Transfer mechanism with load gravity center adjusting function

Abstract

The utility model provides a transfer mechanism with a load gravity center adjusting function, which comprises a transfer mechanism and a lifting appliance connected with the transfer mechanism, and the lifting appliance comprises a fixing frame, a connecting arm, a clamping device and a gravity center adjusting device; the fixing frame is connected with the tail end of the transferring mechanism; the connecting arm comprises a first arm and a second arm. The end, away from the second arm, of the first arm is hinged to the lower end of the fixing frame. The clamping device is arranged at the lower end of the second arm and used for clamping the shaft parts in the horizontal direction. The gravity center adjusting device comprises an adjusting air cylinder and an air path control device, the adjusting air cylinder is used for driving the connecting arm to turn over downwards relative to the fixing frame so as to adjust the gravity center of the shaft part, and the air path control device is used for switching different air inflow to the adjusting air cylinder according to loads of different shaft parts. According to the gravity center adjusting device, the air inflow can be adjusted according to loads of different shaft parts, the gravity centers of the different shaft parts can be conveniently and flexibly adjusted, and the gravity center adjusting device has high universality and flexibility.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a transport mechanism with load center of gravity adjustment. Background Art

[0002] In the process of automobile assembly, it is usually necessary to use a transfer mechanism to transfer parts from the material rack to the parts to be assembled, so as to complete the assembly and processing operations between parts. For some slender shaft parts, they usually need to be clamped to one end of the shaft parts, and then slowly translated to the parts to be assembled. This process requires keeping the shaft parts in a horizontal state, that is, keeping the center of gravity stable. However, since the transfer mechanism is clamped at one end of the shaft parts, this will cause the center of gravity of the shaft parts to shift due to their own load, and then the shaft parts cannot be kept in a horizontal state during the transfer and assembly process, so that they cannot be assembled smoothly with the parts to be assembled. This requires adjusting the transfer mechanism according to the shaft load to ensure that the shaft parts are in a horizontal state during the clamping and transfer process. However, a transfer mechanism may be suitable for a variety of different types of shaft parts. Every time a part is switched, it is necessary to stop the transfer mechanism to adjust it, which directly leads to an increase in the stagnation time of the production line and reduces the production and processing efficiency. In addition, frequent adjustments by operators are prone to increase the possibility of errors, and frequent adjustments also increase the labor intensity of operators. Utility Model Content

[0003] In view of this, the utility model proposes a transport mechanism with load center of gravity adjustment, which is used to solve the efficiency problem caused by frequent adjustment of the center of gravity when transporting parts of different models.

[0004] The technical solution of the utility model is achieved in this way:

[0005] The utility model provides a transport mechanism with load center of gravity adjustment, comprising a transfer mechanism and a sling connected to the transfer mechanism, wherein the sling comprises a fixing frame, a connecting arm, a clamping device and a center of gravity adjustment device;

[0006] The fixed frame is connected to the end of the transfer mechanism;

[0007] The connecting arm comprises a first arm and a second arm vertically connected to one end of the first arm, and one end of the first arm away from the second arm is hingedly connected to the lower end of the fixing frame;

[0008] The clamping device is arranged at one end of the second arm away from the first arm, and is used to clamp the shaft parts in the horizontal direction;

[0009] The center of gravity adjusting device includes an adjusting cylinder and an air circuit control device, wherein the fixed end of the adjusting cylinder is hingedly connected to the upper end of the fixing frame, and the telescopic end of the adjusting cylinder is hingedly connected to the first arm. The adjusting cylinder is used to drive the connecting arm to flip downward relative to the fixing frame to adjust the center of gravity of the shaft parts, and the air circuit control device is used to switch different air intake volumes of the adjusting cylinder according to different loads of the shaft parts.

[0010] On the basis of the above technical solution, preferably, the fixed frame includes a horizontal section and a vertical section vertically connected to the bottom of one end of the horizontal section, the horizontal section is connected to the transfer mechanism, the end of the first arm away from the second arm is hinged to the lower end of the vertical section, the fixed end of the adjusting cylinder is hinged to the end of the horizontal section away from the vertical section, and the telescopic end of the adjusting cylinder is vertically downward and hinged to the top surface of the first arm.

[0011] Further, preferably, one end of the clamping device away from the second arm is flush with the vertical section.

[0012] On the basis of the above technical solution, preferably, the gas circuit control device includes a gas distribution block, a first gas control valve, a second gas control valve, a first pneumatic switch, a second pneumatic switch, a first pressure regulating valve, a second pressure regulating valve and a third pressure regulating valve;

[0013] The gas distribution block is provided with a first pipeline, a second pipeline and a third pipeline in parallel, the first pressure regulating valve is provided on the first pipeline, the second pressure regulating valve is provided on the second pipeline, and the third pressure regulating valve is provided on the third pipeline;

[0014] One end of the first pipeline away from the gas distribution block is connected to the first inlet of the first gas control valve, one end of the second pipeline away from the gas distribution block is connected to the second inlet of the first gas control valve, one end of the third pipeline away from the gas distribution block is connected to the second inlet of the second gas control valve, the outlet of the first gas control valve is connected to the first inlet of the second gas control valve, and the outlet of the second gas control valve is connected to the air inlet of the regulating cylinder;

[0015] A fourth pipeline and a fifth pipeline are connected between the control port of the first air-controlled valve and the control port of the second air-controlled valve and the air distribution block respectively. The first pneumatic switch is arranged on the fourth pipeline, and the second pneumatic switch is arranged on the fifth pipeline.

[0016] Further, preferably, the air circuit control device also includes a control box, the air distribution block, the first air-controlled valve, the second air-controlled valve, the first pneumatic switch, the second pneumatic switch, the first pressure-regulating valve, the second pressure-regulating valve and the third pressure-regulating valve are arranged in the control box, and the outer wall of the control box is provided with a first gear knob, a second gear knob, a first pressure-regulating switch, the second pressure-regulating switch and the third pressure-regulating switch, the first gear knob is connected to the first pneumatic switch, the second gear knob is connected to the second pneumatic switch, the first pressure-regulating switch, the second pressure-regulating switch and the third pressure-regulating switch are respectively connected to the first pressure-regulating valve, the second pressure-regulating valve and the third pressure-regulating valve.

[0017] Preferably, the control box is fixedly mounted on the top of the first arm.

[0018] On the basis of the above technical solution, preferably, the clamping device includes a main body and a positioning portion arranged at the front end of the main body, the positioning portion is used for positioning with shaft parts, and a clamping structure for clamping shaft parts is provided on the main body, and one end of the main body away from the clamping structure is rotatably connected to the lower end of the second arm through a hand-cranked wheel.

[0019] On the basis of the above technical solution, preferably, the transfer mechanism includes a swing arm, a rotating assembly and a swing assembly, the rotating assembly includes a vertical frame and a rotating frame rotatably arranged on the top of the vertical frame, one end of the swing arm is connected to the fixed frame on the hanger, and the other end is connected to the rotating frame through the swing assembly, and the swing assembly is used to drive the swing arm to perform pitch motion relative to the rotating frame.

[0020] Further, preferably, the swing assembly includes a swing cylinder, a connecting seat, a first connecting rod and a second connecting rod. The connecting seat is rotatably connected to the end of the swing arm away from the sling in the horizontal direction. The first connecting rod and the second connecting rod are arranged in parallel up and down. The length of the first connecting rod is greater than the length of the second connecting rod. The same ends of the first connecting rod and the second connecting rod are hinged to the connecting seat in the vertical direction respectively, and the other end of the second connecting rod is hinged to the rotating frame. A rotating part is provided on the first connecting rod, and the rotating part is located directly above the hinge point between the second connecting rod and the rotating frame. The lower end of the swing cylinder is hinged to the rotating frame, and the upper end of the swing cylinder is hinged to the end of the first connecting rod away from the connecting seat.

[0021] Further, preferably, a connecting rod is provided between one end of the swing arm away from the connecting seat and the sling, the upper end of the connecting rod is rotatably connected to the swing arm in the horizontal direction, and the lower end of the connecting rod is fixedly connected to the sling.

[0022] Compared with the prior art, the utility model has the following beneficial effects:

[0023] (1) Through the setting of the air circuit control device, the air intake volume allowed by the air circuit control device can be adjusted according to the load of different shaft parts at the beginning of use, so that the air circuit control device can meet the air intake volume adjustment under multiple load conditions. These different air intake volumes can be fixed after adjustment. When the shaft parts are switched later, the air circuit control device is responsible for switching the air intake volume according to the load of different shaft parts to accurately control the action of the adjustment cylinder, thereby ensuring that the clamping device or the clamping device and the shaft parts are kept horizontal under different load conditions, so as to flexibly and conveniently adjust the center of gravity of different shaft parts. When switching different types of parts on the production line, there is no need to stop the machine for adjustment, which significantly improves production efficiency. Automated adjustment reduces the intervention of operators, reduces the complexity of operation, reduces the labor intensity of workers, and also reduces the error rate caused by improper manual adjustment. This transfer mechanism is suitable for shaft parts of various models and sizes, and has high versatility and flexibility.

[0024] (2) By pre-adjusting each pressure regulating valve, the air intake of the regulating cylinder can be adjusted so that the center of gravity of the regulating cylinder can be stabilized under different loads. After the air intake of these pressure regulating valves is adjusted, when the parts are switched later, only the corresponding pneumatic switch needs to be turned on to flexibly and conveniently adjust the center of gravity of the load.

[0025] (3) Since the first connecting rod and the second connecting rod are parallel to each other, a parallelogram structure is formed between the first connecting rod, the second connecting rod, the connecting seat and the rotating frame, so that the swing arm and the sling below it are always in a horizontal state during the pitching process, which can ensure that the center of gravity of the load is stable and does not fluctuate.

[0026] (4) A connecting rod is provided between the end of the swing arm away from the connecting seat and the sling, the upper end of the connecting rod is connected to the swing arm in a horizontal rotation direction, and the lower end of the connecting rod is fixedly connected to the sling. In this way, when the swing arm, the sling and the rotating frame are rotated at a certain angle relative to the vertical frame in the horizontal direction, the rotational movement relationship between the swing arm and the connecting seat can be locked, and the rotational movement relationship between the rotating frame and the vertical frame can be locked. At this time, by rotating the sling horizontally, the sling can be adjusted to a certain angle relative to the end of the swing arm through the connecting rod, so that the shaft parts can be rotated in a small range in the horizontal direction, and the rotation angle is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a three-dimensional structural schematic diagram of a transfer mechanism with load center of gravity adjustment disclosed in the utility model;

[0029] Figure 2 It is a three-dimensional structural schematic diagram of the sling disclosed in the utility model;

[0030] Figure 3 It is a schematic diagram of the on-off of the gas circuit of the gas circuit control device in the no-load state disclosed by the utility model;

[0031] Figure 4 It is a schematic diagram of the on-off of the gas circuit of the gas circuit control device in the load state disclosed by the utility model;

[0032] Figure 5 This is a schematic diagram of the gas circuit on-off of the gas circuit control device under the second load state disclosed in the utility model; Figure numerals:

[0033] S. Shaft parts; 1. Transfer mechanism; 2. Lifting device; 21. Fixing frame; 22. Connecting arm; 23. Clamping device; 24. Center of gravity adjustment device; 221. First arm; 222. Second arm; 241. Adjusting cylinder; 242. Air path control device; 211. Horizontal section; 212. Vertical section; 2421. Air distributor; 2422. First air control valve; 2423. Second air control valve; 2425. First pneumatic switch; 2424. Second pneumatic switch; 2426. First pressure regulating valve; 2427. Second pressure regulating valve; 2428. Third pressure regulating valve; 2429. First pipeline; 2430. Second pipeline; 2431 , the third pipeline; 2433, the fourth pipeline; 2432, the fifth pipeline; 2434, the control box; 2435, the first gear knob; 2436, the second gear knob; 2437, the first voltage regulating switch; 2438, the second voltage regulating switch; 2439, the third voltage regulating switch; 231, the main body; 232, the positioning part; 233, the clamping structure; 234, the hand wheel; 11, the swing arm; 12, the rotating component; 13, the swing component; 121, the stand; 122, the rotating frame; 131, the swing cylinder; 132, the connecting seat; 133, the first connecting rod; 134, the second connecting rod; 1331, the rotating part; 14, the connecting rod. DETAILED DESCRIPTION

[0034] The following will be combined with the implementation of the utility model to clearly and completely describe the technical solutions in the implementation of the utility model. Obviously, the described implementation is only a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] like Figure 1 As shown, combined Figure 2 The utility model discloses a transfer mechanism with load center of gravity adjustment, including a transfer mechanism 1 and a sling 2 connected to the transfer mechanism 1, wherein the sling 2 is used to clamp and lift shaft parts, and the transfer mechanism 1 is used to transfer the shaft parts on the sling 2, such as transferring them from a material rack to an assembly station.

[0036] The lifting device 2 disclosed in this embodiment includes a fixing frame 21 , a connecting arm 22 , a clamping device 23 and a center of gravity adjusting device 24 .

[0037] The fixing frame 21 is connected to the end of the transfer mechanism 1 ; the fixing frame 21 serves as a connecting bridge, and is used to stably connect the transfer mechanism 1 with the connecting arm 22 and the clamping device 23 .

[0038] The connecting arm 22 includes a first arm 221 and a second arm 222 vertically connected to one end of the first arm 221. The end of the first arm 221 away from the second arm 222 is hingedly connected to the lower end of the fixing frame 21. The clamping device 23 is arranged at the end of the second arm 222 away from the first arm 221, and is used to clamp the shaft parts in the horizontal direction. With this arrangement, the clamping device 23 can be flipped relative to the fixing frame 21 through the connecting arm 22 to achieve angle adjustment. The connection between the first arm 221 and the fixing frame 21 adopts an articulated method, which allows the connecting arm 22 to have a certain flipping range of motion, providing adjustment space for center of gravity adjustment.

[0039] Since the connecting arm 22 and the clamping device 23 form a C-shaped structure as a whole, after the clamping device 23 clamps the shaft part horizontally, due to the load of the shaft part and the clamping device 23 itself, the shaft part, the clamping device 23 and the connecting arm 22 will flip relative to the fixing frame 21. Specifically, the first arm 221 will flip upward relative to the fixing frame 21, so that the shaft part will flip downward in the direction away from the fixing frame 21. As a result, the shaft part cannot remain in a horizontal state during transportation, which is inconvenient to assemble and dock with other parts during transportation.

[0040] To this end, the present embodiment is provided with a center of gravity adjusting device 24, which includes an adjusting cylinder 241 and an air circuit control device 242. The fixed end of the adjusting cylinder 241 is hinged to the upper end of the fixing frame 21, and the telescopic end of the adjusting cylinder 241 is hinged to the first arm 221. The adjusting cylinder 241 is used to drive the connecting arm 22 to flip downward relative to the fixing frame 21 to adjust the center of gravity of the shaft parts. The air circuit control device 242 is used to switch different air intake volumes of the adjusting cylinder 241 according to different loads of the shaft parts.

[0041] By adopting the above technical solution, the first arm 221 is pressed down by adjusting the extension of the telescopic end of the adjusting cylinder 241, so that the connecting arm 22, the clamping device 23 and the shaft parts are turned in the opposite direction relative to the fixing frame 21, so that the clamping device 23 and the shaft parts are kept in a horizontal state. By setting the air circuit control device 242, the allowable air intake of the air circuit control device 242 can be adjusted according to the load of different shaft parts in the early stage of use, so that the air circuit control device 242 can meet the air intake adjustment under multiple load conditions. These different air intakes can be fixed after adjustment. When the shaft parts are switched later, the air circuit control device 242 is responsible for adjusting the air intake according to the load of different shaft parts to accurately control the action of the adjusting cylinder 241, so as to ensure that the clamping device 23 or the clamping device 23 and the shaft parts are kept in a horizontal state under different load conditions, so as to flexibly and conveniently adjust the center of gravity of different shaft parts. When switching different types of parts on the production line, there is no need to stop the machine for adjustment, which significantly improves the production efficiency. Automated adjustment reduces operator intervention, reduces operational complexity, reduces workers' labor intensity, and also reduces the error rate caused by improper human adjustment. This transfer mechanism is adaptable to a variety of different models and sizes of shaft parts and has high versatility and flexibility.

[0042] As some embodiments, the fixed frame 21 includes a horizontal section 211 and a vertical section 212 vertically connected to the bottom of one end of the horizontal section 211, and the horizontal section 211 is connected to the transfer mechanism 1. Such a setting provides a stable support structure to ensure the stability and reliability of the entire sling 2 during operation. The end of the first arm 221 away from the second arm 222 is hinged to the lower end of the vertical section 212. This connection method allows the first arm 221 to rotate in a vertical plane, providing greater flexibility for center of gravity adjustment. At the same time, the second arm 222 fixes the clamping device 23 so that it can clamp shaft parts in the horizontal direction. The fixed end of the adjusting cylinder 241 is hinged to the end of the horizontal section 211 away from the vertical section 212, and the telescopic end of the adjusting cylinder 241 is vertically downward and hinged to the top surface of the first arm 221. Such a layout optimizes the transmission and distribution of force, making the adjusting cylinder 241 more effective and sensitive when adjusting the connecting arm 22.

[0043] By adopting the above technical solution, the specific connection mode between the adjusting cylinder 241 and the connecting arm 22 is adjusted, so that the center of gravity adjustment device 24 can more accurately adjust the center of gravity position of the part. By finely adjusting the extension of the cylinder 241, the angle of the connecting arm 22 can be accurately controlled, thereby ensuring that the part always remains balanced during the transportation process. In addition, the adjusting cylinder 241 can be automatically adjusted according to the weight of the loaded parts under the action of the air path control device 242 to adapt to shaft parts of different weights. This not only improves the versatility of the equipment, but also reduces the manual adjustment due to the change of part types, significantly improving production efficiency.

[0044] Preferably, the end of the clamping device 23 away from the second arm 222 is flush with the vertical section 212. With such a structural arrangement, the balance problem caused by different lengths of parts can be minimized by adjusting the position of the clamping point. When the clamping device 23 is flush with the vertical section 212, the weight distribution of the part itself can be more effectively utilized to achieve a more natural and stable clamping effect, especially for long parts or parts with uneven center of gravity distribution.

[0045] In order to realize the switching of the gas circuit for different loads, the present embodiment provides a preferred structural mode of the gas circuit control device 242, thereby satisfying the center of gravity adjustment under no-load, load one and load two conditions.

[0046] For details, please refer to the attached Figure 3-5 As shown, the air circuit control device 242 includes an air distribution block 2421, a first air control valve 2422, a second air control valve 2423, a first pneumatic switch 2425, a second pneumatic switch 2424, a first pressure regulating valve 2426, a second pressure regulating valve 2427 and a third pressure regulating valve 2428.

[0047] The gas distribution block 2421 is provided with a first pipeline 2429, a second pipeline 2430 and a third pipeline 2431 in parallel, the first pressure regulating valve 2426 is provided on the first pipeline 2429, the second pressure regulating valve 2427 is provided on the second pipeline 2430, and the third pressure regulating valve 2428 is provided on the third pipeline 2431. The gas distribution block 2421 is connected to a compressed gas source to allow compressed gas to enter the gas distribution block 2421, and pressure regulating valves are provided on each pipeline to adjust the gas volume flowing through the pipeline of the gas distribution block 2421.

[0048] One end of the first pipeline 2429 away from the air distribution block 2421 is connected to the first inlet of the second air-controlled valve 2423, one end of the second pipeline 2430 away from the air distribution block 2421 is connected to the second inlet of the second air-controlled valve 2423, one end of the third pipeline 2431 away from the air distribution block 2421 is connected to the second inlet of the first air-controlled valve 2422, the outlet of the second air-controlled valve 2423 is connected to the first inlet of the first air-controlled valve 2422, and the outlet of the first air-controlled valve 2422 is connected to the air inlet of the regulating cylinder 241; the control port of the first air-controlled valve 2422 and the control port of the second air-controlled valve 2423 are respectively connected to the air distribution block 2421 with a fourth pipeline 2433 and a fifth pipeline 2432, the first pneumatic switch 2425 is arranged on the fourth pipeline 2433, and the second pneumatic switch 2424 is arranged on the fifth pipeline 2432.

[0049] Adopt the above technical solution, refer to the attached Figure 3 As shown, when it is unloaded, that is, no shaft parts are clamped on the clamping device 23, the center of gravity shift problem still occurs due to the weight of the clamping device 23 itself, causing the clamping end of the clamping device 23 to slightly flip downward. This makes it inconvenient to clamp horizontally set shaft parts.

[0050] In this embodiment, through the setting of the above-mentioned pipelines, in the initial state, the first pneumatic switch 2425 and the second pneumatic switch 2424 are both in the closed state, then the end of the second pipeline 2430 away from the air distributor block 2421 is blocked inside the first air-controlled valve 2422, the end of the third pipeline 2431 away from the air distributor block 2421 is blocked inside the first air-controlled valve 2422, and the end of the first pipeline 2429 away from the air distributor block 2421 is connected to the first air-controlled valve 2422, the second air-controlled valve 2423 and the regulating cylinder 241. The air intake of the first pipeline 2429 is adjusted by the first pressure regulating valve 2426, so that the telescopic end of the regulating cylinder 241 can be extended in the no-load state to keep the clamping device 23 in a horizontal state, thereby ensuring that the center of gravity of the clamping device 23 is stable.

[0051] When the clamping device 23 is clamped with shaft parts, such as part 1, refer to the attached Figure 4As shown, due to the load of the shaft parts, the center of gravity of the shaft parts on the clamping device 23 shifts downward. At this time, the first pneumatic switch 2425 is turned on, and the second pneumatic switch 2424 is in the switch state. At this time, after the first pneumatic switch 2425 is turned on, the gas distributor 2421 passes the gas into the first gas-controlled valve 2422 through the fourth pipe 2433, thereby switching the internal channel of the first gas-controlled valve 2422, so that the end of the second pipe 2430 away from the gas distributor 2421 is connected to the first gas-controlled valve 2422, the second gas-controlled valve 2423 and the regulating cylinder 241, and the air intake of the second pipe 2430 is adjusted by the second pressure regulating valve 2427, so that the telescopic end of the regulating cylinder 241 can be extended under load state one to keep the clamping device 23 and the shaft parts one in a horizontal state, ensuring the stability of the center of gravity of the clamping device 23 and the shaft parts.

[0052] When the clamping device 23 is clamping the shaft part 2, refer to the attached Figure 5 As shown, the second pneumatic switch 2424 is turned on, and the first pneumatic switch 2425 is in the switch state. At this time, after the second pneumatic switch 2424 is turned on, the gas distributor block 2421 passes the gas into the second gas-controlled valve 2423 through the fifth pipe 2432, thereby switching the internal channel of the second gas-controlled valve 2423, so that the end of the third pipe 2431 away from the gas distributor block 2421 is connected to the first gas-controlled valve 2422, the second gas-controlled valve 2423 and the regulating cylinder 241, and the air intake of the third pipe 2431 is adjusted by the third pressure regulating valve 2428, so that the telescopic end of the regulating cylinder 241 can be extended under the load state 2 to keep the clamping device 23 and the second shaft part in a horizontal state, ensuring that the center of gravity of the clamping device 23 and the shaft parts is stable.

[0053] By pre-adjusting each pressure regulating valve, the air intake of the regulating cylinder 241 is adjusted so that the center of gravity of the regulating cylinder 241 can be stable under different loads. After the air intake of these pressure regulating valves is adjusted, when switching parts later, only the corresponding pneumatic switch needs to be turned on to flexibly and conveniently adjust the center of gravity of the load.

[0054] For the convenience of adjustment, the air circuit control device of this embodiment also includes a control box, and the air distribution block, the first air-controlled valve, the second air-controlled valve, the first pneumatic switch, the second pneumatic switch, the first pressure-regulating valve, the second pressure-regulating valve and the third pressure-regulating valve are arranged in the control box, and the outer wall of the control box is provided with a first gear knob, a second gear knob, a first pressure-regulating switch, the second pressure-regulating switch and the third pressure-regulating switch, the first gear knob is connected to the first pneumatic switch, the second gear knob is connected to the second pneumatic switch, the first pressure-regulating switch, the second pressure-regulating switch and the third pressure-regulating switch are respectively connected to the first pressure-regulating valve, the second pressure-regulating valve and the third pressure-regulating valve.

[0055] By setting the control box, the gas pipeline and components can be integrated into the control box, making the entire gas circuit control device compact. Through the switch on the side wall of the control box, the visual load gear can be easily switched, and the gas intake volume under different load conditions can be adjusted. In this embodiment, the control box is fixedly installed on the top of the first arm. With this setting, downward pressure can be applied to the connecting arm to reduce the kinetic energy output of the regulating cylinder.

[0056] It is worth noting that the downward pressure achieved by the air intake in the air inlet of the regulating cylinder can just balance the upward turning force of the connecting arm, the clamping device and the shaft parts, and the air outlet of the regulating cylinder is connected to the outside.

[0057] It should be noted that the air control valve is provided with a first inlet, a second inlet, an outlet and a control port. The control port is used to introduce control gas. When the control gas is not introduced, the first inlet and the outlet are connected. When the control gas is introduced, the second inlet and the outlet are connected.

[0058] The clamping device 23 disclosed in this embodiment includes a body 231 and a positioning portion 232 arranged at the front end of the body 231, the positioning portion 232 is used to position with shaft parts, the body 231 is provided with a clamping structure 233 for clamping shaft parts, and one end of the body 231 away from the clamping structure 233 is rotatably connected to the lower end of the second arm 222 through a hand wheel 234. The clamping device 23 can be rotated by the hand wheel 234, so as to realize the circumferential rotation of the shaft parts during the assembly process.

[0059] As some preferred embodiments, the transfer mechanism 1 includes a swing arm 11, a rotating component 12 and a swinging component 13. The rotating component 12 includes a vertical frame 121 and a rotating frame 122 rotatably arranged on the top of the vertical frame 121. One end of the swing arm 11 is connected to the fixed frame 21 on the sling 2, and the other end is connected to the rotating frame 122 through the swinging component 13. The swinging component 13 is used to drive the swing arm 11 to perform pitch motion relative to the rotating frame 122.

[0060] By adopting the above technical solution, during use, after the sling 2 clamps the shaft parts, the pitch of the swing arm 11 can be controlled by the swing assembly 13 to achieve the position adjustment of the shaft parts in the height direction. By rotating the swing arm 11, the swing arm 11 can be rotated relative to the vertical frame 121 through the rotating frame 122 to achieve transportation with a larger radius.

[0061] The swing assembly 13 of this embodiment includes a swing cylinder 131, a connecting seat 132, a first connecting rod 133 and a second connecting rod 134. The connecting seat 132 is rotatably connected to the end of the swing arm 11 away from the hanger 2 in the horizontal direction. The first connecting rod 133 and the second connecting rod 134 are arranged in parallel up and down. The length of the first connecting rod 133 is greater than the length of the second connecting rod 134. The same end of the first connecting rod 133 and the second connecting rod 134 are hinged to the connecting seat 132 in the vertical direction respectively, and the other end of the second connecting rod 134 is hinged to the rotating frame 122. A rotating part 1331 is provided on the first connecting rod 133, and the rotating part 1331 is located directly above the hinge point between the second connecting rod 134 and the rotating frame 122. The lower end of the swing cylinder 131 is hinged to the rotating frame 122, and the upper end of the swing cylinder 131 is hinged to the end of the first connecting rod 133 away from the connecting seat 132.

[0062] By adopting the above technical solution, the telescopic rod of the swing cylinder 131 can be shortened or extended, so that the end of the first connecting rod 133 away from the connecting seat 132 can be driven to flip relative to the rotating frame 122. At this time, since the first connecting rod 133 and the second connecting rod 134 are parallel to each other, a parallelogram structure is formed between the first connecting rod 133, the second connecting rod 134, the connecting seat 132 and the rotating frame 122. In this way, the swing arm 11 and the sling 2 thereunder are always in a horizontal state during the pitching process, which can ensure that the center of gravity of the load is stable and does not fluctuate.

[0063] As some preferred implementations, a connecting rod 14 is further provided between the end of the swing arm 11 away from the connecting seat 132 and the sling 2, the upper end of the connecting rod 14 is connected to the swing arm 11 in a horizontal rotational direction, and the lower end of the connecting rod 14 is fixedly connected to the sling 2. With such a technical solution, when the whole formed by the swing arm 11, the sling 2 and the rotating frame 122 rotates a certain angle relative to the vertical frame 121 in the horizontal direction, the rotational motion relationship between the swing arm 11 and the connecting seat 132 can be locked, and the rotational motion relationship between the rotating frame 122 and the vertical frame 121 can be locked. At this time, by rotating the sling 2 horizontally, the sling 2 can be adjusted to a certain angle relative to the end of the swing arm 11 through the connecting rod 14, so that the shaft parts can be rotated in a small range in the horizontal direction, and the rotation angle is more accurate. When the sling 2 is rotated into place, the rotational motion relationship between the connecting rod 14 and the swing arm 11 can be locked.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A transport mechanism with load center of gravity adjustment, comprising a transfer mechanism (1) and a sling (2) connected to the transfer mechanism (1), characterized in that: The sling (2) comprises a fixing frame (21), a connecting arm (22), a clamping device (23) and a center of gravity adjusting device (24); The fixing frame (21) is connected to the end of the transfer mechanism (1); The connecting arm (22) comprises a first arm (221) and a second arm (222) vertically connected to one end of the first arm (221); one end of the first arm (221) away from the second arm (222) is hingedly connected to the lower end of the fixing frame (21); The clamping device (23) is arranged at one end of the second arm (222) away from the first arm (221) and is used to clamp the shaft part in the horizontal direction; The center of gravity adjustment device (24) comprises an adjustment cylinder (241) and an air path control device (242); the fixed end of the adjustment cylinder (241) is hingedly connected to the upper end of the fixing frame (21); the telescopic end of the adjustment cylinder (241) is hingedly connected to the first arm (221); the adjustment cylinder (241) is used to drive the connecting arm (22) to flip downward relative to the fixing frame (21) to adjust the center of gravity of the shaft part; and the air path control device (242) is used to switch different air intake volumes of the adjustment cylinder (241) according to different loads of the shaft part.

2. The transport mechanism with load center of gravity adjustment according to claim 1, characterized in that: The fixing frame (21) comprises a horizontal section (211) and a vertical section (212) vertically connected to the bottom of one end of the horizontal section (211); the horizontal section (211) is connected to the transfer mechanism (1); one end of the first arm (221) away from the second arm (222) is hingedly connected to the lower end of the vertical section (212); the fixed end of the regulating cylinder (241) is hingedly connected to one end of the horizontal section (211) away from the vertical section (212); the telescopic end of the regulating cylinder (241) is vertically downward and hingedly connected to the top surface of the first arm (221).

3. The transport mechanism with load center of gravity adjustment according to claim 2, characterized in that: One end of the clamping device (23) away from the second arm (222) is flush with the vertical section (212).

4. The transport mechanism with load center of gravity adjustment according to claim 1, characterized in that: The gas circuit control device (242) comprises a gas distribution block (2421), a first gas control valve (2422), a second gas control valve (2423), a first pneumatic switch (2425), a second pneumatic switch (2424), a first pressure regulating valve (2426), a second pressure regulating valve (2427) and a third pressure regulating valve (2428); A first pipeline (2429), a second pipeline (2430) and a third pipeline (2431) are arranged in parallel on the gas distribution block (2421); a first pressure regulating valve (2426) is arranged on the first pipeline (2429); a second pressure regulating valve (2427) is arranged on the second pipeline (2430); and a third pressure regulating valve (2428) is arranged on the third pipeline (2431); One end of the first pipeline (2429) away from the gas distribution block (2421) is connected to the first inlet of the first gas control valve (2422), one end of the second pipeline (2430) away from the gas distribution block (2421) is connected to the second inlet of the first gas control valve (2422), one end of the third pipeline (2431) away from the gas distribution block (2421) is connected to the second inlet of the second gas control valve (2423), the outlet of the first gas control valve (2422) is connected to the first inlet of the second gas control valve (2423), and the outlet of the second gas control valve (2423) is connected to the gas inlet of the regulating cylinder (241); A fourth pipeline (2433) and a fifth pipeline (2432) are connected between the control port of the first air-controlled valve (2422) and the control port of the second air-controlled valve (2423) and the air distribution block (2421), respectively; the first pneumatic switch (2425) is arranged on the fourth pipeline (2433), and the second pneumatic switch (2424) is arranged on the fifth pipeline (2432).

5. The transport mechanism with load center of gravity adjustment according to claim 4, characterized in that: The gas circuit control device (242) further comprises a control box (2434), wherein the gas distribution block (2421), the first gas control valve (2422), the second gas control valve (2423), the first pneumatic switch (2425), the second pneumatic switch (2424), the first pressure regulating valve (2426), the second pressure regulating valve (2427) and the third pressure regulating valve (2428) are arranged in the control box (2434), and the outer wall of the control box (2434) is provided with a first gear knob (2435) and a second gear knob (2436). , a first pressure regulating switch (2437), a second pressure regulating switch (2438) and a third pressure regulating switch (2439), the first gear position knob (2435) is connected to the first pneumatic switch (2425), the second gear position knob (2436) is connected to the second pneumatic switch (2424), the first pressure regulating switch (2437), the second pressure regulating switch (2438) and the third pressure regulating switch (2439) are respectively connected to the first pressure regulating valve (2426), the second pressure regulating valve (2427) and the third pressure regulating valve (2428).

6. The transport mechanism with load center of gravity adjustment according to claim 5, characterized in that: The control box (2434) is fixedly mounted on the top of the first arm (221).

7. The transport mechanism with load center of gravity adjustment according to claim 1, characterized in that: The clamping device (23) comprises a main body (231) and a positioning portion (232) arranged at the front end of the main body (231), wherein the positioning portion (232) is used for positioning with shaft parts, and a clamping structure (233) for clamping shaft parts is arranged on the main body (231), and one end of the main body (231) away from the clamping structure (233) is rotatably connected to the lower end of the second arm (222) via a hand-cranked wheel (234).

8. The transport mechanism with load center of gravity adjustment according to claim 1, characterized in that: The transfer mechanism (1) comprises a swing arm (11), a rotating assembly (12) and a swing assembly (13); the rotating assembly (12) comprises a vertical frame (121) and a rotating frame (122) rotatably arranged on the top of the vertical frame (121); one end of the swing arm (11) is connected to a fixed frame (21) on the sling (2); the other end is connected to the rotating frame (122) through the swing assembly (13); the swing assembly (13) is used to drive the swing arm (11) to perform a pitching motion relative to the rotating frame (122).

9. The transport mechanism with load center of gravity adjustment according to claim 8, characterized in that: The swing assembly (13) comprises a swing cylinder (131), a connecting seat (132), a first connecting rod (133) and a second connecting rod (134); the connecting seat (132) is connected to the end of the swing arm (11) away from the sling (2) in a horizontal direction; the first connecting rod (133) and the second connecting rod (134) are arranged in parallel up and down; the length of the first connecting rod (133) is greater than the length of the second connecting rod (134); the same end of the first connecting rod (133) and the second connecting rod (134) are connected in a vertical direction. The first connecting rod (133) and the second connecting rod (134) are respectively hingedly connected to the connecting seat (132) in two directions; the other end of the second connecting rod (134) is hingedly connected to the rotating frame (122); a rotating portion (1331) is provided on the first connecting rod (133); the rotating portion (1331) is located directly above the hinge point between the second connecting rod (134) and the rotating frame (122); the lower end of the swing cylinder (131) is hingedly connected to the rotating frame (122); and the upper end of the swing cylinder (131) is hingedly connected to an end of the first connecting rod (133) away from the connecting seat (132).

10. The transport mechanism with load center of gravity adjustment according to claim 9, characterized in that: A connecting rod (14) is also provided between one end of the swing arm (11) away from the connecting seat (132) and the sling (2); the upper end of the connecting rod (14) is rotatably connected to the swing arm (11) in the horizontal direction, and the lower end of the connecting rod (14) is fixedly connected to the sling (2).

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