Manipulator for hoisting cleaning basket of stop valve

Abstract

The utility model relates to a mechanical arm for lifting a stop valve cleaning basket, and belongs to the technical field of mechanical arms, the mechanical arm comprises a support, a lifting mechanism installed on the support and a lifting mechanism installed on the lifting mechanism, the lifting mechanism comprises a lifting motor, a lifting shaft and a lifting frame, the lifting shaft is rotatably connected to the support, and the lifting motor is connected to the lifting frame. The lifting motor is fixed beside the support and used for driving the lifting shaft to rotate, the lifting frame is arranged at the bottom of the lifting shaft and connected to the support in a sliding mode, a belt is fixedly wound on the lifting shaft, the bottom end of the belt is fixed to the lifting frame, and the lifting motor is arranged on the lifting frame. And the hoisting mechanism comprises hoisting assemblies which are symmetrically mounted on the hoisting frame. The hoisting assembly is installed on the hoisting frame of the hoisting mechanism and comprises the unhooking air cylinder, the sliding block and the hoisting rod, the unhooking air cylinder is used for driving the hoisting rod to be connected with the cleaning basket or separated from the cleaning basket, and rapid hoisting of the cleaning basket can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a manipulator for hoisting a cleaning basket for a stop valve. Background Art

[0002] The globe valve, also called a stop valve, is the most widely used type of valve. It is popular because of the small friction between the sealing surfaces during opening and closing, its durability, small opening height, easy manufacturing, and convenient maintenance. It is suitable not only for medium and low pressures, but also for high pressures. The closing principle of the globe valve is to rely on the valve stem pressure to make the valve disc sealing surface fit closely with the valve seat sealing surface to prevent the flow of the medium.

[0003] The pipe body of the stop valve needs to be cleaned during the production process. In the prior art, the staff generally puts the pipe body directly into the cleaning pool for cleaning and then salvages it. This cleaning method has low work efficiency, poor cleaning effect, and high labor intensity.

[0004] Therefore, our company has developed a cleaning equipment specially used for cleaning stop valves, which includes a cleaning machine and a cleaning basket. Figure 1-2 As shown, it includes a bracket 101 and a workpiece basket 102, V-shaped positioning blocks 103 are fixed to the four corners of the top of the bracket, a central axis 104 is fixed to the middle of the workpiece basket, a turntable 105 is fixed to the end of the central axis, and chains 106 are fixed to the two side plates of the basket body of the workpiece basket, which are used to connect with the driving parts inside the cleaning machine.

[0005] In order to improve automated production, it is urgent to develop a robot to lift the cleaning basket into the cleaning machine and take the cleaning basket out of the cleaning machine. Utility Model Content

[0006] The purpose of the present application is to provide a robot for hoisting a stop valve cleaning basket to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above purpose, the present application provides a stop valve cleaning basket hoisting manipulator adopts the following technical solution:

[0008] A manipulator for hoisting a stop valve cleaning basket comprises a bracket, a lifting mechanism installed on the bracket and a hoisting mechanism installed on the lifting mechanism, the lifting mechanism comprises a lifting motor, a lifting shaft and a lifting frame, the lifting shaft is rotatably connected to the bracket, the lifting motor is fixed beside the bracket and is used to drive the lifting shaft to rotate, the lifting frame is arranged at the bottom of the lifting shaft and is slidably connected to the bracket, a belt is fixedly wound around the lifting shaft, and the bottom end of the belt is fixed to the lifting frame;

[0009] The hoisting mechanism comprises a hoisting assembly symmetrically mounted on the lifting frame, the hoisting assembly comprises a decoupling cylinder, a slider and a suspension rod, the two ends of the slider are symmetrically fixed with suspension rods, one side of the suspension rod has a hook portion folded outward, the slider is slidably connected to the lifting frame, the decoupling cylinder is fixed to the lifting frame, and is used to drive the slider to move along the length direction of the lifting shaft;

[0010] A power mechanism for driving the cleaning basket to rotate is also arranged on one side of the bottom of the bracket.

[0011] Preferably, the power mechanism includes a driving motor, a slide, a movable cylinder, a rotating wheel and a connecting frame, the connecting frame is fixed on the bracket, the slide is slidably installed on the connecting frame, the movable cylinder is fixed on the connecting frame and is used to drive the slide to move, the driving motor is fixed on the slide, the rotating wheel is fixed on the output shaft of the driving motor, and the rotating wheel is used to drive the cleaning basket to rotate.

[0012] By adopting the above technical solution and providing a power mechanism, when the lifting mechanism lifts the cleaning basket and moves it to the upper detection mounting part (i.e., lifting the high upper protection position), the mobile cylinder pushes the drive motor to approach the cleaning basket, and the transmission rod on the rotating wheel is inserted into the turntable of the central axis. The drive motor drives the workpiece basket to rotate through the transmission rod and the central axis, and the liquid or garbage in the stop valve pipeline in the workpiece basket can be thrown out, which is beneficial to improving the cleaning efficiency.

[0013] Preferably, in order to facilitate the rotating wheel to drive the turntable of the cleaning basket, a plurality of mounting holes are opened on the surface of the rotating wheel, a transmission rod is movably connected in the mounting hole, and a spring is connected between the transmission rod and the mounting hole.

[0014] The bracket is symmetrically fixed with movable fixing frames on both sides, and a sliding block is fixed at the bottom of the movable fixing frame.

[0015] Preferably, in order to make the robot adapt to the use of subsequent production lines, a walking mechanism is also provided on one side of the bracket, and the walking mechanism includes a walking motor and a rotating shaft. The rotating shaft is rotatably connected to the bracket along the length direction of the bracket, and walking gears are fixed at both ends of the rotating shaft. The walking motor is fixed on the bracket and is used to drive the rotating shaft to rotate.

[0016] An upper detection mounting member and a lower detection mounting member are respectively arranged on the upper and lower sides of the bracket, and both the upper detection mounting member and the lower detection mounting member are displacement sensors.

[0017] In summary, the present application includes at least one of the following beneficial technical effects:

[0018] 1. The manipulator for hoisting the cleaning basket of the stop valve has a simple structure and is easy to use. The hoisting assembly is installed on the lifting frame of the hoisting mechanism. The hoisting assembly includes a decoupling cylinder, a slider and a hanging rod. The decoupling cylinder drives the hanging rod to connect to or detach from the cleaning basket, so that the cleaning basket can be quickly hoisted and placed;

[0019] 2. By providing a power mechanism, when the lifting mechanism lifts the cleaning basket and moves it to the upper detection mounting part, the power mechanism can drive the workpiece basket in the cleaning basket to rotate, thereby being able to throw out the liquid or garbage in the stop valve pipe in the workpiece basket, which is beneficial to improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the front cross-sectional structure of the cleaning basket developed by our company.

[0021] Figure 2 This is a side view of the cleaning basket developed by our company.

[0022] Figure 3 It is a schematic diagram of the overall front view cross-sectional structure of an embodiment of the present application.

[0023] Figure 4 It is a schematic diagram of the side cross-sectional structure of an embodiment of the present application.

[0024] Figure 5 yes Figure 3 Enlarged view of part A in the middle.

[0025] Figure 6 It is a schematic diagram of a top-view cross-sectional structure of an embodiment of the present application.

[0026] Explanation of the accompanying drawings: 1. bracket; 11. connecting frame; 12. movable fixed frame; 121. sliding block; 2. lifting mechanism; 21. lifting motor; 22. lifting shaft; 23. lifting frame; 24. belt; 3. lifting assembly; 31. unhooking cylinder; 32. sliding block; 33. lifting rod; 331. hook part; 4. upper detection mounting part; 5. lower detection mounting part; 6. power mechanism; 61. driving motor; 62. sliding seat; 63. movable cylinder; 64. rotating wheel; 641. transmission rod; 642. spring; 7. traveling motor; 8. rotating shaft; 9. traveling gear. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1-6 This application is described in further detail.

[0028] The present application embodiment discloses a manipulator for hoisting a stop valve cleaning basket, referring to Figure 3 and Figure 4, including a bracket 1, a lifting mechanism 2 installed on the bracket 1 and a hoisting mechanism installed on the lifting mechanism 2, the lifting mechanism 2 includes a lifting motor 21, a lifting shaft 22 and a lifting frame 23, the lifting shaft 22 is rotatably connected to the bracket 1, the lifting motor 21 is fixed beside the bracket 1, and is used to drive the lifting shaft 22 to rotate, the lifting frame 23 is arranged at the bottom of the lifting shaft 22, and is slidably connected to the bracket 1, a belt 24 is fixedly wound around the lifting shaft 22, and the bottom end of the belt 24 is fixed to the lifting frame 23, the lifting motor 21 drives the lifting shaft 22 to rotate, and the lifting shaft 22 winds up the belt 24, so that the lifting frame 23 can be lifted, and a flat belt drive is adopted, which has the advantages of being clean, accurate, simple and noiseless. At the same time, in order to make the washing basket move up and down accurately, reliably and stably, linear slide rails are installed on both sides of the bracket 1;

[0029] The hoisting mechanism includes a hoisting assembly 3 symmetrically mounted on the lifting frame 23, the hoisting assembly 3 includes a decoupling cylinder 31, a slider 32 and a suspension rod 33, the two ends of the slider 32 are symmetrically fixed with suspension rods 33, one side of the suspension rod 33 has a hook portion 331 folded outward, the slider 32 is slidably connected to the lifting frame 23, the decoupling cylinder 31 is fixed to the lifting frame 23, and is used to drive the slider 32 to move along the length direction of the lifting shaft 22;

[0030] An upper detection mounting member 4 and a lower detection mounting member 5 are respectively provided on the upper and lower sides of the bracket 1 , and both the upper detection mounting member 4 and the lower detection mounting member 5 are displacement sensors.

[0031] Reference Figure 3-5 A power mechanism 6 for driving the washing basket to rotate is also provided on one side of the bottom of the bracket 1. The power mechanism 6 includes a driving motor 61, a slide 62, a moving cylinder 63, a rotating wheel 64 and a connecting frame 11. The connecting frame 11 is fixed on the bracket 1, the slide 62 is slidably installed on the connecting frame 11, the moving cylinder 63 is fixed on the connecting frame 11, and is used to drive the slide 62 to move, the driving motor 61 is fixed on the slide 62, and the rotating wheel 64 is fixed on the output shaft of the driving motor 61. The rotating wheel 64 is used to drive the washing basket to rotate. Specifically, a plurality of mounting holes are opened on the surface of the rotating wheel 64, and a transmission rod 641 is movably connected in the mounting hole, and a spring 642 is connected between the transmission rod 641 and the mounting hole.

[0032] By providing a power mechanism 6, when the lifting mechanism lifts the cleaning basket and moves it to the upper detection mounting part 4 (i.e., the upper protection position of the lifting high position), the moving cylinder 63 pushes the driving motor 61 to approach the cleaning basket, and the transmission rod 641 on the rotating wheel 64 is inserted into the turntable of the central axis. The driving motor 61 drives the workpiece basket to rotate through the transmission rod 641 and the central axis, so that the liquid or garbage in the stop valve pipeline in the workpiece basket can be thrown out, which is beneficial to improve the cleaning efficiency.

[0033] Reference Figure 3-6 In order to make the manipulator adapt to the use of subsequent production lines, mobile fixed frames 12 are symmetrically fixed on both sides of the bracket 1, and a sliding block 121 is fixed at the bottom of the mobile fixed frame 12. A walking mechanism is also provided on one side of the bracket 1, and the walking mechanism includes a walking motor 7 and a rotating shaft 8. The rotating shaft 8 is rotatably connected to the bracket 1 along the length direction of the bracket 1, and walking gears 9 are fixed at both ends of the rotating shaft 8. The walking motor 7 is fixed on the bracket 1 and is used to drive the rotating shaft 8 to rotate.

[0034] The implementation principle of a manipulator for hoisting a stop valve cleaning basket in the embodiment of the present application is as follows:

[0035] Reference Figure 1-6 After cleaning, the lifting motor 21 in the manipulator works to place the lifting frame 23 downward to the lower detection mounting part 5, and the unhooking cylinder 31 in the lifting mechanism pushes the slider 32 to move sideways. The hook parts 331 in the suspension rods 33 on the sliders 32 on both sides are inserted into the V-shaped positioning blocks of the cleaning basket. Thereafter, the lifting motor 21 drives the lifting shaft 22 to rotate in the opposite direction, and lifts the lifting frame 23 and the cleaning basket upward together through the belt 24. When lifted to the upper detection mounting part 4, the moving cylinder 63 in the power mechanism 6 pushes the driving motor 61 to approach the cleaning basket, and the transmission rod 641 on the rotating wheel 64 is inserted into the turntable of the central axis. The driving motor 61 works to drive the workpiece basket to rotate through the transmission rod 641 and the central axis, so that the liquid or garbage in the stop valve pipeline in the workpiece basket can be thrown out, which is beneficial to improve the cleaning efficiency.

[0036] Similarly, when lowering the cleaning basket, the lifting motor 21 in the manipulator works to place the lifting frame 23 and the cleaning basket as a whole down to the lower detection mounting part 5, and the unhooking cylinder 31 in the lifting mechanism pulls the slider 32 to move to one side of the unhooking cylinder 31, and the hook part 331 in the lifting rod 33 on the sliders 32 on both sides is detached from the V-shaped positioning block of the cleaning basket.

[0037] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator for hoisting a stop valve cleaning basket, characterized in that: The invention comprises a support (1), a lifting mechanism (2) installed on the support (1) and a hoisting mechanism installed on the lifting mechanism (2); the lifting mechanism (2) comprises a lifting motor (21), a lifting shaft (22) and a lifting frame (23); the lifting shaft (22) is rotatably connected to the support (1); the lifting motor (21) is fixed beside the support (1) and is used to drive the lifting shaft (22) to rotate; the lifting frame (23) is arranged at the bottom of the lifting shaft (22) and is slidably connected to the support (1); a belt (24) is fixedly wound around the lifting shaft (22); the bottom end of the belt (24) is fixed to the lifting frame (23); The hoisting mechanism comprises a hoisting assembly (3) symmetrically mounted on the lifting frame (23), the hoisting assembly (3) comprising a decoupling cylinder (31), a slider (32) and a suspension rod (33), the suspension rods (33) being symmetrically fixed at both ends of the slider (32), one side of the suspension rod (33) having a hook portion (331) folded outward, the slider (32) being slidably connected to the lifting frame (23), the decoupling cylinder (31) being fixed to the lifting frame (23) and being used for driving the slider (32) to move along the length direction of the lifting shaft (22), A power mechanism (6) for driving the cleaning basket to rotate is also provided on one side of the bottom of the bracket (1).

2. The manipulator for hoisting the stop valve cleaning basket according to claim 1 is characterized in that: The power mechanism (6) comprises a driving motor (61), a slide (62), a movable cylinder (63), a rotating wheel (64) and a connecting frame (11); the connecting frame (11) is fixed on the bracket (1); the slide (62) is slidably mounted on the connecting frame (11); the movable cylinder (63) is fixed on the connecting frame (11) and is used to drive the slide (62) to move; the driving motor (61) is fixed on the slide (62); the rotating wheel (64) is fixed on the output shaft of the driving motor (61); and the rotating wheel (64) is used to drive the washing basket to rotate.

3. The manipulator for hoisting the stop valve cleaning basket according to claim 2 is characterized in that: A plurality of mounting holes are provided on the surface of the rotating wheel (64), a transmission rod (641) is movably connected in the mounting hole, and a spring (642) is connected between the transmission rod (641) and the mounting hole.

4. The manipulator for hoisting the stop valve cleaning basket according to claim 1 is characterized in that: The bracket (1) has movable fixing frames (12) symmetrically fixed on both sides thereof, and a sliding block (121) is fixed on the bottom of the movable fixing frame (12).

5. The manipulator for hoisting the stop valve cleaning basket according to claim 4 is characterized in that: A walking mechanism is also provided on one side of the bracket (1), the walking mechanism comprising a walking motor (7) and a rotating shaft (8), the rotating shaft (8) being rotatably connected to the bracket (1) along the length direction of the bracket (1), and walking gears (9) being fixed at both ends of the rotating shaft (8), the walking motor (7) being fixed on the bracket (1) and being used to drive the rotating shaft (8) to rotate.

6. The manipulator for hoisting the stop valve cleaning basket according to any one of claims 1 to 5, characterized in that: An upper detection mounting member (4) and a lower detection mounting member (5) are respectively provided on the upper and lower sides of the bracket (1); the upper detection mounting member (4) and the lower detection mounting member (5) are both displacement sensors.

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