Modular shield door moving gripper

Abstract

The application relates to a mobile grab hand of a modular shielding door, which comprises a main support, a positioning plate, an elastic rotation limiting component and a bolt component. The main support is connected with a first lug plate. The positioning plate is connected with a second lug plate. A rotating shaft simultaneously penetrates through the first lug plate and the second lug plate, so that the positioning plate can rotate relative to the main support around the rotating shaft, and the rotating shaft extends along the Z-axis direction. The elastic rotation limiting component is arranged between the main support and the positioning plate, and is used for limiting the rotation of the positioning plate relative to the main support in a natural state. The bolt component is connected to the positioning plate and is used for being inserted into a lifting hole of the shielding door. The application has the freedom of rotating around the Z-axis with flexibility and rigidity, can adapt to the error of the modular shielding door being not perpendicular to the Y-axis direction when being installed on a special tray, can adapt to the precision error of the modular shielding door when being simultaneously moved along the Y-axis direction, and can also adapt to the construction error of the foundation on which the modular shielding door is installed.

Description

Technical Field

[0001] This invention relates to the field of modular shielding door installation equipment technology, and in particular to a movable gripper for a modular shielding door. Background Technology

[0002] Subway platform screen doors are the doors on subway platforms that protect passenger safety. The conventional installation process involves modularizing the screen doors, transporting each component to the subway platform, and assembling and installing them on-site. However, with advancements in installation equipment, the majority of platforms now manufacture the screen doors as a single unit, then use installation equipment to lift the entire modular screen door onto the subway platform for installation.

[0003] Most current installation equipment lifts the entire shielding door from both sides by inserting a pin into the lifting hole of the shielding door. However, the contact between the pin and the shielding door is rigid, lacks adjustability, and cannot accommodate errors during installation. Summary of the Invention

[0004] The purpose of this invention is to provide a movable gripper for a modular shielding door.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A movable gripper for a modular shielded door, comprising:

[0007] A main support frame, on which a first ear plate is connected;

[0008] A positioning plate is provided, and a second ear plate is connected to the positioning plate. A rotating shaft passes through both the first ear plate and the second ear plate, allowing the positioning plate to rotate relative to the main support around the rotating shaft. The rotating shaft extends along the Z-axis.

[0009] An elastic rotation limiting component is disposed between the main support and the positioning plate to limit the rotation of the positioning plate relative to the main support in its natural state.

[0010] A latch assembly, which is connected to the positioning plate, is used to insert into the lifting hole of the shielding door.

[0011] Preferably, in the above technical solution, the mobile claw further includes an adjustable handle, which is rotatably connected to the positioning plate. The adjustable handle has an operating part and an abutment part, and rotating the operating part can adjust the length of the abutment part extending out of the positioning plate.

[0012] More preferably, the positioning plate is L-shaped, the second ear plate, the elastic rotation limiting component and the pin component are all connected to one side of the L-shaped positioning plate, and the adjustable handle is connected to the other side of the L-shaped positioning plate.

[0013] Preferably, a rubber plate is provided on the side of the positioning plate away from the main support.

[0014] More preferably, the adjustable handles are respectively disposed on the upper and lower sides of the latch assembly.

[0015] Preferably, in the above technical solution, the elastic rotation limiting assembly includes an eye bolt and an elastic element. The eye bolt is connected to the main body bracket and the positioning plate respectively, and the elastic element is connected between the eye bolts.

[0016] Preferably, in the above technical solution, the mobile gripper further includes:

[0017] A camera, connected to the top of the positioning plate, is used to capture the position of the mounting holes of the shielding door, and / or...

[0018] A laser detection sensor is connected to the top of the positioning plate and is used to detect the safe distance between the positioning plate and the shielding door column.

[0019] Preferably, in the above technical solution, the main support is a frame structure, which includes a rectangular frame body and a triangular frame body, the rectangular frame body and the triangular frame body are connected left and right, and the positioning plate is connected to the triangular frame body.

[0020] Preferably, in the above technical solution, the pin assembly includes a pin body and a locking tongue. The pin body is connected to the positioning plate and extends along the X direction. The locking tongue is rotatably connected to the end of the pin body. The pin body is used to extend into the lifting hole of the shielding door. The locking tongue is rotatably designed to prevent the pin body from dislodging from the lifting hole of the shielding door.

[0021] Preferably, in the above technical solution, the mobile gripper further includes a mobile component that can move in the X-axis, Y-axis and Z-axis directions, and the main support is connected to the mobile component.

[0022] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0023] This invention, by designing a flexible yet rigid degree of freedom for rotation around the Z-axis, can accommodate errors caused by the modular shielding door not being perpendicular to the Y-axis when installed on a special tray, as well as accuracy errors when the modular shielding door moves simultaneously along the Y-axis, and construction errors in the foundation for the installation of the modular shielding door. Attached Figure Description

[0024] Appendix Figure 1 This is a schematic diagram of the structure of the mobile claw handling the shielding door in this embodiment;

[0025] Appendix Figure 2 This is a schematic diagram of the moving claw in this embodiment;

[0026] Appendix Figure 3 This is a partial structural diagram of the moving claw in this embodiment;

[0027] Appendix Figure 4 This is a schematic diagram showing the connection between the latch assembly and the mounting hole of the shielding door in this embodiment.

[0028] In the attached diagrams above:

[0029] 1. Main support frame; 10. Rectangular frame main body; 11. Triangular frame main body; 12. First ear plate;

[0030] 2. Positioning plate; 20. Second ear plate; 21. Rotating shaft; 22. Rubber plate;

[0031] 30. Eye bolt; 31. Elastic element;

[0032] 40. Pin body; 41. Locking tongue;

[0033] 50. Operating section; 51. Contact section;

[0034] 6. Mobile components;

[0035] 7. Camera;

[0036] 8. Laser detection sensor;

[0037] 9. Shielding door; 90. Lifting hole. Detailed Implementation

[0038] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] like Figure 1 , 2 The movable gripper of a modular shielding door shown includes a main support 1, a positioning plate 2, an elastic rotation limit assembly, a latch assembly, an adjustable handle, and a movable assembly. Among them:

[0041] The main support 1 adopts a frame structure, such as welded rectangular tubes, to ensure its strength during transport and to ensure high structural strength. It includes a rectangular frame body 10 and a triangular frame body 11, which are connected left and right. A positioning plate 2 is connected to the triangular frame body 11. When the platform screen door 9 is transported to the platform, one side of the screen door 9 is already installed, and the entire moving gripper will not interfere with the screen door 9. It also cleverly avoids ground foundation columns, ensuring the normal installation of the modular screen door. The main support 1 is connected to two sets of first ear plates 12, distributed along the Z-axis.

[0042] The positioning plate 2 is L-shaped, with a second ear plate 20 connected to one side. A rotating shaft 21 passes through both the first ear plate 12 and the second ear plate 20, allowing the positioning plate 2 to rotate relative to the main support 1 around the rotating shaft 21, which extends along the Z-axis. Similarly, two sets of second ear plates 20 are also provided, cooperating with the first ear plate 12 and distributed along the Z-axis. A rubber plate 22 is provided on the side of the positioning plate 2 away from the main support 1, or on the surface that will contact the shielding door 9. This effectively protects the appearance of the shielding door 9's uprights from damage, and the rubber plate 22 also has a certain degree of elasticity, which can absorb manufacturing errors of the shielding door 8's uprights.

[0043] An elastic rotation limiting component is disposed between one side of the main support 1 and the positioning plate 2 to limit the rotation of the positioning plate 2 relative to the main support 1 in its natural state. In other words, the positioning plate 2 cannot be rotated arbitrarily when pulled. In this embodiment, the elastic rotation limiting component includes eye bolts 30 and elastic elements 31. The eye bolts 30 are respectively connected to the main support 1 and the positioning plate 2, and the elastic elements 31 are connected between the eye bolts 30. Two sets of the elastic rotation limiting component are also provided, arranged side-by-side between the upper and lower sets of first ear plates 12 and second ear plates 20. In a static state, it ensures that the pin assembly is parallel to the X-axis, while under external force constraint, the positioning plate 2 can achieve a flexible yet rigid adaptation. This flexible yet rigid degree of freedom of swinging around the Z-axis can accommodate errors caused by the shielding door 9 not being perpendicular to the Y-axis direction when installed on a special tray, as well as accuracy errors when the modular shielding door moves simultaneously along the Y-axis direction, and construction errors of the foundation for the installation of the shielding door 9.

[0044] A latch assembly is connected to one side of the positioning plate 2 and is used to insert into the lifting hole 90 of the shielding door 9. In this embodiment: the latch assembly includes a pin body 40 and a latch 41. The pin body 40 is connected to one side of the positioning plate 2 and extends along the X direction. The latch 41 is rotatably connected to the end of the pin body 40. The pin body 40 is used to extend into the lifting hole 90 of the shielding door 9. The latch 41 can rotate to prevent the pin body 40 from disengaging from the lifting hole 90 of the shielding door 9, ensuring the safety of the shielding door during transportation. Figure 3 , 4 As shown. After rotation, a 1mm gap is maintained between the locking tongue 41 and the lifting hole 90 of the shielding door 9. When the two moving grippers work together in coordination, combined with the length of the shielding door 9, a certain amount of freedom of rotation around the Y-axis can be formed. This small amount of freedom of rotation around the Y-axis can accommodate the height error and verticality error of the lifting hole 90 of the shielding door 9.

[0045] An adjustable handle is rotatably connected to the other side of the positioning plate 2. In this embodiment, the adjustable handle has an operating part 50 and an abutment part 51, with the abutment part 51 passing through the other side of the positioning plate 2. Thus, rotating the operating part 50 adjusts the length of the abutment part 51 extending out of the positioning plate 2. The abutment part 51 abuts against the shielding door 9, restricting the shielding door 9 from rotating in the X direction and allowing for appropriate adjustment of the pitch angle of the shielding door 9. Two sets of adjustable handles are also provided, respectively located on the upper and lower sides of the latch assembly.

[0046] The movable component 6 can move in the X, Y, and Z axes, and the main support 1 is connected to the movable component 6. The movable component 6 mainly enables the main support 1 to move in the X, Y, and Z axes, which is not the inventive point of this application. A conventionally achievable structure can be used, and it will not be elaborated here.

[0047] In addition, the mobile gripper is equipped with a camera 7 and a laser detection sensor 8. Both the camera 7 and the laser detection sensor 8 are connected to the top of the positioning plate 2. The camera 7 is used to capture the position of the lifting hole 90 of the shielding door 9. When the mobile gripper moves near the lifting hole 90 of the shielding door 9, it can automatically send the precise position of the lifting hole 90 to the controller, thereby automatically inserting the pin assembly of the mobile gripper into the lifting hole 90 of the shielding door 9 through the X, Y, and Z direction moving components 6. The laser detection sensor 8 is used to detect the safe distance between the positioning plate 2 and the upright of the shielding door 9. When the door leaf mobile gripper exceeds the safe distance from the upright of the shielding door 9, the equipment can stop working immediately.

[0048] The system employs two symmetrical, independent moving grippers working together to lift a modular platform screen door with dimensions (length × width × height) of 6800mm × 385mm × 2705mm and a weight of 1.5t from a dedicated pallet, following the bottom moving mechanism to the edge of the subway platform. It can accommodate processing errors at the platform screen door handling and hoisting points, positional errors when fixed on the pallet, asynchronous errors in the movement of the modular platform screen door installation equipment, and construction errors in the modular platform screen door installation. It also ensures that the modular platform screen door does not detach from the modular platform screen door installation equipment during the handling process, guaranteeing the safety, stability, and reliability of the equipment.

[0049] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A movable gripper for a modular shielding door, characterized in that: include: A main support frame, on which a first ear plate is connected; A positioning plate is provided, and a second ear plate is connected to the positioning plate. A rotating shaft passes through both the first ear plate and the second ear plate, allowing the positioning plate to rotate relative to the main support around the rotating shaft. The rotating shaft extends along the Z-axis. An elastic rotation limiting assembly is disposed between the main support and the positioning plate to limit the rotation of the positioning plate relative to the main support in its natural state. The elastic rotation limiting assembly includes eye bolts and elastic elements. The eye bolts are respectively connected to the main support and the positioning plate, and the elastic elements are connected between the eye bolts. A latch assembly, which is connected to the positioning plate and is used to be inserted into the lifting hole of the shielding door; An adjustable handle is rotatably connected to the positioning plate. The adjustable handle has an operating part and a contact part. Rotating the operating part adjusts the length of the contact part extending out of the positioning plate. The positioning plate is L-shaped. The second ear plate, the elastic rotation limiting assembly, and the pin assembly are all connected to one side of the L-shaped positioning plate, and the adjustable handle is connected to the other side of the L-shaped positioning plate. A camera, which is connected to the top of the positioning plate, is used to capture the position of the hoisting holes of the shielding door; A laser detection sensor is connected to the top of the positioning plate and is used to detect the safe distance between the positioning plate and the shielding door column.

2. The movable gripper of the modular shielding door according to claim 1, characterized in that: A rubber plate is provided on the side of the positioning plate away from the main support.

3. The movable gripper of the modular shielding door according to claim 1, characterized in that: The adjustable handles are respectively located on the upper and lower sides of the pin assembly.

4. The movable gripper of the modular shielding door according to claim 1, characterized in that: The main support is a frame structure, which includes a rectangular frame body and a triangular frame body. The rectangular frame body and the triangular frame body are connected left and right, and the positioning plate is connected to the triangular frame body.

5. The movable gripper of the modular shielding door according to claim 1, characterized in that: The pin assembly includes a pin body and a latch. The pin body is connected to the positioning plate and extends along the X direction. The latch is rotatably connected to the end of the pin body. The pin body is used to extend into the lifting hole of the shielding door. The latch is rotatably designed to prevent the pin body from dislodging from the lifting hole of the shielding door.

6. The movable gripper of the modular shielding door according to claim 1, characterized in that: The movable gripper also includes a movable component that can move in the X, Y, and Z axis directions, and the main support is connected to the movable component.

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