A double-beam, long-arm, heavy-load hydraulic manipulator

Abstract

The present invention discloses a double-beam long-arm heavy-duty hydraulic manipulator, which relates to the technical field of mechanical production equipment, including a mounting base, a moving mechanism, a four-bar linkage, a clamp bracket and a clamp assembly; the clamp assembly includes 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; the present invention adopts a long-arm beam made of high-strength material and arranges a reinforcing rib plate, whose strength and rigidity can withstand the pressure and torsion brought by heavy-loaded objects, ensuring that the manipulator arm is not deformed or damaged under heavy load, realizing automatic picking and placing of round billets from a deeper annular heating furnace, improving the efficiency of heavy-duty wheel production, and improving the stability of heavy-duty hydraulic manipulators in clamping workpieces. The manipulator position accuracy can reach ±3mm, and the clamp can withstand the high temperature of the heating furnace up to 1320°C, realizing the application of the manipulator in harsh high-temperature environments.

Description

Technical Field

[0001] The present 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 system primarily used to process raw materials into wheels that meet railway transportation requirements. Prepared steel billets are fed into a heating furnace, a critical step in the rolling line. This furnace is typically a rotary-hearth annular heating furnace, which ensures uniform heating of the billets. The billets are heated in the furnace to the appropriate rolling temperature, typically around 1100-1250°C. This temperature range ensures good plasticity, facilitating subsequent rolling deformation. After the heated billets are removed from the heating furnace, they enter the rolling stage. A robotic arm is responsible for sequentially removing the heated round billets from the heating furnace and placing them onto a transport cart. However, the wheel billet furnace chamber is deep and hot. To reach this deep, mechanical rotary-hearth annular heating furnace, the robotic arm's grippers must be extended while ensuring robustness and precision in the overall mechanical design.

[0003] However, the robotic arms currently developed in China have short reach, light loads, and low repeatability. Simply lengthening the arms would not be able to meet the required positioning accuracy for the gripper under heavy loads. Therefore, it is necessary to develop a heavy-duty hydraulic manipulator that can cope with such high-temperature, high-speed, and high-intensity working environments. Summary of the Invention

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

[0005] The cam is connected with the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the When the jaws of the clamp assembly grip a maximum round billet under their own weight, the displacement of the jaws does not exceed 50mm. By using a long arm beam made of high-strength material and incorporating reinforcing ribs, the strength and rigidity are able to withstand the pressure and torsion of heavy loads, ensuring that the robotic arm does not deform or damage under heavy loads.

[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 card 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 installed, the surface of the second roller is in contact with the side of the moving track, the card slot is an inverted U-shape, the card slot is covered on the top of the moving track, a hydraulic motor is fixedly mounted on the top of the moving frame, and the output end of the hydraulic motor is fixedly covered with a helical gear, 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 claw.

[0010] Preferably, the clamp bracket includes a first connecting arm and a second connecting arm, wherein the side of the first connecting arm is connected to the side of the second connecting arm via a hinge, one side of the first connecting arm is rotatably mounted on one side of a 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 slot that matches 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 is engaged with 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, one end of the long arm beam is provided with a limiting mechanism, the limiting mechanism comprising a fixing seat, on which an adjusting rod is threadedly mounted, 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 related technologies, 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 reinforcing ribs, the strength and rigidity of the manipulator are able to withstand the pressure and torsion brought by heavy-loaded objects, ensuring that the manipulator arm does not deform or damage under heavy-load conditions, 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 the heavy-duty hydraulic manipulator 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, thereby realizing the application of the manipulator in harsh high-temperature environments. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0017] Figure 3 Schematic diagram of the cross-sectional structure of the clamp assembly of the present invention;

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

[0019] Figure 5 This is an enlarged structural diagram of the mounting base of the present invention;

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

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

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

[0023] Figure 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] Figure 10 It is a cloud diagram of the total deformation of the manipulator of the present invention under the action of load;

[0025] Figure 11 The Von-Mises stress cloud diagram of the static load of the manipulator of the present invention;

[0026] Figure 12 The Von-Mises stress clouds of each arm of the manipulator of the present invention;

[0027] Figure 13 This is the Von-Mises stress cloud diagram of the manipulator tensioning mechanism of the present invention;

[0028] Figure 14 This is a Von-Mises stress cloud diagram of the manipulator of the present invention when it is raised or lowered;

[0029] Figure 15 This is the Von-Mises stress cloud diagram of each arm when the manipulator of the present invention is raised or lowered;

[0030] Figure 16 This is the Von-Mises stress cloud diagram of the tensioning mechanism when the manipulator of the present invention is raised or lowered;

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

[0032] Figure 18The Von-Mises stress cloud diagram of each arm when the manipulator of the present invention moves horizontally;

[0033] Figure 19 This 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. Support 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 trough; 210. Anti-roll frame; 221. 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 includes 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 includes 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 of the mounting plate 52 and the top of the long arm beam 51; the other end of the long arm beam 51 is movably mounted with a fixed arm 57, the number of the fixed arms 57 is two, and 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. It is equipped with a clamping hydraulic cylinder 53, 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 telescoping 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 clamp claw 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℃. This makes it not easily melted in the high temperature environment of the round billet coming out of the furnace, and can withstand the test of high temperature. Other components are Q390C, which has good low-temperature toughness and can meet the lowest environment of -31℃ 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 manipulator, 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 robot arm system (including 1100kg end load) has the largest displacement at position 58 of the clamp under its own weight, as shown in the following example: Figure 10 The maximum total displacement (ie, absolute displacement) shown is 49.94 mm (about 50 mm).

[0041] For the robotic arm system (excluding the 1100kg end load), under the action of the 1100kg end load, the displacement of the clamp 58 is the largest, as shown in the following figure: Figure 10 The maximum total displacement (ie, absolute displacement) shown is 30.426 mm (about 30 mm).

[0042] Engineering focuses on the difference in displacement between no-load and fully loaded conditions. Displacement is specifically measured as the deformation under the end load, which is approximately 30mm. A conservative estimate is that the former result, where the clamp displacement is greatest under deadweight, is approximately 50mm.

[0043] Strength Analysis: The two lifting hydraulic cylinders 33 move 210mm in 0-3 seconds, achieving lift. The horizontal movement mechanism moves 5500mm in 0-9 seconds, achieving overall forward movement (corresponding to the feeding process). The clamping hydraulic cylinder 53 is always locked, and the maximum load acts on the jaws 58 in a quasi-static 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 constant), the calculation result is the result of the static load of the system, and the position with zero displacement is selected for calculation. The Von-Mises stress cloud diagram of the static load of the entire robotic arm is as follows: Figure 11 As shown in the figure, the maximum value is about 176 MPa, which 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 176 MPa. The maximum stress of each arm and clamp is 89.4 MPa. Figure 12-13The maximum stress of the entire system does not exceed 110Mpa, the static strength safety factor exceeds 3, and the static strength of the structure meets the requirements.

[0045] System structural strength during lifting: For the robotic arm system (including an 1100kg end load), the displacement of a pair of lifting hydraulic cylinders 33 is set to 210mm, and the other kinematic pairs are locked (i.e., the displacement is constant). The Von-Mises stress cloud diagram of the entire robotic arm is as follows: Figure 14 As shown in the figure, the maximum value is about 210 MPa, which 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 210 MPa. The maximum stress of each arm and clamp is 99.76 MPa. Figure 15-16 As shown, the static results Figure 12 Compared with the maximum stress of 89.4MPa, the dynamic load coefficient is about 1.12. Comparing it with the static safety factor, it is known that the safety factor exceeds 2.67, which meets the strength requirements.

[0046] System structural strength during horizontal movement: For a robotic arm system (including an 1100kg end load), the horizontal displacement of the mobile mechanism 2 is set to 5500mm, and the other kinematic pairs are locked (i.e., the displacement is constant). The Von-Mises stress cloud diagram of the entire robotic arm is shown below: Figure 17 As shown in the figure, the maximum value is about 178Mpa, and the maximum value 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 Figure 12 Compared with the maximum stress of 89.4MPa, the dynamic load coefficient is about 1.02. Comparing with the static safety factor, it can be seen that the safety factor exceeds 2.94, which meets the strength requirements.

[0047] In summary, the arm system (including an 1100kg end load) experiences maximum displacement of approximately 50mm at the clamp under its own weight. Under an 1100kg end load, the arm system experiences maximum displacement of approximately 30mm at the clamp. Vertical displacement of the end does not exceed 50mm. Clamp 58 is made of 304 stainless steel, which has a tensile strength exceeding 515MPa, and 304D high-strength stainless steel, which has a yield strength of up to 420MPa. Other components are made of Q390C, which has a yield strength exceeding 390MPa and a tensile strength exceeding 510MPa. The structural strength of the system under static load exceeds 3. Analysis of the stress level under dynamic load, compared to the static structure, indicates that the dynamic load factor does not exceed 1.2. According to the national standard GB / T3811-2008, "Design Specifications for Cranes," the safety factor for cranes should be between 1.25 and 1.5. The overall safety factor meets the requirements.

[0048] Example 2, based on Example 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 support 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. The connecting plate 12 on one side is slightly different from the other side in shape due to the need to clamp the round blank. The cross section of the movable track 14 is I-shaped, with strong load-bearing capacity and high stability.

[0050] The moving mechanism 2 includes a moving frame 21, and a moving seat 22 is provided at each of the 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 slot 223 is fixedly mounted on the side of the moving seat 22;

[0051] The bottom surface of the first roller 221 fits in 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 in 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, which is meshed with the rack 15.

[0052] The center of gravity of the mobile frame 21 is designed to be lower than the surface of the mobile frame 21, making the mobile mechanism 2 more stable during movement. 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 drives the helical gear 25 to rotate, so that the helical gear 25 engages with the rack 15 for transmission, thereby driving the mobile mechanism 2 to reciprocate on the mounting base 1. The use of a helical gear transmission mechanism instead of the original spur gear transmission mechanism makes the transmission more stable and improves the positioning accuracy of the entire trolley.

[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 at both ends of the inner wall of the track beam 11 to prevent the mobile mechanism 2 from colliding with the mounting frame 1, thereby playing a role of position limiting protection.

[0054] Example three. On the basis of Example one, the four-link mechanism 3 includes a movable plate 31, a connecting rod 32 and a lifting hydraulic cylinder 33. There are two lifting hydraulic cylinders 33. 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. The side surfaces 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 is formed between the lifting hydraulic cylinder 33, the movable plates 31, and 2, while a parallelogram is formed between the movable plate 31, the connecting rod 32, the clamp bracket 4, and the moving mechanism 2. Simultaneously controlling the extension or contraction of the two lifting hydraulic cylinders 33 simultaneously drives the movable plate 31 and the connecting rod 32 to rotate by the same angle, thereby lifting the clamp bracket 4 and the clamp assembly 5.

[0056] Embodiment 4, based on embodiment 1, the clamp bracket 4 includes 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 a 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. The side of the second connecting arm 42 is provided with a mounting groove 45 that matches 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. One end of the adjusting screw 44 is in contact 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. At this time, the angle between the first connecting arm 41 and the second connecting arm 42 can be fine-tuned, and then the angle between the clamp assembly 5 and the horizontal direction can be fine-tuned.

[0058] Embodiment 5, based on 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 be deformed or damaged under heavy-load conditions, 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, realizing the application of the manipulator in harsh high-temperature 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 made more stable, and the stability and anti-rollover situation are further improved by setting the moving seat 22 and the anti-roll frame 210; the lifting of the clamp assembly 5 is controlled by the set four-bar mechanism 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 by: It includes a mounting base (1), a moving mechanism (2), a four-link mechanism (3), a clamp bracket (4) and a clamp assembly (5); The moving mechanism (2) is movably mounted on the top of the mounting base (1) and can move horizontally along the track of the mounting base (1); the top of the four-bar linkage (3) is rotatably connected to the moving mechanism (2); one end of the clamp bracket (4) is rotatably connected to the four-bar linkage (3), and the other end is fixedly assembled with the clamp assembly (5), ensuring that the clamp assembly (5) can be accurately aligned with the workpiece to be clamped; 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); The other end of the long arm beam (51) is movably mounted with a fixed arm (57), the number of the fixed arms (57) is two, and the two fixed arms (57) and the long arm beam (51) are distributed in a Y shape, the side of the mounting plate (52) is fixedly mounted with a clamping hydraulic cylinder (53), the output end of the clamping hydraulic cylinder (53) is fixedly mounted with a mounting sleeve (54), the side of the mounting sleeve (54) is movably mounted with a pull rod (55), the number of the pull rods (55) is two, 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), one end of the fixed arm (57) is movably mounted with a clamp claw (58) for clamping a round blank, 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 both 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 movable 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 movable track (14); the card slot (223) is in an inverted U shape; the card slot (223) covers the top of the movable track (14); a hydraulic motor (24) is fixedly installed on the top of the movable frame (21); an output end of the hydraulic motor (24) is fixedly sleeved with a bevel gear (25); 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-roll frames (210) are fixedly mounted on both sides of the mobile frame (21), guide wheels are rotatably mounted on the sides of the anti-roll 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 3 is characterized in that: The four-link mechanism (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. The bottom ends of the lifting hydraulic cylinders (33) are rotatably connected to the movable plate (31). The top of the movable frame (21) is fixedly mounted with a first axle seat (26). The sides of the bottom of the movable frame (21) are respectively fixedly mounted 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 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, characterized in that: The clamp bracket (4) includes a first connecting arm (41) and a second connecting arm (42), the side of the first connecting arm (41) and the side of the second connecting arm (42) are connected 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. The 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, characterized in that: One end of the long arm beam (51) is provided with a limiting mechanism (59), 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.

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