CN220449064U

CN220449064U - Large-scale ring clamping manipulator

Info

Publication number: CN220449064U
Application number: CN202322117684.0U
Authority: CN
Inventors: 周兵; 张慧; 刘威; 赵梅香; 周青海; 尚英军; 刘严允; 张琳荔
Original assignee: Lanzhou Ls Heavy Machinery Co ltd
Current assignee: Lanzhou Ls Heavy Machinery Co ltd
Priority date: 2023-08-08
Filing date: 2023-08-08
Publication date: 2024-02-06
Anticipated expiration: 2033-08-08

Abstract

The utility model discloses a large ring clamping manipulator which comprises a clamp frame, wherein a push rod capable of vertically reciprocating relative to the clamp frame is arranged in the clamp frame in a penetrating manner, the push rod extends out of the clamp frame and is connected with a cylindrical push head, a plurality of shaft ear plates are uniformly distributed on the outer circumference of the push head, and each shaft ear plate is hinged to a vertical movable end of a second connecting rod through a pin shaft; the clamping frame is characterized in that a plurality of connecting plates are uniformly distributed along a disc-shaped bottom plate at the bottom of the clamping frame, the connecting plates are hinged to the upper end of a first connecting rod through pin shafts, and the lower end of the first connecting rod is also hinged to a pin shaft plate at the upper end of a clamping jaw through pin shafts; the first connecting rod and the stay bar form a parallelogram movement mechanism; the middle of the stay bar is hinged to the horizontal movable end of the second connecting rod through a pin shaft; according to the utility model, four V-shaped claws are driven to carry out parallel movement clamping through four groups of parallelogram mechanisms, so that the clamping is stable and firm compared with lifting of rigging.

Description

Large-scale ring clamping manipulator

Technical Field

The utility model relates to the technical field of forging equipment, in particular to a large ring clamping manipulator.

Background

At present, for hoisting large ring pieces in China, a simple hook type sling is often manufactured for hoisting, when the sling is hoisted, a hoisting operator needs to manually hang one end of a steel wire rope on a crane hook through the cooperation of a crown block, the other end of the steel wire rope is hung on a weight lifting lug, various working procedures are needed to be closely matched in the hoisting process, and the hoisting efficiency is low; the accuracy and safety of the lifting of the heavy objects are greatly influenced by the operation level of personnel and related quality, and safety and quality accidents such as falling of the heavy objects, striking of objects and the like in the lifting process or the lifting process are easily caused by unstable hook, loosening and falling and the like caused by improper operation in the lifting process; the lifting rope of the lifting rope is made of flexible materials, so that the lifting rope is easy to wear in the use process, easy to age after long-term use and extremely low in safety; therefore, the traditional hanging hook sling has low lifting process efficiency and poor safety, and cannot be suitable for occasions with higher requirements on production beats.

Disclosure of Invention

The utility model aims at the safe and quick transfer of a large ring, and provides a clamping manipulator with a simple structure, which can stably and firmly clamp by four V-shaped claws, can enable the claws to open and close quickly by a connecting rod mechanism, and has greatly increased lifting efficiency and high safety compared with rigging.

In order to solve the technical problems, the utility model provides the following technical scheme:

the large ring clamping manipulator comprises a clamp frame, wherein the clamp frame is of a disc-shaped cavity structure with a convex middle part, a push rod capable of vertically and reciprocally moving relative to the clamp frame is arranged in a penetrating manner in the cavity, the push rod extends out of the clamp frame and is connected with a cylindrical push head, a plurality of shaft ear plates are uniformly distributed on the outer circumference of the push head, and each shaft ear plate is hinged to a vertical movable end of a second connecting rod through a pin shaft; the clamping frame is characterized in that a plurality of connecting plates are uniformly distributed along a disc-shaped bottom plate at the bottom of the clamping frame, two groups of outer pin shaft holes and inner pin shaft holes which are radially distributed along the disc-shaped bottom plate are formed in the connecting plates, the outer pin shaft holes are hinged to the upper end of a first connecting rod through pin shafts, and the lower end of the first connecting rod is hinged to a pin shaft plate at the upper end of a clamping jaw through pin shafts; the inner side pin shaft holes formed in the disc-shaped bottom plate of the clamp frame are hinged to the upper ends of the supporting rods through pin shafts, and the lower ends of the supporting rods are also hinged to pin shaft plates at the upper ends of the clamping jaws through pin shafts; the first connecting rod and the stay bar form a parallelogram movement mechanism; the middle of the stay bar is hinged to the horizontal movable end of the second connecting rod through a pin shaft.

Preferably, the push rod and the clamp frame are of a dynamic sealing structure.

Preferably, the parallelogram motion mechanism formed by the first connecting rod and the stay bar has four groups, the four groups are respectively hinged on the four clamping jaws, and the four clamping jaws are uniformly distributed along the center of the push rod.

The working process of the utility model is as follows:

according to the large ring clamping manipulator disclosed by the utility model, when a push rod 7 passes through a clamp frame 6 to push a push head 5 to move downwards, the push head 5 drives a horizontal movable end of a second connecting rod 4 to prop up a supporting rod 3 outwards, the activity of the supporting rod 3 drives a parallelogram movement mechanism consisting of a first connecting rod 2 and the supporting rod 3 to prop up outwards, the parallelogram movement mechanism props up outwards and drives 4 clamping jaws 1 hinged to the lower end to prop up outwards at the same time, the distance between the clamping jaws 1 is increased, tangent circles formed by the 4 clamping jaws 1 are directly increased, and the clamping outer diameter of the manipulator is increased to adapt to the appearance size of a hung weight; when the push rod 7 pulls the push head 5 to move upwards, the push head 5 drives the vertical movable end of the second connecting rod 4 to move upwards, the horizontal movable end of the second connecting rod 4 moves inwards in a straight line, the pull rod 3 moves inwards, the pull rod 3 drives a parallelogram movement mechanism formed by the first connecting rod 2 and the pull rod 3 to shrink inwards, the parallelogram movement mechanism shrinks inwards and simultaneously drives the 4 clamping jaws 1 hinged to the lower end to shrink inwards, the tangent circle formed by the 4 clamping jaws 1 is directly reduced, the clamping outer diameter is reduced, and the mechanical arm tightly grabs a heavy object to start lifting.

The beneficial effects of the utility model are as follows:

(1) According to the utility model, four V-shaped claws are driven to carry out parallel movement clamping through four groups of parallelogram mechanisms, so that the clamping is stable and firm compared with lifting of rigging. The safety of the hoisting and transferring process of the large ring piece is ensured.

(2) According to the utility model, the connecting rod mechanism is pushed by the push head, so that the clamping jaw can be rapidly opened and closed, and the lifting efficiency of the lifting device is greatly improved compared with that of a rigging.

(3) The utility model adopts a rigid structure, no shaking exists in the hoisting process, and the transportation speed is greatly increased.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a bottom view of the present utility model;

FIG. 3 is an isometric view of the present utility model;

in the figure: 1-clamping jaw, 2-first connecting rod, 3-stay bar, 4-second connecting rod, 5-push head, 6-clamp frame and 7-push rod.

Detailed Description

The utility model is described in further detail below with reference to the accompanying drawings.

The large ring clamping manipulator shown in fig. 1-3 comprises a clamp frame 6, wherein the clamp frame 6 is of a disc-shaped cavity structure with a raised middle part, a push rod 7 which is of a dynamic sealing structure with the clamp frame 6 is arranged in the cavity in a penetrating manner, the push rod 7 extends out of the clamp frame 6 and is connected with a cylindrical push head 5, four shaft ear plates are uniformly distributed on the outer circumference of the push head 5, and each shaft ear plate is hinged to a vertical movable end of a second connecting rod 4 through a pin shaft; four connecting plates are uniformly distributed along the disc-shaped bottom plate at the bottom of the clamp frame 6, each connecting plate is provided with two outer pin shaft holes and two inner pin shaft holes which are radially distributed along the disc-shaped bottom plate, the outer pin shaft holes are hinged to the upper end of the first connecting rod 2 through pin shafts, and the lower end of the first connecting rod 2 is also hinged to the pin shaft plate at the upper end of the clamping jaw 1 through pin shafts; the inner side pin shaft holes formed in the disc-shaped bottom plate of the clamp frame 6 are hinged to the upper end of the supporting rod 3 through pin shafts, and the lower end of the supporting rod 3 is also hinged to the pin shaft plate at the upper end of the clamping jaw 1 through pin shafts; the first connecting rod 2 and the supporting rod 3 form a parallelogram movement mechanism; the middle of the stay bar 3 is hinged to the horizontal movable end of the second connecting rod 4 through a pin shaft.

The parallelogram motion mechanism formed by the first connecting rod 2 and the stay bar 3 is provided with four groups, the four groups are respectively hinged on the four clamping jaws 1, and the four clamping jaws 1 are uniformly distributed along the center of the push rod 7.

The working process of the utility model comprises the following steps:

According to the utility model, four V-shaped claws are driven to carry out parallel movement clamping through four groups of parallelogram mechanisms, so that the clamping is stable and firm compared with lifting of rigging. The safety of the hoisting and transferring process of the large ring piece is ensured. According to the utility model, the connecting rod mechanism is pushed by the push head, so that the clamping jaw can be rapidly opened and closed, and the lifting efficiency of the lifting device is greatly improved compared with that of a rigging. The clamping jaw adopts a rigid structure, no shaking exists in the hoisting process, and the transportation speed is greatly increased.

The foregoing is merely a preferred example of the present utility model, and it should be noted that other equivalent variations and modifications can be made as well known in the art of hydraulic systems, and should be considered as the scope of the present utility model, given the technical teaching provided by the present utility model.

Claims

1. A large-scale ring clamping manipulator is characterized in that: the clamp comprises a clamp frame (6), wherein the clamp frame (6) is of a disc-shaped cavity structure with a protruding middle part, a push rod (7) capable of vertically and reciprocally moving relative to the clamp frame (6) is arranged in the cavity in a penetrating manner, the push rod (7) extends out of the clamp frame (6) and is connected with a cylindrical push head (5), a plurality of shaft lug plates are uniformly distributed on the outer circumference of the push head (5), and each shaft lug plate is hinged to a vertical movable end of a second connecting rod (4) through a pin shaft;

the clamping frame (6) is uniformly provided with a plurality of connecting plates along a disc-shaped bottom plate at the bottom, two groups of outer pin shaft holes and inner pin shaft holes which are radially distributed along the disc-shaped bottom plate are formed in the connecting plates, the outer pin shaft holes are hinged to the upper end of the first connecting rod (2) through pin shafts, and the lower end of the first connecting rod (2) is hinged to a pin shaft plate at the upper end of the clamping jaw (1) through pin shafts; an inner pin shaft hole formed in a disc-shaped bottom plate of the clamp frame (6) is hinged to the upper end of the supporting rod (3) through a pin shaft, and the lower end of the supporting rod (3) is also hinged to a pin shaft plate at the upper end of the clamping jaw (1) through a pin shaft; the first connecting rod (2) and the stay bar (3) form a parallelogram movement mechanism;

the middle of the supporting rod (3) is hinged to the horizontal movable end of the second connecting rod (4) through a pin shaft.

2. The large ring holding manipulator of claim 1, wherein: the push rod (7) and the clamp frame (6) are of a dynamic sealing structure.

3. A large ring gripping robot as claimed in claim 1 or 2, wherein: the parallelogram motion mechanism formed by the first connecting rod (2) and the supporting rod (3) is provided with four groups, the four groups of parallelogram motion mechanism are respectively hinged on the four clamping jaws (1), and the four clamping jaws (1) are uniformly distributed along the center of the push rod (7).