A hoisting robot

Abstract

The present invention discloses a hoisting robot, which relates to the field of robots and includes a robotic arm body. An installation plate is provided at the front end of the robotic arm body, and a sliding plate is provided on the installation plate. Clamping plates are symmetrically arranged at the bottom of the sliding plate. A hoisting cylinder is fixedly installed on one side of the clamping plate, and a driving assembly is arranged on the other side thereof. One end of the driving assembly has a bidirectional threaded rod. A covering plate is telescopically arranged on the outer wall of the hoisting cylinder. A plug rod is installed on the top of the sliding plate, and a guide post is elastically arranged on the installation plate. A jack is provided on the guide post. In the present invention, the cooperation between the threaded sleeve and the first support rod enables the covering plate to unfold. During this process, it is ensured that the pipeline workpiece will not shake during the hoisting and handling process. At the same time, the special-shaped gear rotates by a certain angle, and during this process, the arc-shaped bottom plate in the slot is driven to flip, so that the arc-shaped bottom plate supports the bottom of the pipeline workpiece.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a hoisting robot. Background Art

[0002] With the gradual development of industrialization, robots used to replace humans have been more and more widely used. Robots are composed of a variety of components, and cables are essential components of robots. Cables are mainly used to supply power to various electronic components of robots. In daily life, when workers need to carry some equipment parts or workpieces, they mostly need to use hoisting equipment to carry them. Since the existing hoisting equipment occupies a large area itself, it is difficult to carry out effective hoisting and transportation in the face of some small operating spaces. Therefore, the hoisting robot came into being.

[0003] In the actual use process of the existing hoisting robot, the equipment parts or workpieces are clamped by a fixture, and then lowered and transferred to a designated position through an instruction. When the hoisting robot faces a workpiece such as a pipeline, its fixture will penetrate the pipeline, and then it is carried under the action of a robotic arm. However, in the actual operation process, there are many instructions for the rotation and angle adjustment of the robotic arm. The pipeline workpiece to be carried will shake during the rotation on the outer wall of the fixture. It is difficult to ensure the stability of the pipeline workpiece during this process. As a result, the shaking of the pipeline workpiece during the handling process will cause a certain degree of wear to the robotic arm and the fixture, which will increase the failure rate of the hoisting robot. And in order to improve the stability of hoisting the pipeline workpiece, it is necessary for the staff to perform secondary limiting on it. This process is too wasteful of manpower and material resources and reduces the overall hoisting efficiency of the workpiece.

[0004] To sum up, the above structure is difficult to ensure the stability of the pipeline workpiece during the actual use process, resulting in the shaking of the pipeline workpiece during the handling process causing a certain degree of wear to the robotic arm and the fixture, and it is necessary for the staff to perform secondary limiting on it. This process is too wasteful of manpower and material resources and reduces the overall hoisting efficiency of the workpiece. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a hoisting robot to solve the technical problems that it is difficult to ensure the stability of the pipeline workpiece during the hoisting process, and at the same time, it is necessary for the staff to perform secondary limiting on it. This process is too wasteful of manpower and material resources and reduces the overall hoisting efficiency of the workpiece.

[0006] To achieve the above object, the present invention provides the following technical solution: A hoisting robot, including a robotic arm body, an installation plate is provided at the front end of the robotic arm body, and a sliding plate is slidably arranged on the installation plate. Clamping plates are symmetrically arranged at the bottom of the sliding plate. A hoisting cylinder is fixedly installed on one side of the clamping plate, and a driving assembly is arranged on the other side. One end of the driving assembly penetrates into the hoisting cylinder and is connected to a bidirectional threaded rod. An attaching plate that cooperates with the bidirectional threaded rod is telescopically arranged on the outer wall of the hoisting cylinder. A plug rod is installed on the top of the sliding plate, and a guide post is elastically arranged on the installation plate. A jack is provided on the guide post, and the jack and the plug rod are eccentrically arranged. A slotted opening is provided at the bottom of the front end of the installation plate, and an arc-shaped bottom plate that cooperates with the guide post is rotatably arranged in the slotted opening.

[0007] By adopting the above technical solution, the bidirectional threaded rod is driven to rotate under the action of the clamping motor. With the cooperation of the threaded sleeve and the first support rod, the attaching plate is unfolded to be in contact with the inner wall of the pipeline workpiece. During this process, it is ensured that the pipeline workpiece will not shake during hoisting and handling. At the same time, the plug rod will insert into the jack. At this time, the tooth block on the guide post will drive the special-shaped gear to rotate by a certain angle. During this process, the arc-shaped bottom plate in the slotted opening is driven to flip. With the cooperation of the plug rod and the jack, the arc-shaped bottom plate is limited, so that the arc-shaped 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 hinged to the top of the threaded sleeve. The other end of the first support rod is hinged to the attaching plate.

[0009] By adopting the above technical solution, during the rotation of the bidirectional threaded rod, the threaded sleeve will slide inward. At this time, the first support rod will drive the attaching plate to unfold. When the outer wall of the attaching 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 arranged on the top of the guide post, and a special-shaped gear is meshed with the top of the guide post. 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 plug rod inserts into the jack, the guide post will slide inward. During this process, the tooth block on the guide post will drive the special-shaped gear to rotate, so that the transmission mechanism rotates accordingly, realizing that during the inward sliding of the guide post, the arc-shaped bottom plate is driven to flip under the action of the transmission mechanism.

[0012] The present invention is further configured such that an elastic plate is elastically connected to the inner side of the clamping plate, and a fixing cylinder is fixedly connected through the elastic plate and penetrates the inner side of the clamping plate. A sliding rod is arranged in the fixing cylinder, and a sleeve is connected to the outer wall of the sliding rod on one side of the elastic 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 clamping plate drives the elastic plate to contact the two ends of the pipeline workpiece, the inner elastic plate will be squeezed. At this time, the fixing cylinder will be inserted into the inner wall of the pipeline workpiece. At the same time, the elastic plate will drive the sleeve to slide on the outer wall of the sliding rod. Since a second support rod is hinged to the outside of the sleeve, the covering plate is unfolded under the cooperation of the second support rod. In this process, there is no need for a driving component to adjust and drive it, reducing the overall lifting cost while improving 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 elastic plate. 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 elastic plate is squeezed, the inner compression spring will be in a compressed state. At the same time, the limiting rod will enable the covering plate to be stably unfolded on the inner wall of the pipeline workpiece. The stability of the covering plate during the unfolding process is ensured by the action of the limiting rod. And after the subsequent lifting and handling are completed, when the clamping plate slides to both sides, the covering plate will contract inward under the self-resetting action of the compression spring, thereby releasing the clamping of the pipeline workpiece.

[0016] The present invention is further configured such that the driving component is a clamping motor, and the clamping motor is used to drive the rotation of the bidirectional threaded rod in the lifting cylinder.

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

[0018] The present invention is further configured such that one end of the insertion rod is arc-shaped.

[0019] By adopting the above technical solution, the arc-shaped insertion rod is convenient for stably inserting into the jack of the guide post during the upward movement.

[0020] The present invention is further configured such that protective sleeves are arranged on the outer wall of the covering plate and the inner side of the arc-shaped bottom plate.

[0021] By adopting the above technical solution, through the setting of the protective sleeve, direct contact between the covering plate, the arc-shaped bottom plate and the pipeline workpiece is prevented, further improving the protection effect on the pipeline workpiece.

[0022] The present invention is further configured such that a limiting mechanism is provided inside the lifting cylinder on one side of the threaded sleeve.

[0023] By adopting the above technical solution, the limiting mechanism ensures the stability of the threaded sleeve sliding inside the lifting cylinder, preventing the threaded sleeve 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 manipulator body are detachably arranged.

[0025] By adopting the above technical solution, the detachable arrangement facilitates subsequent disassembly and maintenance of the mounting plate by the staff.

[0026] In summary, the present invention mainly has the following beneficial effects:

[0027] 1. The present invention is provided with a mounting plate at the front end of the manipulator body. During the process of lifting and transporting pipeline workpieces, the clamping plates on the mounting plate will slide to both sides, and then the clamping plates will drive the inner lifting cylinder to insert into the inner wall of the pipeline workpiece. And start the clamping motor on the clamping plate, which drives the bidirectional threaded rod to rotate under the action of the clamping motor. With the cooperation of the threaded sleeve and the first support rod, the covering plate is unfolded to adhere to the inner wall of the pipeline workpiece. During this process, it is ensured that the pipeline workpiece will not shake during the lifting and transporting process, effectively reducing the wear of the manipulator and improving the stability of the overall lifting and transporting;

[0028] 2. The present invention is provided with a guide post slidably arranged on the mounting plate, and a jack is provided on the guide post. The mounting plate is eccentrically provided with an insertion rod cooperating with it. After the pipeline is clamped, the sliding plate slides upward on the outer wall of the mounting plate. During this process, the insertion rod will insert into the jack. At this time, the tooth block on the guide post will drive the special-shaped gear to rotate by a certain angle. During this process, the arc-shaped bottom plate in the slot is driven to flip under the action of the transmission mechanism. The arc-shaped bottom plate is limited by the cooperation of the insertion rod and the jack, so that the arc-shaped bottom plate supports the bottom of the pipeline workpiece. During this process, there is no need for manual secondary limiting work, reducing the subsequent disassembly and assembly burden of the staff and improving the overall lifting efficiency of the pipeline workpiece;

[0029] 3. The present invention is elastically connected with an elastic plate inside the clamping plate. When the clamping plate drives the elastic plate to contact the two ends of the pipeline workpiece, the inner elastic plate will be squeezed. At this time, the fixed cylinder will insert into the inner wall of the pipeline workpiece. At the same time, the elastic plate will drive the sleeve to slide on the outer wall of the sliding rod. Since the second support rod is hinged outside the sleeve, with the cooperation of the second support rod and the limiting rod, the covering plate is unfolded. During this process, there is no need for a driving component to adjust and drive it, reducing the overall lifting cost and improving the overall lifting stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is the front perspective view of the present invention;

[0031] Figure 2 is the rear perspective view of the present invention;

[0032] Figure 3 is the front view of the present invention;

[0033] Figure 4 is the schematic structural diagram of the mounting plate of the present invention;

[0034] Figure 5 is the sectional view of the hoisting cylinder of the present invention;

[0035] Figure 6 is the schematic structural diagram of the transmission mechanism of the present invention;

[0036] Figure 7 is the present invention Figure 4 the enlarged view of A in;

[0037] Figure 8 is the schematic diagram of the partial structure of the second embodiment of the present invention;

[0038] Figure 9 is the present invention Figure 8 the enlarged view of B in.

[0039] In the figure: 1, robotic arm body; 2, mounting plate; 3, sliding plate; 4, insertion rod; 5, guide post; 6, clamping plate; 7, slotted groove; 8, arc-shaped bottom plate; 9, clamping motor; 10, hoisting cylinder; 11, covering plate; 12, bidirectional threaded rod; 13, first support rod; 14, threaded sleeve; 15, special-shaped gear; 16, jack; 17, tooth block; 18, transmission mechanism; 19, elastic plate; 20, fixed cylinder; 21, sliding rod; 22, compression spring; 23, limiting rod; 24, second support rod; 25, sleeve. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and cannot be understood as a limitation to the present invention.

[0041] Next, the embodiments of the present invention will be described according to the overall structure of the present invention.

[0042] Embodiment 1

[0043] A hoisting robot, as Figures 1 - 7As shown in the figure, it includes a robotic 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 provided at the front end of the robotic arm body 1, and a sliding plate 3 is slidably arranged on the mounting plate 2. Under the action of the mounting plate 2, the sliding plate 3 is moved to the pipe workpiece to be lifted. Clamping plates 6 are symmetrically arranged at the bottom of the sliding plate 3, and a lifting cylinder 10 is fixedly installed on one side of the clamping plate 6. Then, the clamping plate 6 slides towards one side of the pipe workpiece, so that the lifting cylinder 10 moves to the inner wall of the pipe workpiece. 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 lifting cylinder 10 and is connected with a bidirectional threaded rod 12;

[0044] Moreover, threaded sleeves 14 are symmetrically arranged on the outer wall of the bidirectional threaded rod 12. A limiting mechanism is arranged on one side of the threaded sleeve 14 inside the lifting cylinder 10. Under the action of the limiting mechanism, the stability of the threaded sleeve 14 sliding inside the lifting cylinder 10 is ensured, and the situation that the threaded sleeve 14 rotates on the outer wall of the bidirectional threaded rod 12 is prevented. A first support rod 13 is hinged to the top of the threaded sleeve 14, and the other end of the first support rod 13 is hinged to the covering plate 11. During the rotation of the bidirectional threaded rod 12, the threaded sleeve 14 slides inwards. At this time, the first support rod 13 drives the covering plate 11 to unfold. 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. During this process, it is ensured that the pipe workpiece does not shake during the lifting and handling process, effectively reducing the wear on the robotic arm body 1 and improving the overall stability of the lifting and handling. After the pipe workpiece is clamped, the sliding plate 3 drives the pipe workpiece to slide towards the top of the mounting plate 2. Since a plug rod 4 is arranged on the sliding plate 3, and a guide post 5 is elastically arranged on the mounting plate 2, a jack 16 is opened on the guide post 5, and the jack 16 and the plug rod 4 are eccentrically arranged;

[0045] A slot 7 is formed at the bottom of the front end of the mounting plate 2, and an arc-shaped bottom plate 8 that cooperates with the guide post 5 is rotatably arranged in the slot 7. Therefore, during the process of the sliding plate 3 driving the insertion rod 4 to slide upward, the insertion rod 4 will insert into the insertion hole 16, and at this time, the guide post 5 will slide to one side. Since a tooth block 17 is partially arranged at the top of the guide post 5, and a special-shaped gear 15 is engaged with the top of the guide post 5, 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 post 5 will drive the special-shaped gear 15 to rotate, thereby causing the transmission mechanism 18 to rotate accordingly. It realizes that during the process of the guide post 5 sliding inward, the arc-shaped bottom plate 8 is driven to flip under the action of the transmission mechanism 18. With the cooperation of the insertion rod 4 and the insertion hole 16, the arc-shaped bottom plate 8 is limited, so that the arc-shaped bottom plate 8 supports the bottom of the pipeline workpiece. In this process, there is no need for manual secondary limiting work, reducing the subsequent disassembly and assembly burden of the staff, and improving the overall hoisting efficiency of the pipeline workpiece. And when the sliding plate 3 slides upward subsequently, the insertion rod 4 will contact and limit the guide post 5. At this time, the guide post 5 slides back under the action of the elastic component, thereby realizing that the transmission mechanism 18 drives the arc-shaped bottom plate 8 to flip back into the slot 7 again. During this process, it is ensured that the arc-shaped bottom plate 8 will not obstruct the sliding plate 3.

[0046] Please refer to Figure 4 and Figure 6 One end of the insertion rod 4 is arc-shaped. The arc-shaped insertion rod 4 is convenient for stably inserting into the insertion hole 16 of the guide post 5 during the upward movement. And protective sleeves are provided on the outer wall of the attaching plate 11 and the inner side of the arc-shaped bottom plate 8. Through the setting of the protective sleeves, direct contact between the attaching plate 11, the arc-shaped bottom plate 8 and the pipeline workpiece is prevented, further improving the protection effect on the pipeline workpiece.

[0047] Embodiment 2

[0048] Please refer to Figure 8 and Figure 9, A hoisting robot shown has an overall structure similar to that of the first embodiment. An elastic plate 19 is elastically connected to the inner side of the clamping plate 6, and a fixing cylinder 20 is fixedly connected through the elastic plate 19 on the inner side of the clamping plate 6. A sliding rod 21 is arranged in the fixing cylinder 20, and a sleeve 25 is connected to the outer wall of the sliding rod 21 on one side of the elastic plate 19. A second support rod 24 is hinged to 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 clamping plate 6 drives the elastic plate 19 to contact the two ends of the pipeline workpiece, the inner elastic plate 19 will be squeezed. At this time, the fixing cylinder 20 will be inserted into the inner wall of the pipeline workpiece. At the same time, the elastic plate 19 will drive the sleeve 25 to slide on the outer wall of the sliding rod 21. Since the second support rod 24 is hinged to the outside of the sleeve 25, with the cooperation of the second support rod 24, the covering plate 11 is unfolded. During this process, there is no need for a driving component to adjust and drive it, reducing the overall hoisting cost while improving the overall hoisting stability.

[0049] Please refer to Figure 8 , 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 elastic plate 19. A limiting rod 23 is rotatably arranged on the fixing cylinder 20, and the other end of the limiting rod 23 is connected to the covering plate 11. When the elastic plate 19 is squeezed, the inner compression spring 22 will be in a compressed state. At the same time, the limiting rod 23 will make the covering plate 11 unfold stably on the inner wall of the pipeline workpiece. The stability of the covering plate 11 during the unfolding process is ensured by the action of the limiting rod 23. And after the subsequent hoisting and handling are completed, when the clamping plate 6 slides to both sides, under the reset action of the compression spring 22 itself, the covering plate 11 shrinks inward, thereby releasing the clamping work on the pipeline workpiece.

[0050] The working principle of the present invention is as follows: During use, the mounting plate 2 is rotated to a specified position by the robotic arm 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 both ends of the pipeline workpiece, and then the clamping plate 6 slides inward, thereby driving the hoisting cylinder 10 to be inserted into the interior of the pipeline 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 attached to the inner wall of the pipeline workpiece, thereby realizing that the pipeline workpiece will not shake during the hoisting and handling process;

[0051] Subsequently, the sliding plate 3 slides upward on the mounting plate 2. During this process, the insertion rod 4 on the sliding plate 3 will insert into the guide post 5. Since the insertion hole 16 opened on the guide post 5 and the insertion rod 4 are eccentrically arranged, the guide post 5 will slide to one side during the insertion process of the insertion rod 4. Driven by the tooth block 17, the special-shaped gear 15 will rotate. At the same time, the transmission mechanism 18 will drive the arc-shaped bottom plate 8 in the slot 7 to turn by a certain angle. By the cooperation of the insertion rod 4 and the insertion hole 16, the arc-shaped bottom plate 8 is limited, so that the arc-shaped bottom plate 8 supports the bottom of the pipeline workpiece. During this process, there is no need for manual secondary limiting work, effectively reducing the subsequent disassembly and assembly burden of the staff.

[0052] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and not limitations to the invention. The specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations that do not contribute creatively to the embodiments according to needs, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A hoisting robot, comprising a mechanical arm body, a mounting plate is provided at the front end of the mechanical arm body, a sliding plate is slidably provided on the mounting plate, and the characteristics are: Clamps are symmetrically arranged at both ends of the bottom of the sliding plate, and the clamps are slidably connected to the sliding plate. A plug rod is installed on the top of the sliding plate, and a guide column is installed on the mounting plate through an elastic component. A plug hole is opened on the guide column, and the plug hole is eccentrically arranged with the plug rod. A slot is opened at the bottom of the front end of the mounting plate, and an arc bottom plate cooperating with the guide column is rotatably arranged in the slot, and the arc bottom plate supports the bottom of the pipeline workpiece; The top of the guide column is partially provided with a tooth block, which meshes with a special-shaped gear. One side of the special-shaped gear is connected to a transmission mechanism, and the transmission mechanism is also connected to the arc bottom plate. The guide column resets and slides under the action of the elastic component, and drives the arc bottom plate to flip back into the slot through the transmission mechanism to ensure that the arc bottom plate does not cause obstruction to the sliding plate. The inner side of the splint is elastically connected with a spring plate, and the inner side of the splint is fixedly connected with a fixing cylinder, which penetrates the spring plate, and a sliding rod is arranged in the fixing cylinder. One side of the spring plate is connected with a sleeve, and the sleeve is located on the outer wall of the sliding rod. One end of the 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.

2. The hoisting robot according to claim 1, characterized in that: A compression spring is arranged on the inner side of the clamp, one end of the compression spring is connected to the clamp, and the other end of the compression spring is connected to the spring plate. A limiting rod is rotatably arranged on the fixed cylinder, one end of the limiting rod is connected to the fixed cylinder, and the other end of the limiting rod is connected to the covering plate.

3. The hoisting robot according to claim 1, characterized in that: One end of the insertion rod close to the guide column is arranged in an arc shape.

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

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

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