An intelligent hoist based on a mechanical arm

Abstract

The present invention belongs to the technical field of hoisting equipment, and discloses an intelligent hoist based on a mechanical arm, comprising a mobile base, the upper end of the mobile base is connected to a supporting vertical rod, the upper end of the supporting vertical rod is connected to a supporting rod, the upper end of the supporting rod is connected to a primary arm rod, the primary arm rod is rotatably connected to a rotating bracket at one end away from the supporting vertical rod, the other end of the primary arm rod is connected to an electric hoist, a secondary arm rod is connected inside the rotating bracket, the secondary arm rod is connected to a lifting protective cover at one end away from the primary arm, the lifting protective cover is rotatably connected to a guide wheel disc inside, the first arm rod is fixedly connected to a limiting tooth ring at one end away from the supporting vertical rod, a driving gear rotatably connected to the rotating bracket is meshed next to the limiting tooth ring, and the driving gear is connected to a primary driving motor connected to the rotating bracket; the structure is simple and practical.

Description

Technical Field

[0001] The present invention relates to the technical field of hoist equipment, and in particular to an intelligent hoist based on a mechanical arm. Background Art

[0002] In the production sites and workshops of many industrial and logistics enterprises, large products that cannot be moved manually and the products and raw materials of each production station are mainly lifted and transferred by overhead cranes and large lifting equipment. For many processing and circulation stations distributed in the production site, although the weight of small processed parts and logistics goods that need to be processed, loaded and unloaded and circulated is not particularly large, this heavy work makes the workers' labor intensity very high, and some tasks are difficult for human beings to do. For this reason, many processing and logistics companies still have to use overhead cranes or large lifting equipment to carry out lifting operations back and forth between these stations. However, in the process of lifting workpieces and goods, due to the limitation of station space and workshop layout, the overhead cranes and large overhead cranes cannot be used normally, and thus the purpose of transportation and handling cannot be achieved.

[0003] A Chinese patent with application number CN202223320160.3 discloses a new type of folding arm crane structure. Through the arrangement of an annular block, a support rod, a first servo motor, a round block, a U-shaped plate of the annular block, a third servo motor and a support rod, the folding arm crane structure has the effect of improving the stability of rotation adjustment. The annular block rotates inside the annular groove, the support rod plays the role of bearing and supporting the upper arm, and the annular block rotates inside the annular groove to improve the stability of rotation. Through the folding arm crane structure, through the arrangement of round rods, gears, rack rods and positioning sliders, the folding arm crane structure has the effect of conveniently extending outward to adjust the appropriate length, thereby increasing the lifting range of the electric hoist. The Chinese patent application number CN201720325470.4 discloses a folding arm crane for the wind power industry. The load-bearing capacity of the equipment is improved by providing a reinforcement plate, the service life of the equipment is improved by providing a protective cover, and the cantilever can be flexibly rotated and fixedly positioned by providing a main limit hole and a secondary limit hole to meet the use requirements of the workstation. By using a fixed electric hoist and a folding main cantilever and secondary cantilever, the hook can cover all areas within the main cantilever and the secondary cantilever. However, the following problems still exist in practical applications, specifically:

[0004] 1. Although the folding arm lifting of workpieces or commodities can be realized and multi-directional lifting can be completed, during the lifting process, the lifting rope may slip or even derail during the process of retracting and releasing the lifting rope, and the movement trajectory of the lifting rope cannot be effectively limited;

[0005] 2. During the folding and adjustment process of the cantilever, the electric hoist needs to be adaptively started so that the lifting rope can adapt to the rotation of the cantilever. It is inconvenient to control the rotation speed of the electric hoist, and thus it is impossible to adaptively adjust the length and tension of the lifting rope according to the rotation angle of the cantilever;

[0006] 3. During the lifting process, although the lifting action can be completed, the lifting rope will be seriously worn. During the process of retracting and releasing the electric hoist, the lifting rope cannot be completely in a tensioned state, resulting in instability in the lifting of objects;

[0007] 4. In the process of moving the folding arm crane, the entire hoist is often limited and fixed by the lifting rod. During the positioning process, it is necessary to position the lifting rods one by one, which is a cumbersome operation and is not convenient for the effective automatic extension and retraction of the lifting rods.

[0008] Therefore, the present invention provides an intelligent hoist based on a mechanical arm to solve the above problems. Summary of the invention

[0009] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an intelligent hoist based on a robotic arm, which effectively solves the problem of folding arm lifting of workpieces or goods, while limiting and guiding the lifting rope and responsively adjusting the length of the lifting rope during the cantilever rotation process to ensure that the lifting rope is in a tensioned state, as well as limiting and fixing the entire device during the lifting process.

[0010] The present invention comprises a mobile base, wherein the upper end of the mobile base is connected to a supporting vertical rod, the upper end of the supporting vertical rod is connected to a supporting rod, the upper end of the supporting rod is connected to a primary arm rod, the primary arm rod is rotatably connected to a rotating bracket at one end away from the supporting vertical rod, the other end of the primary arm rod is connected to an electric hoist, the rotating bracket is internally connected to a secondary arm rod, the secondary arm rod is connected to a lifting protection cover at one end away from the primary arm rod, and the lifting protection cover is internally rotatably connected to a guide wheel disc;

[0011] The first-level arm rod is fixedly connected to a limit gear ring at one end away from the support vertical rod, and a driving gear rotatably connected to the rotating bracket is meshed next to the limit gear ring, and the driving gear is connected to a first-level driving motor connected to the rotating bracket;

[0012] The upper end of the rotating bracket is fixedly connected to a supporting plate, and the upper end of the supporting plate is rotatably connected to two symmetrically distributed and mutually meshing limiting gear plates, and the limiting gear plates are each provided with an arc track, and the two arc tracks cooperate to form a rope pulling channel;

[0013] The upper ends of the primary arm and the secondary arm are fixedly connected with a wire device, a lifting rope is wound inside the electric hoist, the lifting rope passes through the wire device, the rope pulling channel and the guide wheel, and the other end of the lifting rope is connected with a lifting hook;

[0014] The mobile base is internally connected with four equally circumferentially distributed telescopic support rods, each of which is threadedly connected with a lifting and fastening rod, the lower end of the lifting and fastening rod is connected with a supporting foot plate, and the upper end of the lifting and fastening rod is coaxially connected with an operating handle.

[0015] Preferably, the upper end of the primary arm is connected to a buffer box placed between the electric hoist and the conductor device, and two groups of symmetrically distributed guide buffer structures are slidably connected up and down inside the buffer box, and the guide buffer mechanism includes two lifting beams symmetrically distributed front and back, and the lifting beams and the buffer box are connected by springs, and a plurality of guide rollers are rotatably connected between the two lifting beams;

[0016] The middle positions of the front and rear sides of the buffer box are fixedly connected with hydraulic sleeves, the lifting crossbeam is fixedly connected with a lifting piston rod matched with the hydraulic sleeve, the hydraulic sleeves are connected with the pressure supply sleeve fixedly connected inside the buffer box, a solenoid valve is connected between the pressure supply sleeve and the hydraulic sleeve, the solenoid valve is connected to an external power supply, a partition is fixedly connected to the middle position inside the pressure supply sleeve, and buffer piston plates coaxially slidably connected with the pressure supply sleeve are connected to both sides of the partition through springs, and hydraulic oil is filled between the buffer piston plate and the lifting piston rod;

[0017] The suspension rope passes through the buffer box, and the portion of the suspension rope inside the buffer box is interlaced and wound around the guide roller.

[0018] Preferably, the support plate is fixedly connected to a limiting frame near one end of the electric hoist, and two symmetrically distributed limiting rollers are rotatably connected inside the limiting frame. The lifting rope is located between the two limiting rollers, and the lifting rope is in contact with the two limiting rollers.

[0019] Preferably, one of the limit gear plates is coaxially fixedly connected to a conveying sprocket rotatably connected to the lower end of the support plate;

[0020] The upper end of the rotating bracket is fixedly connected to a rotating shaft, an electric-controlled sprocket is coaxially connected to the rotating shaft, the electric-controlled sprocket and the conveying sprocket are connected by a chain, a plurality of equally circumferentially distributed limiting grooves are provided on the rotating shaft, powerful electromagnets are fixedly connected inside the limiting grooves, a limiting arc block is radially slidably connected inside the limiting grooves along the rotating shaft, a plurality of limiting tracks matching the limiting arc block are provided on the inner wall of the electric-controlled sprocket, and the plurality of powerful electromagnets are connected to an external power supply;

[0021] The lower side of the support plate is coaxially connected to a rotating sprocket, the rotating sprocket and the limit shaft rotatably connected to the upper end of the primary arm are connected through a chain transmission mechanism, and the limit shaft is connected to the electric hoist through a bevel gear reversing mechanism and a chain transmission mechanism;

[0022] The rotating sprocket is connected with the electric-controlled sprocket through a chain transmission mechanism.

[0023] Preferably, the supporting rod is coaxially fixedly connected with a rotating gear, an adjusting gear is meshed next to the rotating gear, the adjusting gear is connected to a secondary motor fixedly connected to the primary arm, and the secondary motor is externally connected to a power supply.

[0024] Preferably, the wire guide device comprises a support frame, a plurality of equally circumferentially distributed limiting ball grooves are provided inside the support frame, and guide balls are rotatably connected inside the limiting ball grooves.

[0025] Preferably, the lower end of the lifting protective cover is connected to a limit frame, a swing groove is provided in the middle position of the limit frame, a limit sleeve is coaxially arranged inside the swing groove, the outer wall of the limit sleeve is connected to the swing groove through a number of equicircumferentially distributed springs, and the inner wall of the limit sleeve is rotatably connected to a number of rotating balls.

[0026] Preferably, the mobile base is provided with a sliding track matched with the telescopic support rod, the upper end of the telescopic support rod is rotatably connected to one end of the support vertical rod, and the connecting gear is meshed with a limit rack fixedly connected to the inside of the sliding track;

[0027] A sliding hole is provided inside the telescopic support rod, a telescopic hydraulic rod matching the sliding hole is fixedly connected inside the sliding track, the other end of the telescopic hydraulic rod is fixedly connected to the telescopic support rod, and a plurality of the telescopic hydraulic rods are connected to a hydraulic pump fixedly connected inside the mobile base;

[0028] The lifting and tightening rod is threadedly connected to a rotating threaded sleeve rotatably connected to the upper end of the telescopic support rod, and the rotating threaded sleeve is connected to the connecting gear through a chain transmission mechanism.

[0029] Preferably, an elastic adsorption plate is fixedly connected to the lower end of the supporting foot plate, the supporting foot plate is connected to an exhaust duct opened inside the lifting and fastening rod, and a one-way exhaust valve is fixedly connected to the upper end of the exhaust duct.

[0030] Preferably, the mobile base is connected to a push handle, the push handle is connected to a control module, and the control module is connected to the primary drive motor, the secondary motor, the hydraulic pump, the strong electromagnet, the solenoid valve, and the electric hoist.

[0031] The present invention improves the existing folding arm crane and has the following beneficial effects:

[0032] 1. It effectively solves the problem of limiting the position of the lifting rope during the folding arm lifting process, avoids the derailment of the lifting rope, and can lift the workpiece or goods in an all-round way;

[0033] 2. The buffer box, lifting beam, guide roller, lifting piston rod, hydraulic sleeve, pressure supply sleeve, solenoid valve and buffer piston plate are set to effectively solve the problem of adaptively adjusting the length of the lifting rope during the rotation of the secondary arm to ensure the tension of the lifting rope;

[0034] 3. By setting the conveying sprocket, electric control sprocket, transfer shaft, limit groove, limit arc block, limit track, strong electromagnet and rotating sprocket, the problem of the rope being in a loose state between the primary arm and the secondary arm can be effectively solved in the process of retracting and releasing the rope, and the rope can be further conveyed to avoid the problem of the rope being in a loose state between the primary arm and the secondary arm;

[0035] 4. The problem of storing the telescopic support rod and effectively limiting and fixing the mobile base is effectively solved by setting a sliding track, a telescopic support rod, a connecting gear, a limit rack, a telescopic hydraulic rod, a rotating threaded sleeve and a lifting and fastening rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0037] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 .

[0038] Figure 3 For the present invention Figure 2 A partial enlarged schematic diagram in the middle.

[0039] Figure 4 For the present invention Figure 2 A partial enlarged schematic diagram of point B in the middle.

[0040] Figure 5 It is a cross-sectional schematic diagram of the buffer box and the limiting shaft of the present invention.

[0041] Figure 6 For the present invention Figure 5 A partial enlarged schematic diagram of point C in the middle.

[0042] Figure 7 For the present invention Figure 5 A partial enlarged schematic diagram of point D in the middle.

[0043] Figure 8 It is a schematic diagram of the internal structure of the mobile base of the present invention.

[0044] Fig. 9 It is a partial cross-sectional schematic diagram of the mobile base of the present invention.

[0045] Fig.10 For the present invention Fig. 9 A partial enlarged schematic diagram of point E in the middle.

[0046] Fig.11 It is a schematic diagram of the primary arm, the secondary arm and their connecting parts of the present invention.

[0047] Fig.12 For the present invention Fig.11 A partial enlarged schematic diagram of point F in the middle.

[0048] Fig.13 This is a schematic diagram of the internal structure of the pressure supply sleeve of the present invention.

[0049] Figure numerals: 1, mobile base; 2, support vertical rod; 3, support rod; 4, primary arm; 5, rotating bracket; 6, electric hoist; 7, secondary arm; 8, lifting protection cover; 9, guide wheel; 10, limit gear ring; 11, driving gear; 12, primary driving motor; 13, support plate; 14, limit gear plate; 15, arc track; 16, telescopic support rod; 17, lifting and tightening rod; 18, support foot plate; 19, operating handle; 20, buffer box; 21, lifting beam; 22, guide roller; 23, hydraulic sleeve; 24, lifting piston rod; 25, pressure supply sleeve; 26, solenoid valve; 27, partition; 28, buffer piston plate; 29, limit frame; 30, Limit roller; 31. Conveying sprocket; 32. Transfer shaft; 33. Electric control sprocket; 34. Limit slot; 35. Powerful electromagnet; 36. Limit arc block; 37. Limit track; 38. Rotating sprocket; 39. Limit shaft; 40. Rotating gear; 41. Adjusting gear; 42. Secondary motor; 43. Support frame; 45. Guide ball; 46. Limit frame; 47. Swinging slot; 48. Limit shaft sleeve; 49. Rotating ball; 50. Sliding track; 51. Connecting gear; 52. Limit rack; 54. Telescopic hydraulic rod; 55. Hydraulic pump; 56. Rotating threaded sleeve; 57. Elastic adsorption plate; 58. Exhaust duct; 59. One-way exhaust valve; 60. Push handle; 61. Control module. DETAILED DESCRIPTION

[0050] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figures 1 to 13 The detailed description of the embodiments will clearly show that the structural contents mentioned in the following embodiments are all based on the drawings in the specification.

[0051] Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

[0052] The present invention is an intelligent hoist based on a mechanical arm, comprising a mobile base 1, wherein the mobile base 1 moves by means of walking wheels connected to the mobile base 1, the upper end of the mobile base 1 is connected to a supporting vertical rod 2, the supporting vertical rod 2 is connected to the mobile base 1 by bolts, the upper end of the supporting vertical rod 2 is connected to a supporting rod 3, the upper end of the supporting rod 3 is connected to a primary arm 4, the primary arm 4 is fixedly connected to the supporting rod 3 by bolts, the primary arm 4 is rotatably connected to a rotating bracket 5 away from the supporting vertical rod 2, the rotating bracket 5 rotates around one end of the primary arm 4, the other end of the primary arm 4 is connected to an electric hoist 6, the electric hoist 6 provides power for a subsequent lifting structure, the rotating bracket 5 is internally connected to a secondary arm 7, in this embodiment, the secondary arm 7 is fixedly connected to the rotating bracket 5, the secondary arm 7 is connected to a lifting protective cover 8 away from the primary arm 4, the lifting protective cover 8 is internally rotatably connected to a guide wheel disc 9;

[0053] The first-level arm 4 is fixedly connected to a limited tooth ring 10 at one end away from the supporting vertical rod 2, and a driving gear 11 is meshed with the limited tooth ring 10 and is rotatably connected to the rotating bracket 5. The driving gear 11 is connected to a first-level driving motor 12 connected to the rotating bracket 5, and drives the driving gear 11 to rotate while the first-level driving motor 12 rotates. During the rotation process of the driving gear 11, under the limiting action of the limited tooth ring 10, the driving gear 11 rotates around the limited tooth ring 10, and at the same time, the rotation of the driving gear 11 drives the rotating bracket 5 to rotate around the limited tooth ring 10. When the rotating bracket 5 rotates, the second-level arm 7 and the lifting protective cover 8 are driven to rotate synchronously, thereby realizing the adjustment of the position of the lifting protective cover 8;

[0054] The upper end of the rotating bracket 5 is fixedly connected to a supporting plate 13, and the upper end of the supporting plate 13 is rotatably connected to two symmetrically distributed and mutually meshing limiting gear plates 14, and the two limiting gear plates 14 rotate in opposite directions. The limiting gear plates 14 are each provided with an arc track 15, and the two arc tracks 15 cooperate to form a rope pulling channel;

[0055] The upper ends of the primary arm 4 and the secondary arm 7 are fixedly connected to a wire device. In the present embodiment, the guide device is a support sleeve fixedly connected to the primary arm 4 and the secondary arm 7. A through hole is provided on the support sleeve. A lifting rope is wound inside the electric hoist 6. The lifting rope passes through the wire device, the rope pulling channel and the guide wheel 9. The other end of the lifting rope is connected to a lifting hook. The lifting rope is retracted and released through the electric hoist 6. At the same time, the support sleeve is used to support and limit the lifting rope. At the same time, the lifting rope is retracted and released. The rope slides in the wire guide device, the rope pulling channel and the guide wheel 9, and the wire guide device, the rope pulling channel and the guide wheel 9 are used to limit the sliding direction of the rope. In the process of the rope sliding and the process of the rope contacting the arc-shaped track 15, the two limit gear plates 14 are driven to rotate in the opposite direction, and the limit gear plates 14 are used to limit the rope. At the same time, the shape of the limit gear plate 14 also limits the rope, thereby preventing the rope from escaping from the rope pulling channel.

[0056] During the process of lifting materials by the lifting hook, the mobile base 1 will slide. Therefore, in order to prevent the mobile base 1 from sliding, four equally circumferentially distributed telescopic support rods 16 are connected inside the mobile base 1. In this embodiment, the telescopic support rods 16 are fixedly connected to the mobile base 1, and the telescopic support rods 16 are threadedly connected with a lifting fastening rod 17. The lower end of the lifting fastening rod 17 is connected to a supporting foot plate 18, and the upper end of the lifting fastening rod 17 is coaxially connected with an operating handle 19. The lifting fastening rod 17 is driven to slide up and down by rotating the operating handle 19. The lifting fastening rod 17 slides and the supporting foot plate 18 is driven to slide synchronously at the same time. The mobile base 1 is supported by the effective contact between the supporting foot plate 18 and the ground, and the supporting foot plate 18 is effectively contacted with the ground to achieve limited support.

[0057] In the specific implementation of this embodiment, the mobile base 1 is moved to a suitable position by moving the mobile base 1. After moving to a suitable position, the operating handle 19 is rotated. The rotation of the operating handle 19 drives the lifting and fastening rod 17 to rotate, and then the position of the mobile base 1 is limited and fixed through the effective contact between the supporting foot plate 18 and the ground.

[0058] Start the primary drive motor 12, which drives the secondary arm 7 to rotate around the primary arm 4 through the drive gear 11 and the limit gear ring 10, and adjusts the position of the lifting hook. At the same time, start the electric hoist 6, which realizes the retraction and extension of the lifting hook, thereby lifting and transporting the lift object.

[0059] During the rotation of the secondary arm 7, the limit gear plate 14 rotates synchronously, which causes the distance between the limit gear plate 14 and the electric hoist 6 to change. At this time, only by rising the lifting hook can the lifting rope adapt to the change in distance. In order to ensure the stability of the lifting hook and avoid the lifting hook driving the lifting object to lift and lower, which may cause safety hazards, the upper end of the primary arm 4 is connected with a buffer box 20 placed between the electric hoist 6 and the wire device. Two groups of symmetrically distributed guide buffer structures are slidably connected up and down inside the buffer box 20. The guide buffer mechanism includes two front and rear symmetrically distributed lifting beams 21. The lifting beams 21 and the buffer box 20 are connected by springs. A number of guide rollers 22 are rotatably connected between the front and rear lifting beams 21. The distance between the upper and lower guide rollers 22 is adjusted by lifting and lowering the lifting beams 21. At the same time, the guide rollers 22 realize the limiting guidance of the lifting rope.

[0060] The lifting rope passes through the buffer box 20, and the part of the lifting rope inside the buffer box 20 is interlaced and wound around the guide roller 22. The length of the lifting rope inside the buffer box 20 is adjusted by lifting and lowering the lifting beam 21, thereby realizing adaptive adjustment of the lifting rope distance during the rotation of the secondary arm 7.

[0061] The buffer box 20 is fixedly connected to the middle position of the front and rear sides, and the lifting beam 21 is fixedly connected to a lifting piston rod 24 that cooperates with the hydraulic sleeve 23. The lifting piston rod 24 is lifted and lowered inside the hydraulic sleeve 23 to drive the lifting beam 21 to rise and fall synchronously. The hydraulic sleeves 23 are connected to the pressure supply sleeve 25 fixedly connected to the buffer box 20. A solenoid valve 26 is connected between the pressure supply sleeve 25 and the hydraulic sleeve 23. The solenoid valve 26 is connected to an external power supply, and the connectivity between the pressure supply sleeve 25 and the hydraulic sleeve 23 is controlled by the solenoid valve 26. A partition plate 27 is fixedly connected to the middle position inside the pressure supply sleeve 25, and buffer piston plates 28 coaxially slidably connected to the pressure supply sleeve 25 are connected to both sides of the partition plate 27 through springs. When the lifting piston rod 24 is lifted or lowered, the buffer piston plate 28 slides accordingly inside the pressure supply sleeve 25. Hydraulic oil is filled between the buffer piston plate 28 and the lifting piston rod 24. The pressure changes inside the hydraulic sleeve and the pressure supply sleeve 25 are achieved through the circulation of the hydraulic oil. At the same time, it is ensured that after the solenoid valve 26 is closed, the lifting piston rod 24 is in a stable state and will not slide up and down.

[0062] In order to ensure that the secondary arm 7 can rotate at a larger angle and avoid interference between the lifting rope and the limiting gear plate 14 and the problem of the lifting rope being stuck, the support plate 13 is fixedly connected to a limiting frame 29 near one end of the electric hoist 6. Two symmetrically distributed limiting rollers 30 are rotatably connected inside the limiting frame 29. The lifting rope is located between the two limiting rollers 30. The lifting rope is in contact with the two limiting rollers 30. The limiting rollers 30 are used to limit the lifting rope, ensuring that the lifting rope can smoothly enter the rope pulling channel. At the same time, the limiting frame 29 is used to guide and limit the lifting rope, ensuring that the lifting rope can smoothly enter the rope pulling channel after being guided and limited by the limiting frame 29.

[0063] During the process of conveying the lifting rope, the lifting rope may not be stretched enough, resulting in instability during the lifting process. One of the limit gear plates 14 is coaxially fixedly connected to the conveying sprocket 31 rotatably connected to the lower end of the support plate 13. During the rotation of the conveying sprocket 31, the limit gear plate 14 is driven to rotate synchronously. The rotation of the two limit gear plates 14 can realize the conveyance of the lifting rope and ensure that the lifting rope is completely conveyed to one end of the lifting hook.

[0064] The upper end of the rotating bracket 5 is fixedly connected to a rotating shaft 32, and an electric-controlled sprocket 33 is coaxially connected to the rotating shaft 32. The electric-controlled sprocket 33 and the conveying sprocket 31 are connected by a chain. The rotation of the electric-controlled sprocket 33 drives the conveying sprocket 31 to rotate synchronously. A plurality of equicircumferentially distributed limiting grooves 34 are provided on the rotating shaft 32, and powerful electromagnets 35 are fixedly connected inside the limiting grooves 34. The limiting grooves 34 are radially slidably connected to the limiting arc blocks 36 along the rotating shaft 32. The limiting arc blocks 36 are made of magnetic material, which is convenient for the powerful electromagnet 35 to The adsorption of the limit arc block 36 can be achieved by energizing the powerful electromagnet 35, so that the limit arc block 36 is accommodated in the limit groove 34. The inner wall of the electric-controlled sprocket 33 is provided with a plurality of limit rails 37 that cooperate with the limit arc block 36. The plurality of powerful electromagnets 35 are connected to an external power supply. Through the cooperation of the limit rails 37 and the limit arc block 36, the transfer shaft 32 is rotated to drive the electric-controlled sprocket 33 to rotate synchronously, and the driving of the conveying sprocket 31 is realized at the same time.

[0065] The lower side of the support plate 13 is coaxially connected with a rotating sprocket 38, and the rotating sprocket 38 and the limiting shaft 39 rotatably connected to the upper end of the primary arm 4 are connected through a chain transmission mechanism. The rotating sprocket 38 is connected to the electrically controlled sprocket 33 through the chain transmission mechanism, and the rotation of the limiting shaft 39 drives the rotation of the rotating sprocket 38, and the rotation of the rotating sprocket 38 drives the electrically controlled sprocket 33 to rotate. The limiting shaft 39 is connected to the electric hoist 6 through a bevel gear reversing mechanism and a chain transmission mechanism. During the rotation of the electric hoist 6, the rotating sprocket 38 is driven to rotate through the bevel gear reversing mechanism and the chain transmission mechanism, and then the electrically controlled sprocket 33 is driven to rotate. The driving of the conveying sprocket 31 is realized through the rotation of the electrically controlled sprocket 33, thereby ensuring that the limiting gear disk 14 is driven to rotate during the rotation of the electric hoist 6, thereby realizing the transportation of the lifting rope.

[0066] In order to facilitate the transportation and handling of the hoisted objects, the primary arm 4 needs to be rotated and adjusted as needed, so the support rod 3 is coaxially fixedly connected with a rotating gear 40, and an adjusting gear 41 is meshed next to the rotating gear 40. The adjusting gear 41 is connected to a secondary motor 42 fixedly connected to the primary arm 4. The secondary motor 42 is externally connected to a power source, and the rotation of the secondary motor 42 drives the rotation of the adjusting gear 41. Under the limiting effect of the rotating gear 40, the rotation of the adjusting gear 41 drives the primary arm 4 to rotate around the support rod 3, thereby realizing the adjustment of the position of the lifting hook. By adjusting the positions of the primary arm 4 and the secondary arm 7, the all-round adjustment of the position of the lifting hook is realized.

[0067] In order to ensure the smooth output sliding of the suspension rope, the wire device includes a support frame 43, and a plurality of equally circumferentially distributed limiting ball grooves are opened inside the support frame 43. The limiting ball grooves are rotatably connected to the inside of the limiting ball grooves. The suspension rope is passed through the support frame 43, and the guide balls 45 guide the suspension rope, thereby reducing the friction between the suspension rope and the support frame 43, thereby ensuring the guidance of the suspension rope while ensuring the smooth sliding of the suspension rope.

[0068] In the process of lifting objects by the lifting hook, in order to avoid the shaking of the lifting rope and the problem that the lifting rope is out of the track, and at the same time, elastic buffering is performed on the shaking of the lifting protective cover 8, the lower end of the lifting protective cover 8 is connected to a limit frame 46, and a swinging groove 47 is opened in the middle position of the limit frame 46. A limit sleeve 48 is coaxially arranged inside the swinging groove 47. The outer wall of the limit sleeve 48 is connected to the swinging groove 47 by a plurality of springs with equal circumference distribution. The inner wall of the limit sleeve 48 is rotatably connected with a plurality of rotating balls 49. The limit sleeve 48 and the rotating balls 49 are used to realize the limiting guidance of the lifting rope. At the same time, in the process that the lifting rope shakes, the limit sleeve 48 will also shake accordingly. At the same time, the shaking on the limit sleeve 48 is buffered by the spring to avoid the limit sleeve 48 from swinging sharply.

[0069] In order to facilitate the storage of the telescopic support rod 16 and ensure that the mobile base 1 can be limited and fixed while the telescopic support rod 16 is being extended and retracted, the mobile base 1 is provided with a sliding track 50 that matches the telescopic support rod 16. The upper end of the telescopic support rod 16 is rotatably connected to one end of the supporting vertical rod 2, and the connecting gear 51 is meshed with a limiting rack 52 fixedly connected to the inside of the sliding track 50. During the extension and retraction process of the telescopic support rod 16, the connecting gear 51 rotates under the limiting action of the limiting rack 52.

[0070] A sliding hole is provided inside the telescopic support rod 16, and a telescopic hydraulic rod 54 matching the sliding hole is fixedly connected inside the sliding track 50. The other end of the telescopic hydraulic rod 54 is fixedly connected to the telescopic support rod 16. Several of the telescopic hydraulic rods 54 are connected to a hydraulic pump 55 fixedly connected inside the mobile base 1. The telescopic hydraulic rod 54 is driven by the hydraulic pump 55, and the telescopic hydraulic rod 54 is extended and retracted to drive the telescopic support rod 16 to extend and retract.

[0071] The lifting and fastening rod 17 is threadedly connected to a rotating threaded sleeve 56 rotatably connected to the upper end of the telescopic support rod 16. The rotating threaded sleeve 56 and the connecting gear 51 are connected through a chain transmission mechanism. During the rotation of the connecting gear 51, the rotating threaded sleeve 56 is driven to rotate synchronously. The rotation of the rotating threaded sleeve 56 drives the lifting and fastening rod 17 to slide up and down. It should be noted that in order to ensure that the lifting and fastening rod 17 can slide up and down smoothly during the rotation of the rotating threaded sleeve 56, the lifting and fastening rod 17 and the telescopic support rod 16 are matched through a shaft rod to realize the lifting and fastening rod 17 and the telescopic support rod 16 sliding connection up and down, and the mobile base 1 is limited and fixed by the lifting and lowering of the lifting and fastening rod 17.

[0072] In order to ensure the effective adsorption of the supporting foot 18 and the ground and avoid slight sliding of the supporting foot 18, the lower end of the supporting foot 18 is fixedly connected with an elastic adsorption plate 57, the supporting foot 18 is connected with an exhaust duct 58 opened inside the lifting and fastening rod 17, and the upper end of the exhaust duct 58 is fixedly connected with a one-way exhaust valve 59. When the lifting and fastening rod 17 is pressed down, the elastic adsorption plate 57 is squeezed, and the internal airflow is discharged to the outside through the one-way exhaust valve 59, so that the supporting foot 18 can be effectively adsorbed to the ground.

[0073] The mobile base 1 is connected to a push handle 60, and the push handle 60 is connected to a control module 61. The control module 61 is connected to the primary drive motor 12, the secondary motor 42, the hydraulic pump 55, the strong electromagnet 35, the solenoid valve 26, and the electric hoist 6. The control module 61 is used to orderly control the primary drive motor 12, the secondary motor 42, the hydraulic pump 55, the strong electromagnet 35, the solenoid valve 26, and the electric hoist 6, thereby ensuring that each part can be carried out in an orderly manner during the process of lifting the object.

[0074] When the present invention is used in practice, the mobile base 1 is moved to a suitable position by moving the mobile base 1. After moving to the suitable position, the hydraulic pump 55 is started, and the hydraulic pump 55 realizes the extension and retraction of the telescopic support rod 16. At the same time, the lifting and fastening rod 17 slides downward, and the mobile base 1 is fixedly limited by the contact between the supporting foot plate 18 and the ground. Then the first-level driving motor 12 is started, and the first-level driving motor 12 drives the secondary arm 7 to rotate around the primary arm 4 through the driving gear 11 and the limiting gear ring 10, so as to adjust the position of the lifting hook, and at the same time, the power supply of the powerful electromagnet 35 is turned on, so that the electric control sprocket 33 and the transfer shaft 32 are released from the force to cooperate, thereby realizing the adjustment of the position of the secondary arm 7. After the position adjustment is completed, the electric hoist 6 is started and the power supply of the powerful electromagnet 35 is turned off. The electric hoist 6 realizes the retraction and extension of the lifting hook, and at the same time, the limiting gear plate 14 realizes the transportation of the lifting rope, thereby realizing the lifting of the object.

[0075] The present invention improves the existing hoist. By adding a primary arm, a secondary arm, a limit gear ring, a driving gear, a primary driving motor, a supporting plate, a limit gear plate and a guide wire device, the lifting position of the hoist is effectively adjusted while avoiding the problem of the hoist rope being off the track during the lifting and folding arm process; by setting a buffer box, a lifting beam, a guide roller, a hydraulic sleeve, a lifting piston rod, a pressure supply sleeve, a partition, an electromagnetic valve and a buffer piston plate, the problem of adaptively adjusting the pulling degree of the hoist rope while folding the hoist arm is effectively solved; by setting a conveying sprocket, an electric control sprocket, a transfer shaft, a rotating sprocket, a strong electromagnet and a limit track, a limit arc block and other structures, the problem of conveying the hoist rope is effectively achieved through the limit gear plate while the hoist rope is extended and retracted; by setting a sliding track, a connecting gear, a limit rack, a telescopic hydraulic rod, a hydraulic pump, a support foot plate and an elastic adsorption plate, and a one-way exhaust valve, the telescopic support rod is extended and retracted while the support foot plate and the ground are effectively adsorbed; and the structure is simple and stable, with extremely high universality.

Claims

1. An intelligent hoist based on a mechanical arm, comprising a mobile base (1), characterized in that: The upper end of the mobile base (1) is connected to a supporting vertical rod (2), the upper end of the supporting vertical rod (2) is connected to a supporting rod (3), the upper end of the supporting rod (3) is connected to a primary arm (4), the first end of the primary arm (4) is rotatably connected to a rotating bracket (5) away from the supporting vertical rod (2), the other end of the first end of the primary arm (4) is connected to an electric hoist (6), the rotating bracket (5) is internally connected to a secondary arm (7), the second end of the secondary arm (7) is remote from the first end of the primary arm (4) is connected to a lifting protection cover (8), and the lifting protection cover (8) is internally rotatably connected to a guide wheel (9); The first-stage arm (4) is fixedly connected to a limit gear ring (10) at one end away from the support vertical rod (2), and a driving gear (11) rotatably connected to the rotating bracket (5) is meshed next to the limit gear ring (10), and the driving gear (11) is connected to a first-stage driving motor (12) connected to the rotating bracket (5); The upper end of the rotating bracket (5) is fixedly connected to a supporting plate (13), and the upper end of the supporting plate (13) is rotatably connected to two symmetrically distributed and mutually meshing limiting gear plates (14), and the limiting gear plates (14) are each provided with an arc-shaped track (15), and the two arc-shaped tracks (15) cooperate to form a rope pulling channel; The upper ends of the primary arm (4) and the secondary arm (7) are fixedly connected to a wire device, a lifting rope is wound inside the electric hoist (6), the lifting rope passes through the wire device, the rope channel and the guide wheel (9), and the other end of the lifting rope is connected to a lifting hook; The mobile base (1) is internally connected with four equally circumferentially distributed telescopic support rods (16), each of the telescopic support rods (16) is threadedly connected with a lifting and tightening rod (17), the lower end of the lifting and tightening rod (17) is connected with a supporting foot plate (18), and the upper end of the lifting and tightening rod (17) is coaxially connected with an operating handle (19); The upper end of the primary arm (4) is connected to a buffer box (20) disposed between the electric hoist (6) and the conductor device, and two groups of symmetrically distributed guide buffer structures are slidably connected to the inside of the buffer box (20) up and down, and the guide buffer mechanism comprises two lifting beams (21) symmetrically distributed front and back, the lifting beams (21) and the buffer box (20) are connected via a spring, and a plurality of guide rollers (22) are rotatably connected between the two lifting beams (21); The buffer box (20) is fixedly connected to hydraulic sleeves (23) at the middle positions on both the front and rear sides, the lifting beam (21) is fixedly connected to a lifting piston rod (24) matched with the hydraulic sleeve (23), the hydraulic sleeves (23) are connected to a pressure supply sleeve (25) fixedly connected inside the buffer box (20), a solenoid valve (26) is connected between the pressure supply sleeve (25) and the hydraulic sleeve (23), the solenoid valve (26) is connected to an external power supply, a partition (27) is fixedly connected to the middle position inside the pressure supply sleeve (25), and buffer piston plates (28) coaxially slidably connected to the pressure supply sleeve (25) are connected to both sides of the partition (27) through springs, and hydraulic oil is filled between the buffer piston plate (28) and the lifting piston rod (24); The lifting rope passes through the buffer box (20), and the portion of the lifting rope inside the buffer box (20) is interlaced and wound around the guide roller (22).

2. The intelligent hoist based on a mechanical arm according to claim 1, characterized in that: The support plate (13) is fixedly connected to a limiting frame (29) at one end close to the electric hoist (6); the limiting frame (29) is internally rotatably connected to two symmetrically distributed limiting rollers (30); the lifting rope is located between the two limiting rollers (30); and the lifting rope is in contact with the two limiting rollers (30).

3. The intelligent hoist based on a mechanical arm according to claim 2 is characterized in that: One of the limit gear plates (14) is coaxially fixedly connected to a conveying sprocket (31) rotatably connected to the lower end of the supporting support plate (13); The upper end of the rotating bracket (5) is fixedly connected to a central rotating shaft (32), and an electric control sprocket (33) is coaxially connected to the central rotating shaft (32). The electric control sprocket (33) and the conveying sprocket (31) are connected by a chain. The central rotating shaft (32) is provided with a plurality of equicircumferentially distributed limiting grooves (34), and the limiting grooves (34) are fixedly connected with powerful electromagnets (35). The limiting grooves (34) are radially slidably connected with limiting arc blocks (36) along the central rotating shaft (32). The inner wall of the electric control sprocket (33) is provided with a plurality of limiting tracks (37) matched with the limiting arc blocks (36), and the plurality of powerful electromagnets (35) are connected to an external power supply. The lower side of the support plate (13) is rotatably connected to a rotating sprocket (38), the rotating sprocket (38) and a limit shaft (39) rotatably connected to the upper end of the primary arm (4) are connected via a chain transmission mechanism, and the limit shaft (39) is connected to the electric hoist (6) via a bevel gear reversing mechanism and a chain transmission mechanism; The rotating sprocket (38) is connected to the electrically controlled sprocket (33) via a chain transmission mechanism.

4. The intelligent hoist based on a mechanical arm according to claim 3 is characterized in that: The supporting rod (3) is coaxially fixedly connected with a rotating gear (40), and an adjusting gear (41) is meshed next to the rotating gear (40). The adjusting gear (41) is connected to a secondary motor (42) fixedly connected to the primary arm (4), and the secondary motor (42) is externally connected to a power source.

5. The intelligent hoist based on a mechanical arm according to claim 1, characterized in that: The wire guide device comprises a support frame (43), a plurality of equally circumferentially distributed limiting ball grooves are provided inside the support frame (43), and guide balls (45) are rotatably connected inside the limiting ball grooves.

6. The intelligent hoist based on a mechanical arm according to claim 1, characterized in that: The lower end of the lifting protective cover (8) is connected to a limit frame (46), a swinging groove (47) is provided in the middle of the limit frame (46), a limit sleeve (48) is coaxially connected inside the swinging groove (47), the outer wall of the limit sleeve (48) is connected to the swinging groove (47) via a plurality of springs distributed equicircumferentially, and the inner wall of the limit sleeve (48) is rotatably connected to a plurality of rotating balls (49).

7. The intelligent hoist based on a mechanical arm according to claim 4, characterized in that: The mobile base (1) is provided with a slide track (50) matched with the telescopic support rod (16); the upper end of the telescopic support rod (16) close to one end of the support vertical rod (2) is rotatably connected to a connecting gear (51); the connecting gear (51) is meshed with a limit rack (52) fixedly connected to the inside of the slide track (50); The telescopic support rod (16) is provided with a sliding hole inside, the sliding track (50) is fixedly connected with a telescopic hydraulic rod (54) matching with the sliding hole inside, the other end of the telescopic hydraulic rod (54) is fixedly connected to the telescopic support rod (16), and a plurality of the telescopic hydraulic rods (54) are connected to a hydraulic pump (55) fixedly connected to the inside of the mobile base (1); The lifting and tightening rod (17) is threadedly connected to a rotating threaded sleeve (56) rotatably connected to the upper end of the telescopic support rod (16), and the rotating threaded sleeve (56) and the connecting gear (51) are connected via a chain transmission mechanism.

8. The intelligent hoist based on a mechanical arm according to claim 7, characterized in that: The lower end of the support foot plate (18) is fixedly connected to an elastic adsorption plate (57), the support foot plate (18) is connected to an exhaust passage (58) provided inside the lifting and fastening rod (17), and the upper end of the exhaust passage (58) is fixedly connected to a one-way exhaust valve (59).

9. The intelligent hoist based on a mechanical arm according to claim 7, characterized in that: The mobile base (1) is connected to a push handle (60), the push handle (60) is connected to a control module (61), and the control module (61) is connected to the primary drive motor (12), the secondary motor (42), the hydraulic pump (55), the strong electromagnet (35), the solenoid valve (26), and the electric hoist (6).

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