Hoisting robot

Abstract

The invention discloses a hoisting robot, and relates to the field of robots, the hoisting robot comprises a mechanical arm body, a mounting plate is arranged at the front end of the mechanical arm body, a sliding plate is arranged on the mounting plate, clamping plates are symmetrically arranged at the bottom of the sliding plate, and a hoisting cylinder is fixedly mounted on one side of each clamping plate; a driving assembly is arranged on the other side of the lifting cylinder, a two-way threaded rod is arranged at one end of the driving assembly, an attaching plate is arranged on the outer wall of the lifting cylinder in a telescopic mode, an inserting rod is installed on the top of the sliding plate, a guide column is elastically arranged on the mounting plate, and an inserting hole is formed in the guide column. According to the pipeline lifting and carrying device, under cooperation of a threaded sleeve and a first supporting rod, a pasting plate is unfolded, it is guaranteed that a pipeline workpiece does not shake in the lifting and carrying process in the process, meanwhile, a special-shaped gear rotates by a certain angle, and in the process, an arc-shaped bottom plate in an open groove is driven to turn over; and therefore, the arc-shaped bottom plate supports the bottom of the pipeline workpiece.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a hoisting robot. Background Art

[0002] With the gradual development of industrialization, robots used to replace manual labor have been used more and more widely. Robots are composed of a variety of parts. Cables are an indispensable component of robots. Cables are mainly used to power various electronic components of robots. In daily life, when workers need to move some equipment parts or workpieces, they mostly need to use lifting equipment to move them. Since the existing lifting equipment itself occupies a large area, it is difficult to carry out effective lifting and transportation when faced with some smaller operating spaces. Therefore, lifting robots are used.

[0003] In actual use, the existing lifting robots clamp equipment parts or workpieces through fixtures, and then lower them to the specified position through instructions. When the lifting robot faces a workpiece such as a pipe, its fixture will penetrate the pipe, and then it will be moved by the robotic arm. However, in actual operation, the robotic arm will have many rotation and angle adjustment instructions. The pipe workpiece to be moved will shake during the rotation of the outer wall of the fixture. It is difficult to ensure the stability of the pipe workpiece during this process. As a result, the shaking of the pipe workpiece during transportation will cause a certain degree of wear on the robotic arm and the fixture, thereby increasing the failure rate of the lifting robot, and in order to improve the stability of the lifting of the pipe workpiece, the staff is required to limit it twice. This process wastes too much manpower and material resources, and reduces the overall lifting efficiency of the workpiece.

[0004] To sum up, the above structure is difficult to ensure the stability of the pipeline workpiece during actual use, resulting in the shaking of the pipeline workpiece during transportation, which will cause a certain degree of wear on the robot arm and the clamp, and the staff are required to limit it twice. This process wastes too much manpower and material resources and reduces the overall lifting efficiency of the workpiece. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a lifting robot to solve the technical problem that it is difficult to ensure the stability of the pipeline workpiece during the lifting process, and the staff are required to perform secondary positioning on it, which wastes too much manpower and material resources and reduces the overall lifting efficiency of the workpiece.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a lifting robot comprises a mechanical arm body, a mounting plate is provided at the front end of the mechanical arm body, and a sliding plate is slidably provided on the mounting plate, a clamping plate is symmetrically provided at the bottom of the sliding plate, a lifting cylinder is fixedly installed on one side of the clamping plate, and a driving assembly is provided on the other side thereof, one end of the driving assembly passes through the lifting cylinder and is connected to a bidirectional threaded rod, a covering plate that cooperates with the bidirectional threaded rod is telescopically provided on the outer wall of the lifting cylinder, an insertion rod is installed on the top of the sliding plate, and a guide column is elastically provided on the mounting plate, a socket is provided on the guide column, and the socket is eccentrically provided to the insertion rod, a slot is provided at the bottom front end of the mounting plate, and an arc-shaped bottom plate that cooperates with the guide column is rotatably provided in the slot.

[0007] By adopting the above technical scheme, the bidirectional threaded rod is driven to rotate under the action of the clamping motor, and the covering plate is unfolded and covered with the inner wall of the pipeline workpiece under the cooperation of the threaded sleeve and the first support rod. In this process, it is ensured that the pipeline workpiece will not shake during the lifting and transportation process. At the same time, the insertion rod will be inserted into the socket. At this time, the tooth block on the guide column will drive the special-shaped gear to rotate at a certain angle. In this process, the arc bottom plate in the slot is turned over, and the arc bottom plate is limited by the cooperation of the insertion rod and the socket, so that the arc bottom plate supports the bottom of the pipeline workpiece.

[0008] The present invention is further configured such that threaded sleeves are symmetrically arranged on the outer wall of the bidirectional threaded rod, and a first support rod is hingedly connected to the top of the threaded sleeve, and the other end of the first support rod is hingedly connected to the covering plate.

[0009] By adopting the above technical solution, during the rotation of the bidirectional threaded rod, the threaded sleeve will slide inward, and at this time the first support rod will drive the covering plate to unfold. When the outer wall of the covering plate contacts the inner wall of the pipeline workpiece, the bidirectional threaded rod stops rotating.

[0010] The present invention is further configured such that a tooth block is partially provided on the top of the guide column, and a special-shaped gear is meshed on the top thereof, a transmission mechanism is connected to one side of the special-shaped gear, and the other end of the transmission mechanism is connected to the arc-shaped bottom plate.

[0011] By adopting the above technical solution, when the insertion rod is inserted into the inside of the socket, the guide column will slide inward. During this process, the tooth block on the guide column will drive the special-shaped gear to rotate, thereby causing the transmission mechanism to rotate accordingly, thereby achieving the arc-shaped bottom plate being flipped under the action of the transmission mechanism during the guide column sliding inward.

[0012] The present invention is further configured such that a spring plate is elastically connected to the inner side of the splint, and a fixed tube is located on the inner side of the splint and passes through the spring plate and is fixedly connected thereto, a sliding rod is provided in the fixed tube, and a sleeve is connected to the outer wall of the sliding rod on one side of the spring plate, a second support rod is hinged to the outer wall of the sleeve, and the other end of the second support rod is hinged to the covering plate.

[0013] By adopting the above technical solution, when the clamp drives the spring plate to contact the two ends of the pipe workpiece, the inner spring plate will be squeezed. At this time, the fixed tube will be inserted into the inner wall of the pipe workpiece. At the same time, the spring plate will drive the sleeve to slide on the outer wall of the slide rod. Since a second support rod is hinged on the outside of the sleeve, the covering plate is unfolded with the cooperation of the second support rod. During this process, there is no need for a driving component to adjust and drive it, which reduces the overall lifting cost and improves the overall lifting stability.

[0014] The present invention is further configured such that a compression spring is arranged on the inner side of the clamping plate, and the other end of the compression spring is connected to the spring plate, and a limiting rod is rotatably arranged on the fixing cylinder, and the other end of the limiting rod is connected to the covering plate.

[0015] By adopting the above technical solution, when the spring plate is squeezed, the compression spring on the inside will be in a compressed state, and at the same time, the limit rod will make the covering plate stably unfold on the inner wall of the pipeline workpiece. The stability of the covering plate during the unfolding process is guaranteed by the action of the limit rod, and after the subsequent lifting and transportation is completed, when the clamping plate slides to both sides, the compression spring itself resetting action causes the covering plate to shrink inward, thereby releasing the clamping work of the pipeline workpiece.

[0016] The present invention is further configured such that the driving assembly is a clamping motor, and the clamping motor is used to drive the bidirectional threaded rod in the hoisting barrel to rotate.

[0017] By adopting the above technical solution, it is convenient for the staff to control the steering of the bidirectional threaded rod in the hoisting barrel under the action of the clamping motor, thereby further improving the overall stability of the device.

[0018] The present invention is further configured such that one end of the insertion rod is configured in an arc shape.

[0019] By adopting the above technical solution, the arc-shaped insertion rod can be stably inserted into the insertion hole of the guide column during the upward movement.

[0020] The present invention is further configured such that the outer wall of the covering plate and the inner side of the arc-shaped bottom plate are both provided with protective covers.

[0021] By adopting the above technical solution and providing the protective cover, direct contact between the covering plate, the arc-shaped bottom plate and the pipeline workpiece is prevented, thereby further improving the protective effect on the pipeline workpiece.

[0022] The present invention is further configured such that a limiting mechanism is provided on one side of the threaded sleeve in the hanging tube.

[0023] By adopting the above technical solution, the stability of the sliding of the threaded sleeve in the lifting tube is guaranteed under the action of the limiting mechanism, and the threaded sleeve is prevented from rotating on the outer wall of the bidirectional threaded rod.

[0024] The present invention is further configured such that the mounting plate and the robot arm body are detachably arranged.

[0025] By adopting the above technical solution, the detachable setting makes it easy for subsequent staff to disassemble and maintain the installation plate.

[0026] In summary, the present invention mainly has the following beneficial effects: 1. The present invention provides a mounting plate at the front end of the robot arm body. During the process of hoisting and transporting the pipe workpiece, the clamping plate on the mounting plate will slide to both sides, and then the clamping plate drives the inner hoisting tube to be inserted into the inner wall of the pipe workpiece, and the clamping motor on the clamping plate is started. Under the action of the clamping motor, the bidirectional threaded rod is driven to rotate, and the covering plate is unfolded and covered with the inner wall of the pipe workpiece under the cooperation of the threaded sleeve and the first support rod. In this process, it is ensured that the pipe workpiece will not shake during the hoisting and transporting process, which effectively reduces the wear on the robot arm and improves the stability of the overall hoisting and transporting; 2. The present invention provides a guide column slidably arranged on the mounting plate, and a plug hole is provided on the guide column. A plug rod cooperating with the guide column is eccentrically arranged on the mounting plate. After the pipe is clamped, the sliding plate slides upward on the outer wall of the mounting plate. During this process, the plug rod is inserted into the plug hole. At this time, the tooth block on the guide column drives the special-shaped gear to rotate at a certain angle. During this process, the arc bottom plate in the slot is turned over by the action of the transmission mechanism. The arc bottom plate is limited by the cooperation of the plug rod and the plug hole, so that the arc bottom plate supports the bottom of the pipe workpiece. In this process, no manual secondary limiting work is required, which reduces the burden of subsequent disassembly and assembly of the staff and improves the overall hoisting efficiency of the pipe workpiece. 3. The present invention elastically connects a spring plate on the inner side of the clamping plate. When the clamping plate drives the spring plate to contact the two ends of the pipe workpiece, the spring plate inside will be squeezed. At this time, the fixed tube will be inserted into the inner wall of the pipe workpiece. At the same time, the spring plate will drive the sleeve to slide on the outer wall of the sliding rod. Since a second support rod is hinged on the outside of the sleeve, the covering plate is unfolded with the cooperation of the second support rod and the limit rod. In this process, there is no need for a driving component to adjust and drive it, which reduces the overall lifting cost and improves the overall lifting stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a front perspective view of the present invention; Figure 2 is a rear perspective view of the present invention; Figure 3 It is a front view of the present invention; Figure 4 It is a schematic diagram of the structure of the mounting plate of the present invention; Figure 5 It is a cross-sectional view of the hoisting tube of the present invention; Figure 6 It is a schematic diagram of the transmission mechanism structure of the present invention; Figure 7 For the present invention Figure 4 A magnified view of middle; Figure 8 It is a partial structural schematic diagram of the second embodiment of the present invention; Fig. 9 For the present invention Figure 8 Enlarged view of B.

[0028] In the figure: 1. Robot arm body; 2. Mounting plate; 3. Sliding plate; 4. Insert rod; 5. Guide column; 6. Clamp plate; 7. Slot; 8. Arc bottom plate; 9. Clamping motor; 10. Lifting tube; 11. Covering plate; 12. Bidirectional threaded rod; 13. First support rod; 14. Threaded sleeve; 15. Special-shaped gear; 16. Socket; 17. Tooth block; 18. Transmission mechanism; 19. Spring plate; 20. Fixed tube; 21. Sliding rod; 22. Compression spring; 23. Limit rod; 24. Second support rod; 25. Sleeve. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] The following describes an embodiment of the present invention based on its overall structure.

[0031] Embodiment 1 A lifting robot, such as Figure 1-Figure 7As shown, it includes a mechanical arm body 1, a mounting plate 2, a sliding plate 3, a clamping mechanism, a transmission mechanism 18 and a limiting mechanism. A mounting plate 2 is arranged at the front end of the mechanical arm body 1, and a sliding plate 3 is slidably arranged on the mounting plate 2. The sliding plate 3 is moved to the pipe workpiece to be hoisted under the action of the mounting plate 2. A clamping plate 6 is symmetrically arranged at the bottom of the sliding plate 3, and a hoisting cylinder 10 is fixedly installed on one side of the clamping plate 6. Then, the clamping plate 6 slides toward one side of the pipe workpiece, so that the hoisting cylinder 10 moves to the inner wall of the pipe workpiece, and a clamping motor 9 is arranged on the other side of the sliding plate 3, and one end of the clamping motor 9 penetrates into the hoisting cylinder 10 and is connected to a bidirectional threaded rod 12; In addition, a threaded sleeve 14 is symmetrically arranged on the outer wall of the bidirectional threaded rod 12, wherein one side of the threaded sleeve 14 is provided with a limiting mechanism in the hanging tube 10, under the action of the limiting mechanism, the stability of the threaded sleeve 14 sliding in the hanging tube 10 is ensured to prevent the threaded sleeve 14 from rotating on the outer wall of the bidirectional threaded rod 12, and a first support rod 13 is hinged at the top of the threaded sleeve 14, wherein the other end of the first support rod 13 is hinged to the covering plate 11, and during the rotation of the bidirectional threaded rod 12, the threaded sleeve 14 will slide inwardly, and at this time the first support rod 13 will drive the covering plate 11 to rotate. When the outer wall of the covering plate 11 contacts the inner wall of the pipe workpiece, the bidirectional threaded rod 12 stops rotating under the action of the clamping motor 9. In this process, it is ensured that the pipe workpiece will not shake during the lifting and transportation process, which effectively reduces the wear on the robot arm body 1 and improves the overall lifting and transportation stability. After the pipe workpiece is clamped, the sliding plate 3 drives the pipe workpiece to slide to the top of the mounting plate 2. Since the sliding plate 3 is provided with a plug rod 4, and the mounting plate 2 is elastically provided with a guide column 5, the guide column 5 is provided with a plug hole 16, and the plug hole 16 is eccentrically arranged with the plug rod 4; A slot 7 is provided at the bottom of the front end of the mounting plate 2, and an arc-shaped bottom plate 8 cooperating with the guide column 5 is rotatably provided in the slot 7. Therefore, when the sliding plate 3 drives the insertion rod 4 to slide upward, the insertion rod 4 will be inserted into the insertion hole 16. At this time, the guide column 5 will slide to one side. Since a tooth block 17 is partially provided on the top of the guide column 5, and a special-shaped gear 15 is meshed at the top thereof, a transmission mechanism 18 is connected to one side of the special-shaped gear 15, and the other end of the transmission mechanism 18 is connected to the arc-shaped bottom plate 8, the tooth block 17 on the guide column 5 will drive the special-shaped gear 15 to rotate, thereby causing the transmission mechanism 18 to rotate accordingly, thereby realizing the sliding of the guide column 5 to the inside. During the process, the arc bottom plate 8 is driven to flip over under the action of the transmission mechanism 18, and the arc bottom plate 8 is limited under the cooperation of the insertion rod 4 and the insertion hole 16, so that the arc bottom plate 8 supports the bottom of the pipeline workpiece. In this process, no manual secondary limiting work is required, which reduces the subsequent disassembly and assembly burden of the staff and improves the overall lifting efficiency of the pipeline workpiece. When the sliding plate 3 slides upward subsequently, the insertion rod 4 will contact the limit of the guide column 5. At this time, the guide column 5 resets and slides under the action of the elastic component, thereby realizing that the transmission mechanism 18 drives the arc bottom plate 8 to flip back into the slot 7. In this process, it is ensured that the arc bottom plate 8 will not cause obstruction to the sliding plate 3.

[0032] See also Figure 4 and Figure 6 One end of the insertion rod 4 is arranged in an arc shape, and the arc-shaped insertion rod 4 can be stably inserted into the insertion hole 16 of the guide column 5 during the upward movement, and protective sleeves are arranged on the outer wall of the covering plate 11 and the inner side of the arc-shaped bottom plate 8. The setting of the protective sleeve prevents direct contact between the covering plate 11, the arc-shaped bottom plate 8 and the pipeline workpiece, thereby further improving the protection effect of the pipeline workpiece.

[0033] Embodiment 2 See also Figure 8 and Fig. 9, a lifting robot is shown, the overall structure of which is similar to that of the first embodiment, wherein the inner side of the clamp 6 is elastically connected with a spring plate 19, and a fixed tube 20 is fixedly connected to the inner side of the clamp 6 through the spring plate 19, and a sliding rod 21 is arranged in the fixing tube 20, and one side of the spring plate 19 is connected with a sleeve 25 on the outer wall of the sliding rod 21, and a second support rod 24 is hinged on the outer wall of the sleeve 25, and the other end of the second support rod 24 is hinged to the covering plate 11, when the clamp 6 drives the spring plate 19 to contact the two ends of the pipeline workpiece, the inner spring plate 19 will be squeezed, at this time the fixed tube 20 will be inserted into the inner wall of the pipeline workpiece, and at the same time the spring plate 19 will drive the sleeve 25 to slide on the outer wall of the sliding rod 21, because the second support rod 24 is hinged on the outside of the sleeve 25, the covering plate 11 is unfolded with the cooperation of the second support rod 24, and in this process, there is no need for a driving component to adjust and drive it, which reduces the overall lifting cost and improves the overall lifting stability.

[0034] See also Figure 8 A compression spring 22 is provided on the inner side of the clamping plate 6, and the other end of the compression spring 22 is connected to the spring plate 19, wherein a limiting rod 23 is rotatably provided on the fixed cylinder 20, and the other end of the limiting rod 23 is connected to the covering plate 11. When the spring plate 19 is squeezed, the compression spring 22 on the inside will be in a compressed state, and at the same time, the limiting rod 23 will make the covering plate 11 stably unfold on the inner wall of the pipeline workpiece. The stability of the covering plate 11 during the unfolding process is guaranteed by the action of the limiting rod 23, and after the subsequent lifting and transportation is completed, when the clamping plate 6 slides to both sides, the covering plate 11 is retracted inwardly by the reset action of the compression spring 22 itself, thereby releasing the clamping work of the pipeline workpiece.

[0035] The working principle of the present invention is as follows: when in use, the mounting plate 2 is rotated to the specified position by the robot body 1, and then the sliding plate 3 is driven to slide downward. During this process, the clamping plate 6 at the bottom of the sliding plate 3 moves to the two ends of the pipe workpiece, and then the clamping plate 6 slides inward, thereby driving the lifting tube 10 to insert into the interior of the pipe workpiece. At this time, the clamping motor 9 on the side wall of the clamping plate 6 is started, and the bidirectional threaded rod 12 is driven to rotate under the action of the clamping motor 9. During this process, the threaded sleeve 14 will slide inward, and under the action of the first support rod 13, the outer wall of the covering plate 11 is covered with the inner wall of the pipe workpiece, thereby achieving that the pipe workpiece will not shake during the lifting and transportation process; Then the sliding plate 3 slides upward on the mounting plate 2. During this process, the insertion rod 4 on the sliding plate 3 will be inserted into the guide column 5. Since the insertion hole 16 and the insertion rod 4 on the guide column 5 are eccentrically arranged, the guide column 5 will slide to one side during the insertion of the insertion rod 4, and the special-shaped gear 15 will be driven to rotate under the action of the tooth block 17. At the same time, the transmission mechanism 18 will drive the arc bottom plate 8 in the groove 7 to flip at a certain angle. The arc bottom plate 8 is limited by the cooperation of the insertion rod 4 and the insertion hole 16, so that the arc bottom plate 8 supports the bottom of the pipeline workpiece. In this process, there is no need for manual secondary limiting work, which effectively reduces the subsequent disassembly and assembly burden of the staff.

[0036] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments as needed without departing from the principles and purpose of the present invention, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A lifting robot, comprising a mechanical arm body (1), a mounting plate (2) being arranged at the front end of the mechanical arm body (1), and a sliding plate (3) being slidably arranged on the mounting plate (2), characterized in that: A clamping plate (6) is symmetrically arranged at the bottom of the sliding plate (3), a hanging tube (10) is fixedly installed on one side of the clamping plate (6), and a driving assembly is arranged on the other side thereof, one end of the driving assembly passes through the hanging tube (10) and is connected to a bidirectional threaded rod (12), and a covering plate (11) that cooperates with the bidirectional threaded rod (12) is telescopically arranged on the outer wall of the hanging tube (10), an insertion rod (4) is installed on the top of the sliding plate (3), and a guide column (5) is elastically arranged on the mounting plate (2), a plug hole (16) is provided on the guide column (5), and the plug hole (16) is eccentrically arranged with the insertion rod (4), a slot (7) is provided at the bottom of the front end of the mounting plate (2), and an arc-shaped bottom plate (8) that cooperates with the guide column (5) is rotatably arranged in the slot (7).

2. The hoisting robot according to claim 1, characterized in that: The outer wall of the bidirectional threaded rod (12) is symmetrically provided with a threaded sleeve (14), and a first support rod (13) is hingedly connected to the top of the threaded sleeve (14), and the other end of the first support rod (13) is hingedly connected to the covering plate (11).

3. The hoisting robot according to claim 1, characterized in that: A tooth block (17) is partially provided on the top of the guide column (5), and a special-shaped gear (15) is meshed on the top thereof; one side of the special-shaped gear (15) is connected to a transmission mechanism (18), and the other end of the transmission mechanism (18) is connected to the arc-shaped bottom plate (8).

4. The hoisting robot according to claim 1, characterized in that: The inner side of the clamping plate (6) is elastically connected to a spring plate (19), and a fixed tube (20) is located on the inner side of the clamping plate (6) and penetrates through the spring plate (19) and is fixedly connected thereto. A sliding rod (21) is arranged in the fixed tube (20), and one side of the spring plate (19) is connected to a sleeve (25) located on the outer wall of the sliding rod (21). A second support rod (24) is hingedly connected to the outer wall of the sleeve (25), and the other end of the second support rod (24) is hingedly connected to the covering plate (11).

5. The hoisting robot according to claim 4, characterized in that: A compression spring (22) is arranged on the inner side of the clamping plate (6), and the other end of the compression spring (22) is connected to the spring plate (19). A limit rod (23) is rotatably arranged on the fixing cylinder (20), and the other end of the limit rod (23) is connected to the covering plate (11).

6. The hoisting robot according to claim 1, characterized in that: The driving component is a clamping motor (9), and the clamping motor (9) is used to drive a bidirectional threaded rod (12) in the hoisting tube (10) to rotate.

7. The hoisting robot according to claim 1, characterized in that: One end of the insertion rod (4) is arranged in an arc shape.

8. The hoisting robot according to claim 1, characterized in that: The outer wall of the covering plate (11) and the inner side of the arc-shaped bottom plate (8) are both provided with protective covers.

9. The hoisting robot according to claim 2, characterized in that: A limiting mechanism is provided on one side of the threaded sleeve (14) located inside the hoisting tube (10).

10. The hoisting robot according to claim 1, characterized in that: The mounting plate (2) and the mechanical arm body (1) are detachably arranged.

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