A rigid arm type three-dimensional coiled core hoisting manipulator and its use method

Abstract

The present invention discloses a rigid-arm type three-dimensional wound core hoisting manipulator and a method for using the same, comprising a suspension frame, a lifting device, a slewing device, a telescopic arm, a clamping device and a control component, wherein the lifting device is connected to the top of the suspension frame, wherein the slewing device is arranged at the bottom of the suspension frame, the telescopic arm comprises an inner arm and an outer arm, wherein the lower part of the inner arm is nested inside the outer arm, the top of the outer arm passes through the bottom of the suspension frame and is connected to the slewing device, wherein the top of the inner arm is connected to the lifting device, the inner arm can slide up and down inside the outer arm under the lifting action of the lifting device, the bottom of the inner arm is connected to the clamping device, wherein the clamping device can clamp the three-dimensional wound core, and the lifting device, the slewing device, the telescopic arm and the clamping device are electrically connected to the control component respectively.

Description

Technical Field

[0001] The invention belongs to the technical field of hoisting and transporting the iron core of a three-dimensional wound iron core transformer, and in particular relates to a hard-arm type three-dimensional wound iron core hoisting manipulator and a use method thereof. Background Art

[0002] At present, the lifting of the core of the three-dimensional wound core transformer in China is almost entirely done by manually binding the lifting belt to the core, and then hanging one end of the lifting belt on the crane to realize the lifting and transportation of the core. When using this lifting method, the lifting belt is not easy to fix, and the core swings during the lifting process, which is easy to damage the core and the operator. With the increase in transformer production and the emphasis on the personal safety of operators, this backward lifting method can no longer meet the requirements in terms of efficiency and safety. Therefore, the market urgently needs an efficient and safe three-dimensional wound core lifting tool. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a rigid-arm three-dimensional coiled core lifting manipulator and a method of using the same, thereby overcoming the problems in the prior art in that the lifting belt is difficult to fix, the core swings during the lifting process, which can easily damage the core and injure the operator.

[0004] In order to solve the technical problem, the technical solution of the present invention is: a hard-arm type three-dimensional wound iron core lifting robot, including a suspension frame, a lifting device, a rotating device, a telescopic arm, a clamping device and a control component, the lifting device is connected to the top of the suspension frame, wherein the rotating device is arranged at the bottom of the suspension frame, the telescopic arm comprises an inner arm and an outer arm, wherein the lower part of the inner arm is nested in the outer arm, the top of the outer arm passes through the bottom of the suspension frame and is connected to the rotating device, wherein the top of the inner arm is connected to the lifting device, the inner arm can slide up and down inside the outer arm under the lifting action of the lifting device, the bottom of the inner arm is connected to the clamping device, wherein the clamping device can clamp the three-dimensional wound iron core, and the lifting device, the rotating device, the telescopic arm and the clamping device are electrically connected to the control component respectively.

[0005] Preferably, the suspension frame includes a suspension gantry, a base frame, a lifting pin and a lifting plate, wherein the bottom of the suspension gantry is connected to the base frame by bolts, the lifting plate is located on the four corners of the base frame, wherein the lifting plate is connected to the base frame by a lifting pin, the lifting device is connected to the top of the suspension gantry, and the rotating device is connected to the upper end surface of the base frame.

[0006] Preferably, the lifting device includes a lifting hoist, a hoist mounting frame and a hoist mounting pin, wherein the hoist mounting frame is connected to the top of the suspension door frame by bolts, and the lifting hoist is connected to the hoist mounting frame through the hoist mounting pin, wherein the lower end of the lifting hoist is connected to the top of the inner arm by a steel wire, and the lifting hoist can lift the inner arm to perform linear motion in the vertical direction, wherein the lifting hoist is electrically connected to the control component.

[0007] Preferably, the slewing device includes a slewing support, a brake disc and a brake, wherein the outer ring of the slewing support is connected to the base frame by bolts, the inner ring of the slewing support is connected to the top of the outer arm by bolts, the brake disc is installed on the upper part of the inner ring of the slewing support, one end of the brake is installed on the column of the suspension door frame, wherein the other end of the brake is in contact with the upper end surface of the brake disc, and the brake brakes the slewing device through the friction force generated by the interaction with the brake disc, wherein the brake is electrically connected to the control component.

[0008] Preferably, the inner arm and outer wall cross-sections of the telescopic arm are both square or rectangular, wherein a guide wheel group is installed on the outer arm, wherein there are eight guide wheel groups in total and they are evenly distributed on the four sides of the outer arm, wherein two guide wheel groups are arranged on each side of the outer arm and are distributed up and down, wherein each guide wheel group is tangent to the side of the inner arm to form rolling friction, wherein the guide wheel group can guide the movement direction of the inner arm.

[0009] Preferably, a travel switch bracket and a travel switch are also provided on the outer wall, wherein the travel switch is installed on the travel switch bracket, and impact blocks are respectively provided on the sides of the two ends of the inner arm. When the impact blocks at the ends of the inner arm touch the travel switch, it can be prompted that the arm cannot rise or fall further, and the travel switch is electrically connected to the control component.

[0010] Preferably, the clamping device includes a clamping base, a left linear guide group, a right linear guide group, a left screw pair, a right screw pair, a left drive motor, a right drive motor, a left clamping jaw and a right clamping jaw, wherein the upper end of the clamping base is connected to the lower end of the inner arm by bolts, and the left linear guide group and the right linear guide group are respectively installed on the left and right sides of the lower end surface of the clamping base, wherein the left linear guide group and the right linear guide group respectively have two linear guides, and the two linear guides of the left linear guide group and the right linear guide group are respectively in the same straight line, and the two ends of the top of the left clamping jaw are embedded in the left In the side linear guide group, the two ends of the top of the right clamping jaw are embedded in the right linear guide group, the left screw pair is connected to the upper part of the left clamping jaw by bolts, and the right screw pair is connected to the upper part of the right clamping jaw by bolts. The left drive motor is installed at the end of the left linear guide group and connected to the left screw pair to drive the left screw pair, and the right drive motor is installed at the end of the right linear guide group and connected to the right screw pair to drive the right screw pair. The left clamping jaw and the right clamping jaw can slide to the left or right respectively under the drive of the left screw pair and the right screw pair, wherein the left drive motor and the right drive motor are electrically connected to the control component respectively.

[0011] Preferably, an operating handle is also provided on the side of the clamping base, and the control component is a PLC control component, wherein the PLC control component includes a plurality of control buttons, and the control buttons are arranged on the operating handle to control the rigid-arm type three-dimensional wound core lifting robot.

[0012] Preferably, a method for using the rigid-arm three-dimensional wound core hoisting manipulator as described in any one of the above items comprises the following steps:

[0013] Step 1) Install the suspension bracket on the workstation crane;

[0014] Step 2) The clamping device reaches the maximum spacing under the control of the control component, and then the telescopic arm is lowered to a suitable height through the lifting device. The clamping device clamps the three-dimensional coiled core under the control of the control component, and then the control component controls the slewing device to brake the telescopic arm to prevent the telescopic arm from rotating, and then the telescopic arm is lifted;

[0015] Step 3) After being transferred to the predetermined position, the control component controls the slewing device to disconnect the brake on the telescopic arm, and then the telescopic arm is rotated manually. When the three-dimensional coiled core reaches the appropriate angle, the telescopic arm is controlled to descend, and the three-dimensional coiled core is placed in the predetermined position. Then, the clamping device reaches the maximum spacing under the control of the control component, and the three-dimensional coiled core is released, thereby completing the transfer of the three-dimensional coiled core.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] (1) The present invention provides a rigid-arm three-dimensional coiled core transfer manipulator, which solves the shortcomings of the previous use of a crane and a lifting belt to lift a three-dimensional coiled core, such as the difficulty in fixing the lifting rope, the swinging during the lifting process, and the easy damage to the core. The three-dimensional coiled core can be safely and efficiently transferred without damaging the clamping. The manipulator is simple to operate and flexible to use, can effectively reduce the workload of the operator, and can also greatly improve its work efficiency.

[0018] (2) The left clamping jaw and the right clamping jaw of the clamping device of the present invention can slide to the left or right under the drive of the left screw pair and the right screw pair, respectively, so that the left clamping jaw and the right clamping jaw can be opened to any distance, and the left clamping jaw and the right clamping jaw adopt a clamping type to clamp the three-dimensional wound core, which is convenient and fast. At the same time, three-dimensional wound cores of different specifications can be hoisted, and the core with coils can also be hoisted, which has a wide range of applications;

[0019] (3) The rotating device of the present invention is provided with a brake disc and a brake. The brake brakes the rotating device through the friction force generated by the interaction with the brake disc, which can avoid the irregular swing of the three-dimensional wound iron core during the lifting process and prevent the iron core from being bumped or dented. After it is in place, the brake can be cancelled and the three-dimensional wound iron core can be manually rotated 360 degrees. It is suitable for different workstations and placement requirements at different angles. It is also provided with an ergonomically designed operating handle to make the operation comfortable and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 , a schematic diagram of the three-dimensional structure of a rigid-arm three-dimensional rolled core hoisting manipulator of the present invention;

[0021] Figure 2 , a schematic diagram of the main structure of a rigid-arm type three-dimensional rolled core hoisting manipulator of the present invention;

[0022] Figure 3 , a left-side structural schematic diagram of a rigid-arm type three-dimensional rolled core hoisting manipulator of the present invention;

[0023] Figure 4 , a schematic cross-sectional view of a rigid-arm type three-dimensional rolled core hoisting manipulator according to the present invention;

[0024] Figure 5 , a schematic diagram of the top view and cross-sectional structure of a rigid-arm type three-dimensional rolled core lifting manipulator of the present invention.

[0025] Description of Reference Numerals

[0026] 1. Suspension frame, 2. Lifting device, 3. Rotating device, 4. Telescopic arm, 5. Clamping device, 6. Three-dimensional coiled core, 7. Suspension gantry, 8. Base frame, 9. Lifting pin, 10. Lifting plate, 11. Brake disc, 12. Rotating support, 13. Brake, 14. Inner arm, 15. Outer wall, 16. Guide wheel group, 17. Travel switch bracket, 18. Travel switch, 19. Lifting hoist, 20. Hoist mounting frame, 21. Hoist mounting pin, 22. Clamping base, 23. Left linear guide group, 24. Right linear guide group, 25. Left screw pair, 26. Right screw pair, 27. Left drive motor, 28. Right drive motor, 29. Left clamp, 30. Right clamp, 31. Operating handle. DETAILED DESCRIPTION

[0027] The specific implementation mode of the present invention is described below in conjunction with embodiments:

[0028] It should be noted that the structures, proportions, sizes, etc. shown in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them, and are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0029] At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0030] Example 1

[0031] like Figure 1~2 As shown, the present invention discloses a hard-arm type three-dimensional wound core hoisting manipulator, comprising a suspension frame 1, a lifting device 2, a rotating device 3, a telescopic arm 4, a clamping device 5 and a control component, wherein the lifting device 2 is connected to the top of the suspension frame 1, wherein the rotating device 3 is arranged at the bottom of the suspension frame 1, the telescopic arm 4 comprises an inner arm 14 and an outer arm 15, wherein the lower part of the inner arm 14 is nested inside the outer arm 15, and the top of the outer arm 15 passes through the bottom of the suspension frame 1 and is connected to the rotating device 3, wherein the top of the inner arm 14 is connected to the lifting device 2, and the inner arm 14 can slide up and down inside the outer arm 15 under the lifting action of the lifting device 2, and the bottom of the inner arm 14 is connected to the clamping device 5, wherein the clamping device 5 can clamp the three-dimensional wound core 6, and the lifting device 2, the rotating device 3, the telescopic arm 4 and the clamping device 5 are electrically connected to the control component respectively.

[0032] Example 2

[0033] Preferably, Figure 2 As shown, the suspension frame 1 includes a suspension gantry 7, a base frame 8, a lifting pin 9 and a lifting plate 10, wherein the bottom of the suspension gantry 7 is connected to the base frame 8 by bolts, and the lifting plate 10 is located on the four corners of the base frame 8, wherein the lifting plate 10 is connected to the base frame 8 by the lifting pin 9, the lifting device 2 is connected to the top of the suspension gantry 7, and the rotating device 3 is connected to the upper end surface of the base frame 8.

[0034] The hanging door frame 7 is a square frame, and the lifting device 2 is installed at the top center of the hanging door frame 7. A through hole is provided in the center of the base frame 8, and the telescopic arm 4 can pass through the through hole to be connected with the lifting device 2.

[0035] The suspension frame 1 is a carrier of the entire manipulator device. The manipulator is installed on the workstation crane through the hanging plate 10 of the suspension frame 1 and used in conjunction with the workstation crane.

[0036] Example 3

[0037] Preferably, Figure 2 As shown, the lifting device 2 includes a lifting hoist 19, a hoist mounting frame 20 and a hoist mounting pin 21, wherein the hoist mounting frame 20 is connected to the top of the suspension door frame 7 by bolts, and the lifting hoist 19 is connected to the hoist mounting frame 20 through the hoist mounting pin 21, wherein the lower end of the lifting hoist 19 is connected to the top of the inner arm 14 by a steel wire, and the lifting hoist 19 can lift the inner arm 14 to perform linear motion in the vertical direction, wherein the lifting hoist 19 is electrically connected to the control component.

[0038] Example 4

[0039] Preferably, Figure 2As shown, the slewing device 3 includes a slewing support 12, a brake disc 11 and a brake 13, wherein the outer ring of the slewing support 12 is connected to the base frame 8 by bolts, the inner ring of the slewing support 12 is connected to the top of the outer arm 15 by bolts, the brake disc 11 is installed on the upper part of the inner ring of the slewing support 12, and one end of the brake 13 is installed on the column of the suspension door frame 7, wherein the other end of the brake 13 contacts with the upper end surface of the brake disc 11, and the brake 13 brakes the slewing device 3 by the friction force generated by the interaction with the brake disc 11, wherein the brake 13 is electrically connected to the control component.

[0040] The outer ring of the slewing support 12 is fixed to the periphery of the through hole of the base frame 8, and the outer wall 15 passes through the through hole and is connected to the inner ring of the slewing support 12. The slewing support 12 is a bearing, and the inner ring can rotate relative to the outer ring.

[0041] Example 5

[0042] Preferably, Figure 2 , 4 As shown, the cross-sections of the inner arm 14 and the outer wall 15 of the telescopic arm 4 are both square or rectangular, wherein a guide wheel group 16 is installed on the outer arm 15, wherein there are eight guide wheel groups 16 in total and they are evenly distributed on the four sides of the outer arm 15, wherein two guide wheel groups 16 are arranged on each side of the outer arm 15 and are distributed up and down, wherein each guide wheel group 16 is tangent to the side of the inner arm 14 to form rolling friction, wherein the guide wheel group 16 can guide the movement direction of the inner arm 14.

[0043] The inner wall of the outer wall 15 is provided with a protruding groove at the guide wheel set 16 , and the guide wheel set 16 can be rotatably fixed in the protruding groove, and the guide wheel set 16 is tangent to the side surface of the inner arm 14 .

[0044] Preferably, Figure 3 As shown, a travel switch bracket 17 and a travel switch 18 are also provided on the outer wall 15, wherein the travel switch 18 is installed on the travel switch bracket 17, and impact blocks are respectively provided on the sides of the two ends of the inner arm 14. When the impact blocks at the ends of the inner arm 14 touch the travel switch 18, it can be prompted that the arm cannot rise or fall any further, wherein the travel switch 18 is electrically connected to the control component.

[0045] A travel switch 18 is provided on the outer wall 15 between the two axial guide wheel groups 16 .

[0046] Example 6

[0047] Preferably, Figure 2 , 5As shown, the clamping device 5 includes a clamping base 22, a left linear guide rail group 23, a right linear guide rail group 24, a left lead screw pair 25, a right lead screw pair 26, a left drive motor 27, a right drive motor 28, a left clamping jaw 29 and a right clamping jaw 30, wherein the upper end of the clamping base 22 is connected to the lower end of the inner arm 14 by bolts, and the left linear guide rail group 23 and the right linear guide rail group 24 are respectively installed on the left and right sides of the lower end surface of the clamping base 22, wherein the left linear guide rail group 23 and the right linear guide rail group 24 respectively have two linear guides, and the two linear guides of the left linear guide rail group 23 and the right linear guide rail group 24 are respectively in the same straight line, and the top two ends of the left clamping jaw 29 are embedded in the left straight line. In the linear guide rail group 23, the two ends of the top of the right clamping jaw 30 are embedded in the right linear guide rail group 24, the left lead screw pair 25 is connected to the upper part of the left clamping jaw 29 by bolts, and the right lead screw pair 26 is connected to the upper part of the right clamping jaw 30 by bolts. The left drive motor 27 is installed at the end of the left linear guide rail group 23 and is connected to the left lead screw pair 25 to drive the left lead screw pair 25. The right drive motor 28 is installed at the end of the right linear guide rail group 24 and is connected to the right lead screw pair 26 to drive the right lead screw pair 26. The left clamping jaw 29 and the right clamping jaw 30 can slide to the left or right respectively under the drive of the left lead screw pair 25 and the right lead screw pair 26, wherein the left drive motor 27 and the right drive motor 28 are respectively electrically connected to the control component.

[0048] The left clamping jaw 29 and the right clamping jaw 30 are relative ")" shaped structures, and an anti-wear rubber pad layer is arranged on the inner side of the ")" shaped structure. The clamping type clamping of the three-dimensional wound core is convenient and fast, not easy to fall off, and avoids pinching injuries.

[0049] Example 7

[0050] Preferably, Figure 1 As shown, an operating handle 31 is also provided on the side of the clamping base 22, and the control component is a PLC control component, wherein the PLC control component includes a plurality of control buttons, and the control buttons are arranged on the operating handle 31 to control the rigid-arm type three-dimensional wound core lifting manipulator.

[0051] The operating handle 31 is a "U"-shaped structure with a high front and a low back. The structure conforms to the ergonomically designed operating handle, making the operation comfortable and convenient.

[0052] During use, the operator can realize functions such as extending and retracting the telescopic arm of the manipulator, tightening and releasing the grippers, moving forward and backward, left and right, and rotating by operating the remote control or the control buttons on the operating handle.

[0053] Example 8

[0054] Preferably, a method for using the rigid-arm three-dimensional wound core hoisting manipulator as described in any one of the above items comprises the following steps:

[0055] Step 1) Install the suspension bracket 1 on the workstation crane;

[0056] Step 2) The clamping device 5 reaches the maximum spacing under the control of the control component, and then the telescopic arm 4 is lowered to a suitable height through the lifting device 2. The clamping device 5 clamps the three-dimensional wound core 6 under the control of the control component, and then the control component controls the slewing device 3 to brake the telescopic arm 4 to prevent the telescopic arm 4 from rotating, and then the telescopic arm 4 is lifted;

[0057] Step 3) After being transferred to the predetermined position, the control component controls the rotating device 3 to release the brake on the telescopic arm 4, and then the telescopic arm 4 is rotated manually. When the three-dimensional wound core 6 reaches the appropriate angle, the telescopic arm 4 is controlled to descend, and the three-dimensional wound core 6 is placed in the predetermined position. Then, the clamping device 5 reaches the maximum spacing under the control of the control component, and the three-dimensional wound core 6 is released, thereby completing the transportation of the three-dimensional wound core 6.

[0058] The working principle of the present invention is as follows:

[0059] like Figures 1 to 5 As shown, the present invention provides a rigid-arm three-dimensional coiled core transfer manipulator, including a suspension frame 1, a lifting device 2, a rotating device 3, a telescopic arm 4, a clamping device 5 and a control component. The suspension frame 1 is a carrier of the entire manipulator and can be lifted by a workstation crane. The lifting device 2 is connected to the top of the suspension frame 1, and the rotating device 3 is located at the bottom of the suspension frame 1. The telescopic arm 4 includes an inner arm 14 and an outer arm 15. The cross-sections of the inner arm 14 and the outer arm 15 are both square or rectangular. The top of the inner arm 14 is connected to the lifting device 2, and the lower part is nested in the outer arm 15. The top of the outer arm 15 is connected to the rotating device 3, which can realize the simultaneous rotation of the outer wall 15 and the inner arm 14. The inner arm 1 Under the lifting action of the lifting device 2, the outer arm 15 can slide up and down inside the outer arm 15. The outer arm 15 is equipped with a guide wheel group 16 for the inner arm, which can guide the movement direction of the inner arm 14. The clamping device 5 is connected to the lower end of the inner arm 14 by bolts. Two sets of linear guide rails arranged in parallel are installed on the clamping base 22. The left clamping jaw 29 and the right clamping jaw 30 are respectively connected to the left linear guide rail group 23 and the right linear guide rail group 24. The upper parts of the left clamping jaw 29 and the right clamping jaw 30 are respectively connected to the left lead screw pair 25 and the right lead screw pair 26. The left clamping jaw 29 and the right clamping jaw 30 can slide leftward or rightward under the drive of the left lead screw pair 25 and the right lead screw pair 26.

[0060] The suspension frame 1 is installed on the workstation crane, and the control component (the control button on the operating handle 31) controls the left clamp 29 and the right clamp 30 to reach the maximum spacing under the drive of the left screw pair 25 and the right screw pair 26, respectively, and the telescopic arm 4 is lowered to a suitable height. The left clamp 29 and the right clamp 30 are respectively driven by the left screw pair 25 and the right screw pair 26 to clamp the three-dimensional coiled core 6, and then the brake 13 of the slewing device 3 is controlled by the control component to brake the brake disc, thereby braking the telescopic arm 4 to prevent the telescopic arm 4 from rotating. Then the telescopic arm 4 is lifted and transferred to a predetermined position, and then the telescopic arm 4 is rotated manually. When the core reaches a suitable angle, the telescopic arm 4 is lowered, and the three-dimensional coiled core 6 is put down to the predetermined position. The left clamp 29 and the right clamp 30 are respectively driven by the left screw pair 25 and the right screw pair 26 to reach the maximum spacing, and the three-dimensional coiled core 6 is released, thereby completing the transportation of the three-dimensional coiled core 6.

[0061] The present invention provides a rigid-arm three-dimensional coiled iron core transfer manipulator, which solves the problems that when a crane and a lifting belt are used to lift a three-dimensional coiled iron core in the past, the lifting rope is difficult to fix, the lifting process swings, and the iron core is easily damaged. The three-dimensional coiled iron core can be safely and efficiently transferred without damaging the clamping. The manipulator is simple to operate and flexible to use, can effectively reduce the workload of the operator, and can also greatly improve its work efficiency.

[0062] The left clamping jaw and the right clamping jaw of the clamping device of the present invention can slide to the left or right under the drive of the left screw pair and the right screw pair respectively, so that the left clamping jaw and the right clamping jaw can be opened to any distance, and the left clamping jaw and the right clamping jaw adopt a clamping type to clamp the three-dimensional wound iron core, which is convenient and quick. At the same time, three-dimensional wound iron cores of different specifications can be hoisted, and iron cores with coils can also be hoisted, and the application range is wide.

[0063] The rotary device of the present invention is provided with a brake disc and a brake. The brake brakes the rotary device through the friction force generated by the interaction with the brake disc, which can avoid the irregular swing of the three-dimensional wound iron core during the lifting process and prevent the iron core from being bumped or dented. After it is in place, the brake can be cancelled and the three-dimensional wound iron core can be manually rotated 360 degrees. It is suitable for placement requirements at different work stations and different angles. An operating handle with ergonomic design is also provided to make the operation comfortable and convenient.

[0064] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

[0065] Many other changes and modifications may be made without departing from the concept and scope of the present invention.It should be understood that the present invention is not limited to the specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. A rigid arm type three-dimensional coiled core hoisting manipulator, characterized in that: The invention comprises a suspension frame (1), a lifting device (2), a rotating device (3), a telescopic arm (4), a clamping device (5) and a control component, wherein the lifting device (2) is connected to the top of the suspension frame (1), wherein the rotating device (3) is arranged at the bottom of the suspension frame (1), and the telescopic arm (4) comprises an inner arm (14) and an outer arm (15), wherein the lower part of the inner arm (14) is nested inside the outer arm (15), and the top of the outer arm (15) passes through the bottom of the suspension frame (1) and is connected to the rotating device (3), wherein the top of the inner arm (14) is connected to the lifting device (2), and the inner arm (14) can slide up and down inside the outer arm (15) under the lifting action of the lifting device (2), and the bottom of the inner arm (14) is connected to the clamping device (5), wherein the clamping device (5) can clamp the three-dimensional wound core (6), and the lifting device (2), the rotating device (3), the telescopic arm (4) and the clamping device (5) are respectively electrically connected to the control component; The clamping device (5) comprises a clamping base (22), a left linear guide rail group (23), a right linear guide rail group (24), a left lead screw pair (25), a right lead screw pair (26), a left drive motor (27), a right drive motor (28), a left clamping jaw (29) and a right clamping jaw (30), wherein the upper end of the clamping base (22) is connected to the lower end of the inner arm (14) by bolts, and the left linear guide rail group (23) and the right linear guide rail group (24) are connected to each other by bolts. The left and right sides of the lower end surface of the clamping base (22) are respectively installed, wherein the left linear guide rail group (23) and the right linear guide rail group (24) respectively have two linear guide rails, and the two linear guide rails of the left linear guide rail group (23) and the right linear guide rail group (24) are respectively located in the same straight line, the top ends of the left clamping jaw (29) are embedded in the left linear guide rail group (23), and the top ends of the right clamping jaw (30) are embedded in the right linear guide rail group (24), the left lead screw pair (25) is connected to the upper part of the left clamping jaw (29) by bolts, and the right lead screw pair (26) is connected to the upper part of the right clamping jaw (30) by bolts, and the left drive motor ( 27) is installed at the end of the left linear guide rail group (23) and connected to the left lead screw pair (25) to drive the left lead screw pair (25), and the right drive motor (28) is installed at the end of the right linear guide rail group (24) and connected to the right lead screw pair (26) to drive the right lead screw pair (26), the left clamping jaw (29) can slide to the left or right under the drive of the left lead screw pair (25), and the right clamping jaw (30) can slide to the left or right under the drive of the right lead screw pair (26), so that the left clamping jaw (29) and the right clamping jaw (30) can be opened to any distance, wherein the left drive motor (27) and the right drive motor (28) are respectively electrically connected to the control component; The suspension frame (1) comprises a suspension door frame (7), a base frame (8), a hanging pin shaft (9) and a hanging plate (10), wherein the bottom of the suspension door frame (7) is connected to the base frame (8) by bolts, the hanging plate (10) is located at four corners of the base frame (8), wherein the hanging plate (10) is connected to the base frame (8) by the hanging pin shaft (9), the lifting device (2) is connected to the top of the suspension door frame (7), and the slewing device (3) is connected to the upper end surface of the base frame (8); The slewing device (3) comprises a slewing support (12), a brake disc (11) and a brake (13), wherein the outer ring of the slewing support (12) is connected to the base frame (8) by bolts, the inner ring of the slewing support (12) is connected to the top of the outer arm (15) by bolts, the brake disc (11) is installed on the upper part of the inner ring of the slewing support (12), one end of the brake (13) is installed on the column of the suspension door frame (7), wherein the other end of the brake (13) contacts the upper end surface of the brake disc (11), and the brake (13) brakes the slewing device (3) by the friction force generated by the interaction with the brake disc (11), wherein the brake (13) is electrically connected to the control component.

2. According to claim 1, a rigid-arm three-dimensional coiled core hoisting manipulator is characterized in that: The lifting device (2) comprises a lifting hoist (19), a hoist mounting frame (20) and a hoist mounting pin (21), wherein the hoist mounting frame (20) is connected to the top of the suspension door frame (7) by bolts, and the lifting hoist (19) is connected to the hoist mounting frame (20) by the hoist mounting pin (21), wherein the lower end of the lifting hoist (19) is connected to the top of the inner arm (14) by a steel wire, and the lifting hoist (19) can lift the inner arm (14) to perform linear motion in the vertical direction, and wherein the lifting hoist (19) is electrically connected to a control component.

3. The rigid-arm three-dimensional coiled core hoisting manipulator according to claim 1, characterized in that: The inner arm (14) and the outer arm (15) of the telescopic arm (4) are both rectangular in cross-section, wherein a guide wheel group (16) is mounted on the outer arm (15), wherein there are eight guide wheel groups (16) in total and they are evenly distributed on four sides of the outer arm (15), wherein two guide wheel groups (16) are arranged on each side of the outer arm (15) and are distributed up and down, wherein each guide wheel group (16) is tangent to the side of the inner arm (14) to form rolling friction, wherein the guide wheel group (16) can guide the movement direction of the inner arm (14).

4. The rigid-arm three-dimensional coiled core hoisting manipulator according to claim 1, characterized in that: The outer arm (15) is also provided with a travel switch bracket (17) and a travel switch (18), wherein the travel switch (18) is mounted on the travel switch bracket (17), and bumpers are respectively provided on the sides of both ends of the inner arm (14), and when the bumpers at the ends of the inner arm (14) touch the travel switch (18), a prompt is given that the arm cannot be raised or lowered any further, wherein the travel switch (18) is electrically connected to the control component.

5. The rigid arm type three-dimensional coiled core hoisting manipulator according to claim 1, characterized in that An operating handle (31) is also provided on the side of the clamping base (22); the control component is a PLC control component, wherein the PLC control component comprises a plurality of control buttons, and the control buttons are arranged on the operating handle (31) to control the rigid-arm type three-dimensional coiled core hoisting manipulator.

6. A method for using the rigid arm type three-dimensional coiled core hoisting manipulator according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1) Install the suspension bracket (1) on the workstation crane; Step 2) The clamping device (5) reaches the maximum spacing under the control of the control component, and then the telescopic arm (4) is lowered to a suitable height through the lifting device (2). The clamping device (5) clamps the three-dimensional coiled core (6) under the control of the control component, and then the control component controls the rotating device (3) to brake the telescopic arm (4) to prevent the telescopic arm (4) from rotating, and then the telescopic arm (4) is lifted; Step 3) After being transferred to the predetermined position, the control component controls the slewing device (3) to disconnect the brake on the telescopic arm (4), and then the telescopic arm (4) is rotated manually. When the three-dimensional coiled core (6) reaches a suitable angle, the telescopic arm (4) is controlled to descend, and the three-dimensional coiled core (6) is placed in the predetermined position. Then, the clamping device (5) reaches the maximum spacing under the control of the control component, and the three-dimensional coiled core (6) is released, thereby completing the transfer of the three-dimensional coiled core (6).

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