CN213738148U

CN213738148U - Overhead carrying device

Info

Publication number: CN213738148U
Application number: CN202021923415.3U
Authority: CN
Inventors: 陈孝金; 田江; 龙冶国
Original assignee: Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
Current assignee: Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2021-07-20
Anticipated expiration: 2030-09-04

Abstract

The utility model relates to a handling equipment discloses a high altitude handling device, wherein, high altitude handling device including base (1) that can horizontal migration, rotationally install in revolving stage (2), jib loading boom (3) of base (1), connect in the transport subassembly of jib loading boom (3), jib loading boom (3) can drive the transport subassembly is around horizontally axis luffing motion, the transport subassembly including connect in main part frame (6) of jib loading boom (3) and for main part frame (6) have object mounting (20) of 6 degrees of freedom. Through above-mentioned technical scheme, the handling subassembly has three degrees of freedom in great scope to the object mounting in the handling subassembly has 6 degrees of freedom for the main part frame in less scope, thereby can adjust the position of object mounting more in a flexible way, with corresponding object transport and install the specific position of high altitude building, improved transport installation effectiveness.

Description

Overhead carrying device

Technical Field

The utility model relates to a haulage equipment specifically relates to a high altitude handling device.

Background

For the installation and replacement of plate building materials, especially glass materials, a scaffold or an I-steel frame is often adopted, and then a winch or a crane is used for hoisting the glass for installation, but the operation mode often needs to consume great manpower and time, and the potential safety hazard is large.

With continuous development, the size of the installed glass curtain wall is continuously increased, the size of some large-scale special customized glass can reach dozens of meters or even dozens of meters, and most curtain walls are made of glass, metal or marble and have the characteristics of large size and heavy weight. The existing installation technology can not flexibly convey the plate to a target position for installation, and can not meet the requirement.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a high altitude handling device to the position control is not nimble enough when solving to high altitude building transport object problem.

In order to achieve the above object, an aspect of the present invention provides an overhead carrying device, wherein the overhead carrying device includes a base capable of moving horizontally, a rotary table rotatably mounted on the base around a vertical axis, a boom connected to the rotary table, and a carrying assembly connected to the boom, the boom being capable of driving the carrying assembly to perform a pitching motion around a horizontal axis, the carrying assembly including a main body frame connected to the boom and an object fixing member having 6 degrees of freedom with respect to the main body frame.

Optionally, the lower end of the cargo boom is hinged to the rotary table through a horizontally extending hinge shaft, a variable amplitude oil cylinder is connected between the cargo boom and the rotary table, the main body frame is hinged to the upper end of the cargo boom through a horizontally extending hinge shaft, and a leveling oil cylinder is connected between the main body frame and the cargo boom.

Alternatively, the boom can be telescopic along its length.

Optionally, the carrying assembly comprises a first arm section and telescopic cylinders respectively connected to the main body frame and the first arm section, and the telescopic cylinders can drive the first arm section and the object fixing member to move relative to the main body frame along a horizontal first direction.

Optionally, the handling assembly comprises a horizontal cylinder for the first frame and connected between the first frame and the first arm section, the horizontal cylinder being capable of driving the first frame and the object holder relative to the first arm section in a horizontal second direction, the second direction being perpendicular to the first direction.

Optionally, the handling assembly includes a second support and a pitch ram capable of driving the second support and the object holder to rotate relative to the first support about an axis extending in a second direction.

Optionally, the handling assembly comprises a third support and a first slewing bearing by which the third support is mounted to the second support, the third support and the object holder being drivable to rotate relative to the second support about an axis extending in a third vertical direction.

Optionally, the handling assembly comprises a fourth support and a lift cylinder connected between the fourth support and the third support, the lift cylinder being capable of driving the fourth support and the object holder relative to the third support in the third direction.

Optionally, the handling assembly comprises a mounting frame for supporting the object mount and a second slewing bearing by which the mounting frame is mounted to the fourth support, the mounting frame being drivable to rotate relative to the fourth support about an axis in the first direction.

Optionally, the object holder is a suction cup.

Through above-mentioned technical scheme, the handling subassembly has three degrees of freedom in great scope to the object mounting in the handling subassembly has 6 degrees of freedom for the main part frame in less scope, thereby can adjust the position of object mounting more in a flexible way, with corresponding object transport and install the specific position of high altitude building, improved transport installation effectiveness.

Drawings

Fig. 1 is a schematic structural view of an overhead conveyance device according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a handling assembly according to an embodiment of the present invention;

FIG. 3 is a perspective view of another angle of a handling assembly according to an embodiment of the present invention;

fig. 4 is a perspective view of another angle of a carrier assembly according to an embodiment of the present invention.

Description of the reference numerals

1-base, 2-rotary table, 3-cargo boom, 4-luffing cylinder, 5-leveling cylinder, 6-main body frame, 7-first boom section, 8-second boom section, 9-telescopic cylinder, 10-first support, 11-second support, 12-third support, 13-fourth support, 14-horizontal cylinder, 15-pitching cylinder, 16-lifting cylinder, 17-first slewing bearing, 18-second slewing bearing, 19-mounting frame, 20-object fixing member, 21-counterweight body.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

The utility model provides a high altitude handling device, wherein, high altitude handling device including can horizontal migration base 1, rotationally install around vertical axis in base 1's revolving stage 2, connect in revolving stage 2's jib loading boom 3, connect in jib loading boom 3's transport subassembly, jib loading boom 3 can drive the transport subassembly is around horizontally axis luffing motion, the transport subassembly including connect in jib loading boom 3's main part frame 6 and for main part frame 6 has the object mounting 20 of 6 degrees of freedom.

The overhead conveyance device of the present embodiment may be used to convey objects to the overhead, for example, to provide building materials, including plates, etc., such as glass plates, metal plates, marble, etc., to the overhead, and to convey and mount them at specific locations, and the object fixing members 20 are structures for fixing the objects.

The high-altitude conveying device comprises a base 1, a rotary table 2, a lifting arm 3 and a conveying assembly, wherein the base 1 is provided with a roller capable of moving relative to the ground, the rotary table 2 can rotate relative to the base 1 around a vertical axis perpendicular to the horizontal plane, and the lifting arm 3 can drive the conveying assembly to perform pitching motion around a horizontal axis, namely, the base 1 provides a degree of freedom along the horizontal direction for the conveying assembly, the rotary table 2 provides a degree of freedom around the vertical axis for the conveying assembly, the lifting arm 3 provides a degree of freedom around the horizontal axis for the conveying assembly, the three degrees of freedom have relatively large motion ranges, and the position of the conveying assembly, namely an object fixing member 20 can be adjusted within a large range.

In addition, the carrying assembly includes the object holder 20 of the main body frame 6, and the object holder 20 has 6 degrees of freedom with respect to the main body frame 6, i.e., can move in three directions perpendicular to each other and can rotate about axes in the three directions, and of course, the range of motion of the 6 degrees of freedom of the object holder 20 is relatively small, allowing the object holder 20 to adjust its position more accurately within a small range.

In this scheme, the transport subassembly has three degrees of freedom in great scope to the object mounting in the transport subassembly has 6 degrees of freedom for the main part frame in less scope, thereby can adjust the position of object mounting more in a flexible way, with corresponding object transport and install the specific position of high altitude building, improved transport installation effectiveness.

The lower end of the cargo boom 3 is hinged to the rotary table 2 through a horizontally extending hinge shaft, a luffing cylinder 4 is connected between the cargo boom 3 and the rotary table 2, the main body frame 6 is hinged to the upper end of the cargo boom 3 through a horizontally extending hinge shaft, and a leveling cylinder 5 is connected between the main body frame 6 and the cargo boom 3. As shown in fig. 1, the lower end of the jib 3 is rotatably hinged to the turntable 2 and can perform pitching motion in a large range around a horizontal axis relative to the turntable 2 under the driving action of the luffing cylinder 4, and the body frame 6 is rotatably hinged to the jib 3 and can perform pitching motion in a small range around the horizontal axis relative to the jib 3 under the driving action of the leveling cylinder 5, so that the body frame 6 of the carrying assembly can perform pitching motion relative to the turntable 2 to adjust the height of the body frame 6. After the boom 3 moves in a pitching manner relative to the turntable 2 to adjust the body frame 6 to a specific height, the body frame 6 can be kept at a specific angle with the horizontal plane by the relative movement between the body frame 6 and the boom 3, so that the body frame 6 is prevented from being at an inclined angle after the boom 3 moves in a pitching manner.

Wherein the boom 3 may be hinged to a link on the turntable 2 and the boom 3 is supported by a plurality of links. The turntable 2 may be mounted on the base 1 by a slewing bearing to be driven in rotation about a vertical axis. The turntable 2 is provided with a counterweight 21 to balance the weight of the crane arm 3, so that the turntable 2 and the base 1 are kept balanced integrally.

In addition, the boom 3 can be extended and contracted in the longitudinal direction thereof. The crane boom 3 can comprise a plurality of boom sections, and the boom sections can be sequentially sleeved so as to stretch along the length direction of the crane boom 3, so that the height of the carrying assembly can be adjusted, the horizontal span of the crane boom 3 can be adjusted, and the position of the carrying assembly can be adjusted more accurately by matching with pitching motion.

Specifically, the carrying assembly comprises a first arm section 7 and a telescopic oil cylinder 9 respectively connected to the main body frame 6 and the first arm section 7, wherein the telescopic oil cylinder 9 can drive the first arm section 7 and the object fixing member 20 to move relative to the main body frame 6 along a horizontal first direction. The telescopic oil cylinder 9 extends approximately along a first direction, two ends of the telescopic oil cylinder are respectively connected to the first arm section 7 and the main body frame 6, the first arm section 7 can be driven to move along the first direction through the telescopic oil cylinder 9, the object fixing piece 20 can move along with the first arm section 7, and the degree of freedom in the first direction is achieved. As shown in fig. 2, a second arm section 8 is attached to the body frame 6, and the first arm section 7 can be inserted into the second arm section 8 to guide the horizontal movement of the first arm section 7 by the second arm section 8. The first direction may correspond to the horizontal extension direction of the jib 3, i.e. the telescopic cylinder 9 further adjusts the horizontal extension of the object mount 20 on the basis of the horizontal extension of the jib 3, although the first direction may also be different from the horizontal extension direction of the jib 3.

In addition, the handling assembly comprises a horizontal cylinder 14 for a first support 10 and connected between the first support 10 and the first arm section 7, the horizontal cylinder 14 being capable of driving the first support 10 and the object holder 20 in a horizontal second direction relative to the first arm section 7, the second direction being perpendicular to the first direction. The horizontal cylinder 14 extends substantially along the second direction, and both ends of the horizontal cylinder are connected to the first arm section 7 and the first support 10, the horizontal cylinder 14 moves telescopically to drive the first support 10 to move along the second direction relative to the first arm section 7, and the object fixing member 20 can move along the second direction synchronously with the first support 10, so that the degree of freedom in the second direction is realized. The second direction is also a horizontal direction and is approximately perpendicular to the first direction.

In addition, the carrying assembly includes a second support 11 and a pitch cylinder 15, the pitch cylinder 15 being capable of driving the second support 11 and the object holder 20 to rotate relative to the first support 10 about an axis extending in a second direction. As shown in fig. 2 and 3, the second support 11 may be hinged to the first support 10, so that the second support 11 may be pushed to rotate around the axis extending along the second direction by the pitch cylinder 15, and the object fixing member 20 may also rotate around the axis of the second direction synchronously, thereby realizing the freedom degree of the axis object around the second direction.

In addition, the handling assembly comprises a third support 12 and a first slewing bearing 17, the third support 12 being mounted to the second support 11 by means of the first slewing bearing 17, the third support 12 and the object holder 20 being drivable in rotation relative to the second support 11 about an axis extending in a vertical third direction. As shown in fig. 2, the third support 12 may be mounted on the second support 11 through a first pivoting support 17, and may drive the third support 12 to rotate around an axis of a vertical third direction, and the object fixing member 20 may also rotate around the axis of the third direction synchronously, so as to realize a degree of freedom around the third direction. The third direction may be substantially perpendicular to the first direction and the second direction.

In addition, the carrying assembly comprises a fourth support 13 and a lift cylinder 16 connected between the fourth support 13 and the third support 12, wherein the lift cylinder 16 is capable of driving the fourth support 13 and the object holder 20 to move in the third direction relative to the third support 12. As shown in fig. 4, the lift cylinder 16 may extend substantially along the third direction, and both ends of the lift cylinder are respectively connected to the third support 12 and the fourth support 13, the lift cylinder 16 may extend and contract to drive the fourth support 13 to move along the third direction relative to the third support 12, and the object fixing member 20 may also move along the third direction synchronously to realize a degree of freedom along the third direction.

Further, the handling assembly comprises a mounting frame 19 for supporting the object holder 20 and a second slewing bearing 18, the mounting frame 19 being mounted to the fourth support 13 by means of the second slewing bearing 18, the mounting frame 19 being drivable to rotate relative to the fourth support 13 about an axis in the first direction. As shown in fig. 2, object holder 20 may be disposed on mounting bracket 19, and mounting bracket 19 may be mounted to fourth support 13 via second pivot bearing 18, so that mounting bracket 19 may be driven to rotate relative to fourth support 13 about an axis in the first direction, thereby achieving a degree of freedom of object holder 20 about the first direction.

The first direction, the second direction and the third direction are substantially perpendicular to each other, and of course, two directions may become non-perpendicular due to some relative movement, but for convenience of description, the three directions may be regarded as perpendicular, and in particular, the movement of the object fixing member 20 in a certain direction may be decomposed into a movement in one of the three directions, and the rotation of the object fixing member 20 around a certain direction may also be decomposed into a rotation around one of the three directions, on the basis of which the object fixing member 20 can realize 6 degrees of freedom.

Alternatively, the object holder 20 is a suction cup. The suction cups may be plural, and the suction cups are installed on the installation frame 19 to be moved in synchronization, and the suction cups may be used to suck plate-shaped members, such as glass plates, metal plates, to install the glass plates to windows or the exterior of the high-altitude building, and to install the metal plates to the exterior wall of the high-altitude building. In other embodiments, the object holder 20 may also be a clamp, a support platform, or the like.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto. In the technical idea scope of the present invention, it is possible to provide the technical solution of the present invention with a plurality of simple modifications, including combining each specific technical feature in any suitable manner, and in order to avoid unnecessary repetition, the present invention does not provide additional description for various possible combinations. These simple variations and combinations should also be considered as disclosed in the present invention, all falling within the scope of protection of the present invention.

Claims

1. An overhead handling apparatus, characterized in that it comprises a horizontally movable base (1), a turntable (2) rotatably mounted to the base (1) about a vertical axis, a boom (3) connected to the turntable (2), a handling assembly connected to the boom (3), the boom (3) being capable of driving the handling assembly in a pitching motion about a horizontal axis, the handling assembly comprising a body frame (6) connected to the boom (3) and a body mount (20) having 6 degrees of freedom with respect to the body frame (6);

the lower end of the cargo boom (3) is hinged to the rotary table (2) through a horizontally extending hinged shaft, a variable-amplitude oil cylinder (4) is connected between the cargo boom (3) and the rotary table (2), the main body frame (6) is hinged to the upper end of the cargo boom (3) through a horizontally extending hinged shaft, and a leveling oil cylinder (5) is connected between the main body frame (6) and the cargo boom (3).

2. High altitude handling device according to claim 1, characterized in that the crane boom (3) is telescopic in its length direction.

3. Overhead handling unit according to claim 1, c h a r a c t e r i z e d in that the handling assembly comprises a first arm section (7) and a telescopic cylinder (9) connected to the body frame (6) and the first arm section (7), respectively, the telescopic cylinder (9) being capable of driving the first arm section (7) and the object holder (20) in a horizontal first direction in relation to the body frame (6).

4. Overhead handling unit according to claim 3, characterized in that the handling assembly comprises a horizontal cylinder (14) for the first frame (10) and connected between the first frame (10) and the first arm section (7), the horizontal cylinder (14) being capable of driving the first frame (10) and the object holder (20) in a horizontal second direction relative to the first arm section (7), the second direction being perpendicular to the first direction.

5. Overhead handling unit according to claim 4, characterized in that the handling assembly comprises a second frame (11) and a pitch ram (15), the pitch ram (15) being capable of driving the second frame (11) and the object holder (20) in rotation relative to the first frame (10) about an axis extending in a second direction.

6. Overhead handling unit according to claim 5, characterized in that the handling assembly comprises a third carriage (12) and a first slewing bearing (17), the third carriage (12) being mounted to the second carriage (11) by means of the first slewing bearing (17), the third carriage (12) and the object holder (20) being drivable in rotation relative to the second carriage (11) about an axis extending in a vertical third direction.

7. Overhead handling unit according to claim 6, characterized in that the handling assembly comprises a fourth carriage (13) and a lift cylinder (16) connected between the fourth carriage (13) and the third carriage (12), the lift cylinder (16) being capable of driving the fourth carriage (13) and the object holder (20) in the third direction relative to the third carriage (12).

8. Height handling arrangement according to claim 7, characterized in that the handling assembly comprises a mounting bracket (19) for supporting the object holder (20) and a second swivel bearing (18), the mounting bracket (19) being mounted to the fourth support (13) by means of the second swivel bearing (18), the mounting bracket (19) being drivable in rotation relative to the fourth support (13) about an axis in a first direction.

9. The overhead handling apparatus of claim 1, wherein the object holder (20) is a suction cup.