Double-beam long-arm heavy-load hydraulic manipulator

Abstract

The invention discloses a double-beam long-arm heavy-load hydraulic manipulator, which relates to the technical field of mechanical production equipment and comprises a mounting base, a moving mechanism, a four-bar mechanism, a clamp bracket and a clamp assembly, the clamp assembly comprises a long arm beam, a mounting plate is welded to one end of the long arm beam, and a reinforcing rib plate is welded between the side face of the mounting plate and the top of the long arm beam. The long arm beam is made of high-strength materials, the reinforcing rib plates are arranged, the strength and rigidity of the long arm beam can bear pressure and torsion brought by heavy-duty objects, it is ensured that the mechanical arm is not deformed or damaged in the heavy-duty state, round billets are automatically taken and placed from a deeper annular heating furnace, the production efficiency of heavy-duty wheels is improved, and the production cost is reduced. The stability of the heavy hydraulic manipulator for clamping workpieces is improved, the position precision of the manipulator can reach + / -3mm, the clamp can bear the highest high temperature of 1320 DEG C of a heating furnace, and the manipulator can be applied in a high-temperature severe environment.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical production equipment, and in particular to a double-beam long-arm heavy-load hydraulic manipulator. Background Art

[0002] The wheel rolling line is a complex production process system, which is mainly used to process raw materials into wheels that meet the requirements of railway transportation. The prepared billets will be sent to the heating furnace, which is one of the key links of the rolling line. The heating furnace usually adopts a rotary bottom annular heating furnace, which can heat the billets evenly. The billets are heated to a suitable rolling temperature in the heating furnace, generally around 1100-1250℃. This temperature range can make the billets have good plasticity, which is convenient for subsequent rolling deformation. After the heated billets are taken out of the heating furnace, they enter the rolling stage. Among them, the manipulator is responsible for taking the heated round billets out of the heating furnace one by one and placing them on the transport trolley. However, the wheel roll blank furnace is deep and the temperature is high. If the manipulator wants to go deep into the furnace of the mechanical rotary bottom annular heating furnace, the manipulator's clamps must be lengthened while the overall mechanical structure design must ensure rigidity and precision.

[0003] The mechanical arms currently developed in China are short, light in load, and have low repeatability. Simply lengthening the arms is not enough to meet the positioning accuracy of the jaws under heavy loads, so it is necessary to develop a heavy-duty hydraulic manipulator to cope with such high-temperature, high-speed and high-intensity working environments. Summary of the invention

[0004] The invention provides a double-beam long-arm heavy-duty hydraulic manipulator, which can effectively solve the shortcomings of the background technology and improve the working efficiency of the wheel rolling line.

[0005] In order to solve the above technical problems, the present invention provides a double-beam long-arm heavy-duty hydraulic manipulator, comprising a mounting base, a moving mechanism, a four-bar linkage, a clamp bracket and a clamp assembly; the clamp assembly comprises a long arm beam, one end of the long arm beam is welded with a mounting plate, and a reinforcing rib plate is welded between the side surface of the mounting plate and the top of the long arm beam; a fixed arm is movably mounted on the other end of the long arm beam, the number of the fixed arms is two, and the two fixed arms are distributed in a Y shape with the long arm beam, a clamping hydraulic cylinder is fixedly mounted on the side surface of the mounting plate, a mounting sleeve is fixedly mounted on the output end of the clamping hydraulic cylinder, a pull rod is movably mounted on the side surface of the mounting sleeve, the number of the pull rods is two, a clamp arm is provided inside the fixed arm, one end of the pull rod is movably connected to the side surface of the fixed arm, a clamp claw for clamping a round billet is movably mounted on one end of the fixed arm, one end of the clamp arm is movably connected to the clamp claw, and the other end of the clamp arm is movably connected to the inside of the long arm beam. When the jaws of the clamp assembly clamp the largest round billet under the action of its own weight, the displacement of the jaws does not exceed 50mm. By using a long arm beam made of high-strength material and setting a reinforcing rib plate, its strength and rigidity can withstand the pressure and torsion brought by the heavy-loaded object, ensuring that the mechanical arm will not be deformed or damaged under heavy load.

[0006] Preferably, the mounting base includes a pair of symmetrically arranged track beams, a connecting plate is fixedly installed between the two ends of the two track beams, a support leg is fixedly installed at the bottom of the track beams, a movable track is fixedly installed at the top of the track beams, and a rack is fixedly installed at the top of one of the track beams.

[0007] Preferably, the moving mechanism includes a moving frame, a moving seat is provided at each of the four corners of the moving frame, a first roller is rotatably mounted on the bottom of the moving seat, a second roller is rotatably mounted on the side of the moving seat, and a slot is fixedly mounted on the side of the moving seat; the bottom surface of the first roller is in contact with the top surface of the moving track, the rotating shaft of the second roller is vertically mounted, the surface of the second roller is in contact with the side of the moving track, the slot is an inverted U-shape, and the slot covers the top of the moving track, a hydraulic motor is fixedly mounted on the top of the moving frame, and a helical gear is fixedly mounted on the output end of the hydraulic motor, and the helical gear is meshed with the rack to realize the use of the hydraulic motor to drive the moving mechanism to move.

[0008] Preferably, anti-roll frames are fixedly installed on both sides of the mobile frame, and guide wheels are rotatably installed on the sides of the anti-roll frames to prevent the mobile mechanism from tipping over due to center of gravity problems. Buffers are fixedly installed on both ends of the inner wall of the track beam to prevent the mobile mechanism from colliding with the installation frame.

[0009] Preferably, the four-bar linkage includes a movable plate, a connecting rod and a hydraulic cylinder, the number of the hydraulic cylinders is two, the bottom end of the hydraulic cylinder is rotatably connected to the movable plate, the top of the movable frame is fixedly installed with a first axle seat, the sides of the bottom of the movable frame are respectively fixedly installed with a second axle seat and a third axle seat, the bottom of the movable frame is provided with a bottom groove for the passage of the hydraulic cylinder, the top end of the hydraulic cylinder is rotatably connected to the first axle seat, one side of the movable plate is rotatably connected to the second axle seat, and one end of the connecting rod is rotatably connected to the third axle seat, so as to realize the vertical control of the clamp assembly and cooperate with the movement of the movable mechanism to realize the positioning of the clamp claws.

[0010] Preferably, the clamp bracket includes a first connecting arm and a second connecting arm, the side of the first connecting arm is connected to the side of the second connecting arm by a hinge, one side of the first connecting arm is rotatably mounted on one side of the movable plate, the side of the first connecting arm is rotatably connected to one end of a connecting rod, the movable plate and the connecting rod are parallel to each other, the side of the second connecting arm is provided with a mounting groove matching the clamping hydraulic cylinder, a fixed block is fixedly mounted on the side of the first connecting arm, an adjusting screw is threadedly mounted in the fixed block, and one end of the adjusting screw fits the side of the second connecting arm. The angle between the two connecting arms can be fine-tuned by adjusting the screw, thereby fine-tuning the angle between the clamp bracket and the horizontal direction.

[0011] Preferably, a limiting mechanism is provided at one end of the long arm beam, and the limiting mechanism comprises a fixing seat, and an adjusting rod is threadedly mounted on the fixing seat, so as to prevent the jaws from contacting each other and being damaged, thereby protecting the jaws.

[0012] Preferably, the long arm beam and the reinforcing rib plate are made of Q390C.

[0013] Compared with the related art, the double-beam long-arm heavy-duty hydraulic manipulator provided by the present invention has the following beneficial effects:

[0014] The present invention provides a double-beam long-arm heavy-duty hydraulic manipulator. By adopting a long-arm beam made of high-strength material and arranging a reinforcing rib plate, the strength and rigidity of the manipulator can withstand the pressure and torque brought by the heavy-loaded object, thereby ensuring that the manipulator arm is not deformed or damaged under a heavy-load state, and realizing automatic picking and placing of round billets from a deeper annular heating furnace, thereby improving the efficiency of heavy-duty wheel production and the stability of the heavy-duty hydraulic manipulator in clamping workpieces. The position accuracy of the manipulator can reach ±3mm, and the clamp can withstand a high temperature of up to 1320°C in the heating furnace, thereby realizing the application of the manipulator in high-temperature and harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2It is a schematic diagram of the installation structure of the clamp assembly of the present invention;

[0017] Figure 3 It is a schematic diagram of the cross-sectional structure of the clamp assembly of the present invention;

[0018] Figure 4 It is a cross-sectional enlarged structural schematic diagram of one end of the clamp assembly of the present invention;

[0019] Figure 5 It is a schematic diagram of the enlarged structure of the mounting base of the present invention;

[0020] Figure 6 It is a schematic diagram of the structure of the mobile mechanism of the present invention;

[0021] Figure 7 It is a schematic diagram of the connection structure between the four-bar linkage and the moving mechanism of the present invention;

[0022] Figure 8 It is a schematic diagram of the connection structure between the clamp bracket and the four-bar linkage mechanism of the present invention;

[0023] Fig. 9 It is a cloud diagram of the total deformation of the manipulator of the present invention under the action of gravity and load;

[0024] Fig.10 It is a cloud diagram of the total deformation of the manipulator of the present invention under the action of load;

[0025] Fig.11 It is the Von-Mises stress cloud diagram of the static load of the manipulator of the present invention;

[0026] Fig.12 The Von-Mises stress cloud of each arm of the manipulator of the present invention;

[0027] Fig.13 It is the Von-Mises stress cloud diagram of the manipulator tensioning mechanism of the present invention;

[0028] Fig.14 It is a Von-Mises stress cloud diagram when the manipulator of the present invention is lifted;

[0029] Fig.15 It is the Von-Mises stress cloud diagram of each arm when the manipulator of the present invention is lifted;

[0030] Fig.16 It is a Von-Mises stress cloud diagram of the tensioning mechanism when the manipulator of the present invention is lifted or lowered;

[0031] Fig.17 It is a Von-Mises stress cloud diagram when the manipulator of the present invention moves horizontally;

[0032] Fig.18It is the Von-Mises stress cloud diagram of each arm when the manipulator of the present invention moves horizontally;

[0033] Fig.19 It is the Von-Mises stress cloud diagram of the clamping mechanism when the manipulator of the present invention moves horizontally.

[0034] Numbers in the figure: 1, mounting base; 2, moving mechanism; 3, four-bar linkage; 4, clamp bracket; 5, clamp assembly; 11, track beam; 12, connecting plate; 13, supporting leg; 14, moving track; 15, rack; 16, buffer; 21, moving frame; 22, moving seat; 24, hydraulic motor; 25, bevel gear; 26, first axle seat; 27, second axle seat; 28, third axle seat; 29, bottom groove; 210, anti-roll frame; 221, the first A roller; 222, a second roller; 223, a slot; 31, a movable plate; 32, a connecting rod; 33, a lifting hydraulic cylinder; 41, a first connecting arm; 42, a second connecting arm; 43, a fixed block; 44, an adjusting screw; 45, a mounting slot; 51, a long arm beam; 52, a mounting plate; 53, a clamping hydraulic cylinder; 54, a mounting sleeve; 55, a pull rod; 56, a clamp arm; 57, a fixed arm; 58, a clamp claw; 59, a limiting mechanism; 510, a reinforcing rib plate. DETAILED DESCRIPTION

[0035] Embodiment 1, by Figure 1-8 The present invention comprises a mounting base 1, a moving mechanism 2, a four-bar linkage 3, a clamp bracket 4 and a clamp assembly 5; the clamp assembly 5 comprises a long arm beam 51, one end of the long arm beam 51 is welded with a mounting plate 52, a reinforcing rib plate 510 is welded between the side of the mounting plate 52 and the top of the long arm beam 51; a fixed arm 57 is movably mounted on the other end of the long arm beam 51, the number of the fixed arms 57 is two, the two fixed arms 57 and the long arm beam 51 are distributed in a Y shape, and the side of the mounting plate 52 is fixedly mounted A clamping hydraulic cylinder 53 is installed, and a mounting sleeve 54 is fixedly installed on the output end of the clamping hydraulic cylinder 53. A pull rod 55 is movably installed on the side of the mounting sleeve 54. There are two pull rods 55. A clamp arm 56 is provided inside the fixed arm 57. One end of the pull rod 55 is movably connected to the side of the fixed arm 57. A clamp claw 58 for clamping the round billet is movably installed on one end of the fixed arm 57. One end of the clamp arm 56 is movably connected to the clamp claw 58, and the other end of the clamp arm 56 is movably connected to the inside of the long arm beam 51.

[0036] In this embodiment, a clamping hydraulic cylinder 53 is used to drive the connecting rod mechanism by telescopic movement forward and backward, thereby realizing the clamping and opening movement of the clamping claw 58. The specific structure is that when the clamping hydraulic cylinder 53 retracts, it drives the two pull rods 55 to move backward, and the retracted pull rods 55 pull the fixed arms 57 on the left and right sides to clamp inward at the same time, thereby realizing the clamping claw 58 to clamp the workpiece; when the clamping hydraulic cylinder 53 extends, the clamping claw 58 is opened.

[0037] The material of the jaw 58 is 304 stainless steel. Austenitic stainless steel has good thermal stability at high temperatures, and its melting point range is generally around 1400-1450°C, which prevents it from melting easily in a high-temperature environment such as when the round billet is taken out of the furnace, and it can withstand the test of high temperatures. Other parts are Q390C, which has good low-temperature toughness and can meet the lowest environment of -31°C in the workshop.

[0038] Manipulator design parameters: length 10.8m, width 2.4m, height 3.9m, horizontal stroke 7.5m, maximum load 1100kg (based on the maximum round billet 500×910).

[0039] A finite element network model is established for the entire robot, and a moving pair and a rotating pair are set. A pair of lifting hydraulic cylinders 33 and a clamping hydraulic cylinder 53 are set as the moving pair.

[0040] Stiffness analysis: The mechanical arm system (including 1100kg end load) has the largest displacement at position 58 of the clamp under its own weight. Fig.10 The maximum total displacement (ie, absolute displacement) shown is 49.94 mm (about 50 mm).

[0041] The mechanical arm system (excluding the 1100kg end load) has the largest displacement at the clamp 58 under the 1100kg end load. Fig.10 The maximum total displacement (ie, absolute displacement) shown is 30.426 mm (about 30 mm).

[0042] The project focuses on the displacement difference between no-load and full-load. The displacement is specifically measured as the deformation under the end load, which is about 30mm. It can be conservatively estimated that the result of the former is the largest displacement at the clamp under the action of deadweight, about 50mm.

[0043] Strength analysis: The two lifting hydraulic cylinders 33 move 210mm in 0-3s to achieve lifting. The horizontal moving mechanism moves 5500mm in 0-9s to achieve overall forward movement (corresponding to the feeding process). The clamping hydraulic cylinder 53 is always in a locked state, and the maximum load acts on the clamp claw 58 in a quasi-static load manner.

[0044] Structural strength under static load: For the robotic arm system (including 1100kg end load), when each kinematic pair is locked (i.e. the displacement is a constant), the calculation result is the result of the static load of the system, and the position with the displacement of 0 is selected for calculation. The Von-Mises stress cloud diagram of the static load of the overall robotic arm is as follows: Fig.11 As shown in the figure, the maximum value is about 176Mpa, and the maximum value occurs at the bearing mounting hole of the moving mechanism 2. In fact, there is a boss reinforcement designed here, and its stress level will be much lower than 176Mpa. The maximum stress of each arm and clamp is 89.4MPa. Figure 12-13As shown in the figure, the maximum stress of the system as a whole does not exceed 110Mpa, the safety factor of static strength exceeds 3, and the static strength of the structure meets the requirements.

[0045] System structural strength during lifting: Robot arm system (including 1100kg end load), a pair of lifting hydraulic cylinders 33 displacement is set to 210mm, and other kinematic pairs are locked (i.e. the displacement is constant). The Von-Mises stress cloud diagram of the whole robot is as follows Fig.14 As shown in the figure, the maximum value is about 210Mpa, and the maximum value occurs at the bearing mounting hole of the moving mechanism 2. In fact, there is a boss reinforcement designed here, and its stress level will be much lower than 210Mpa. The maximum stress of each arm and clamp is 99.76MPa. Figure 15-16 As shown, the static results Fig.12 Compared with the maximum stress of 89.4MPa, the dynamic load coefficient is about 1.12. Compared with the safety factor of statics, it can be seen that the safety factor exceeds 2.67 at this time, which meets the strength requirements.

[0046] System structural strength during horizontal movement: Robot arm system (including 1100kg end load), mobile mechanism 2 is set to a horizontal displacement of 5500mm, and other kinematic pairs are locked (i.e., the displacement is a constant value). The Von-Mises stress cloud diagram of the overall robot is as follows: Fig.17 As shown in the figure, the maximum value is about 178Mpa, which occurs at the bearing mounting hole of the mobile frame. In fact, there is a boss reinforcement designed here, and its stress level will be much lower than 178Mpa. The maximum stress of each arm and clamp is 90.7MPa. Figure 18-19 As shown, the static results Fig.12 Compared with the maximum stress of 89.4MPa, the dynamic load coefficient is about 1.02. Compared with the safety factor of statics, it can be seen that the safety factor exceeds 2.94 at this time, which meets the strength requirements.

[0047] In summary, the mechanical arm system (including 1100kg end load) has the largest displacement at the clamp under the action of its own weight, which is about 50mm. The mechanical arm system has the largest displacement at the clamp under the action of 1100kg end load, which is about 30mm. The displacement in the vertical direction of the end does not exceed 50mm. Clamp 58 is made of 304 stainless steel, the tensile strength of 304 stainless steel exceeds 515MPa, and the yield strength of 304D high-strength stainless steel is as high as 420MPa. Other components are Q390C, whose yield strength exceeds 390MPa and tensile strength exceeds 510MPa. The structural strength of the system under static load exceeds 3. According to the stress level of dynamic load analysis, compared with the static structure, it can be seen that the dynamic load coefficient does not exceed 1.2. According to the national standard GB / T3811-2008 "Design Specifications for Cranes", the safety factor of the crane should be between 1.25 and 1.5. The overall safety factor meets the requirements.

[0048] Embodiment 2, based on embodiment 1, the mounting base 1 includes a pair of symmetrically arranged track beams 11, a connecting plate 12 is fixedly installed between the two ends of the two track beams 11, a supporting leg 13 is fixedly installed at the bottom of the track beam 11, a movable track 14 is fixedly installed at the top of the track beam 11, and a rack 15 is fixedly installed at the top of one of the track beams 11.

[0049] The track beam 11 and the connecting plate 12 form a frame structure, and the connecting plate 12 on one side is slightly different from the connecting plate 12 on the other side in appearance design because it needs to clamp the round blank. The cross section of the moving track 14 is I-shaped, with strong load-bearing capacity and high stability.

[0050] The moving mechanism 2 includes a moving frame 21, and moving seats 22 are provided at four corners of the moving frame 21. A first roller 221 is rotatably mounted on the bottom of the moving seat 22, a second roller 222 is rotatably mounted on the side of the moving seat 22, and a card slot 223 is fixedly mounted on the side of the moving seat 22;

[0051] The bottom surface of the first roller 221 fits with the top surface of the moving track 14, the rotating shaft of the second roller 222 is installed vertically, the surface of the second roller 222 fits with the side surface of the moving track 14, the slot 223 is an inverted U shape, and the slot 223 covers the top of the moving track 14. A hydraulic motor 24 is fixedly installed on the top of the moving frame 21, and a bevel gear 25 is fixedly mounted on the output end of the hydraulic motor 24, and the bevel gear 25 is meshed with the rack 15.

[0052] Among them, the center of gravity of the mobile frame 21 is designed to be lower than the surface of the mobile frame 21, so that the mobile mechanism 2 is more stable when moving, and the four mobile seats 22 can match the mobile track 14 to ensure that the mobile mechanism 2 moves smoothly on the mobile track 14. The hydraulic motor 24 is set to drive the helical gear 25 to rotate, so that the helical gear 25 and the rack 15 are meshed and driven, and then the mobile mechanism 2 is driven to reciprocate on the mounting base 1. The use of the helical gear transmission mechanism instead of the original spur gear transmission mechanism makes the transmission more stable and the positioning accuracy of the entire trolley is higher.

[0053] Anti-roll frames 210 are fixedly installed on both sides of the mobile frame 21, and guide wheels are rotatably installed on the sides of the anti-roll frames 210 to prevent the mobile mechanism 2 from tipping over due to center of gravity problems. Buffers 16 are fixedly installed on both ends of the inner wall of the track beam 11 to prevent the mobile mechanism 2 from colliding with the installation frame 1, thereby playing a role of limiting protection.

[0054] Embodiment 3, on the basis of embodiment 1, the four-bar linkage 3 includes a movable plate 31, a connecting rod 32 and a lifting hydraulic cylinder 33. The number of the lifting hydraulic cylinders 33 is two, and the bottom end of the lifting hydraulic cylinder 33 is rotatably connected to the movable plate 31. The top of the movable frame 21 is fixedly installed with a first axle seat 26, and the sides of the bottom of the movable frame 21 are respectively fixedly installed with a second axle seat 27 and a third axle seat 28. The bottom of the movable frame 21 is provided with a bottom groove 29 for the lifting hydraulic cylinder 33 to pass through. The top of the lifting hydraulic cylinder 33 is rotatably connected to the first axle seat 26, one side of the movable plate 31 is rotatably connected to the second axle seat 27, and one end of the connecting rod 32 is rotatably connected to the third axle seat 28.

[0055] In this embodiment, after the four-bar linkage 3 is connected to the clamp bracket 4, a triangle relationship is formed between the lifting hydraulic cylinder 33, the movable plates 31 and 2, and a parallelogram relationship is formed between the movable plate 31, the connecting rod 32, the clamp bracket 4 and the moving mechanism 2. When the two lifting hydraulic cylinders 33 are controlled to extend or shorten at the same time, the movable plate 31 and the connecting rod 32 will be driven to rotate at the same angle at the same time, thereby lifting the clamp bracket 4 and the clamp assembly 5.

[0056] Embodiment 4, on the basis of embodiment 1, the clamp bracket 4 comprises a first connecting arm 41 and a second connecting arm 42, the side of the first connecting arm 41 is connected to the side of the second connecting arm 42 by a hinge, one side of the first connecting arm 41 is rotatably mounted on one side of the movable plate 31, the side of the first connecting arm 41 is rotatably connected to one end of the connecting rod 32, the movable plate 31 and the connecting rod 32 are parallel to each other, and the side of the second connecting arm 42 is provided with a mounting groove 45 matching the clamping hydraulic cylinder 53. A fixing block 43 is fixedly mounted on the side of the first connecting arm 41, an adjusting screw 44 is threadedly mounted in the fixing block 43, and one end of the adjusting screw 44 is fitted with the side of the second connecting arm 42.

[0057] In this embodiment, the length of the extension of one end of the adjusting screw 44 can be controlled by rotating the adjusting screw 44, and the angle between the first connecting arm 41 and the second connecting arm 42 can be fine-tuned at this time, thereby fine-tuning the angle between the clamp assembly 5 and the horizontal direction.

[0058] Embodiment 5, on the basis of embodiment 1, a limiting mechanism 59 is provided at one end of the long arm beam 51, and the limiting mechanism 59 includes a fixing seat, and an adjusting rod is threadedly mounted on the fixing seat.

[0059] In this embodiment, a retaining ring is provided at one end of the adjusting rod. By rotating the adjusting rod, the retaining ring of the adjusting rod can be driven to move, and can be blocked when the angle of the fixed arm 57 reaches a certain level to prevent the angle from further decreasing, thereby avoiding the risk of damage caused by the claws 58 contacting each other.

[0060] Working principle: By adopting a long arm beam 51 made of high-strength material and setting a reinforcing rib plate 510, its strength and rigidity can withstand the pressure and torque brought by heavy-loaded objects, ensuring that the robot arm will not deform or be damaged under heavy load, and realizing the automatic picking and placing of round billets from a deeper annular heating furnace, thereby improving the efficiency of heavy-duty wheel production and the stability of heavy-duty hydraulic manipulators in clamping workpieces. The manipulator position accuracy can reach ±3mm, and the clamp can withstand a high temperature of up to 1320°C in the heating furnace, thus realizing the application of the manipulator in high-temperature and harsh environments; by designing the overall center of gravity of the moving mechanism 2 to be lower than the contact surface between the moving mechanism 2 and the rack 15, the movement of the moving mechanism 2 is more stable, and the stability and anti-rollover condition are further improved by setting a moving seat 22 and an anti-roll frame 210; the lifting of the clamp assembly 5 is controlled by the set four-bar linkage 3, and the angle between the clamp assembly 5 and the horizontal direction can be fine-tuned by the set clamp bracket 4.

Claims

1. A double-beam long-arm heavy-duty hydraulic manipulator, characterized in that: It comprises a mounting base (1), a moving mechanism (2), a four-bar linkage (3), a clamp bracket (4) and a clamp assembly (5); The clamp assembly (5) comprises a long arm beam (51), one end of the long arm beam (51) is welded with a mounting plate (52), and a reinforcing rib plate (510) is welded between the side surface of the mounting plate (52) and the top of the long arm beam (51); A fixed arm (57) is movably mounted on the other end of the long arm beam (51), and the number of the fixed arms (57) is two. The two fixed arms (57) and the long arm beam (51) are distributed in a Y shape. A clamping hydraulic cylinder (53) is fixedly mounted on the side of the mounting plate (52), and a mounting sleeve (54) is fixedly mounted on the output end of the clamping hydraulic cylinder (53). A pull rod (55) is movably mounted on the side of the mounting sleeve (54). The number of the pull rods (55) is two. A clamp arm (56) is arranged inside the fixed arm (57), and one end of the pull rod (55) is movably connected to the side of the fixed arm (57). A clamp claw (58) for clamping a round billet is movably mounted on one end of the fixed arm (57), and one end of the clamp arm (56) is movably connected to the clamp claw (58), and the other end of the clamp arm (56) is movably connected to the inside of the long arm beam (51); When the clamp claw (58) of the clamp assembly (5) clamps the largest round billet under the action of its own weight, the displacement of the clamp claw (58) does not exceed 50 mm.

2. A double-beam long-arm heavy-duty hydraulic manipulator according to claim 1, characterized in that: The mounting base (1) comprises a pair of symmetrically arranged track beams (11), a connecting plate (12) being fixedly mounted between the two ends of the two track beams (11), a supporting leg (13) being fixedly mounted on the bottom of the track beams (11), a movable track (14) being fixedly mounted on the top of the track beams (11), and a rack (15) being fixedly mounted on the top of one of the track beams (11).

3. A double-beam long-arm heavy-duty hydraulic manipulator according to claim 2, characterized in that: The moving mechanism (2) comprises a moving frame (21), wherein four corners of the moving frame (21) are provided with moving seats (22), a first roller (221) is rotatably mounted on the bottom of the moving seat (22), a second roller (222) is rotatably mounted on the side of the moving seat (22), and a card slot (223) is fixedly mounted on the side of the moving seat (22); The bottom surface of the first roller (221) is in contact with the top surface of the moving track (14); the rotating shaft of the second roller (222) is installed vertically; the surface of the second roller (222) is in contact with the side surface of the moving track (14); the card slot (223) is in an inverted U shape; the card slot (223) covers the top of the moving track (14); a hydraulic motor (24) is fixedly installed on the top of the moving frame (21); a bevel gear (25) is fixedly mounted on the output end of the hydraulic motor (24); and the bevel gear (25) is meshed with the rack (15).

4. A double-beam long-arm heavy-duty hydraulic manipulator according to claim 3, characterized in that: Anti-tilt frames (210) are fixedly mounted on both sides of the moving frame (21), guide wheels are rotatably mounted on the sides of the anti-tilt frames (210), and buffers (16) are fixedly mounted on both ends of the inner wall of the track beam (11).

5. The double-beam long-arm heavy-duty hydraulic manipulator according to claim 1 is characterized in that: The four-bar linkage (3) comprises a movable plate (31), a connecting rod (32) and a lifting hydraulic cylinder (33). The number of the lifting hydraulic cylinders (33) is two. The bottom end of the lifting hydraulic cylinder (33) is rotatably connected to the movable plate (31). A first axle seat (26) is fixedly installed on the top of the movable frame (21). A second axle seat (27) and a third axle seat (28) are fixedly installed on the side of the bottom of the movable frame (21). A bottom groove (29) for the lifting hydraulic cylinder (33) to pass through is provided at the bottom of the movable frame (21). The top end of the lifting hydraulic cylinder (33) is rotatably connected to the first axle seat (26). One side of the movable plate (31) is rotatably connected to the second axle seat (27). One end of the connecting rod (32) is rotatably connected to the third axle seat (28).

6. The double-beam long-arm heavy-duty hydraulic manipulator according to claim 1 is characterized in that: The clamp bracket (4) comprises a first connecting arm (41) and a second connecting arm (42), the side of the first connecting arm (41) is connected to the side of the second connecting arm (42) by a hinge, one side of the first connecting arm (41) is rotatably mounted on one side of the movable plate (31), the side of the first connecting arm (41) is rotatably connected to one end of the connecting rod (32), the movable plate (31) and the connecting rod (32) are parallel to each other, and the side of the second connecting arm (42) is provided with a mounting groove (45) matching the clamping hydraulic cylinder (53).

7. A double-beam long-arm heavy-duty hydraulic manipulator according to claim 6, characterized in that: A fixing block (43) is fixedly mounted on the side of the first connecting arm (41), an adjusting screw (44) is threadedly mounted in the fixing block (43), and one end of the adjusting screw (44) is in contact with the side of the second connecting arm (42).

8. The double-beam long-arm heavy-duty hydraulic manipulator according to claim 1 is characterized in that: A limiting mechanism (59) is provided at one end of the long arm beam (51), and the limiting mechanism (59) comprises a fixing seat, on which an adjusting rod is threadedly mounted.

9. The double-beam long-arm heavy-duty hydraulic manipulator according to claim 1, characterized in that: The long arm beam (51) and the reinforcing rib plate (510) are made of Q390C.

Images