CN111230835A - Manipulator cantilever beam structure convenient to replace and working method thereof - Google Patents

Abstract

The invention discloses a manipulator cantilever beam structure convenient for replacement and a working method thereof, the structure comprises a first beam and a second beam, a mounting seat is movably mounted below the second beam, a manipulator is fixedly mounted at the bottom of the mounting seat, two ends of the first beam are mounted on two lifting brackets, the lifting brackets are movably mounted on two support columns, the top of a support frame is also provided with a driving roller and a speed reducing motor, the driving roller is provided with two driving belts, one end of each driving belt is connected with the top of the lifting bracket, the other end of each driving belt is connected with the top of a counterweight component, the counterweight component is movably mounted on the two support columns, the manipulator cantilever beam structure is convenient for replacing the first beam and the second beam, is rapid and convenient, can effectively improve the working efficiency, ensures the safety of operators and has strong reliability, the manipulator cantilever beam structure can be kept stable during lifting.

Description

Manipulator cantilever beam structure convenient to replace and working method thereof

Technical Field

The invention relates to a cantilever beam structure of a manipulator, in particular to a cantilever beam structure of the manipulator, which is convenient to replace, and a working method thereof.

Background

The crossbeam height of traditional manipulator cantilever beam structure is often higher, and highly comparatively fixed moreover, can't adjust the structure of crossbeam, consequently, in the use, when operating personnel changed traditional cantilever beam, it is big to change the degree of difficulty, waste time and energy, work efficiency is low, traditional manipulator cantilever beam structure can't remain stable when using and changing, rising or decline in-process poor stability, people's use of being not convenient for, can't satisfy some higher product processing demands of precision.

Disclosure of Invention

The invention aims to provide a manipulator cantilever beam structure convenient to replace and a working method thereof, wherein two ends of a first beam are arranged on supporting arms of a lifting bracket, the lifting bracket is driven to ascend or descend by a speed reduction motor, so that the first beam and a second beam are driven to ascend or descend, the first beam and the second beam are lowered to the height which can be touched by people, the first beam and the second beam are convenient to replace, the first beam can be installed and disassembled by loosening or screwing a connecting bolt, and when a first roller wheel is separated from the first beam, the first beam and the second beam can be separated, and the second beam can be replaced, so that the technical problems that the traditional manipulator cantilever beam structure is inconvenient to replace and low in working efficiency are solved;

according to the invention, the two positioning hooks are arranged on the supporting frame, the first lifting ring is arranged at the top of the lifting bracket, the second lifting ring is arranged at the top of the counterweight component, and the two positioning hooks are used for respectively fixing the second lifting ring at the top of the counterweight component and the first lifting ring at the top of the lifting bracket, so that the technical problems that the traditional manipulator cantilever beam structure cannot be kept stable in the working and replacing processes and the safety of operators cannot be ensured are solved;

according to the invention, the two second pulleys are respectively arranged at the two ends of the top of the installation frame and the two ends of the bottom of the installation frame, so that the two second pulleys are in sliding fit with the support column while clamping the two sides of the wall of the support column, and the two first pulleys are respectively arranged in the middle of the upper surface of the installation frame and the middle of the bottom surface of the installation frame, so that the two first pulleys are in sliding fit with the positioning rod while clamping the two sides of the positioning rod, thereby ensuring that the whole lifting bracket is kept stable when ascending and descending, and meanwhile, the third pulley is arranged on the counterweight component, so that the counterweight component can stably ascend and descend along the support column, and the technical problem that the traditional manipulator cantilever beam structure is poor in stability when ascending and descending.

The purpose of the invention can be realized by the following technical scheme:

a manipulator cantilever beam structure convenient to replace comprises two first beams which are parallel to each other, two second beams which are parallel to each other are movably mounted below the first beams, mounting seats are movably mounted below the second beams, driving cylinders are fixedly mounted on the mounting seats, a fixed plate is fixedly mounted on one side of one of the first beams through bolts, the end part of an output rod of each driving cylinder is fixedly connected with the fixed plate, and a manipulator is fixedly mounted at the bottom of each mounting seat;

the two ends of the first cross beam are fixedly arranged on the two lifting brackets through bolts respectively, the lifting brackets are movably arranged on the inner side surfaces of the two supporting columns along the vertical direction, the cross sections of the supporting columns are of an I-shaped structure, the bottom parts of the two supporting columns are horizontally fixed with supporting plates through bolts, the top parts of the supporting plates are fixedly provided with supporting frames through welding, the top parts of the supporting frames are fixedly provided with speed reducing motors, the top parts of the supporting frames are also provided with driving rollers, the two ends of the driving rollers are rotatably arranged on the top parts of the supporting frames through bearings and bearing seats, one end of each driving roller is fixedly connected with the output shaft end of each speed reducing motor, the driving rollers are provided with two driving belts, one end of each driving belt is connected with the top parts of the lifting brackets, and the other end of each, the driving belt is in transmission fit with the driving roller, and the counterweight components are movably mounted on the outer side surfaces of the two supporting columns along the vertical direction.

Furthermore, the first cross beam and the second cross beam are perpendicular to each other, and the first cross beam and the second cross beam are hollow structures with openings at two ends.

Further, a limiting rod is transversely fixed on the inner side of the supporting frame.

Furthermore, the bottom of the first cross beam is provided with a slot, the top of the second cross beam is fixedly provided with two first hanging plates, the top of each first hanging plate penetrates through the bottom of the first cross beam and extends to the inner side of the first cross beam, the top of each first hanging plate is rotatably provided with a first roller, and the first rollers are matched with the inner wall of the first cross beam.

Furthermore, the bottom of second crossbeam has been seted up the fluting, the last fixed surface of mount pad installs four second hanger plates, four the second hanger plate is located four corner positions departments of mount pad upper surface respectively, the bottom of second crossbeam is passed and extend to the second crossbeam inboard at the top of second hanger plate, just the top of second hanger plate is rotated and is installed the second gyro wheel, the second gyro wheel cooperatees with the inner wall of second crossbeam.

Furthermore, the lifting bracket comprises an installation frame, wherein two support arms are fixedly installed on one side surface of the installation frame through bolts, the two support arms are respectively located at two side edges of one side surface of the installation frame, the support arms are fixedly connected with one end of the first cross beam through bolts, a connecting plate is transversely arranged in the middle of the installation frame, the middle of the connecting plate is hinged to the lifting bracket, two ends of the connecting plate are hinged to connecting rods, a fixed cross rod is fixedly installed at the top of each connecting rod through bolts, two ends of each fixed cross rod are vertically and fixedly provided with side plates through welding, a first fixed column is fixedly installed between the two side plates, one end of a transmission belt is fixedly sleeved on the first fixed column, and a first hanging ring is fixedly installed at the top of;

two first pulleys are rotatably arranged at the middle position of the top of the mounting frame, another two first pulleys are rotatably arranged at the middle position of the bottom of the mounting frame, a positioning rod is vertically arranged between the two first pulleys, the bottom end of the positioning rod is fixed in the middle of the upper surface of the supporting plate by welding, the top end of the positioning rod is fixed at the bottom of the supporting frame by welding, the two first pulleys are respectively in sliding fit with the two sides of the positioning rod, two groups of second pulleys are rotatably arranged at the top of the installation frame, the two groups of second pulleys are symmetrically distributed, the number of the second pulleys in each group is two, the other two groups of second pulleys are rotatably arranged at the bottom of the installation frame, the other two sets of second pulley is the symmetric distribution, and every group the quantity of second pulley is two, second pulley and the outside cell wall sliding fit of support column.

Further, the counter weight subassembly includes the bottom plate, the upper surface of bottom plate is provided with two sets of weight plates, every group the weight plate is piled up by a plurality of weight plate along vertical direction and is constituted, every group the equal vertical riser that is provided with in both ends of weight plate, welded fastening installs in the bottom of roof is passed through on the top of riser, welded fastening installs in the upper surface of bottom plate is passed through to the bottom of riser, the last surface symmetry of roof is fixed with two fixing bases, two transversely be fixed with the second fixed column between the fixing base, drive belt's one end is cup jointed and is fixed in on the second fixed column, the last surface fastening of roof installs the second rings, the both ends of roof upper surface the both ends of bottom plate bottom surface all rotate and install three third pulley, the inboard cell wall sliding fit of third pulley and support column.

Further, the bottom surface central point of roof puts the department vertical fixation and has had the montant, the central point of counterweight plate puts the department and has seted up the through-hole, the lower part of montant run through the counterweight plate and be connected with the last fixed surface of bottom plate, the cover is equipped with fixed lantern ring and clamp plate on the montant, the bottom surface of clamp plate is fixed with the last surface butt of the counterweight plate of the top, the lower part of montant is provided with the external screw thread, the inboard of fixed lantern ring is provided with the internal thread with montant matched with, the lower extreme of fixed lantern ring is fixed with the last surface butt of clamp plate.

Furthermore, both sides of the supporting frame are rotatably provided with positioning hooks.

A working method of a manipulator cantilever beam structure convenient to replace comprises the following specific steps:

step one, starting a speed reducing motor, wherein an output shaft of the speed reducing motor rotates in a forward direction and drives a transmission roller to rotate in a forward direction, the transmission roller drives a transmission belt to rotate, one end of the belt pulls a lifting bracket to move in a vertical direction while rotating the transmission belt, the lifting bracket drives a first cross beam to move in the vertical direction and drives a second cross beam, a mounting seat and a manipulator to lift, when the lifting bracket descends to the lower part of one side of a supporting column, a counterweight component ascends to the upper part of the other side of the supporting column, one positioning hook is rotated to enable the positioning hook to hook a second lifting ring at the top of the counterweight component, the lifting bracket and the counterweight component are fixed, at the moment, the first cross beam descends to reach the position where the counterweight component can be contacted by people, connecting bolts of the first cross beam and the lifting bracket are loosened, and the first cross beam;

step two, after the replacement is finished, starting a speed reducing motor, enabling an output shaft of the speed reducing motor to rotate reversely, and driving a lifting bracket to ascend to the upper part of one side of a supporting column, enabling a counterweight component to ascend to the lower part of the other side of the supporting column, rotating another positioning hook, enabling the positioning hook to hook a first hanging ring at the top of the lifting bracket, fixing the lifting bracket, and enabling the first cross beam and the second cross beam to be fixed in height;

and step three, starting the driving cylinder, enabling an output rod of the driving cylinder to stretch and contract and drive the mounting seat to move along the second cross beam, and driving the manipulator to move along the second cross beam, pushing the second cross beam, enabling the second cross beam to move along the first cross beam, and driving the manipulator to move along the first cross beam.

The invention has the beneficial effects that:

the invention installs the two ends of the first beam on the supporting arms of the lifting bracket, drives the driving roller through the speed reducing motor, the driving roller drives the driving belt to rotate, and pulls the lifting bracket to rise or fall through the belt, thereby driving the first beam and the second beam to rise and fall, thereby satisfying the requirement that the first beam and the second beam fall to the height which can be touched by people, thereby facilitating the replacement of the first beam and the second beam, the end part of the first beam is fixed through the bolt between the bolt and the supporting arms, the first beam can be installed and disassembled by loosening or screwing the connecting bolt, the first beam and the second beam are connected through the first hanging plate, the second beam can be moved by installing the first roller on the top of the first hanging plate, when the first roller is separated from the first beam, the first beam can be separated from the second beam, the second cross beam is replaced, the mechanical arm cantilever beam structure is convenient for replacing the first cross beam and the second cross beam, is quick and convenient, and can effectively improve the working efficiency;

according to the manipulator cantilever beam structure, the two positioning hooks are arranged on the supporting frame, the first lifting ring is arranged at the top of the lifting bracket, the second lifting ring is arranged at the top of the counterweight component, the counterweight component is lifted to the highest position when the lifting bracket is lowered to the lowest position, the second lifting ring at the top of the counterweight component is fixed through one positioning hook, and the first lifting ring at the top of the lifting bracket is fixed through the other positioning hook when the lifting bracket is lifted to the highest position, so that the manipulator cantilever beam structure can be fixed in the working and replacing processes, the safety of operators is guaranteed, and the reliability is high;

according to the invention, the two second pulleys are respectively arranged at the two ends of the top of the installation frame and the two ends of the bottom of the installation frame, so that the two second pulleys are in sliding fit with the support column while clamping the two sides of the wall of the support column, and the two first pulleys are respectively arranged in the middle of the upper surface of the installation frame and the middle of the bottom surface of the installation frame, so that the two first pulleys are in sliding fit with the positioning rod while clamping the two sides of the positioning rod, thereby ensuring that the whole lifting bracket is kept stable during ascending and descending, and meanwhile, the third pulley is arranged on the counterweight component, so that the counterweight component can stably ascend and descend along the support column, thereby ensuring the stability of the first cross beam and the second cross beam, and ensuring that the cantilever.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a perspective view of a robotic arm beam structure of the present invention for ease of replacement;

FIG. 2 is a perspective view of a partial structure of a robotic arm beam structure of the present invention for ease of replacement;

FIG. 3 is a partial front view of a robotic arm boom beam structure of the present invention in a configuration that is easy to replace;

FIG. 4 is a side view of a portion of a robot arm boom assembly of the present invention in a configuration that facilitates replacement;

FIG. 5 is a perspective view of the lifting bracket of the present invention;

FIG. 6 is a perspective view of the lifting bracket of the present invention at another angle;

fig. 7 is a perspective view of the weight assembly of the present invention.

In the figure: 1. a first cross member; 2. a second cross member; 3. a mounting seat; 4. a manipulator; 5. a support pillar; 6. positioning a rod; 7. a lifting bracket; 71. a mounting frame; 711. a first hanging ring; 72. a support arm; 73. a first fixed column; 74. a connecting plate; 75. a connecting rod; 76. fixing the cross bar; 77. a side plate; 78. a first pulley; 79. a second pulley; 8. a counterweight assembly; 81. a base plate; 82. a top plate; 821. a second hoisting ring; 822. a third pulley; 83. a vertical plate; 84. a fixed seat; 85. a second fixed column; 86. a weight plate; 87. a fixed collar; 88. pressing a plate; 89. a vertical rod; 9. a support frame; 10. a reduction motor; 11. a driving roller; 12. a drive belt; 13. a limiting rod; 14. a support plate; 15. a driving cylinder; 16. a fixing plate; 17. a first hanger plate; 18. a first roller; 19. a second hanger plate; 20. a second roller; 21. and a positioning hook.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-7, a manipulator cantilever beam structure convenient for replacement comprises two first beams 1 parallel to each other, two second beams 2 parallel to each other are movably mounted below the first beams 1, mounting seats 3 are movably mounted below the second beams 2, driving cylinders 15 are fixedly mounted on the mounting seats 3, a fixing plate 16 is fixedly mounted on one side of one of the first beams 1 through bolts, the end of an output rod of each driving cylinder 15 is fixedly connected with the fixing plate 16, and a manipulator 4 is fixedly mounted at the bottom of each mounting seat 3;

the two ends of the first cross beam 1 are respectively fixedly installed on two lifting brackets 7 through bolts, the lifting brackets 7 are movably installed on the inner side surfaces of two supporting columns 5 along the vertical direction, the cross section of each supporting column 5 is of an I-shaped structure, supporting plates 14 are horizontally fixed at the bottoms of the two supporting columns 5 through bolts, a supporting frame 9 is fixedly installed at the top of each supporting plate 14 through welding, a speed reducing motor 10 is fixedly installed at the top of the supporting frame 9, a driving roller 11 is further arranged at the top of the supporting frame 9, the two ends of each driving roller 11 are rotatably installed at the top of the supporting frame 9 through bearings and bearing seats, one end of each driving roller 11 is fixedly connected with the output shaft end of the speed reducing motor 10, two driving belts 12 are installed on each driving roller 11, and one end of each driving belt 12 is connected with the top of the lifting brackets 7, the other end of drive belt 12 is connected with counterweight assembly 8's top, drive belt 12 and driving roller 11 transmission cooperation, counterweight assembly 8 along vertical direction movable mounting in two on the lateral surface of support column 5.

The first cross beam 1 and the second cross beam 2 are perpendicular to each other, and the first cross beam 1 and the second cross beam 2 are hollow structures with openings at two ends.

A stopper rod 13 is laterally fixed to the inner side of the support frame 9.

The bottom of first crossbeam 1 has seted up the fluting, the top fixed mounting of second crossbeam 2 has two first hanger plates 17, the bottom of first crossbeam 1 is passed and first crossbeam 1 is extended to the top of first hanger plate 17 inboard, just first hanger plate 17's top is rotated and is installed first gyro wheel 18, first gyro wheel 18 cooperatees with the inner wall of first crossbeam 1.

The fluting has been seted up to the bottom of second crossbeam 2, the last fixed surface of mount pad 3 installs four second hanger plates 19, four second hanger plates 19 are located four corner positions departments of mount pad 3 upper surface respectively, the bottom of second crossbeam 2 is passed and extend to second crossbeam 2 inboardly at the top of second hanger plate 19, just second gyro wheel 20 is installed in the top rotation of second hanger plate 19, second gyro wheel 20 cooperatees with the inner wall of second crossbeam 2.

The lifting bracket 7 includes a mounting frame 71, two supporting arms 72 are fixedly mounted on one side surface of the mounting frame 71 by bolts, the two supporting arms 72 are respectively located at both side edges of one side surface of the mounting frame 71, the supporting arm 72 is fixedly connected with one end of the first cross beam 1 through a bolt, a connecting plate 74 is transversely arranged in the middle of the mounting frame 71, the middle part of the connecting plate 74 is hinged on the lifting bracket 7, both ends of the connecting plate 74 are hinged with connecting rods 75, the top of the connecting rod 75 is fixedly provided with a fixed cross rod 76 through a bolt, two ends of the fixed cross rod 76 are vertically fixed with side plates 77 through welding, a first fixed column 73 is fixedly arranged between the two side plates 77, one end of the transmission belt 12 is fixedly sleeved on the first fixing column 73, and the top of the mounting frame 71 is fixedly provided with a first hanging ring 711;

two first pulleys 78 are rotatably mounted at the middle position of the top of the mounting frame 71, another two first pulleys 78 are rotatably mounted at the middle position of the bottom of the mounting frame 71, a positioning rod 6 is vertically arranged between the two first pulleys 78, the bottom end of the positioning rod 6 is fixed to the middle part of the upper surface of the support plate 14 by welding, the top end of the positioning rod 6 is fixed to the bottom of the support frame 9 by welding, the two first pulleys 78 are respectively in sliding fit with the two sides of the positioning rod 6, two groups of second pulleys 79 are rotatably mounted at the top of the mounting frame 71, the two groups of second pulleys 79 are symmetrically distributed, the number of the second pulleys 79 in each group is two, the other two groups of second pulleys 79 are rotatably mounted at the bottom of the mounting frame 71, the other two groups of second pulleys 79 are symmetrically distributed, and the number of the second pulleys 79 in each group is two, the second pulley 79 is in sliding fit with the outer groove wall of the support column 5.

The counterweight component 8 comprises a bottom plate 81, two groups of counterweight plates 86 are arranged on the upper surface of the bottom plate 81, each group of counterweight plates 86 is formed by stacking a plurality of counterweight plates 86 along the vertical direction, two ends of each group of counterweight plates 86 are vertically provided with vertical plates 83, the top end of the vertical plate 83 is fixedly arranged at the bottom of the top plate 82 by welding, the bottom end of the vertical plate 83 is fixedly arranged on the upper surface of the bottom plate 81 by welding, two fixed seats 84 are symmetrically fixed on the upper surface of the top plate 82, a second fixed column 85 is transversely fixed between the two fixed seats 84, one end of the driving belt 12 is fixed on the second fixing column 85 in a sleeved manner, a second hanging ring 821 is fixedly installed on the upper surface of the top plate 82, the both ends of roof 82 upper surface, the both ends of bottom plate 81 bottom surface all rotate and install three third pulley 822, third pulley 822 and the inboard cell wall sliding fit of support column 5.

The bottom surface central point of roof 82 puts the department vertical fixation and has had montant 89, the central point of weight plate 86 puts the department and has seted up the through-hole, the lower part of montant 89 run through weight plate 86 and be connected with the last fixed surface of bottom plate 81, the cover is equipped with fixed lantern ring 87 and clamp plate 88 on the montant 89, the bottom surface of clamp plate 88 is fixed with the upper surface butt of the weight plate 86 of the top, the lower part of montant 89 is provided with the external screw thread, the inboard of fixed lantern ring 87 is provided with the internal thread with montant 89 matched with, the lower extreme of fixed lantern ring 87 is fixed with the upper surface butt of clamp plate 88.

And positioning hooks 21 are rotatably arranged on two sides of the supporting frame 9.

A working method of a manipulator cantilever beam structure convenient to replace comprises the following specific steps:

step one, starting the speed reducing motor 10, enabling an output shaft of the speed reducing motor 10 to rotate positively and driving the transmission roller 11 to rotate positively, enabling the transmission roller 11 to drive the transmission belt 12 to rotate, and simultaneously when the transmission belt 12 rotates, one end of the belt pulls the lifting bracket 7 to move along the vertical direction, the lifting bracket 7 drives the first beam 1 to move along the vertical direction and drives the second beam 2, the mounting seat 3 and the manipulator 4 to lift, when the lifting bracket 7 is lowered to the lower part of one side of the supporting column 5, the weight assembly 8 is raised to the upper part of the other side of the supporting column 5, one of the positioning hooks 21 is rotated, the positioning hook 21 is hooked on the second hanging ring 821 on the top of the weight assembly 8, fixing the lifting bracket 7 and the counterweight component 8, lowering the first beam 1 to reach the manually contactable position, loosening connecting bolts of the first beam 1 and the lifting bracket 7, and replacing the first beam 1, the second beam 2 and the manipulator 4;

step two, after the replacement is finished, starting the speed reducing motor 10, enabling an output shaft of the speed reducing motor 10 to rotate reversely, and driving the lifting bracket 7 to ascend to the upper part of one side of the supporting column 5, enabling the counterweight component 8 to ascend to the lower part of the other side of the supporting column 5, rotating the other positioning hook 21, enabling the positioning hook 21 to hook a first hanging ring 711 at the top of the lifting bracket 7, fixing the lifting bracket 7, and enabling the first cross beam 1 and the second cross beam 2 to be fixed in height;

and step three, starting the driving cylinder 15, enabling an output rod of the driving cylinder 15 to stretch and contract and driving the mounting seat 3 to move along the second cross beam 2, driving the manipulator 4 to move along the second cross beam 2, pushing the second cross beam 2, enabling the second cross beam 2 to move along the first cross beam 1, and driving the manipulator 4 to move along the first cross beam 1.

According to the invention, two ends of a first crossbeam 1 are arranged on supporting arms of a lifting bracket 7, a driving roller 11 is driven by a speed reducing motor 10, a driving belt 12 is driven by the driving roller 11 to rotate, the lifting bracket 7 is pulled to ascend or descend by a belt 12, so that the first crossbeam 1 and a second crossbeam 2 are driven to ascend and descend, the first crossbeam 1 and the second crossbeam 2 are descended to the height which can be touched by people, so that the first crossbeam 1 and the second crossbeam 2 are convenient to replace, the end part of the first crossbeam 1 is fixed by a bolt and a supporting arm 72 by a bolt, the first crossbeam 1 can be arranged and disassembled by loosening or screwing a connecting bolt, the first crossbeam 1 is connected with the second crossbeam 2 by a first hanging plate 17, the second crossbeam 2 can be moved by arranging a first roller 18 at the top of the first hanging plate 17, when the first roller 18 is separated from the first crossbeam 1, the first cross beam 1 and the second cross beam 2 can be separated, the second cross beam 2 can be replaced, the mechanical arm cantilever beam structure is convenient to replace the first cross beam 1 and the second cross beam 2, the operation is rapid and convenient, and the working efficiency can be effectively improved;

according to the invention, two positioning hooks 21 are arranged on the supporting frame 9, the first lifting ring 711 is arranged at the top of the lifting bracket 7, the second lifting ring 821 is arranged at the top of the counterweight component 8, when the lifting bracket 7 descends to the lowest position, the counterweight component 8 ascends to the highest position, the second lifting ring 821 at the top of the counterweight component 8 is fixed through one positioning hook 21, and when the lifting bracket 7 ascends to the highest position, the first lifting ring 711 at the top of the lifting bracket 7 is fixed through the other positioning hook 21, so that the manipulator cantilever beam structure can be fixed in the working and replacing processes, the safety of operators is ensured, and the reliability is strong;

according to the invention, the two second pulleys 79 are respectively arranged at the two ends of the top of the installation frame 71 and the two ends of the bottom of the installation frame 71, so that the two second pulleys 79 are clamped on the two sides of the groove wall of the supporting column 5 and are in sliding fit with the supporting column 5, meanwhile, the two first pulleys 78 are respectively arranged in the middle of the upper surface of the installation frame 71 and the middle of the bottom surface of the installation frame 71, so that the two first pulleys 78 are clamped on the two sides of the positioning rod 6 and are in sliding fit with the positioning rod 6, thereby ensuring that the whole lifting bracket 7 is stable during lifting and descending, meanwhile, the third pulley 822 is arranged on the counterweight component 8, so that the counterweight component 8 can be stably lifted along the supporting column 5, thereby ensuring the stability of the first cross beam 1 and the second cross beam 2, and ensuring that.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (10)

1. The manipulator cantilever beam structure convenient to replace is characterized by comprising two first beams (1) which are parallel to each other, wherein two second beams (2) which are parallel to each other are movably mounted below the first beams (1), a mounting seat (3) is movably mounted below the second beams (2), a driving cylinder (15) is fixedly mounted on the mounting seat (3), a fixing plate (16) is fixedly mounted on one side of one of the first beams (1) through a bolt, the end part of an output rod of the driving cylinder (15) is fixedly connected with the fixing plate (16), and a manipulator (4) is fixedly mounted at the bottom of the mounting seat (3);

the two ends of the first cross beam (1) are respectively fixedly installed on two lifting brackets (7) through bolts, the lifting brackets (7) are movably installed on the inner side surfaces of two supporting columns (5) along the vertical direction, the cross section of each supporting column (5) is of an I-shaped structure, two supporting plates (14) are horizontally fixed at the bottoms of the supporting columns (5) through bolts, a supporting frame (9) is installed at the top of each supporting plate (14) through welding, a speed reducing motor (10) is fixedly installed at the top of each supporting frame (9), a transmission roller (11) is further arranged at the top of each supporting frame (9), two ends of each transmission roller (11) are rotatably installed at the top of each supporting frame (9) through bearings and bearing seats, one end of each transmission roller (11) is fixedly connected with the output shaft of the speed reducing motor (10), and two transmission belts (12) are installed on each transmission roller (11), the one end of driving belt (12) is connected with the top of lift bracket (7), the other end of driving belt (12) is connected with the top of counter weight component (8), driving belt (12) and driving roller (11) transmission cooperation, counter weight component (8) along vertical direction movable mounting in two on the lateral surface of support column (5).

2. The manipulator cantilever beam structure convenient for replacement according to claim 1, wherein the first beam (1) and the second beam (2) are perpendicular to each other, and the first beam (1) and the second beam (2) are hollow structures with openings at two ends.

3. The manipulator cantilever beam structure for easy replacement according to claim 1, wherein a stopper rod (13) is laterally fixed to the inside of the support frame (9).

4. The manipulator cantilever beam structure convenient to replace according to claim 1, wherein the bottom of the first beam (1) is provided with a slot, the top of the second beam (2) is fixedly provided with two first hanging plates (17), the top of each first hanging plate (17) passes through the bottom of the first beam (1) and extends to the inner side of the first beam (1), the top of each first hanging plate (17) is rotatably provided with a first roller (18), and the first rollers (18) are matched with the inner wall of the first beam (1).

5. The manipulator cantilever beam structure convenient to replace according to claim 1, wherein the bottom of the second beam (2) is provided with a slot, the upper surface of the mounting seat (3) is fixedly provided with four second hanging plates (19), the four second hanging plates (19) are respectively located at four corner positions of the upper surface of the mounting seat (3), the top of the second hanging plate (19) passes through the bottom of the second beam (2) and extends to the inner side of the second beam (2), the top of the second hanging plate (19) is rotatably provided with a second roller (20), and the second roller (20) is matched with the inner wall of the second beam (2).

6. The manipulator cantilever beam structure convenient for replacement according to claim 1, wherein the lifting bracket (7) comprises a mounting frame (71), one side surface of the mounting frame (71) is fixedly provided with two supporting arms (72) by bolts, the two supporting arms (72) are respectively located at two side edges of one side surface of the mounting frame (71), the supporting arms (72) are fixedly connected with one end of the first beam (1) by bolts, the middle part of the mounting frame (71) is transversely provided with a connecting plate (74), the middle part of the connecting plate (74) is hinged on the lifting bracket (7), two ends of the connecting plate (74) are hinged with connecting rods (75), the top of the connecting rods (75) is fixedly provided with a fixed cross rod (76) by bolts, two ends of the fixed cross rod (76) are vertically fixed with side plates (77) by welding, a first fixing column (73) is fixedly installed between the two side plates (77), one end of the transmission belt (12) is fixedly sleeved on the first fixing column (73), and a first hanging ring (711) is fixedly installed at the top of the installation frame (71);

the top middle position of the installation frame (71) is rotatably provided with two first pulleys (78), the bottom middle position of the installation frame (71) is rotatably provided with two other first pulleys (78), a positioning rod (6) is vertically arranged between the two first pulleys (78), the bottom end of the positioning rod (6) is fixed in the middle of the upper surface of the support plate (14) through welding, the top end of the positioning rod (6) is fixed at the bottom of the support frame (9) through welding, the two first pulleys (78) are respectively in sliding fit with the two sides of the positioning rod (6), the top of the installation frame (71) is rotatably provided with two groups of second pulleys (79), the two groups of second pulleys (79) are symmetrically distributed, the number of the second pulleys (79) in each group is two, the bottom of the installation frame (71) is rotatably provided with the other two groups of second pulleys (79), the other two sets of second pulley (79) are the symmetric distribution, and every group the quantity of second pulley (79) is two, second pulley (79) and the outside cell wall sliding fit of support column (5).

7. The manipulator cantilever beam structure convenient for replacement according to claim 1, wherein the weight assembly (8) comprises a bottom plate (81), two sets of weight plates (86) are disposed on the upper surface of the bottom plate (81), each set of weight plates (86) is formed by stacking a plurality of weight plates (86) in the vertical direction, a vertical plate (83) is vertically disposed at each end of each set of weight plates (86), the top end of each vertical plate (83) is fixedly mounted at the bottom of the top plate (82) by welding, the bottom end of each vertical plate (83) is fixedly mounted at the upper surface of the bottom plate (81) by welding, two fixing seats (84) are symmetrically fixed on the upper surface of the top plate (82), a second fixing column (85) is transversely fixed between the two fixing seats (84), one end of the transmission belt (12) is fixedly sleeved on the second fixing column (85), the upper surface fixed mounting of roof (82) has second rings (821), the both ends of roof (82) upper surface bottom plate (81) bottom surface both ends all rotate and install three third pulley (822), third pulley (822) and the inboard cell wall sliding fit of support column (5).

8. The manipulator cantilever beam structure convenient to replace according to claim 7, wherein a vertical rod (89) is vertically fixed at the center of the bottom surface of the top plate (82), a through hole is formed at the center of the weight plate (86), the lower part of the vertical rod (89) penetrates through the weight plate (86) and is fixedly connected with the upper surface of the bottom plate (81), a fixing sleeve ring (87) and a pressing plate (88) are sleeved on the vertical rod (89), the bottom surface of the pressing plate (88) is fixedly abutted to the upper surface of the uppermost weight plate (86), an external thread is arranged at the lower part of the vertical rod (89), an internal thread matched with the vertical rod (89) is arranged on the inner side of the fixing sleeve ring (87), and the lower end of the fixing sleeve ring (87) is fixedly abutted to the upper surface of the pressing plate (88).

9. The manipulator cantilever beam structure convenient for replacement according to claim 1, wherein the support frame (9) is rotatably mounted with a positioning hook (21) on both sides.

10. A working method of a manipulator cantilever beam structure convenient to replace is characterized by comprising the following specific steps:

the method comprises the steps of firstly, starting a speed reducing motor (10), enabling an output shaft of the speed reducing motor (10) to rotate in a forward direction and drive a transmission roller (11) to rotate in the forward direction, enabling the transmission roller (11) to drive a transmission belt (12) to rotate, enabling one end of the belt to pull a lifting bracket (7) to move in the vertical direction while the transmission belt (12) rotates, enabling the lifting bracket (7) to drive a first cross beam (1) to move in the vertical direction and drive a second cross beam (2), a mounting seat (3) and a manipulator (4) to lift, enabling a counterweight component (8) to ascend to the upper portion of the other side of a supporting column (5) when the lifting bracket (7) descends to the lower portion of one side of the supporting column (5), rotating one of the positioning hooks (21), enabling the positioning hook (21) to hook a second lifting ring (821) on the top of the counterweight component (8), fixing the lifting bracket (7) and the counterweight component (8), and enabling the first cross beam, loosening connecting bolts of the first cross beam (1) and the lifting bracket (7), and replacing the first cross beam (1), the second cross beam (2) and the manipulator (4);

step two, after the replacement is finished, starting a speed reducing motor (10), enabling an output shaft of the speed reducing motor (10) to rotate reversely, driving a lifting bracket (7) to ascend to the upper part of one side of a supporting column (5), enabling a counterweight component (8) to ascend to the lower part of the other side of the supporting column (5), rotating another positioning hook (21), enabling the positioning hook (21) to hook a first hanging ring (711) at the top of the lifting bracket (7), fixing the lifting bracket (7), and enabling the first cross beam (1) and the second cross beam (2) to be fixed in height;

and step three, starting the driving cylinder (15), enabling an output rod of the driving cylinder (15) to stretch and contract and driving the mounting seat (3) to move along the second cross beam (2), driving the manipulator (4) to move along the second cross beam (2), pushing the second cross beam (2), enabling the second cross beam (2) to move along the first cross beam (1), and driving the manipulator (4) to move along the first cross beam (1).

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