Mounting manipulator

Abstract

The utility model relates to a mounting manipulator, including mounting rack, lifting mechanism, inner gantry and two support leg, inner gantry is provided in the mounting rack, the two support leg are respectively installed on the both sides of mounting rack, the one side of mounting rack is provided with control system, the inner gantry is provided with lifting platform, the lifting platform is provided with the lifting mechanism, the lifting mechanism is provided with the lifting mechanism, and the lifting mechanism is provided with the lifting mechanism. The lifting mechanism is used for driving the lifting table to move up and down on the inner portal frame, a telescopic mechanism is installed on the lifting table, and a machine head used for fixing goods is installed on the telescopic mechanism. In the operation process, the insulation box is fixed to the machine head for installation operation, the machine head can move up and down along with the lifting mechanism, the installation height of the machine head is adjusted, the machine head can rotate and turn over, and meanwhile the distance between the machine head and the installation frame can be adjusted through the telescopic mechanism. The device is high in automation degree, high in installation precision, strong in adaptability, safe and reliable, and improves the production efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of insulating box installation, in particular to an installation manipulator. Background Art

[0002] With the wide application of LNG (liquefied natural gas) in the energy field, the manufacture and installation of its storage and transportation equipment have increasingly become the focus of attention in the industry. As an important part of LNG storage equipment, the installation quality and efficiency of the insulating box directly affect the overall performance and operation safety of the equipment.

[0003] In the existing technology, the manual installation method is generally adopted. This installation method has poor installation accuracy, extremely low work efficiency, and increases the labor cost. Therefore, it is urgent to develop a set of fully automatic installation manipulators for LNG liquefied natural gas insulating boxes, which is of great significance for improving the installation accuracy, reducing the labor cost, and increasing the production efficiency. Summary of the Utility Model

[0004] Aiming at the deficiencies existing in the prior art, the purpose of the utility model is to provide an installation manipulator, which has high automation degree, high installation accuracy, strong adaptability, safety and reliability, and improves the production efficiency.

[0005] The above-mentioned utility model purpose of the utility model is achieved through the following technical solutions:

[0006] An installation manipulator includes an installation frame, a lifting mechanism, an inner door frame and two support legs. The inner door frame is arranged in the installation frame. The two support legs are respectively installed on both sides of the installation frame. A control system is installed on one side of the installation frame. A lifting platform is arranged on the inner door frame. The lifting mechanism is used to drive the lifting platform to move up and down on the inner door frame. A telescopic mechanism is installed on the lifting platform. A machine head for fixing goods is installed on the telescopic mechanism.

[0007] As a further technical solution of the utility model: The control system includes a box body and a control cabinet and a battery box arranged in the box body.

[0008] As a further technical solution of the utility model: Driving wheels and two balance wheels are installed at the bottom of the box body. The control cabinet controls the driving wheels to rotate through an AC controller to achieve the purpose of making the vehicle move. The control cabinet controls the steering motor to drive the steering gear of the driving wheels to rotate through a steering controller to achieve the purpose of vehicle steering.

[0009] As a further technical solution of the utility model: Front wheels are respectively installed at one ends of the two support legs away from the installation frame.

[0010] As a further technical solution of the utility model: the lifting mechanism includes a lifting cylinder and a pulley group, the pulley group is used to suspend the lifting platform, the lifting cylinder is transmission-connected to the lifting platform, and is used to drive the lifting platform to move up and down on the inner door frame.

[0011] As a further technical solution of the present utility model: the telescopic mechanism includes a forward oil cylinder, a fixed frame and a forward frame, one end of the forward frame is slidably arranged in the fixed frame through a forward guide rail, the main body of the telescopic cylinder is installed at the bottom of the fixed frame, one end of the piston rod of the telescopic cylinder is detachably fixedly connected to the forward frame, and the machine head is installed on the forward frame.

[0012] As a further technical solution of the utility model: a rotating mechanism is installed on the forward moving frame, a flipping mechanism is installed on the rotating mechanism, the machine head is detachably fixed to the flipping mechanism, the rotating mechanism is used to rotate the machine head, and the flipping mechanism is used to drive the machine head to flip in the range of -45° to 90°.

[0013] As a further technical solution of the utility model: it also includes a mechanical arm, a grasping device and a positioning system which are controlled and connected to the control system, the mechanical arm is used to complete the grasping action of the insulation box, the grasping device is used to grasp the insulation box, the positioning system is used to achieve precise positioning of the insulation box and the installation position, and the control system is used to coordinate the control of the mechanical arm, the grasping device and the positioning system.

[0014] In summary, the utility model includes at least one of the following beneficial technical effects:

[0015] 1. The utility model discloses an installation manipulator. During the operation, the insulation box is fixed on the head for installation operation, wherein the head can not only move up and down with the lifting mechanism to adjust the installation height of the head, but also rotate and flip the position, and at the same time, the distance between the head and the mounting frame can be adjusted through the telescopic mechanism. It has high automation, high installation accuracy, strong adaptability, safety and reliability, and improves production efficiency.

[0016] 2. The utility model has a high degree of automation: the entire installation process is operated by 1-2 people in collaboration, which reduces labor intensity and improves production efficiency; high installation accuracy: the installation accuracy of the insulation box is ensured through a precise positioning system and control system; strong adaptability: it can be customized according to insulation boxes of different models and sizes to meet the needs of different customers; safe and reliable: advanced safety protection measures are adopted to ensure the safety and reliability of the entire installation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 This is the side view of the present utility model.

[0019] Figure 3 This is the front view of the present utility model.

[0020] Figure 4 This is the top view of the present utility model.

[0021] Figure 5 This is the bottom view of the present utility model.

[0022] Reference numerals: 1, mounting bracket; 2, lifting mechanism; 21, lifting oil cylinder; 22, pulley group; 3, inner gantry; 4, support leg; 41, auxiliary support leg; 5, control system; 51, box body; 52, drive wheel; 53, balance wheel; 54, front wheel; 6, telescopic mechanism; 61, forward movement oil cylinder; 62, fixed bracket; 63, forward movement bracket; 7, machine head; 8, rotating mechanism; 81, first rotating disk; 82, second rotating disk; 9, flipping mechanism; 91, longitudinal flipping mechanism; 911, longitudinal mounting bracket; 912, longitudinal push rod; 913, longitudinal rotating frame; 92, transverse flipping mechanism; 921, transverse mounting bracket; 922, transverse push rod; 923, transverse rotating frame. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0024] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] Embodiment 1:

[0027] Reference Figures 1-5 , is a mounting manipulator disclosed in the utility model, comprising a mounting frame 1, a lifting mechanism 2, an inner door frame 3 and two supporting legs 4, the inner door frame 3 is arranged in the mounting frame 1, the two supporting legs 4 are respectively installed on both sides of the mounting frame 1, a control system 5 is installed on one side of the mounting frame 1, a lifting platform is arranged on the inner door frame 3, the lifting mechanism 2 is used to drive the lifting platform to move up and down on the inner door frame 3, a telescopic mechanism 6 is installed on the lifting platform, and a head 7 for fixing goods is installed on the telescopic mechanism 6. In this embodiment, a plurality of auxiliary supporting legs 41 are installed on the supporting legs 4. When installing the insulating box, the auxiliary supporting legs 41 are supported on the ground, which can increase the stability of the entire machine.

[0028] The control system 5 includes a box 51 and a control cabinet and a battery box arranged in the box 51. A driving wheel 52 and two balancing wheels 53 are installed at the bottom of the box 51. The control cabinet controls the driving wheel 52 to rotate through an AC controller to achieve the purpose of moving the vehicle. The control cabinet controls the steering motor through a steering controller to drive the steering gear of the driving wheel 52 to rotate to achieve the purpose of steering the vehicle.

[0029] Front wheels 54 are respectively installed at one end of the two support legs 4 away from the mounting frame 1. The lifting mechanism 2 includes a lifting cylinder 21 and a pulley group 22, the pulley group 22 is used to suspend the lifting platform, and the lifting cylinder 21 is connected to the lifting platform for driving the lifting platform to move up and down on the inner door frame 3.

[0030] The telescopic mechanism 6 includes a forward cylinder 61, a fixed frame 62 and a forward frame 63. One end of the forward frame 63 is slidably arranged in the fixed frame 62 through a forward guide rail. The main body of the telescopic cylinder is installed at the bottom of the fixed frame 62. One end of the piston rod of the telescopic cylinder is detachably fixedly connected to the forward frame 63. The machine head 7 is installed on the forward frame 63.

[0031] Reference Figure 1, a rotating mechanism 8 is installed on the forward support 63, a tipping mechanism 9 is installed on the rotating mechanism 8, and the machine head 7 is detachably fixed to the tipping mechanism 9. The rotating mechanism 8 is used to rotate the machine head 7, and the tipping mechanism 9 is used to drive the machine head 7 to tip within the range of -45° to 90°. In this embodiment, the rotating mechanism 8 includes a first rotating disk 81 and a second rotating disk 82, and the tipping mechanism 9 includes a longitudinal tipping mechanism 91 and a transverse tipping mechanism 92. Both the first rotating disk 81 and the second rotating disk 82 are driven by motors and are rotatably arranged on the forward support 63. The longitudinal tipping mechanism 91 is installed on the first rotating disk 81, the second rotating disk 82 is installed on the longitudinal tipping mechanism 91, and the transverse tipping mechanism 92 is installed on the second rotating disk 82.

[0032] Specifically, the longitudinal tipping mechanism 91 includes a longitudinal mounting bracket 911, a longitudinal push rod 912, and a longitudinal rotating frame 913. The longitudinal rotating frame 913 is rotatably arranged on the longitudinal mounting bracket 911. The longitudinal push rod 912 is fixed on the longitudinal mounting bracket 911. One end of the telescopic rod of the longitudinal push rod 912 is hinged to the longitudinal rotating frame 913. When the telescopic rod of the longitudinal push rod 912 expands and contracts, it can drive the longitudinal rotating frame 913 to rotate within a certain range on the longitudinal mounting bracket 911, so as to realize the tipping of the machine head 7 in the longitudinal direction within a certain range.

[0033] Specifically, the transverse tipping mechanism 92 includes a transverse mounting bracket 921, a transverse push rod 922, and a transverse rotating frame 923. The transverse rotating frame 923 is rotatably arranged on the transverse mounting bracket 921. The transverse push rod 922 is fixed on the transverse mounting bracket 921. One end of the telescopic rod of the transverse push rod 922 is hinged to the transverse rotating frame 923. The second rotating disk 82 is fixed on the top of the longitudinal rotating frame 913, and the transverse mounting bracket 921 is fixed on the second rotating disk 82. When the telescopic rod of the transverse push rod 922 expands and contracts, it can drive the transverse rotating frame 923 to rotate within a certain range on the transverse mounting bracket 921, so as to realize the tipping of the machine head 7 in the transverse direction within a certain range.

[0034] The utility model has the following technical effects:

[0035] (1) Improve production efficiency:

[0036] The installation process of traditional insulating boxes often relies on manual operation, which is not only time-consuming and laborious, but also easily affected by human factors, resulting in low production efficiency. The utility model of the full-automatic insulating box installation manipulator aims to realize the rapid and accurate installation of insulating boxes through automated and intelligent technical means, thereby greatly improving production efficiency.

[0037] (2) Reduce production costs:

[0038] Using a fully automatic insulating box installation manipulator can reduce the dependence on a large number of workers and lower the labor cost. At the same time, the efficient operation of the manipulator can also reduce energy consumption and raw material waste, thus reducing the overall production cost.

[0039] (3) Improve installation accuracy and stability:

[0040] The fully automatic insulating box installation manipulator adopts precise sensors and a control system 5, which can achieve precise perception and positioning of the insulating box position. This can not only improve the installation accuracy but also ensure the stability during the installation process, avoiding quality problems caused by human operation errors.

[0041] (4) Ensure operation safety:

[0042] During the installation process of the insulating box, there may be dangerous factors such as high voltage and high temperature, and manual operation has certain safety risks. The fully automatic insulating box installation manipulator can effectively reduce the safety risks of operators through remote control and automated operation, ensuring the safety of the operation process.

[0043] (5) Promote the upgrade of industrial automation:

[0044] The research and application of the fully automatic insulating box installation manipulator contribute to promoting the upgrade and development of industrial automation. This intelligent production method will lead the manufacturing industry towards a more efficient, more environmentally friendly, and more sustainable direction.

[0045] This utility model also includes a robotic arm, a grasping device, and a positioning system that are controlled and connected to the control system 5. The robotic arm is used to complete the grasping action of the insulating box, the grasping device is used to grasp the insulating box, the positioning system is used to achieve precise positioning of the insulating box and the installation position, and the control system 5 is used for the coordinated control of the robotic arm, the grasping device, and the positioning system. In this embodiment, the robotic arm adopts a multi-joint design, with high flexibility and precise control capabilities, and can complete complex actions in a narrow space. The grasping device is customized according to the shape and size of the insulating box and is coated with a flexible material to ensure that the insulating box will not be damaged during the grasping process. The positioning system combines vision recognition technology and laser ranging technology to achieve precise positioning of the insulating box and the installation position, ensuring the installation accuracy. The control system 5 adopts an advanced PLC control system to achieve the coordinated control of the robotic arm, the grasping device, and the positioning system, ensuring the automation and intelligence of the entire installation process.

[0046] Installation process:

[0047] ① Preparation work: Place the insulating box at the predetermined position, start the manipulator system, and perform initialization settings.

[0048] ②Positioning and grasping: The manipulator system determines the insulating box and the installation position through the positioning system, and then accurately grasps the insulating box using the grasping device.

[0049] ③Transportation and installation: The robotic arm transports the insulating box to the installation position and accurately installs the insulating box through precise control.

[0050] ④Inspection and adjustment: After installation, the system inspects the installation quality. If necessary, fine-tuning can be performed to ensure the installation accuracy.

[0051] This Model 500 installation manipulator (with adjustable speed) integrates intelligent control of actions such as walking, turning, rising and falling, moving forward and backward, flipping forward and backward, rotating left and right, moving left and right, and flipping left and right, realizing all-electric functions. It is easy and flexible to operate, and is a new type of special machinery that is energy-saving, efficient, and environmentally friendly. It is used to meet the installation requirements of all flat boxes and corner boxes on seven surfaces A, B, D, E, F, H, and J within the GTT MarkⅢ thin-film type liquid cargo containment system of Party A. It fully demonstrates its excellent flexibility, quietness, and environmental performance. The following Table 1 shows the specific technical parameters of this installation manipulator:

[0052] Table 1

[0053]

[0054]

[0055] The main functions are as follows:

[0056] 1. Provide the energy for the whole vehicle through a battery of DC24V or AC220V;

[0057] 2. Control the rotation of the drive wheel 52 through an AC controller to make the vehicle move forward, and control the steering motor through a steering controller to drive the steering gear of the drive wheel 52 to rotate, so as to achieve the purpose of vehicle steering;

[0058] 3. The pump station provides the power source for lifting, moving forward and backward, flipping forward and backward, and flipping left and right, and controls the completion of each action through the solenoid valve handle;

[0059] 4. The left and right movement and left and right rotation of the working device are realized through the motor and the reducer;

[0060] 5. All actions are completed through the remote control and all can be steplessly speed-regulated;

[0061] 6. The brake is an electromagnetic brake;

[0062] 7. This manipulator has the advantages of low cost, environmental protection, light weight, fast installation, and reducing the labor intensity of workers;

[0063] 8. All surface loadings on surfaces A, B, D, E, F, H, and J within the Mark III thin liquid cargo containment system shall be ≤ 500 kg.

[0064] The implementation principle of the present utility model is as follows: The present utility model discloses a mounting manipulator. During the operation process, the insulating box is fixed on the machine head 7 for mounting operations. The machine head 7 can not only move up and down following the lifting mechanism 2 to adjust the mounting height of the machine head 7, but also rotate and flip in position. At the same time, the distance between the machine head 7 and the mounting frame 1 can be adjusted through the telescopic mechanism 6. It has a high degree of automation, high installation accuracy, strong adaptability, is safe and reliable, and improves production efficiency.

[0065] The embodiments of this specific implementation manner are all preferred embodiments of the present utility model, and do not limit the protection scope of the present utility model accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present utility model shall be covered within the protection scope of the present utility model.

Claims

1. An installation manipulator, characterized in that, The invention comprises a mounting frame (1), a lifting mechanism (2), an inner door frame (3) and two supporting legs (4), wherein the inner door frame (3) is arranged in the mounting frame (1), the two supporting legs (4) are respectively installed on both sides of the mounting frame (1), a control system (5) is installed on one side of the mounting frame (1), a lifting platform is arranged on the inner door frame (3), the lifting mechanism (2) is used to drive the lifting platform to move up and down on the inner door frame (3), a telescopic mechanism (6) is installed on the lifting platform, and a head (7) for fixing goods is installed on the telescopic mechanism (6).

2. The mounting manipulator according to claim 1, characterized in that, The control system (5) comprises a box (51) and a control cabinet and a battery box arranged in the box (51).

3. The mounting manipulator according to claim 2, wherein, A driving wheel (52) and two balancing wheels (53) are installed at the bottom of the box body (51). The control cabinet controls the driving wheel (52) to rotate through an AC controller to achieve the purpose of moving the vehicle. The control cabinet controls the steering motor through a steering controller to drive the steering gear of the driving wheel (52) to rotate to achieve the purpose of steering the vehicle.

4. The mounting manipulator according to claim 1, characterized in that, Front wheels (54) are respectively mounted on one end of the two supporting legs (4) away from the mounting frame (1).

5. An installation manipulator according to claim 1, characterized in that, The lifting mechanism (2) comprises a lifting cylinder (21) and a pulley group (22), wherein the pulley group (22) is used to suspend the lifting platform, and the lifting cylinder (21) is transmission-connected to the lifting platform and is used to drive the lifting platform to move up and down on the inner door frame (3).

6. The installation manipulator according to claim 1, characterized in that The telescopic mechanism (6) comprises a forward oil cylinder (61), a fixed frame (62) and a forward frame (63); one end of the forward frame (63) is slidably arranged in the fixed frame (62) via a forward guide rail; the main body of the telescopic cylinder is installed at the bottom of the fixed frame (62); one end of the piston rod of the telescopic cylinder is detachably fixedly connected to the forward frame (63); and the machine head (7) is installed on the forward frame (63).

7. The mounting manipulator according to claim 6, wherein, The forward moving frame (63) is provided with a rotating mechanism (8), and the rotating mechanism (8) is provided with a flipping mechanism (9). The machine head (7) can be detachably fixed on the flipping mechanism (9). The rotating mechanism (8) is used to rotate the machine head (7), and the flipping mechanism (9) is used to drive the machine head (7) to flip within a range of -45° to 90°.

8. The mounting manipulator according to claim 1, characterized in that, It also includes a mechanical arm, a grasping device and a positioning system that are control-connected to the control system (5), the mechanical arm is used to complete the grasping action of the insulation box, the grasping device is used to grasp the insulation box, the positioning system is used to achieve accurate positioning of the insulation box and the installation position, and the control system (5) is used to coordinately control the mechanical arm, the grasping device and the positioning system.

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