CN2509163Y - Lifting transporting apparatus for fetching articles from local high-temperature area - Google Patents
Lifting transporting apparatus for fetching articles from local high-temperature area Download PDFInfo
- Publication number
- CN2509163Y CN2509163Y CN 01264079 CN01264079U CN2509163Y CN 2509163 Y CN2509163 Y CN 2509163Y CN 01264079 CN01264079 CN 01264079 CN 01264079 U CN01264079 U CN 01264079U CN 2509163 Y CN2509163 Y CN 2509163Y
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- Prior art keywords
- arm
- grapple
- vehicle frame
- flexible axle
- electronic cylinder
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- Control And Safety Of Cranes (AREA)
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Abstract
A hoisting and transporting device which can grab articles from partial high temperature region comprises a transporting track, a car bracket running on the transporting track, hoisting components assembled on the car bracket, and a dragging component driving the car bracket to run and a mechanical hand hung under the car bracket; the mechanical hand is a full-metal structure and comprises a connecting-rod arm and a grabbing hand; the connecting-rod arm is two pairs of connected panel four-connecting-rod structure; the grabbing hand comprises an arm, a grabbing hook and a open-close device which consists of a bent connecting rod, a push-pull rod and a motor cylinder; and a directing opening is arranged at the lower end of the arm; an article-contact sensing system, an opening sensing system of the grabbing hook and a lifting-limit sensing system of the mechanical hand are arranged in the device; electrical appliances of all sensing systems are arranged far away from the mechanical hand; by being assembled a programmable logic controller (PLC), the device can correctly grab articles from pre-fixed places and can send out signals, which is applied to metallurgy and heat treatment industries and automated production lines used for lifting the transmitting workpieces needed to be grabbed from partial high temperature regions.
Description
Technical field
The utility model belongs to handling machinery, relates to the mechanical device of extracting from the localized hyperthermia district, lifting, conveying workpieces.
Background technology
Hoisting and transport equipment commonly used in the general factory, for example CD type hoisting crane with regard to its suspension hook structure, is not grabbed the function of thing automatically.And some have the suspension hook of grabbing the thing function automatically, then are the self gravitation effect that utilizes suspension hook mostly, or trigger the open-and-close mechanism of suspension hook and realize grabbing automatically thing from the antagonistic force of workpiece.Because whether this machinery self does not provide the feedback signal of " whether having caught article ", so caught article (workpiece) to need operating personal to judge.The suspension hook of the special purpose crane that has can provide the feedback signal of " whether having caught article ", but, the sensor of acquired signal be installed in the suspension hook open-and-close mechanism near, cause the environment for use of suspension hook to be restricted, in other words, be unsuitable for the environment that is used in localized hyperthermia or is corrosive atmosphere.Prior art also has some to have the hoisting and transport equipment of automatic measuring ability, as some equipment on robot, the automatic assembly line, structure that then has and control thereof are complicated, and the position that requires laying for goods that has is very accurate, the reliability that has is low, and involves great expense mostly.In a word, the prior art hoisting and transport equipment is not a device economic and practical, simple in structure, particularly is unsuitable for being applied in extracting in the localized hyperthermia district, lifting, conveying workpieces.
Summary of the invention
The purpose of this utility model provides a kind of hoisting and transport equipment of getting thing from the localized hyperthermia district, its manipulator part separates with the electric component that comprises sensor, appliance device is away from the hot operation district, thereby can in the localized hyperthermia district, get thing, and device has movement position and touches quality testing and survey arbitration functions, and work accurately and reliably.
The utility model is got the hoisting and transport equipment (hereinafter to be referred as hoisting and transport equipment) of thing from the localized hyperthermia district, comprise conveying track, at the vehicle frame of walking on the conveying track, be contained in the heavy parts that rises on the vehicle frame, drive dragging parts and being suspended on manipulator under the vehicle frame of vehicle frame walking.Rise between the retarder of heavy parts and the cable drum coupler is arranged.This manipulator is an all-metal construction, comprises the pitman arm that links to each other up and down and grasps hand.Pitman arm is the two secondary lanar four rod mechanisms that link to each other with contiguous block.The primary member that grasps hand comprises arm, grapple and the grapple open-and-close mechanism of mainly being made up of curved rod, push-and-pull flexible axle, electronic cylinder and described grapple.Also comprise in the device and touch thing sensing mechanism, grapple folding sensing mechanism and the spacing sensing mechanism of mechanism's hand lifting.The described thing bar that touches that touches the thing sensing mechanism is contained on the arm that grasps hand, touches near switch by lever and control flexible axle bonded assembly slide block again, and this is contained on the vehicle frame near switch.Described grapple folding sensing mechanism comprises the member in the described grapple open-and-close mechanism, and the upper end of described push-and-pull flexible axle connects the movement parts of electronic cylinder, is touched by the moving lever that links to each other with this movement parts to be contained in the outer travel switch of electronic cylinder body, and electronic cylinder is contained on the vehicle frame.The spacing sensing mechanism of described manipulator lifting has comprised the coupler between the retarder and cable drum in the heavy parts, and near the lead limit switch of coupler, uniform bolt cap is as the detection object of reference of lead limit switch on the coupler.
Extracting hand in the utility model hoisting and transport equipment, upper end with its arm links to each other with the lower end of pitman arm, arm is tuning fork-like substantially, and the inwall of fork body is opened chute about it, in the described grapple open-and-close mechanism, grapple is contained in the arm lower tine body space for a pair of crozier of doing open and close movement of symmetry, and its upper end is fixed on the bottom of arm respectively with bearing pin.The curved rod of a pair of symmetry, its upper end links to each other with a sliding pin, moves in the chute of this sliding pin in described arm, and the lower end of curved rod is connected the outside in grapple stage casing respectively with hinge.The grapple open-and-close mechanism is driven by electronic cylinder, the movement parts of electronic cylinder links to each other with the mandrel of push-and-pull flexible axle upper end, the overcoat of push-and-pull flexible axle upper end is fixed on the fixed position of electronic cylinder, and the overcoat of push-and-pull flexible axle lower end and mandrel connect together with the crooked flex point of two curved rods respectively.The mandrel that when the motion of the moving member of electronic cylinder, drives the push-and-pull flexible axle with outside the interplanting relative motion, this relative motion make described a pair of curved rod around top common hinge make gyroscopic movement opposing or in opposite directions, the revolution of curved rod drives coupled a pair of grapple and does open and close movement, makes the action of pick-and-place object (workpiece).
In the design's hoisting and transport equipment, in the lower end of grasping the hand arm one guide openings is arranged, from the front of grapple, guide openings is " eight " font of symmetry or " V " font that falls substantially.When manipulator descended, guide openings guiding grapple was aimed at the article (workpiece) that will grasp.There is certain bias error the position that this guide openings allows workpiece to place on station.
The characteristics and the effect of the utility model hoisting and transport equipment are summarized as follows:
(1) manipulator, comprising pitman arm and grasping hand is the all-metal physical construction, can be from the localized hyperthermia district grabbing workpiece.
(2) touch the thing sensing mechanism and can determine whether to find and grabbed workpiece, avoid sky to grab.
(3) grapple folding sensing mechanism can make manipulator catch workpiece exactly, provides the signal of " having caught article " simultaneously.
(4) pitman arm on manipulator top has limited two degree of freedom grasping hand in the bottom and perpendicular to the swing of plane four connecting rod directions.
(5) guide openings of arm lower end has enlarged the scope of accurate extracting, when the vertical centred position for the treatment of the relative grapple of grabbing workpiece is slightly offset, as long as can be directed to openings lead, still can grasp smoothly.
(6) manipulator lifting stop gear can be judged manipulator exactly or wait to grasp the height of object, improves the safe reliability of grapple work.
Description of drawings
Fig. 1 is the utility model hoisting and transport equipment assembly figure.
Fig. 2 is the block diagram of the extracting hand portion (A section among Fig. 1) of the design's device for mechanical hand.
Fig. 3 is a B partial enlarged drawing among Fig. 1, represented to touch the thing sensing mechanism near electronic cylinder and push-and-pull flexible axle connecting end in switch terminals and the grapple folding sensing mechanism.
Fig. 4 is half section scheme drawing in a left side of an application example of the design's device.
Fig. 5 is half section scheme drawing in the right side of an application example of the design's device.
Fig. 6 is the lateral plan of Fig. 4 and Fig. 5 device.
The specific embodiment
At first see also Fig. 1, Fig. 2 and Fig. 4, Fig. 5, the utility model hoisting and transport equipment comprises conveying track 231, and the vehicle frame 160 of walking on conveying track is installed in the heavy parts 180 on the vehicle frame, and a manipulator 100 of metal construction is suspended under the vehicle frame 160.Manipulator 100 comprises the pitman arm 150 that links up and down and grasps hand 110.Pitman arm 150 is the two secondary lanar four rod mechanisms 151 and 152 that link to each other with contiguous block 155.The upper end of pitman arm 150 is connected with vehicle frame 160, and the lower end links to each other with extracting hand 110 with lower adaptor 156.Playing the contiguous block 155 that steel rope 181 in the heavy parts 180 passes pitman arm is connected with the lower end of lanar four rod mechanism 152.Grasp hand 110 and comprise arm 111 and grapple 122, and the grapple open-and-close mechanism of forming by curved rod 121, grapple 122, push-and-pull flexible axle 127, electronic cylinder 191.
Please again referring to Fig. 2, the arm 111 that grasps in the hand 110 is tuning fork-like substantially, opens chute 113 on the fork body inwall about it, and grapple 122 is a pair of crozier of doing open and close movement of symmetry, be contained in the space of arm 111 fork bodies, its upper end is fixed on the bottom of arm 111 with bearing pin 124.The upper end of two curved rods 121 of symmetry links to each other and a shared sliding pin 123, motion in the chute 113 of this sliding pin 123 in arm 111, and the lower end of curved rod 121 is connected the outside in grapple 122 stage casings respectively with hinge 126.The crooked flex point 125 of two curved rods 121 connects the overcoat and the mandrel of push-and-pull flexible axle 127 lower ends respectively, the overcoat of these push-and-pull flexible axle 127 upper ends link to each other with the fixed part of electronic cylinder 191 on being installed in vehicle frame 160 (Fig. 1).The mandrel of push-and-pull flexible axle 127 upper ends links to each other with the moving member of electronic cylinder 191.The grapple open-and-close mechanism is driven by electronic cylinder 191.
Referring to Fig. 1, Fig. 2 and Fig. 3.The design's hoisting and transport equipment touch thing sensing mechanism and grapple folding sensing mechanism, their sensor electrical equipment device (near switch 161 and travel switch 193) is installed on the vehicle frame 160.Touch the thing sensing mechanism and comprise that a lever 131, its fulcrum are fixed on the arm 111, its inner 133 links to each other with the upper end of touching thing bar 112, and outer end 135 connects a control flexible axle 132.Touch thing bar 112 up-and-down movement in the chute 113 of arm 111.The upper end of control flexible axle 132 connects the slide block 163 that is contained on the vehicle frame 160.Slide block 163 motions touch near switch 161, and the spring under the slide block 163 resets slide block.Guide openings 141 is that bar strip shape member constitutes, and is contained in the left and right sides of arm 111 lower ends, and from the front of grapple 122, guide openings 141 is " eight " font of symmetry or " V " font that falls substantially.
Grapple folding sensing mechanism has been used the member of grapple open-and-close mechanism.The travel switch 193 of electronic cylinder 191 external installations has two, controls the unlatching of grapple 122 and the end position of closing motion respectively.The upper end overcoat of push-and-pull flexible axle 127 is fixed on the fixed position of electronic cylinder.The moving lever that links to each other with the movement parts of electronic cylinder 191 is connected the upper end mandrel of push-and-pull flexible axle 127, and the overcoat of push-and-pull flexible axle 127 lower ends links to each other with the crooked flex point 125 of curved rod 121 respectively with mandrel.Electronic cylinder 191 is a kind ofly to convert rotatablely moving of electrical motor to straight-line device by retarder and feed screw nut.Push-and-pull flexible axle 127 is a kind of devices with pulling force and thrust two-way function transferring power or signal.On electronic cylinder and the push-and-pull flexible axle market product-feed is arranged all.
The spacing sensing mechanism of the design's manipulator lifting has been contained in the heavy parts 180, comprised the coupler between the retarder and cable drum in the heavy parts, lead limit switch near coupler, the bolt cap of six uniform bolts on the coupler, these bolt cap are as the detection object of reference of lead limit switch, the angular transposition of reflection cable drum is controlled the high-low limit position of manipulator arm motion in view of the above.
Application example of the utility model hoisting and transport equipment such as Fig. 4, Fig. 5 and shown in Figure 6.Tracks 231 is arranged on the support 235, and the vehicle frame 160 in the hoisting and transport equipment is walked on conveying track 231.Conveying track 231 two ends have been installed and have been dragged parts, and left end is that driven end 232 has flower wheel, and right-hand member is a drive end 234.Between driving wheel and flower wheel, set up haulage cable 211.
One side of haulage cable 211 vehicle frame 160 that is connected in series, manipulator 100 hangs under the vehicle frame 160.On first three station of four stations of diagram six vehicle frames 160 and six manipulators 100 are arranged.On their cooresponding stations stack pallet 223 is arranged, the material frame 221 of dress workpiece is arranged on the stack pallet 223, on the material frame handgrip is arranged.Be illustrated as two manipulators and lift a material frame together.Each station local environment is not quite similar, and has plenty of high temperature, has plenty of corrosive property or humid atmosphere.Haulage cable 211 walk around driven end 232 on the traction steel wire rope reel of drive end 234 around some circles, the length of winding is greater than the distance between adjacent two stations.The traction steel wire rope reel is driven by driving motor, driving motor bidirectional movement, vehicle frame 160 and manipulator 100 crank motion between two stations.The travel switch 236 of restriction vehicle frame 160 strokes is housed on the conveying track 231.
During operation, drag parts make vehicle frame 160 with manipulator 100 along conveying track 231 walk the material frame 221 the top, playing heavy parts 180 starts, manipulator 100 descends, align the handgrip of material frame 221 by guide openings 141 guiding arms 111, touch thing bar 112 by jack-up, touch the action of thing sensing mechanism, by lever 131, slide block 163 on the control flexible axle 132 pulling vehicle frames 160, shake-up is sent signal near switch 161, grapple open-and-close mechanism and grapple folding sensing mechanism start, electronic cylinder 191 promotes push-and-pull flexible axle 127, grapple 122 closures are caught the handgrip of material frame 221, travel switch 193 in the grapple folding sensing mechanism sends signal, playing heavy parts 180 rises until limes superiors position (by the spacing sensing mechanism control of manipulator lifting) manipulator 100, dragging parts then starts, vehicle frame 160 is advanced along track 231, after will expecting that frame 221 is transported to station two by station one, manipulator 100 descends up to the smallest limit position, electronic cylinder 191 and push-and-pull flexible axle 127 open grapple 122, material frame 221 is placed on station two positions, and then plays heavy parts 180 rise manipulators 100 supreme end positions, tractor drives vehicle frame 160 and returns previous station.By the time the workpiece processing time arrives, repeat said process later on.
The design's device adapted Programmable Logic Controller PLC can realize full automatic control, just requiring electric-control system to have add subtract counter is used in the spacing sensing mechanism of manipulator lifting, detect the upper and lower end position of manipulator, remaining input and whole output are all switching value, and interface I/O counts in 100.The utility model device is particularly suitable for metallurgy and heat treatment industry, need grab the automatic production line of thing lifting and conveying workpieces from localized hyperthermia.
Claims (3)
1. from the localized hyperthermia district, get the hoisting and transport equipment of thing, comprise conveying track, at the vehicle frame of walking on the conveying track, be contained in playing heavy parts, drive dragging parts and being suspended on manipulator under the vehicle frame of vehicle frame walking on the vehicle frame; Rise between the retarder of heavy parts and the cable drum coupler is arranged, it is characterized in that manipulator is an all-metal construction, comprise the pitman arm that links to each other up and down and grasp hand, pitman arm is the two secondary lanar four rod mechanisms that link to each other with contiguous block, and the primary member that grasps hand comprises arm, grapple and the grapple open-and-close mechanism of mainly being made up of curved rod, push-and-pull flexible axle, electronic cylinder and described grapple; Also comprise and touch thing sensing mechanism, grapple folding sensing mechanism and the spacing sensing mechanism of manipulator lifting; The described thing bar that touches that touches the thing sensing mechanism is contained on the arm that grasps hand, touches near switch by lever and control flexible axle bonded assembly slide block again, and this is contained on the vehicle frame near switch; Described grapple folding sensing mechanism comprises the member in the described grapple open-and-close mechanism, and the upper end of described push-and-pull flexible axle connects the movement parts of electronic cylinder, is touched by the moving lever that links to each other with this movement parts to be contained in the outer travel switch of electronic cylinder body, and electronic cylinder is contained on the vehicle frame; The spacing sensing mechanism of described manipulator lifting has comprised the coupler between the retarder and cable drum in the heavy parts, and near the lead limit switch of coupler, uniform bolt cap is as the detection object of reference of lead limit switch on the coupler.
2. according to the described hoisting and transport equipment of claim 1, it is characterized in that grasping hand links to each other with the lower end of pitman arm with the upper end of arm, arm is tuning fork-like substantially, and the inwall of fork body is opened chute about it, in the described grapple open-and-close mechanism, grapple is contained in the arm lower tine body space for a pair of crozier of doing open and close movement of symmetry, and its upper end is fixed on the bottom of arm respectively with bearing pin; The curved rod of a pair of symmetry, its upper end links to each other with a sliding pin, moves in the chute of this sliding pin in described arm, and the lower end of curved rod is connected the outside in grapple stage casing respectively with hinge; The grapple open-and-close mechanism is driven by electronic cylinder, the movement parts of electronic cylinder links to each other with the mandrel of push-and-pull flexible axle upper end, the overcoat of push-and-pull flexible axle upper end is fixed on the fixed position of electronic cylinder, and the overcoat of push-and-pull flexible axle lower end and mandrel connect together with the crooked flex point of two curved rods respectively.
3. according to claim 1 or 2 described hoisting and transport equipments, it is characterized in that in the lower end of grasping the hand arm one guide openings being arranged, from the front of grapple, guide openings is " eight " font of symmetry or " V " font that falls substantially.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01264079 CN2509163Y (en) | 2001-09-27 | 2001-09-27 | Lifting transporting apparatus for fetching articles from local high-temperature area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01264079 CN2509163Y (en) | 2001-09-27 | 2001-09-27 | Lifting transporting apparatus for fetching articles from local high-temperature area |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2509163Y true CN2509163Y (en) | 2002-09-04 |
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ID=33671446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01264079 Expired - Fee Related CN2509163Y (en) | 2001-09-27 | 2001-09-27 | Lifting transporting apparatus for fetching articles from local high-temperature area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2509163Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440905A (en) * | 2014-12-29 | 2015-03-25 | 扬州捷迈锻压机械有限公司 | Workpiece conveying and placing mechanical arm |
| CN106457555A (en) * | 2014-05-08 | 2017-02-22 | 苹果公司 | Mass transfer tool manipulator assembly with remote center of compliance |
-
2001
- 2001-09-27 CN CN 01264079 patent/CN2509163Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106457555A (en) * | 2014-05-08 | 2017-02-22 | 苹果公司 | Mass transfer tool manipulator assembly with remote center of compliance |
| CN104440905A (en) * | 2014-12-29 | 2015-03-25 | 扬州捷迈锻压机械有限公司 | Workpiece conveying and placing mechanical arm |
| CN104440905B (en) * | 2014-12-29 | 2016-01-13 | 扬州捷迈锻压机械有限公司 | A kind of workpiece passes puts manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |