor and a third motor fixed on the hanging rod and used for driving the clamp to rotate;

the clamp comprises a clamping seat fixedly arranged at the output end of the third motor, a first clamping arm and a second clamping arm which are oppositely arranged on the clamping seat, and a driving mechanism arranged on the clamping seat and used for driving the first clamping arm and the second clamping arm to open and close; the infrared sensors are arranged in two groups, and the two groups of infrared sensors are respectively arranged on the first clamping arm and the second clamping arm.

Preferably, the emergency brake mechanism comprises a friction disc provided with an upright post and one end of the suspender, a mounting frame fixedly arranged on the first motor and the second motor, a pressure head moving on the mounting frame to be close to or far away from the friction disc, and a second driving piece fixed on the mounting frame and used for driving the pressure head to move.

Preferably, the driving mechanism comprises a first rotating arm, a second rotating arm and a third driving piece, wherein the first rotating arm and the second rotating arm are opposite to the inner side of the clamping seat, and the third driving piece is arranged between the first rotating arm and the second rotating arm and used for pushing the first rotating arm and the second rotating arm to open and close.

Preferably, the tail ends of the first clamping arms and the second clamping arms and the tail ends of the first rotating arms and the second rotating arms are hinged through connecting rods.

Preferably, the clamping mechanism further comprises a pressing mechanism arranged on at least one clamping arm.

Preferably, the pressing mechanism comprises a pressing plate axially rotating on the inner side of the clamping arm and used for contacting with the object to be grabbed, a rotating frame hinged on the rotating arm on the clamping arm and used for pushing the pressing plate to rotate, and a fourth driving piece fixedly arranged on the clamping seat and used for pushing the rotating frame to rotate.

The utility model provides an auxiliary manipulator for ship manufacturing, which has the following beneficial effects:

this auxiliary mechanical arm for shipbuilding can realize the rotation to different directions through the setting of first motor, second motor, realizes the omnidirectional transfer, can restrict the rotation through the setting of emergency braking mechanism, if unexpected circumstances appear, stops rotating immediately, avoids the part to fly out to hurt the people, through the clamp plate that first arm lock and second arm lock are last and inside setting, can carry out high strength to parts such as steel sheet clamp tightly, avoid droing, through setting up infrared sensor, can carry out real-time supervision to the clamping process, if emergency appears, the rotation of first motor and second motor is controlled immediately, improves operational safety greatly.

Drawings

FIG. 1 is a schematic view of a structure of an auxiliary manipulator for manufacturing a ship;

FIG. 2 is a schematic view of the structure of a jig in the auxiliary robot for manufacturing a ship;

FIG. 3 is a schematic cross-sectional view of a jig in an auxiliary robot for manufacturing a ship;

fig. 4 is an enlarged schematic view of the structure at a in fig. 1.

In the figure:

100. a support base;

200. a column;

300. a first motor;

400. a lifting arm;

500. a first driving member;

600. clamping mechanism;

621. clamping base;

622. a first clamp arm;

623. a second clamp arm;

6241. a first rotating arm;

6242. a second rotating arm;

6243. a third driving member;

625. a connecting rod;

640. a compressing mechanism;

641. a pressing plate;

642. a rotating frame;

643. a fourth driving member;

700. a second motor;

800. an emergency brake mechanism;

810. a friction plate;

820. a mounting frame;

830. a pressure head;

840. and a second driving member.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

The utility model provides an auxiliary manipulator for ship manufacturing, which comprises a supporting seat 100, a stand column 200 circumferentially rotating on the supporting seat 100, a first motor 300 fixed on the supporting seat 100 and used for driving the stand column 200 to rotate, a lifting arm 400 with the tail end hinged to the top of the stand column 200, a first driving piece 500 arranged on the stand column 200 and used for driving the lifting arm 400 to move on the stand column, a clamping mechanism 600 rotating at the front end of the lifting arm 400, a second motor 700 fixedly arranged at the front end of the lifting arm 400 and used for driving the clamping mechanism 600 to rotate, a sudden braking mechanism 800 arranged outside the first motor 300 and the second motor 700 and an infrared sensor arranged on the clamping mechanism 600, wherein the first driving piece 500 can adopt an electric cylinder or a hydraulic cylinder and can realize lifting and descending of the lifting arm 400;

the clamping mechanism 600 comprises a boom fixedly arranged at the output end of the second motor 700, a clamp rotating at one end of the boom far away from the second motor 700, and a third motor fixed on the boom and used for driving the clamp to rotate;

the fixture comprises a clamping seat 621 fixedly arranged at the output end of the third motor, a first clamping arm 622 and a second clamping arm 623 opposite to the clamping seat 621, and a driving mechanism arranged on the clamping seat 621 and used for driving the first clamping arm 622 and the second clamping arm 623 to open and close; wherein, two groups of infrared sensors are provided, and the two groups of infrared sensors are respectively arranged on the first clamping arm 622 and the second clamping arm 623.

Specifically, the infrared sensor is used for monitoring the steel plate pieces on the first clamping arm 622 and the second clamping arm 623, if shaking or shaking of the steel plate pieces occurs, the infrared sensor is triggered immediately to send a signal, the emergency braking mechanism 800 is controlled to brake through the control system, stopping is performed immediately, and the dangerous occurrence caused by the fact that parts are thrown out is avoided.

As shown in fig. 1, 2 and 3, the driving mechanism includes a first swing arm 6241 and a second swing arm 6242 opposing inside the chuck 621, and a third driving member 6243 provided between the first swing arm 6241 and the second swing arm 6242 for pushing the first swing arm 6241 and the second swing arm 6242 to open and close. Wherein, the tail end of the first clamping arm 622 and the tail end of the second clamping arm 623, and the tail end of the first rotating arm 6241 and the second rotating arm 6242 are hinged by a connecting rod 625.

It should be noted that, the first rotating arm 6241 and the second rotating arm 6242 inside the clamping seat 621 rotate synchronously with the first clamping arm 622 and the second clamping arm 623 outside the clamping seat 621, the first rotating arm 6241 and the first clamping arm 622 are on the same rotating shaft, the first rotating arm 6241 and the second clamping arm 623 are also on the same rotating shaft, when the third driving member 6243 stretches and contracts, the first rotating arm 6241 and the second rotating arm 6242 are driven to open and close, so that the first clamping arm 622 and the second clamping arm 623 are driven to rotate synchronously to open and close, clamping of the steel plate is achieved, the third driving member 6243 adopts a hydraulic cylinder, and strong thrust can be provided, so that stable clamping of the steel plate is ensured.

As shown in fig. 1, 2 and 3, the clamping mechanism 600 further includes a hold down mechanism 640 disposed on at least one of the clamping arms. The pressing mechanism 640 includes a pressing plate 641 axially rotating inside the clamping arm to contact with the object to be gripped, a rotating frame 642 hinged to the rotating arm to push the pressing plate 641 to rotate, and a fourth driving member 643 fixedly arranged on the clamping seat 621 to push the rotating frame 642 to rotate.

Specifically, the fourth driving element 643 can drive the rotating frame 642 to rotate in a small amplitude, so that the pressing plate 641 compresses the steel plate, the overall compactness is further improved, after the steel plate is clamped by the first clamping arm 622 and the second clamping arm 623, the fourth driving element 643 is immediately pneumatic to stretch and retract, so that the rotating frame 642 can be pressed fast, the clamping stability is improved, the fourth driving element 643 is driven by a hydraulic cylinder, the operation is more stable, the whole clamping mechanism 600 is an independent mechanism and cannot be influenced by the rotation of the first rotating arm 6241 and the second rotating arm 6242, and the clamping mechanism is independently operated.

As shown in fig. 1 and 4, the emergency brake mechanism 800 includes a friction plate 810 provided at one end of the upright 200 and the boom 610 away from the clamp 620, a mounting bracket 820 fixedly provided at the first motor 300 and the second motor 700, a pressing head 830 moving on the mounting bracket 820 toward or away from the friction plate 810, and a second driving member 840 fixed on the mounting bracket 820 for driving the pressing head 830 to move.

Specifically, through the setting of first motor 300 and second motor 700, can drive the rotation of lifting arm 400 and clamping mechanism 600 and realize all-round rotary motion, and when the steel sheet spare rocks or when becoming flexible, send response signal through infrared sensor, control through the control system who takes certainly, it is ejecting to drive pressure head 830 to utilize second driving piece 840, compress tightly friction disc 810, realize pivoted stopping, avoid appearing the part and throw out, the security of clamping operation has been improved greatly, second driving piece 840 can adopt the electric cylinder also can adopt the pneumatic cylinder, the braking of friction disc 810 can all be realized.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (6)

1. The auxiliary manipulator for manufacturing the ship is characterized by comprising a supporting seat (100), a stand column (200) which circumferentially rotates on the supporting seat (100), a first motor (300) which is fixed on the supporting seat (100) and is used for driving the stand column (200) to rotate, a lifting arm (400) with the tail end hinged to the top of the stand column (200), a first driving piece (500) which is arranged on the stand column (200) and is used for driving the lifting arm (400) to move on the stand column, a clamping mechanism (600) which rotates at the front end of the lifting arm (400), a second motor (700) which is fixedly arranged at the front end of the lifting arm (400) and is used for driving the clamping mechanism (600) to rotate, a sudden-action mechanism (800) which is arranged outside the first motor (300) and the second motor (700) and an infrared sensor which is arranged on the clamping mechanism (600);

the clamping mechanism (600) comprises a hanging rod (610) fixedly arranged at the output end of the second motor (700), a clamp (620) rotating at one end of the hanging rod (610) far away from the second motor (700) and a third motor (630) fixedly arranged on the hanging rod (610) and used for driving the clamp (620) to rotate;

the clamp (620) comprises a clamping seat (621) fixedly arranged at the output end of the third motor (630), a first clamping arm (622) and a second clamping arm (623) which are oppositely arranged on the clamping seat (621), and a driving mechanism (624) which is arranged on the clamping seat (621) and used for driving the first clamping arm (622) and the second clamping arm (623) to open and close; wherein the infrared sensors are provided in two groups, and the two groups of infrared sensors are respectively arranged on the first clamping arm (622) and the second clamping arm (623).

2. The auxiliary robot for manufacturing a ship according to claim 1, wherein the emergency brake mechanism (800) comprises a friction plate (810) provided with a stand (200) and one end of the boom (610) far from the clamp (620), a mounting bracket (820) fixedly provided on the first motor (300) and the second motor (700), a ram (830) moving on the mounting bracket (820) close to or far from the friction plate (810), and a second driving member (840) fixed on the mounting bracket (820) for driving the ram (830) to move.

3. The auxiliary robot for manufacturing a ship according to claim 1, wherein the driving mechanism (624) includes a first rotating arm (6241) and a second rotating arm (6242) which are opposed to each other inside the holder (621), and a third driving member (6243) which is provided between the first rotating arm (6241) and the second rotating arm (6242) and which pushes the first rotating arm (6241) and the second rotating arm (6242) to open and close.

4. A marine vessel manufacturing auxiliary manipulator as claimed in claim 3, characterised in that the tail end of the first clamp arm (622) and the tail end of the second clamp arm (623) and the tail end of the first rotating arm (6241) and the second rotating arm (6242) are hinged by a connecting rod (625).

5. The marine vessel production assist manipulator of claim 1, wherein the clamping mechanism (600) further comprises a hold down mechanism (640) disposed on at least one of the clamp arms.

6. The auxiliary robot for manufacturing a ship according to claim 5, wherein the pressing mechanism (640) comprises a pressing plate (641) axially rotating inside the clamp arm for contacting an object to be grasped, a rotating frame (642) hinged to the rotating arm for pushing the pressing plate (641) to rotate, and a fourth driving member (643) fixedly provided on the clamp seat (621) for pushing the rotating frame (642) to rotate.