A flexible lifting device

Abstract

A flexible lifting device includes: a base, with a guide wheel provided at the four corners of the upper end surface; a walking mechanism, arranged at one end of the base; two main body arms, vertically arranged on both sides of the base, which are telescopic structures, including inner and outer sleeves; the upper end of the outer sleeve is fixed to both sides of the base; a clamped and fixed flexible docking base, the two sides of its upper end surface are respectively connected to the lower ends of the inner sleeves of the two main body arms, and a flexible floating mechanism is provided at each of the four corners; a lifting drive mechanism is arranged in the middle of the base. A gripper includes a frame and a plurality of clamping parts, and the frame is connected to the flexible floating mechanism at the four corners of the clamped and fixed flexible docking base; a controller. The flexible lifting device of the present invention enhances the flexible applicable space of the lifting technology, and is fully connected to the lifting, clamping and conveying of various product components. The gripper can float along the X-axis / Y-axis / Z-axis rotation, and is particularly suitable for transferring between multiple stations and multiple vehicle models.

Description

Technical Field

[0001] The present invention belongs to the field of automobile transfer and assembly, and in particular relates to a flexible lifting device used for transfer, transportation and assembly operations of automobile parts. Background Art

[0002] The existing lifting technology uses a scissor fork structure to drive telescopic movement to lift, transport and assemble automotive assembly parts. The equipment is large and bulky, and the efficiency is low.

[0003] The telescopic arms of the lifting machines are made of a combination of 20Cr rectangular square tubes and rectangular square tubes. The four-sided rollers roll and rub along the inner tube wall to achieve up and down telescopic movement. Although the structure is simple, the operation is complicated. The inner tube wall is often deformed and iron filings are generated, which often causes the telescopic movement of the main machine to be slow and stagnant, and even stop production in severe cases, directly affecting the service life, safety and product quality of the product. The customer complaint and maintenance rate is extremely high. Overhaul and complete replacement are often required due to replacement of the inner tube wall, and the management and assembly costs remain high.

[0004] The lifting technology adopts electric hoist drive technology to perform the lifting, transportation and assembly of automobile assembly parts. Although the structure is simple and light, the degree of automation is low.

[0005] The lifting technology uses a single-arm main machine, which is light, structurally applicable, and highly automated, but lacks rigidity and is only suitable for the transportation and assembly of small vehicle parts. For parts such as the side panels and covers of large vehicles, bottlenecks become apparent.

[0006] At present, the PICK-UP equipment at home and abroad cannot achieve both rigidity and flexibility. When the line consists of multiple (3 or more) soldering stations, it is difficult to adjust the center of the PICK-UP to the center of the soldering station, resulting in scratches and deformation when picking up and placing panels.

[0007] When used in manual line workstations, the PICK-UP must be small in size due to work space issues, but this will cause the equipment to be insufficiently rigid, especially when the lifting stroke is large. When the equipment descends to pick up items, the amount of shaking is relatively large. Summary of the invention

[0008] The purpose of the present invention is to design a flexible lifting device, enhance the flexible applicable space of lifting technology, fully connect with the lifting, clamping and transportation of various product components, reduce the friction of the main machine arm extension and contraction, and meet the automatic, light, fast, efficient and precise transportation of lifting technology; the lifting host has a compact structure and good rigidity, and the gripper can float along the X-axis / Y-axis / Z-axis rotation; it can be used in automobile sheet metal welding production lines or multi-station displacement between line bodies, and is particularly suitable for transfer between multiple stations and multiple models.

[0009] To achieve the above object, the technical solution of the present invention is:

[0010] A flexible lifting device, comprising: a base, which is a rectangular frame, and guide wheels that can move on tracks are respectively arranged at the four corners of its upper end surface; a walking mechanism, which is arranged at one end of the base, comprising: a rotating shaft, which is arranged at one end of the base through a support frame and a bearing seat thereon, and is parallel to the width direction of the rectangular frame of the base; two walking wheels are respectively arranged at both ends of the rotating shaft; a walking motor, whose output shaft is connected to the rotating shaft; two main machine arms, which are vertically arranged on both sides of the base, and are telescopic structures, including an outer sleeve and at least one inner sleeve, and a slide rail pair is arranged between the inner and outer sleeves; the upper end of the outer sleeve is fixed to both sides of the base by a connecting piece; a clamping and fixing flexible docking foundation, the two sides of its upper end surface are respectively connected to the two main The lower end of the inner sleeve of the machine arm has four corners respectively provided with a flexible floating mechanism, and the flexible floating mechanism includes: a mounting seat, which is arranged at a corner of the clamping and fixing flexible docking base, and has a containing space therein, and the two adjacent side surfaces are open, that is, adjustable in the X / Y direction; a through hole is arranged on the top surface of the mounting seat; the upper and lower universal ball bearings are respectively arranged in the mounting seat relative to each other up and down, and the upper universal ball bearing is arranged in the through hole on the top surface of the mounting seat; a gap is reserved between the upper and lower universal ball bearings; an adjusting seat is arranged on the top surface of the mounting seat, and a containing groove which is connected with the through hole on the top surface of the mounting seat is arranged in the center of the bottom surface, and a screw hole is arranged in the center of the top surface of the adjusting seat; an adjusting bolt is inverted in the adjusting seat, and its head is located in the containing groove of the adjusting seat, The spring is sleeved on the adjusting bolt in the adjusting seat, and its upper and lower ends respectively abut against the inner top surface of the adjusting seat and the head of the adjusting bolt; the connecting block is L-shaped, one end of which is inserted between the upper and lower universal ball bearings, and the upper and lower universal ball bearings are in point contact with the connecting block to achieve rolling friction; the lifting drive mechanism is arranged in the middle of the base, including: a mounting platform, both ends of which are connected to the inner side surfaces of the outer sleeves of the two main machine arms through support members; two support columns, whose upper ends are respectively connected to the two sides of the base, located on the inner sides of the two main machine arms, and whose two lower ends are connected to the mounting platform Platform; a driving wheel, which is arranged on the installation platform through a driving shaft support; the first and second guide wheels are respectively arranged on the lower parts of the two support columns through connecting shafts; a conveyor belt, one end of which is connected to one side of the installation platform, and the other end passes through the first guide wheel, bypasses the driving wheel and is connected to the other side of the installation platform through the second guide wheel; a driving motor is arranged on the installation platform, and its output shaft is connected to the driving shaft; a gripper, including a frame and a plurality of clamping parts thereon, and the clamping parts are arranged on the frame through a bracket; the frame is connected to the connecting blocks in the flexible floating mechanism at the four corners of the clamping and fixing flexible docking foundation; a controller and a control button, the walking motor of the walking mechanism and the driving motor of the lifting driving mechanism are electrically connected to the controller.

[0011] Preferably, in the traveling mechanism, a transmission gear and a transmission belt are respectively provided on the rotating shaft and the output shaft of the traveling motor to drive the rotating shaft to rotate.

[0012] Furthermore, it also includes two anti-slipping mechanisms, which are respectively arranged on both sides of the lifting drive mechanism, and the anti-slipping mechanisms include:

[0013] A fixing rod, the upper end of which is connected to the lifting drive mechanism mounting platform;

[0014] The hook has a T-shaped upper portion, one end of which is movably connected to the lower end of the fixing rod through a short shaft; the lower portion is a bent hook;

[0015] A driving cylinder, the cylinder body of which is connected to the upper part of the fixing rod, and the end of the piston rod of which is pivotally connected to the other end of the upper part of the hook;

[0016] A fixed frame is vertically arranged on the upper surface of the clamping and fixing flexible docking base, and the hook portion of the hook hooks the upper frame of the fixed frame;

[0017] A travel switch is connected to the lower part of the fixing rod through a mounting frame, and the travel switch is located on the movement track of the hook; the travel switch and the driving cylinder are connected to the controller.

[0018] Preferably, it also includes a floating locking mechanism, including:

[0019] A limit block is arranged in the middle of the clamping and fixing flexible docking foundation, a strip-shaped limit hole is arranged in the center of the limit block, two stop blocks are symmetrically arranged on the bottom surface of the limit block and on both sides of the limit hole, and a screw hole is arranged in the center of the stop block;

[0020] A fixing seat, arranged in the middle of the gripper frame, corresponding to the limiting hole in the center of the limiting block;

[0021] A limiting screw rod, the middle part of which is passed through the upper end of the fixing seat, and the two ends of which are passed through the screw holes on the stopper;

[0022] The bearing is arranged on the top of the fixing seat through bolts and nuts, and extends into the strip-shaped limiting hole in the center of the limiting block.

[0023] Preferably, the spring is a rectangular spring.

[0024] The present invention designs a floating mechanism, and the upper and lower universal ball bearings are in point contact with the connecting block to achieve rolling friction. The size of the floating force can be adjusted by locking the screw rod.

[0025] At the same time, the gripper is connected to the lifting host through four floating mechanisms, so that the gripper can float along the X-axis / Y-axis / Z-axis rotation.

[0026] The invention can make the gripper float within a predetermined range through a locking mechanism, completely limit the rotation in the X direction and the Z direction, and only allow the Y direction to float, and can release the X direction and the Z direction rotation floating according to different working conditions.

[0027] The track inverted trolley of the present invention is inverted on a double-row track basis and is driven by a servo motor to execute automatic movement of the trolley and the device; the lifting host is made of aluminum alloy profiles, and the two machines are arranged in parallel to ensure the lightness and rigidity stability of the device. Under the drive of the lifting drive mechanism, the pick-up host is lifted and lowered; the flexible docking foundation is clamped and fixed, and is mainly used for precise docking with various parts to be installed, tooling, and fixtures.

[0028] The advantages or positive effects of the present invention compared with the prior art are as follows:

[0029] 1. Change the drive structure to improve the automated supply of automobile assembly parts;

[0030] 2. Optimize the main engine arm, upgrade material replacement, reduce telescopic resistance, and reduce energy consumption;

[0031] 3. Fully connect the lifting, clamping and transportation of various product components, reduce the friction of the main arm extension and retraction, and meet the pickup technology's automatic, light, fast, efficient and precise assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A three-dimensional diagram of an embodiment of the present invention;

[0033] Figure 2 The three-dimensional structure of the first embodiment of the present invention (without the gripper) Figure 1 ;

[0034] Figure 3 The three-dimensional structure of the first embodiment of the present invention (without the gripper) Figure 2 ;

[0035] Figure 4 The three-dimensional structure of the first embodiment of the present invention (without the gripper) Figure 3 ;

[0036] Figure 5 It is a front view of the first embodiment of the present invention (without the gripper).

[0037] Figure 6 It is an assembly stereogram of two host arms and a clamping and fixing flexible docking base in the first embodiment of the present invention;

[0038] Figure 7 for Figure 6 A top view of

[0039] Figure 8 for Figure 7 AA section view;

[0040] Fig. 9 for Figure 8 An enlarged schematic diagram of part B;

[0041] Fig.10 The three-dimensional structure of the second embodiment of the present invention (without the gripper) Figure 1 ;

[0042] Fig.11 The three-dimensional structure of the second embodiment of the present invention (without the gripper) Figure 2 . DETAILED DESCRIPTION

[0043] See also Figures 1 to 9 The flexible lifting device of the present invention comprises:

[0044] The base 1 is a rectangular frame, and the four corners of the upper end surface thereof are respectively provided with guide wheels 11, 11' that can move on the track;

[0045] The walking mechanism 2 is arranged at one end of the base 1 and includes:

[0046] A rotating shaft 21 is arranged at one end of the base 1 through a supporting frame and a bearing seat thereon, and is parallel to the width direction of the rectangular frame of the base 1;

[0047] Two running wheels 22, 22' are respectively arranged at two ends of the rotating shaft 21;

[0048] A travel motor 23, whose output shaft is connected to the rotating shaft 21;

[0049] Two mainframe arms 3, 3' are vertically arranged on both sides of the base 1, which are telescopic structures, including an outer sleeve and at least one inner sleeve, and a slide rail pair is arranged between the inner and outer sleeves; the upper ends of the outer sleeves are fixed to the two sides of the base 1 through connectors;

[0050] The flexible docking base 4 is clamped and fixed, and the two sides of its upper end surface are respectively connected to the lower ends of the inner sleeves of the two main machine arms 3 and 3', and a flexible floating mechanism 41 and 41' are respectively provided at its four corners. The flexible floating mechanism 41 (taking the flexible floating mechanism 41 as an example, the same below) includes:

[0051] The mounting seat 411 is arranged at a corner of the clamping and fixing flexible docking base 4, and has a containing space 4111 therein, and the two adjacent side surfaces are open, that is, adjustable in the X / Y direction; a through hole 4112 is arranged on the top surface of the mounting seat 411;

[0052] The upper and lower universal ball bearings 412 and 413 are respectively arranged in the mounting seat 411 in an upper and lower direction, and the upper universal ball bearing 412 is arranged in the through hole 4112 on the top surface of the mounting seat 411; a gap is reserved between the upper and lower universal ball bearings 412 and 413;

[0053] The adjusting seat 414 is arranged on the top surface of the mounting seat 411, and a receiving groove 4141 is arranged at the center of the bottom surface thereof, which is connected with the through hole 4112 on the top surface of the mounting seat 411, and a screw hole 4142 is arranged at the center of the top surface of the adjusting seat 414;

[0054] The adjusting bolt 415 is inverted in the adjusting seat 414, with its head located in the receiving groove 4141 of the adjusting seat 414 and abutting against the upper universal ball bearing 412 located in the through hole 4112 on the top surface of the mounting seat 411; the bolt rod of the adjusting bolt 415 extends out of the screw hole 4142 in the center of the top surface of the adjusting seat 414 and is locked by a nut 416;

[0055] The spring 417 is sleeved on the adjusting bolt 415 in the adjusting seat 414, and the upper and lower ends thereof abut against the inner top surface of the adjusting seat 414 and the head of the adjusting bolt 415 respectively;

[0056] The connecting block 418 is L-shaped, one end of which is inserted between the upper and lower universal ball bearings 412 and 413. The upper and lower universal ball bearings 412 and 413 are in point contact with the connecting block 418 to achieve rolling friction;

[0057] The lifting drive mechanism 5 is arranged in the middle of the base 1 and includes:

[0058] The mounting platform 51 has two ends connected to the inner side surfaces of the outer sleeves of the two mainframe arms 3 and 3' through support members 511 and 511';

[0059] Two support columns 52, 22', whose upper ends are respectively connected to the two sides of the base 1, located inside the two mainframe arms 24, 24', and whose lower ends are connected to the mounting platform 51;

[0060] The driving wheel 53 is supported on the mounting platform 51 through a driving shaft 531;

[0061] The first guide wheel 54 and the second guide wheel 54' are respectively disposed at the lower parts of the two support columns 52 and 52' through connecting shafts;

[0062] A conveyor belt 55, one end of which is connected to one side of the installation platform 51, and the other end of which passes through the first guide wheel 54, bypasses the driving wheel 53 and then passes through the second guide wheel 54' to connect to the other side of the installation platform 51;

[0063] A driving motor 56 is disposed on the mounting platform 51, and its output shaft is connected to the driving shaft 531;

[0064] The gripper 6 comprises a frame 61 and a plurality of clamping members 62, 62' thereon, wherein the clamping members 62, 62' are arranged on the frame 61 through a bracket; the frame 61 is connected to the connection blocks 418 in the flexible floating mechanism of the four corners of the flexible docking base 4 for clamping and fixing;

[0065] The controller 7 and the control button 7 ′, the walking motor 23 of the walking mechanism 2 and the driving motor 56 of the lifting driving mechanism 5 are all electrically connected to the controller 7 .

[0066] Preferably, in the traveling mechanism, a transmission gear and a transmission belt are respectively provided on the rotating shaft and the output shaft of the traveling motor to drive the rotating shaft to rotate.

[0067] Preferably, the spring 417 is a rectangular spring.

[0068] See also Fig.10 , Fig.11 The present invention further includes two anti-slipping mechanisms 8, 8', which are respectively arranged on both sides of the lifting drive mechanism. The anti-slipping mechanism 8 (taking the anti-slipping mechanism 8 as an example, the same below) includes:

[0069] A fixing rod 81, the upper end of which is connected to the mounting platform 51 of the lifting drive mechanism 5;

[0070] The hook 82 has a T-shaped upper portion, one end 821 of which is movably connected to the lower end of the fixing rod 81 through a short shaft; the lower portion is a bent hook portion 823;

[0071] A driving cylinder 83, whose cylinder body is connected to the upper part of the fixing rod 81, and whose piston rod end is pivotally connected to the other end 822 of the upper part of the hook 82;

[0072] A fixed frame 84 is vertically arranged on the upper end surface of the clamping and fixing flexible docking base 4, and the hook portion 821 of the hook 82 hooks the upper frame of the fixed frame 84;

[0073] A travel switch 85 is connected to the lower part of the fixing rod 81 through a mounting bracket 86. The travel switch 85 is located on the movement track of the hook 82. The travel switch 85 and the driving cylinder 83 are connected to the controller.

[0074] See also Fig.10 , Fig.11 The present invention further comprises a floating locking mechanism 9, which can make the gripper 6 float within a predetermined range, including:

[0075] The limit block 91 is arranged in the middle of the clamping and fixing flexible docking foundation 4, a strip-shaped limit hole 911 is arranged in the center of the limit block 91, two stop blocks 92 and 92' are symmetrically arranged on the bottom surface of the limit block 91 and on both sides of the limit hole 911, and screw holes are arranged in the centers of the stop blocks 92 and 92';

[0076] A fixing seat 93 is arranged in the middle of the frame 61 of the gripper 6, corresponding to the limiting hole 911 in the center of the limiting block 91;

[0077] A limiting screw rod 94, the middle part of which is passed through the upper end of the fixing seat 93, and the two ends of which are passed through the screw holes on the stoppers 92, 92';

[0078] The bearing 95 is arranged on the top of the fixing seat 93 by means of bolts and nuts, and extends into the bar-shaped limiting hole 911 in the center of the limiting block 91 .

[0079] The present invention realizes the renewal and upgrading of the host material of the pick up application, reduces the weight of the pick up, improves the rigid stability of the pick up, expands the flexible docking application demand space of the equipment, optimizes the host force arm, reduces the telescopic resistance, reduces the friction between the inner and outer host force arms, and improves the automated supply of automobile assembly parts delivery, effectively meeting the automatic, light, fast, efficient and precise assembly of the pick up technology.

Claims

1. A flexible lifting device, characterized in that: include: The base is a rectangular frame, and the four corners of the upper end surface are respectively provided with guide wheels that can move on the track; The walking mechanism is arranged at one end of the base and comprises: A rotating shaft is arranged at one end of the base through a supporting frame and a bearing seat thereon, and is parallel to the width direction of the rectangular frame of the base; Two running wheels are respectively arranged at two ends of the rotating shaft; A travel motor, whose output shaft is connected to the rotating shaft; Two mainframe arms are vertically arranged on both sides of the base, which are telescopic structures, including an outer sleeve and at least one inner sleeve, and a slide rail pair is arranged between the inner and outer sleeves; the upper ends of the outer sleeves are fixed to the two sides of the base through connecting pieces; The flexible docking foundation is clamped and fixed, and the two sides of its upper end surface are respectively connected to the lower ends of the inner sleeves of the two main machine arms, and a flexible floating mechanism is provided at each of its four corners, and the flexible floating mechanism includes: The mounting seat is arranged at a corner of the clamping and fixing flexible docking base, and has a containing space therein, and two adjacent side surfaces are open, that is, adjustable in the X / Y direction; a through hole is arranged on the top surface of the mounting seat; The upper and lower universal ball bearings are respectively arranged in the mounting seat in an upper and lower direction, and the upper universal ball bearing is arranged in a through hole on the top surface of the mounting seat; a gap is reserved between the upper and lower universal ball bearings; The adjusting seat is arranged on the top surface of the mounting seat, and a receiving groove which is connected with the through hole on the top surface of the mounting seat is arranged in the center of the bottom surface of the adjusting seat, and a screw hole is arranged in the center of the top surface of the adjusting seat; The adjusting bolt is inverted in the adjusting seat, with its head located in the adjusting seat receiving groove and abutting against the upper universal ball bearing located in the through hole on the top surface of the mounting seat; the bolt rod of the adjusting bolt extends out of the screw hole in the center of the top surface of the adjusting seat and is locked by a nut; A spring is sleeved on the adjusting bolt in the adjusting seat, and its upper and lower ends respectively abut against the inner top surface of the adjusting seat and the head of the adjusting bolt; The connecting block is L-shaped, one end of which is inserted between the upper and lower universal ball bearings, and the upper and lower universal ball bearings are in point contact with the connecting block to achieve rolling friction; The lifting drive mechanism is arranged in the middle of the base and comprises: An installation platform, both ends of which are connected to the inner side surfaces of the outer sleeves of the two mainframe arms through supporting members; Two support columns, the upper ends of which are respectively connected to the two sides of the base, located inside the two mainframe arms, and the lower ends of which are connected to the mounting platform; A driving wheel, arranged on the mounting platform via a driving shaft support; The first and second guide wheels are respectively arranged at the lower parts of the two support columns through connecting shafts; A conveyor belt, one end of which is connected to one side of the installation platform, and the other end of which passes through a first guide wheel, bypasses a driving wheel, and then passes through a second guide wheel to connect to the other side of the installation platform; A driving motor is arranged on the mounting platform, and its output shaft is connected to the driving shaft; a gripper comprises a frame and a plurality of clamping members thereon, and the clamping members are arranged on the frame through a bracket; the frame is connected to the connecting blocks in the flexible floating mechanism of the four corners of the clamping and fixing flexible docking foundation; Two anti-slip mechanisms are respectively arranged on both sides of the lifting drive mechanism, and the anti-slip mechanisms include: A fixing rod, the upper end of which is connected to the lifting drive mechanism mounting platform; The hook has a T-shaped upper portion, one end of which is movably connected to the lower end of the fixing rod through a short shaft; the lower portion is a bent hook; A driving cylinder, the cylinder body of which is connected to the upper part of the fixing rod, and the end of the piston rod of which is pivotally connected to the other end of the upper part of the hook; A fixed frame is vertically arranged on the upper surface of the clamping and fixing flexible docking base, and the hook portion of the hook hooks the upper frame of the fixed frame; A travel switch connected to the lower part of the fixing rod through a mounting bracket, the travel switch being located on the movement track of the hook; Floating locking mechanism, including: A limit block is arranged in the middle of the clamping and fixing flexible docking foundation, a strip-shaped limit hole is arranged in the center of the limit block, two stop blocks are symmetrically arranged on the bottom surface of the limit block and on both sides of the limit hole, and a screw hole is arranged in the center of the stop block; A fixing seat, arranged in the middle of the gripper frame, corresponding to the limiting hole in the center of the limiting block; A limiting screw rod, the middle part of which is passed through the upper end of the fixing seat, and the two ends of which are passed through the screw holes on the stopper; The bearing is arranged on the top of the fixing seat by bolts and nuts, and extends into the central and strip-shaped limiting hole of the limiting block; The controller and control button, the walking motor of the walking mechanism, the driving motor of the lifting drive mechanism, the travel switch of the anti-slip mechanism and the driving cylinder are all electrically connected to the controller.

2. The flexible lifting device according to claim 1, characterized in that: In the traveling mechanism, the rotating shaft and the output shaft of the traveling motor are respectively provided with a transmission gear and a transmission belt to drive the rotating shaft to rotate.

3. The flexible lifting device according to claim 1, characterized in that: The spring is a rectangular spring.

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