Mounting manipulator

Abstract

The invention relates to an installation manipulator which comprises an installation frame, a lifting mechanism, an inner door frame and two supporting legs, the inner door frame is arranged in the installation frame, the two supporting legs are installed on the two sides of the installation frame respectively, a control system is installed on one side of the installation frame, a lifting table is arranged on the inner door frame, and the lifting table is arranged on the inner door frame. The lifting mechanism is used for driving the lifting table to move up and down on the inner portal frame, a telescopic mechanism is installed on the lifting table, and a machine head used for fixing goods is installed on the telescopic mechanism. In the operation process, the insulation box is fixed to the machine head for installation operation, the machine head can move up and down along with the lifting mechanism, the installation height of the machine head is adjusted, the machine head can rotate and turn over, and meanwhile the distance between the machine head and the installation frame can be adjusted through the telescopic mechanism. The device is high in automation degree, high in installation precision, strong in adaptability, safe and reliable, and improves the production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of insulating box installation, and in particular to an installation manipulator. Background Art

[0002] With the widespread application of LNG (liquefied natural gas) in the energy field, the manufacturing and installation of its storage and transportation equipment has increasingly become the focus of the industry. As an important part of LNG storage equipment, the installation quality and efficiency of the insulation box directly affect the overall performance and operation safety of the equipment.

[0003] In the existing technology, manual installation is generally adopted, which has poor installation accuracy, extremely low work efficiency, and increased labor costs. Therefore, it is urgent to develop a set of LNG liquefied natural gas insulation box fully automatic installation manipulators, which is of great significance for improving installation accuracy, reducing labor costs, and improving production efficiency. Summary of the invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide an installation robot with a high degree of automation, high installation accuracy, strong adaptability, safety and reliability, and improved production efficiency.

[0005] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0006] A mounting robot comprises a mounting frame, a lifting mechanism, an inner door frame and two supporting legs, wherein the inner door frame is arranged in the mounting frame, the two supporting legs are respectively installed on both sides of the mounting frame, a control system is installed on one side of the mounting frame, a lifting platform is arranged on the inner door frame, the lifting mechanism is used to drive the lifting platform to move up and down on the inner door frame, a telescopic mechanism is installed on the lifting platform, and a head for fixing goods is installed on the telescopic mechanism.

[0007] As a further technical solution of the present invention: the control system includes a box body and a control cabinet and a battery box arranged in the box body.

[0008] As a further technical solution of the present invention: a driving wheel and two balancing wheels are installed at the bottom of the box, and the control cabinet controls the rotation of the driving wheel through an AC controller to achieve the purpose of making the vehicle move. The control cabinet controls the steering motor through a steering controller to drive the steering gear of the driving wheel to rotate to achieve the purpose of steering the vehicle.

[0009] As a further technical solution of the present invention: front wheels are respectively installed at one end of the two supporting legs away from the mounting frame.

[0010] As a further technical solution of the present invention: the lifting mechanism includes a lifting cylinder and a pulley group, the pulley group is used to suspend the lifting platform, the lifting cylinder is transmission-connected to the lifting platform, and is used to drive the lifting platform to move up and down on the inner door frame.

[0011] As a further technical solution of the present invention: the telescopic mechanism includes a forward cylinder, a fixed frame and a forward frame, one end of the forward frame is slidably arranged in the fixed frame through a forward guide rail, the main body of the telescopic cylinder is installed at the bottom of the fixed frame, one end of the piston rod of the telescopic cylinder is detachably fixedly connected to the forward frame, and the machine head is installed on the forward frame.

[0012] As a further technical solution of the present invention: a rotating mechanism is installed on the forward moving frame, a flipping mechanism is installed on the rotating mechanism, the machine head is detachably fixed to the flipping mechanism, the rotating mechanism is used to rotate the machine head, and the flipping mechanism is used to drive the machine head to flip within a range of -45° to 90°.

[0013] As a further technical solution of the present invention: it also includes a robotic arm, a grasping device and a positioning system which are controlled and connected to the control system, the robotic arm is used to complete the grasping action of the insulation box, the grasping device is used to grasp the insulation box, the positioning system is used to achieve precise positioning of the insulation box and the installation position, and the control system is used to coordinately control the robotic arm, the grasping device and the positioning system.

[0014] In summary, the present invention includes at least one of the following beneficial technical effects:

[0015] 1. The present invention discloses an installation manipulator. During the operation, the insulation box is fixed on the head for installation operation, wherein the head can not only move up and down with the lifting mechanism to adjust the installation height of the head, but also rotate and flip the position, and at the same time, the distance between the head and the mounting frame can be adjusted through the telescopic mechanism. It has high automation, high installation accuracy, strong adaptability, safety and reliability, and improves production efficiency.

[0016] 2. The present invention has a high degree of automation: the entire installation process is operated by 1-2 people in collaboration, which reduces labor intensity and improves production efficiency; high installation accuracy: the installation accuracy of the insulation box is ensured through a precise positioning system and control system; strong adaptability: it can be customized according to insulation boxes of different models and sizes to meet the needs of different customers; safe and reliable: advanced safety protection measures are adopted to ensure the safety and reliability of the entire installation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a side view of the present invention.

[0019] Figure 3 It is a front view of the present invention.

[0020] Figure 4 It is a top view of the present invention.

[0021] Figure 5 It is a bottom view of the present invention.

[0022] : 1. mounting frame; 2. lifting mechanism; 21. lifting cylinder; 22. pulley assembly; 3. inner door frame; 4. supporting leg; 41. auxiliary supporting leg; 5. control system; 51. box; 52. driving wheel; 53. balancing wheel; 54. front wheel; 6. telescopic mechanism; 61. forward cylinder; 62. fixed frame; 63. forward frame; 7. machine head; 8. rotating mechanism; 81. first rotating disk; 82. second rotating disk; 9. flipping mechanism; 91. longitudinal flipping mechanism; 911. longitudinal mounting bracket; 912. longitudinal push rod; 913. longitudinal rotating frame; 92. transverse flipping mechanism; 921. transverse mounting bracket; 922. transverse push rod; 923. transverse rotating frame. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0024] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] Embodiment 1:

[0027] Reference Figure 1-5 , is a mounting manipulator disclosed in the present invention, comprising a mounting frame 1, a lifting mechanism 2, an inner door frame 3 and two supporting legs 4, the inner door frame 3 is arranged in the mounting frame 1, the two supporting legs 4 are respectively installed on both sides of the mounting frame 1, a control system 5 is installed on one side of the mounting frame 1, a lifting platform is arranged on the inner door frame 3, the lifting mechanism 2 is used to drive the lifting platform to move up and down on the inner door frame 3, a telescopic mechanism 6 is installed on the lifting platform, and a head 7 for fixing goods is installed on the telescopic mechanism 6. In this embodiment, a plurality of auxiliary supporting legs 41 are installed on the supporting legs 4. When installing the insulation box, the auxiliary supporting legs 41 are supported on the ground, which can increase the stability of the entire machine.

[0028] The control system 5 includes a box 51 and a control cabinet and a battery box arranged in the box 51. A driving wheel 52 and two balancing wheels 53 are installed at the bottom of the box 51. The control cabinet controls the driving wheel 52 to rotate through an AC controller to achieve the purpose of moving the vehicle. The control cabinet controls the steering motor through a steering controller to drive the steering gear of the driving wheel 52 to rotate to achieve the purpose of steering the vehicle.

[0029] Front wheels 54 are respectively installed at one end of the two support legs 4 away from the mounting frame 1. The lifting mechanism 2 includes a lifting cylinder 21 and a pulley group 22, the pulley group 22 is used to suspend the lifting platform, and the lifting cylinder 21 is connected to the lifting platform for driving the lifting platform to move up and down on the inner door frame 3.

[0030] The telescopic mechanism 6 includes a forward cylinder 61, a fixed frame 62 and a forward frame 63. One end of the forward frame 63 is slidably arranged in the fixed frame 62 through a forward guide rail. The main body of the telescopic cylinder is installed at the bottom of the fixed frame 62. One end of the piston rod of the telescopic cylinder is detachably fixedly connected to the forward frame 63. The machine head 7 is installed on the forward frame 63.

[0031] Reference Figure 1, a rotating mechanism 8 is installed on the forward frame 63, a flipping mechanism 9 is installed on the rotating mechanism 8, the machine head 7 is detachably fixed on the flipping mechanism 9, the rotating mechanism 8 is used to rotate the machine head 7, and the flipping mechanism 9 is used to drive the machine head 7 to flip in the range of -45° to 90°. In this embodiment, the rotating mechanism 8 includes a first rotating disk 81 and a second rotating disk 82, and the flipping mechanism 9 includes a longitudinal flipping mechanism 91 and a transverse flipping mechanism 92. The first rotating disk 81 and the second rotating disk 82 are both driven by a motor and are rotatably arranged on the forward frame 63. The longitudinal flipping mechanism 91 is installed on the first rotating disk 81, the second rotating disk 82 is installed on the longitudinal flipping mechanism 91, and the transverse flipping mechanism 92 is installed on the second rotating disk 82.

[0032] Specifically, the longitudinal flipping mechanism 91 includes a longitudinal mounting bracket 911, a longitudinal push rod 912 and a longitudinal rotating frame 913. The longitudinal rotating frame 913 is rotatably set on the longitudinal mounting bracket 911. The longitudinal push rod 912 is fixed on the longitudinal mounting bracket 911. One end of the telescopic rod of the longitudinal push rod 912 is hingedly connected to the longitudinal rotating frame 913. When the telescopic rod of the longitudinal push rod 912 is extended or retracted, the longitudinal rotating frame 913 can be driven to rotate within a certain range on the longitudinal mounting bracket 911, thereby realizing a certain range of flipping of the machine head 7 in the longitudinal direction.

[0033] Specifically, the transverse flipping mechanism 92 includes a transverse mounting bracket 921, a transverse push rod 922 and a transverse rotating frame 923. The transverse rotating frame 923 is rotatably arranged on the transverse mounting bracket 921. The transverse push rod 922 is fixed on the transverse mounting bracket 921. One end of the telescopic rod of the transverse push rod 922 is hingedly connected to the transverse rotating frame 923. The second rotating disk 82 is fixed on the top of the longitudinal rotating frame 913. The transverse mounting bracket 921 is fixed on the second rotating disk 82. When the telescopic rod of the transverse push rod 922 is extended and retracted, the transverse rotating frame 923 can be driven to rotate within a certain range on the transverse mounting bracket 921, thereby realizing a certain range of flipping of the machine head 7 in the transverse direction.

[0034] The present invention has the following technical effects:

[0035] (1) Improve production efficiency:

[0036] The traditional insulation box installation process often relies on manual operation, which is not only time-consuming and labor-intensive, but also easily affected by human factors, resulting in low production efficiency. The invention of the fully automatic insulation box installation manipulator aims to achieve fast and accurate installation of the insulation box through automated and intelligent technical means, thereby greatly improving production efficiency.

[0037] (2) Reduce production costs:

[0038] The use of fully automatic insulation boxes to install manipulators can reduce dependence on a large number of workers and reduce labor costs. At the same time, the efficient operation of the manipulator can also reduce energy consumption and waste of raw materials, thereby reducing overall production costs.

[0039] (3) Improve installation accuracy and stability:

[0040] The fully automatic insulation box installation manipulator uses sophisticated sensors and control systems 5, which can achieve accurate perception and positioning of the insulation box position. This can not only improve the installation accuracy, but also ensure the stability of the installation process and avoid quality problems caused by human operation errors.

[0041] (4) Ensure operational safety:

[0042] The installation of the insulation box may involve dangerous factors such as high voltage and high temperature, and manual operation may pose certain safety risks. The fully automatic insulation box installation manipulator can effectively reduce the safety risks of operators and ensure the safety of the operation process through remote control and automated operation.

[0043] (5) Promote industrial automation upgrade:

[0044] The development and application of the fully automatic insulation box installation robot will help promote the upgrading and development of industrial automation. This intelligent production method will lead the manufacturing industry to a more efficient, environmentally friendly and sustainable direction.

[0045] The present invention also includes a mechanical arm, a grasping device and a positioning system connected to the control system 5. The mechanical arm is used to complete the grasping action of the insulation box, the grasping device is used to grasp the insulation box, and the positioning system is used to realize the precise positioning of the insulation box and the installation position. The control system 5 is used for the coordinated control of the mechanical arm, the grasping device and the positioning system. In this embodiment, the mechanical arm adopts a multi-joint design, has high flexibility and precise control capabilities, and can complete complex movements in a small space. The grasping device is customized according to the shape and size of the insulation box and is coated with a flexible material to ensure that the insulation box is not damaged during the grasping process. The positioning system combines visual recognition technology and laser ranging technology to realize the precise positioning of the insulation box and the installation position, ensuring installation accuracy. The control system 5 adopts an advanced PLC control system to realize the coordinated control of the mechanical arm, the grasping device and the positioning system, ensuring the automation and intelligence of the entire installation process.

[0046] Installation process:

[0047] ① Preparation: Place the insulation box at the predetermined location, start the robot system, and perform initialization settings.

[0048] ② Positioning and grasping: The robot system determines the insulation box and installation position through the positioning system, and then uses the grasping device to accurately grasp the insulation box.

[0049] ③Transportation and installation: The robotic arm transports the insulation box to the installation location and accurately installs the insulation box through precise control.

[0050] ④ Inspection and adjustment: After the installation is completed, the system will inspect the installation quality and, if necessary, make fine adjustments to ensure installation accuracy.

[0051] This 500-type installation manipulator (adjustable speed) integrates intelligent control of walking, turning, rising and falling, forward and backward movement, forward and backward flipping, left and right rotation, left and right movement, left and right flipping and other actions, realizes full electric function, is easy and flexible to operate, and is a new energy-saving, efficient and environmentally friendly special machine used to meet the installation requirements of all flat boxes and corner boxes in the seven planes A, B, D, E, F, H, and J in the GTT MarkⅢ film-type liquid cargo containment system of Party A. It fully reflects its excellent flexibility, quietness and environmental protection performance. The following Table 1 shows the specific technical parameters of this installation manipulator:

[0052] Table 1

[0053]

[0054]

[0055] The main functions are as follows:

[0056] 1. The battery DC24V or AC220V provides energy for the whole vehicle;

[0057] 2. The AC controller is used to control the driving wheel 52 to rotate so as to make the vehicle move, and the steering controller is used to control the steering motor to drive the steering gear of the driving wheel 52 to rotate so as to achieve the purpose of steering the vehicle;

[0058] 3. The pump station provides the power source for lifting, moving forward and backward, flipping forward and backward, and flipping left and right, and controls the completion of each action through the solenoid valve handle;

[0059] 4. The left and right movement and left and right rotation of the working device are realized by the motor and reducer;

[0060] 5. All actions are completed by the remote control and all can be infinitely adjusted in speed;

[0061] 6. The brake is electromagnetic brake;

[0062] 7. This manipulator has the advantages of low cost, environmental protection, light weight, fast installation, and reduced labor intensity of workers;

[0063] 8. The load on all surfaces of A, B, D, E, F, H and J in Mark I and II thin liquid cargo containment systems shall be ≤ 500kg.

[0064] The implementation principle of the present invention is as follows: the present invention discloses an installation manipulator, during the operation, the insulation box is fixed on the head 7 for installation operation, wherein the head 7 can not only move up and down following the lifting mechanism 2, adjust the installation height of the head 7, but also rotate and flip the position, and at the same time, the distance between the head 7 and the mounting frame 1 can be adjusted through the telescopic mechanism 6. It has high automation, high installation accuracy, strong adaptability, safety and reliability, and improves production efficiency.

[0065] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mounting manipulator, characterized in that: The invention comprises a mounting frame (1), a lifting mechanism (2), an inner door frame (3) and two supporting legs (4), wherein the inner door frame (3) is arranged in the mounting frame (1), the two supporting legs (4) are respectively installed on both sides of the mounting frame (1), a control system (5) is installed on one side of the mounting frame (1), a lifting platform is arranged on the inner door frame (3), the lifting mechanism (2) is used to drive the lifting platform to move up and down on the inner door frame (3), a telescopic mechanism (6) is installed on the lifting platform, and a head (7) for fixing goods is installed on the telescopic mechanism (6).

2. The installation robot according to claim 1, characterized in that: The control system (5) comprises a box (51) and a control cabinet and a battery box arranged in the box (51).

3. The installation robot according to claim 2, characterized in that: A driving wheel (52) and two balancing wheels (53) are installed at the bottom of the box body (51). The control cabinet controls the driving wheel (52) to rotate through an AC controller to achieve the purpose of moving the vehicle. The control cabinet controls the steering motor through a steering controller to drive the steering gear of the driving wheel (52) to rotate to achieve the purpose of steering the vehicle.

4. The installation robot according to claim 1, characterized in that: Front wheels (54) are respectively mounted on one end of the two supporting legs (4) away from the mounting frame (1).

5. The installation robot according to claim 1, characterized in that: The lifting mechanism (2) comprises a lifting cylinder (21) and a pulley group (22), wherein the pulley group (22) is used to suspend the lifting platform, and the lifting cylinder (21) is transmission-connected to the lifting platform and is used to drive the lifting platform to move up and down on the inner door frame (3).

6. The installation robot according to claim 1, characterized in that: The telescopic mechanism (6) comprises a forward oil cylinder (61), a fixed frame (62) and a forward frame (63); one end of the forward frame (63) is slidably arranged in the fixed frame (62) via a forward guide rail; the main body of the telescopic cylinder is installed at the bottom of the fixed frame (62); one end of the piston rod of the telescopic cylinder is detachably fixedly connected to the forward frame (63); and the machine head (7) is installed on the forward frame (63).

7. The installation robot according to claim 1, characterized in that: The forward moving frame (63) is provided with a rotating mechanism (8), and the rotating mechanism (8) is provided with a flipping mechanism (9). The machine head (7) can be detachably fixed on the flipping mechanism (9). The rotating mechanism (8) is used to rotate the machine head (7), and the flipping mechanism (9) is used to drive the machine head (7) to flip within a range of -45° to 90°.

8. The installation robot according to claim 1, characterized in that: It also includes a mechanical arm, a grasping device and a positioning system that are control-connected to the control system (5), the mechanical arm is used to complete the grasping action of the insulation box, the grasping device is used to grasp the insulation box, the positioning system is used to achieve accurate positioning of the insulation box and the installation position, and the control system (5) is used to coordinately control the mechanical arm, the grasping device and the positioning system.

Images