Intelligent self-unloading mobile gantry trolley

Abstract

The application relates to the technical field of mobile gantry, and particularly discloses an intelligent self-unloading mobile gantry trolley. The intelligent self-unloading mobile gantry trolley comprises a fixing frame and a trolley frame, the middle part of the fixing frame is provided with a slotting mechanism, a first welding mechanism, a second welding mechanism and a discharging mechanism along the length direction of the fixing frame, a plurality of wheels are symmetrically arranged on the trolley frame, the lower part of the fixing frame is symmetrically provided with limiting grooves, the wheels drive the trolley frame to sequentially pass through a first feeding mechanism, the slotting mechanism, the first welding mechanism, a second feeding mechanism, the second welding mechanism and the discharging mechanism along the limiting grooves; the intelligent self-unloading mobile gantry trolley is matched with the first mounting frame and the first guide rail, the second mounting frame and the second guide rail, and is matched with the first protruding block and the second protruding block, the adjusting block is arranged in the suitable area in the fixing frame, the posture of the workpiece is changed when the trolley frame drives three groups of clamping jaws to move, and the workpiece is automatically machined in cooperation with various machining devices.

Description

Technical Field

[0001] This invention belongs to the field of mobile gantry technology, specifically relating to an intelligent self-unloading mobile gantry trolley. Background Technology

[0002] In the current vehicle manufacturing process, slots need to be cut into strip steel parts, the two ends of the steel parts are bent into trapezoids, and another steel block is welded to the steel parts to facilitate connection with other parts of the vehicle frame. This process requires the use of a moving device to clamp the workpiece and switch between various workstations. When it arrives at the workstation, the posture of the workpiece needs to be adjusted and clamped again to ensure precise processing. This process consumes a lot of time and reduces production efficiency. Summary of the Invention

[0003] To solve the above problems, the present invention provides an intelligent self-unloading mobile gantry trolley.

[0004] The present invention achieves the above objectives through the following technical solutions:

[0005] A smart self-unloading mobile gantry trolley includes a fixed frame and a chassis. The fixed frame has a grooving mechanism, a first welding mechanism, a second welding mechanism, and an unloading mechanism arranged along its length in the middle. Several wheels are symmetrically arranged on the chassis. Limiting channels are symmetrically arranged at the lower part of the fixed frame. The wheels drive the chassis along the limiting channels, sequentially passing through the first loading mechanism, the grooving mechanism, the first welding mechanism, the second loading mechanism, the second welding mechanism, and the unloading mechanism. A first mounting frame and a first transmission assembly are symmetrically mounted on the chassis, and a second mounting frame and a second transmission assembly are mounted in the middle of the chassis. The first mounting frame and the first transmission assembly are correspondingly arranged, as are the second mounting frame and the second transmission assembly. A gripper is connected to the lower end of both the first and second mounting frames. When the chassis moves along the limiting channels, the first and second mounting frames adjust the position of the gripper, and the first and second transmission assemblies adjust the posture of the gripper, so that the workpiece cooperates with the first loading mechanism, the grooving mechanism, the first welding mechanism, the second loading mechanism, the second welding mechanism, and the unloading mechanism.

[0006] As a further optimization of the present invention, the first mounting bracket includes a first limiting block, which is slidably mounted on the horizontal part of the frame. The horizontal part of the frame is symmetrically provided with limiting grooves to restrict the sliding direction of the first limiting block. A vertically arranged first rod is connected through the first limiting block. A first spring is fitted on the upper part of the first rod, and the first spring maintains the relative position between the first rod and the first limiting block. A second rod is hinged to the lower end of the first rod, and a first mounting seat is fixedly connected to the lower end of the second rod. A gripper is rotatably connected to the first mounting seat, and an adjustment component that cooperates with the first transmission component is installed on the first mounting seat. The first transmission component drives the adjustment component to adjust the posture of the gripper. A first limiting wheel is fixedly connected to the upper end of the first rod, and a first guide rail is installed on the upper part of the mounting bracket. The first guide rail adjusts the height and horizontal position of the first limiting wheel.

[0007] As a further optimization of the present invention, the first transmission assembly includes a first push rod and a fixed rod, both of which are vertically arranged, with the first push rod positioned above the fixed rod. A first fixed sleeve is installed on the first rod to restrict the first push rod from moving vertically, and the lower end of the first push rod passes through the first fixed sleeve. A second fixed sleeve is installed on the second rod to restrict the fixed rod from moving vertically, and a first rack is fixedly connected to the fixed rod through the second fixed sleeve. A reset assembly is provided inside the second fixed sleeve to maintain the relative position of the fixed rod and the second fixed sleeve. The first rack cooperates with an adjustment assembly. A first horizontal plate is connected to the upper end of the first push rod, and a first protrusion is installed on the lower end face of the first guide rail. The first protrusion adjusts the first horizontal plate to adjust the lifting and lowering of the first horizontal plate.

[0008] As a further optimization of the present invention, the reset component includes a stop block, which is installed on the upper part of the fixed rod. A second spring is fitted on the fixed rod, and the second spring maintains the relative position between the fixed rod and the second fixed sleeve through the stop block.

[0009] As a further optimization of the present invention, the second mounting bracket includes a second limiting block and a third rod. The second limiting block is fixedly connected to the middle of the vehicle frame. The third rod is vertically arranged, and the upper end of the third rod passes through the second limiting block. A third spring is fitted on the upper end of the third rod, and the third spring maintains the relative position of the third rod and the second limiting block. A second mounting seat is installed at the lower end of the third rod. Another gripper is hinged on the second mounting seat, and another adjustment component is installed on the second mounting seat. The second transmission component drives the other adjustment component to adjust the posture of the gripper. A second guide rail is installed at the upper middle position of the fixed bracket, and a second limiting wheel is installed at the upper end of the third rod. The second guide rail adjusts the lifting and lowering of the second limiting wheel.

[0010] As a further optimization of the present invention, the second transmission assembly includes a second push rod, which is vertically arranged. The lower part of the third rod is connected to a third fixed sleeve. The lower end of the second push rod passes through the third fixed sleeve, and the lower end of the second push rod is connected to a second rack. The second rack cooperates with another adjusting assembly. A second horizontal plate is installed on the upper end of the second push rod. A second protrusion is provided on the lower end surface of the second guide rail. The second protrusion adjusts the lifting and lowering of the second horizontal plate. Another reset assembly is provided inside the third fixed sleeve. The other reset assembly maintains the relative position of the second push rod and the third fixed sleeve.

[0011] As a further optimization of the present invention, the adjusting component includes a horizontally arranged rotating shaft and a connecting shaft. The rotating shaft is perpendicular to the right side of the first mounting base or the second mounting base, and the connecting shaft is perpendicular to the front side of the first mounting base or the second mounting base. The rotating shaft is rotatably mounted on the side of the first mounting base corresponding to the first rack or the side of the second mounting base corresponding to the second rack via a fixed base. Both ends of the rotating shaft are equipped with second helical gears. The connecting shaft is rotatably connected to the first mounting base or the second mounting base. The end of the rotating shaft is equipped with a first helical gear, and the middle of the rotating shaft is fitted with a spur gear. The spur gear meshes with the first rack or the second rack. The first helical gear meshes with a second helical gear. The gripper is rotatably connected to the first mounting base or the second mounting base via a mounting shaft. The mounting shaft is perpendicular to the right side of the first mounting base or the second mounting base, and the end of the mounting shaft is equipped with a third helical gear. The third helical gear meshes with another second helical gear.

[0012] As a further optimization of the present invention, the gripper includes a fixed base, on which two sets of gripping arms are hinged. Both sets of gripping arms are V-shaped. A driving component is provided on the fixed base, and the driving component drives the gripping arms to rotate simultaneously in opposite directions.

[0013] As a further optimization of the present invention, the drive assembly includes a cylinder mounted on a fixed base, and adjusting rods are hinged at the bending positions of both sets of clamping arms, with the ends of the adjusting rods hinged to the extended ends of the cylinders.

[0014] As a further optimization of the present invention, two sets of adjusting blocks are provided on the inner side of the fixing frame. Both sets of adjusting blocks are located on the inner side of the frame. When the frame drives the gripper to move from the slotting mechanism to the first welding mechanism, the adjusting blocks adjust the angle of the second rod.

[0015] The beneficial effects of this invention are as follows: This invention uses a first mounting bracket to cooperate with a first guide rail, and a second mounting bracket to cooperate with a second guide rail. A first protrusion is set at a suitable position on the first guide rail, a second protrusion is set at a suitable position on the second guide rail, and an adjustment block is set in a suitable area within the fixed frame. When the frame drives the three sets of grippers to move, the position and angle of the grippers can be adjusted to change the posture of the workpiece. This allows for automated processing of the workpiece in conjunction with various processing devices. Furthermore, the grippers do not need to release the workpiece during the entire process, saving processing time and improving processing efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the initial feeding state of the present invention;

[0017] Figure 2 This is a schematic diagram of the first welding state of the present invention;

[0018] Figure 3 This is a schematic diagram of the workpiece flipping state according to the present invention;

[0019] Figure 4 This is an enlarged schematic diagram of the first mounting bracket and the first transmission assembly of the present invention;

[0020] Figure 5 This is an enlarged schematic diagram of the second mounting bracket and the second transmission assembly of the present invention;

[0021] Figure 6 This is a side view of the workpiece in the flipped state according to the present invention;

[0022] Figure 7 This is a schematic diagram of the internal structure of the second fixing sleeve of the present invention;

[0023] Figure 8 This is the present invention. Figure 4 Enlarged view of point A in the middle;

[0024] Figure 9 This is the present invention. Figure 7 Enlarged diagram of point B in the middle.

[0025] In the diagram: 1. Fixing frame; 11. Limiting groove; 12. First guide rail; 13. Second guide rail; 14. First protrusion; 15. Second protrusion; 16. Adjusting block; 2. Frame; 21. Wheel; 3. First mounting bracket; 31. First limiting block; 32. First rod; 321. First limiting wheel; 322. First spring; 33. Second rod; 34. First fixing sleeve; 35. Second fixing sleeve; 36. First mounting base; 361. First helical gear; 362. Rotating shaft; 363. Second helical gear; 364. Third... 365. Helical gear; 366. Connecting shaft; 367. Spur gear; 4. Gripper; 5. First transmission assembly; 51. First push rod; 511. First cross plate; 52. First rack; 53. Fixed rod; 531. Second spring; 532. Stop block; 6. Second mounting bracket; 61. Second limit block; 62. Third rod; 621. Second limit wheel; 622. Third spring; 63. Third fixed sleeve; 64. Second mounting base; 7. Second transmission assembly; 71. Second push rod; 711. Second cross plate; 72. Second rack. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] like Figures 1 to 9 As shown, this embodiment proposes an intelligent self-unloading mobile gantry trolley, including a fixed frame 1 and a chassis 2. The fixed frame 1 has a grooving mechanism, a first welding mechanism, a second welding mechanism, and an unloading mechanism arranged along its length in the middle. The chassis 2 has several wheels 21 symmetrically arranged on it. The lower part of the fixed frame 1 has symmetrically arranged limiting channels 11. The wheels 21 drive the chassis 2 along the limiting channels 11, sequentially passing through the first loading mechanism, the grooving mechanism, the first welding mechanism, the second loading mechanism, the second welding mechanism, and the unloading mechanism. The chassis 2 is symmetrically equipped with a first mounting frame 3 and a first transmission assembly. The first mounting bracket 3 and the first transmission component 5 are respectively installed in the middle of the frame 2. The first mounting bracket 3 and the first transmission component 5 are respectively set, and the second mounting bracket 6 and the second transmission component 7 are respectively set. The lower ends of the first mounting bracket 3 and the second mounting bracket 6 are connected to the grippers 4. When the frame 2 moves along the limiting groove 11, the first mounting bracket 3 and the second mounting bracket 6 adjust the position of the grippers 4, and the first transmission component 5 and the second transmission component 7 adjust the posture of the grippers 4 so that the workpiece cooperates with the first feeding mechanism, the grooving mechanism, the first welding mechanism, the second feeding mechanism, the second welding mechanism and the unloading mechanism.

[0028] It should be noted that the frame 2 is also equipped with a drive unit that drives the wheel 21 to rotate. The drive unit can be a motor. The output shaft of the motor is connected to the wheel 21 by using existing transmission components, so that the motor drives the wheel 21 and the wheel 21 drives the frame 2 to move along the limiting groove 11.

[0029] In practical implementation, sensors can be installed on the limit channel 11 at the positions corresponding to the first feeding mechanism, grooving mechanism, first welding mechanism, second feeding mechanism, second welding mechanism and unloading mechanism, and a PLC controller can be installed to control the first feeding mechanism, grooving mechanism, first welding mechanism, second feeding mechanism, second welding mechanism, unloading mechanism and the drive components of the frame 2 in the same way. When the frame 2 moves the workpiece to the corresponding processing station through the gripper 4, the sensor can transmit the sensed signal to the controller, and the controller can control the corresponding processing equipment to process the workpiece.

[0030] Specifically, the first mounting bracket 3 includes a first limiting block 31, which is slidably mounted on the horizontal part of the frame 2. The horizontal part of the frame 2 is symmetrically provided with limiting grooves to restrict the sliding direction of the first limiting block 31. A vertically arranged first rod 32 is connected through the first limiting block 31. A first spring 322 is fitted on the upper part of the first rod 32. The first spring 322 maintains the relative position of the first rod 32 and the first limiting block 31. A second rod 33 is hinged to the lower end of the first rod 32. A first mounting base 36 is fixedly connected to the lower end of the second rod 33. A gripper 4 is rotatably connected to the first mounting base 36. An adjustment component that cooperates with the first transmission component 5 is installed on the first mounting base 36. The first transmission component 5 drives the adjustment component to adjust the posture of the gripper 4. A first limiting wheel 321 is fixedly connected to the upper end of the first rod 32. A first guide rail 12 is installed on the upper part of the mounting bracket 1. The first guide rail 12 adjusts the height and horizontal position of the first limiting wheel 321.

[0031] It should be noted that the first guide rail 12 includes a descending section, a rising section, a descending outward moving section, an outward moving section, a holding section, an inward moving section, a first descending moving section, a horizontal section, an upward moving section, and a second descending moving section, and each section of the first guide rail 12 is arranged sequentially along the length direction of the limiting channel 11;

[0032] The intersection of the descending section and the ascending section corresponds to the first feeding mechanism; the intersection of the ascending section and the descending outward moving section corresponds to the grooving mechanism; the intersection of the descending outward moving section and the outward moving section corresponds to the first welding mechanism; the intersection of the first descending moving section and the horizontal section corresponds to the second feeding mechanism; the intersection of the ascending section and the second descending moving section corresponds to the second welding mechanism; and the end of the second descending moving section corresponds to the unloading mechanism.

[0033] When the first limiting wheel 321 moves along the descending and downward sections, it pushes the first rod 32 to move downward. When the first limiting wheel 321 moves along the ascending and upward sections, the first spring 322 pushes the first rod 32 to move upward. When the first limiting wheel 321 moves along the descending outward section, the first spring 322 pushes the first rod 32 to move downward, and the first limiting wheel 321 drives the first rod 32 to slide horizontally towards both sides of the frame 2.

[0034] Specifically, the first transmission assembly 5 includes a first push rod 51 and a fixed rod 53. Both the first push rod 51 and the fixed rod 53 are vertically arranged, with the first push rod 51 positioned above the fixed rod 53. A first fixed sleeve 34 is installed on the first rod 32 to restrict the movement of the first push rod 51 in the vertical direction. The lower end of the first push rod 51 passes through the first fixed sleeve 34. A second fixed sleeve 35 is installed on the second rod 33 to restrict the movement of the fixed rod 53 in the vertical direction. The fixed rod 53 passes through the second fixed sleeve 35 and is fixedly connected to a first rack 52. A reset assembly is provided inside the second fixed sleeve 35. The reset assembly maintains the relative position of the fixed rod 53 and the second fixed sleeve 35. The first rack 52 cooperates with the adjustment assembly. A first horizontal plate 511 is connected to the upper end of the first push rod 51. A first protrusion 14 is installed on the lower end face of the first guide rail 12. The first protrusion 14 adjusts the first horizontal plate 511 to adjust its lifting and lowering.

[0035] It should be noted that the first protrusion 14 is disposed from the horizontal section to the second downward section of the first guide rail 12, and the first protrusion 14 includes an inclined part and a horizontal part. The span of the inclined part is equal to that of the horizontal section of the first guide rail 12, and the horizontal part extends to the end of the second downward section of the first guide rail 12. When the frame 2 moves and drives the first horizontal plate 511 to contact the first protrusion 14, it is restricted by the inclined part and pushes the first push rod 51 to move downward. When the first horizontal plate 511 moves to the horizontal part, the first horizontal plate 511 continues to be restricted by the horizontal part, and the first push rod 51 remains in the downward state.

[0036] Specifically, the reset assembly includes a stop 532, which is installed on the upper part of the fixed rod 53. A second spring 531 is fitted on the fixed rod 53, and the second spring 531 maintains the relative position of the fixed rod 53 and the second fixed sleeve 35 through the stop 532.

[0037] Specifically, the second mounting bracket 6 includes a second limiting block 61 and a third rod 62. The second limiting block 61 is fixedly connected to the middle of the frame 2. The third rod 62 is vertically set, and the upper end of the third rod 62 passes through the second limiting block 61. A third spring 622 is fitted on the upper end of the third rod 62. The third spring 622 maintains the relative position of the third rod 62 and the second limiting block 61. A second mounting seat 64 is installed at the lower end of the third rod 62. Another gripper 4 is hinged on the second mounting seat 64, and another adjustment component is installed on the second mounting seat 64. The second transmission component 7 drives the other adjustment component to adjust the posture of the gripper 4. A second guide rail 13 is installed at the middle position of the upper part of the fixing bracket 1. A second limiting wheel 621 is installed at the upper end of the third rod 62. The second guide rail 13 adjusts the raising and lowering of the second limiting wheel 621.

[0038] It should be noted that the second guide rail 13 includes a descending section, a first ascending section, a second ascending section, and a horizontal section. The span of the descending section is equal to the span of the descending segment of the first guide rail 12, the span of the first ascending section is equal to the span of the ascending segment of the first guide rail 12, the span of the second ascending section is equal to the span of the descending outward movement segment of the first guide rail 12, and the end of the horizontal section corresponds to the end of the second downward movement segment of the first guide rail 12.

[0039] When the second limiting wheel 621 moves along the descending section, it pushes the third rod 62 to move downward and compresses the third spring 622 to deform. When the second limiting wheel 621 moves along the ascending section, the third rod 62 moves upward under the push of the elastic force of the third spring 622.

[0040] Specifically, the second transmission assembly 7 includes a second push rod 71, which is vertically arranged. The lower part of the third rod 62 is connected to a third fixed sleeve 63. The lower end of the second push rod 71 passes through the third fixed sleeve 63, and the lower end of the second push rod 71 is connected to a second rack 72. The second rack 72 cooperates with another adjusting assembly. A second horizontal plate 711 is installed on the upper end of the second push rod 71. A second protrusion 15 is provided on the lower end face of the second guide rail 13. The second protrusion 15 adjusts the lifting and lowering of the second horizontal plate 711. Another reset assembly is provided inside the third fixed sleeve 63. The other reset assembly maintains the relative position of the second push rod 71 and the third fixed sleeve 63.

[0041] It should be noted that the second protrusion 15 corresponds to the holding section to the second downward section of the first guide rail 12, and the second protrusion 15 includes a first ramp, a horizontal area and a second ramp. The span of the first ramp is equal to the span of the holding section of the first guide rail 12, the horizontal area is equal to the span from the initial end of the inner moving section to the end of the upper moving section in the first guide rail 12, the span of the second ramp is equal to the span of the second downward section, and the height of the second ramp is half of the first ramp.

[0042] When the frame 2 moves the second horizontal plate 711 downward along the first slope, the first slope pushes the second push rod 71 downward through the second horizontal plate 711. The second push rod 71 pushes the second rack 72 downward, causing the gripper 4 in the middle position to rotate 180 degrees. When the second horizontal plate 711 moves along the horizontal area, the gripper 4 in the middle position remains rotated 180 degrees. When the second horizontal plate 711 moves upward along the second slope, another reset component pushes the second push rod 71 upward and causes the second rack 72 to rise a distance equal to the height of the second slope. At this time, the second rack 72 causes the gripper 4 in the middle position to rotate 90 degrees in the opposite direction, so that the workpiece is in a horizontal state, which facilitates the unloading of the workpiece.

[0043] Specifically, the adjustment assembly includes a horizontally arranged rotating shaft 362 and a connecting shaft 365. The rotating shaft 362 is perpendicular to the right side of the first mounting base 36 or the second mounting base 64, and the connecting shaft 365 is perpendicular to the front side of the first mounting base 36 or the second mounting base 64. The rotating shaft 362 is rotatably mounted on the side of the first mounting base 36 corresponding to the first rack 52 or the side of the second mounting base 64 corresponding to the second rack 72 via a fixed base. Second helical gears 363 are installed at both ends of the rotating shaft 362. The connecting shaft 365 is rotatably connected to the first mounting base 36 or the second mounting base 64. Next, a first helical gear 361 is installed at the end of the rotating shaft 362, and a spur gear 366 is fitted in the middle of the rotating shaft 362. The spur gear 366 meshes with the first rack 52 or the second rack 72. The first helical gear 361 meshes with a second helical gear 363. The gripper 4 is rotatably connected to the first mounting seat 36 or the second mounting seat 64 through the mounting shaft. The mounting shaft is perpendicular to the right side of the first mounting seat 36 or the second mounting seat 64, and a third helical gear 364 is installed at the end of the mounting shaft. The third helical gear 364 meshes with another second helical gear 363.

[0044] Specifically, the gripper 4 includes a fixed base, on which two sets of gripping arms are hinged. Both sets of gripping arms are V-shaped. A drive assembly is provided on the fixed base, which drives the gripping arms to rotate simultaneously in opposite directions.

[0045] Specifically, the drive assembly includes a cylinder mounted on a fixed base, and adjusting rods are hinged at the bending positions of both sets of clamping arms, with the ends of the adjusting rods hinged to the extended ends of the cylinders.

[0046] Specifically, two sets of adjusting blocks 16 are provided on the inner side of the fixed frame 1. Both sets of adjusting blocks 16 are located on the inner side of the frame 2. When the frame 2 drives the gripper 4 to move from the slotting mechanism to the first welding mechanism, the adjusting blocks 16 adjust the angle of the second rod 33.

[0047] It should be noted that the span of the adjusting block 16 is equal to the span of the descending outward section of the first guide rail 12. When the frame 2 drives the first limiting wheel 321 to move along the descending outward section of the first guide rail 12, the second fixed sleeve 35 on the second rod 33 is restricted by the adjusting block 16 and rotates, and drives the grippers 4 on both sides to bend the two ends of the workpiece so that the two sides of the groove opened on the workpiece can be folded together, which facilitates the first welding mechanism to weld the workpiece.

[0048] Working principle: When the device is in use, the first feeding mechanism transports the workpiece to the first feeding station. When the frame 2 drives the gripper 4 to move to the feeding station, the descending section of the first guide rail 12 restricts the first limiting wheel 321 to move down. The first limiting wheel 321 pushes the first rod 32 to slide down along the first limiting block 31 and squeezes the first spring 322 to deform. The first rod 32 pushes the second rod 33 to move down, and the second rod 33 pushes the grippers 4 on both sides to move down.

[0049] At the same time, the descending section of the second guide rail 13 restricts the second limiting wheel 621 to move downward. The second limiting wheel 621 pushes the third rod 62 to move downward synchronously with the first rod 32, and squeezes the third spring 622 to deform. During this process, the third rod 62 pushes the middle gripper 4 to move downward.

[0050] When the three sets of grippers 4 are moved to the first loading station, the frame 2 stops moving. At this time, the cylinders on the three sets of grippers 4 extend simultaneously and push the adjusting rod to rotate. The adjusting rod drives the clamping arm to rotate, clamping the two ends and the middle position of the workpiece respectively.

[0051] As the frame 2 continues to move, the first limiting wheel 321 moves upward along the rising section of the first guide rail 12, the first spring 322 pushes the first rod 32 to move upward, the first rod 32 pulls the second rod 33 to move upward, and the second rod 33 pulls the grippers 4 on both sides to move upward.

[0052] At the same time, the second limit wheel 621 moves upward along the first rising section of the second guide rail 13, the third spring 622 pushes the third rod 62 to move upward, and the third rod 62 pulls the middle gripper 4 and the two side grippers 4 to move upward synchronously until the frame 2 drives the workpiece to the grooving station. At this time, the grooving mechanism opens an inverted V-shaped groove on the workpiece, which makes it easy for the two ends of the workpiece to bend towards the middle into a trapezoidal shape.

[0053] After the grooving is completed, the frame 2 drives the workpiece to continue moving. The first limiting wheel 321 moves along the descending outward section of the first guide rail 12 and pushes the first rod 32 to move downward and towards the end of the horizontal section of the frame 2. Under the restriction of the adjusting block 16, the second fixing sleeve 35 drives the second rod 33 to rotate, so that the two grippers 4 push the end of the workpiece to rotate around the axis perpendicular to the protruding position of the V-groove, until the two sides of the V-groove on the workpiece contact each other and the workpiece is trapezoidal.

[0054] At the same time, under the elastic force of the third spring 622, the second limiting wheel 621 slides upward along the second rising section of the second guide rail 13 and drives the third rod 62 to move upward. The third rod 62 pulls the middle gripper 4 upward until the frame 2 moves to the first welding station and the first welding mechanism welds the V-groove of the workpiece.

[0055] After the initial welding is completed, the cylinders on the two clamping jaws 4 retract and pull the adjusting rod to rotate. The adjusting rod drives the two sets of corresponding clamping arms to rotate, releasing the clamping of the workpiece.

[0056] After the grippers 4 on both sides release their grip on both sides of the workpiece, the frame 2 drives the three sets of grippers 4 to continue moving towards the loading station of the second loading mechanism. During this process, the two sets of first limit wheels 321 slide along the outer section of the first guide rail 12 and drive the two sets of first rods 32 to move away from each other. The first rods 32 drive the two sets of first limit blocks 31 to move away from each other. Because the second rod 33 is hinged to the first rod 32, the grippers 4 on both sides of the second rod 33 move away from each other until the grippers 4 on both sides are completely separated from the workpiece, without affecting the workpiece flipping.

[0057] At the same time, the second limit wheel 621 moves horizontally along the second guide rail 13. During this process, the height of the third rod 62 remains unchanged, and the height of the gripper 4, which is in the middle position, remains unchanged.

[0058] As the frame 2 drives the three sets of grippers 4 to continue moving, the first limiting wheel 321 moves along the holding section of the first guide rail 12. At this time, the grippers 4 on both sides maintain a constant height, and the second limiting wheel 621 continues to move along the horizontal section of the second guide rail 13, keeping the height of the gripper 4 in the middle constant.

[0059] At the same time, the second horizontal plate 711 is restricted by the first ramp on the second protrusion 15, which pushes the second push rod 71 to move downward. The second push rod 71 pushes the second rack 72 to move downward. Through the cooperation of the second rack 72 and the adjustment mechanism, the clamp 4 in the middle is rotated 180 degrees, so that the two ends of the workpiece are raised upward.

[0060] The frame 2 drives the three sets of grippers 4 to continue moving along the length of the limiting groove 11. The first limiting wheel 321 slides along the inner section of the first guide rail 12 and drives the first rod 32 to slide towards the middle position of the horizontal section of the frame 2. The two sets of first rods 32 move closer to each other and drive the grippers 4 on both sides to move closer to each other through the second rod 33. The second limiting wheel 621 continues to slide along the horizontal section of the second guide rail 13, keeping the height of the middle gripper 4 unchanged.

[0061] As the frame 2 continues to move the workpiece, the first limiting wheel 321 slides along the first downward section of the first guide rail 12 and pushes the first rod 32 to move downward. The first rod 32 pushes the second rod 33 to move downward. At this time, the grippers 4 on both sides move downward under the push of the second rod 33 until the frame 2 moves to the loading station of the second loading mechanism.

[0062] At this time, the second feeding mechanism transports another workpiece to the two clamping arms of the clamping jaw 4. The cylinders of the two clamping jaws 4 extend, driving the clamping arms to clamp the other workpiece.

[0063] The frame 2 continues to move along the length of the limiting groove 11, and the first limiting wheel 321 slides along the horizontal section of the first guide rail 12. During this process, the positions of the claws 4 at both ends remain unchanged. Because the first horizontal plate 511 is restricted by the inclined part of the first protrusion 14, it moves downward. The first horizontal plate 511 pushes the first push rod 51 to move downward. The first push rod 51 pushes the first rack 52 to move downward through the fixed rod 53. At the same time, it drives the stop block 532 to squeeze the second spring 531 and deform. The first rack 52 drives the claws 4 on both sides to rotate 180 degrees through the corresponding adjustment mechanism.

[0064] As the frame 2 continues to move, the first limiting wheel 321 slides along the upper section of the first guide rail 12. Under the restriction of the first spring 322, the first rod 32 pulls the second rod 33 to move upward. The second rod 33 drives the grippers 4 at both ends to move upward while maintaining a flipped state. When the first limiting wheel 321 moves to the end of the upper section of the first guide rail 12, another workpiece contacts the workpiece. At this time, the welding station of the second welding mechanism is reached. At this time, the second horizontal plate 711 slides along the second protrusion 15 to the end of the horizontal area.

[0065] After the second welding mechanism welds the two sets of workpieces together, the cylinders on the jaws 4 on both sides retract and pull the two sets of clamping arms to rotate, releasing the clamping of the other workpiece.

[0066] Next, the frame 2 drives the three sets of grippers 4 to continue moving along the length of the limiting groove 11. The first limiting wheel 321 slides along the second downward section of the first guide rail 12 and pushes the first rod 32 to move downward. The first rod 32 pushes the grippers 4 on both sides to move downward through the second rod 33, separating them from the workpiece.

[0067] Meanwhile, the second limiting wheel 621 continues to slide along the horizontal section of the second guide rail 13. During this process, the second horizontal plate 711 continues to slide along the second slope of the second protrusion 15. Another reset component pushes the second push rod 71 to keep the second horizontal plate 711 in close contact with the second slope. The second rack 72 moves upward under the pull of the second push rod 71. When the second horizontal plate 711 slides to the end of the second slope, the adjustment mechanism drives the middle gripper 4 to rotate 90 degrees in the opposite direction, so that the workpiece rotates to a horizontal state.

[0068] At this time, the frame 2 reaches the unloading station, the cylinder on the middle gripper 4 retracts, pulling the two sets of gripping arms to rotate and release the grip on the workpiece.

[0069] After the workpiece is processed, the frame 2 drives the gripper 4 to move in the opposite direction to the initial position, and repeats the above operation until all workpieces are processed.

[0070] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An intelligent self-unloading mobile gantry trolley, characterized in that: The system includes a fixed frame (1) and a frame (2). The fixed frame (1) has a grooving mechanism, a first welding mechanism, a second welding mechanism, and an unloading mechanism arranged along its length in the middle. Several wheels (21) are symmetrically arranged on the frame (2). Limiting channels (11) are symmetrically arranged at the lower part of the fixed frame (1). The wheels (21) drive the frame (2) to pass through the first loading mechanism, the grooving mechanism, the first welding mechanism, the second loading mechanism, the second welding mechanism, and the unloading mechanism in sequence along the limiting channels (11). A first mounting frame (3) and a first transmission assembly (5) are symmetrically installed on the frame (2), and a second mounting frame (3) is installed in the middle of the frame (2). The frame (6) and the second transmission assembly (7) are respectively arranged with the first mounting frame (3) and the first transmission assembly (5), and the second mounting frame (6) and the second transmission assembly (7) are respectively arranged with the second mounting frame (6) and the second mounting frame (6). The lower ends of the first mounting frame (3) and the second mounting frame (6) are connected with grippers (4). When the frame (2) moves along the limiting groove (11), the first mounting frame (3) and the second mounting frame (6) adjust the position of the grippers (4), and the first transmission assembly (5) and the second transmission assembly (7) adjust the posture of the grippers (4) so ​​that the workpiece cooperates with the first feeding mechanism, the grooving mechanism, the first welding mechanism, the second feeding mechanism, the second welding mechanism and the unloading mechanism. The first mounting bracket (3) includes a first limiting block (31), a vertically arranged first rod (32) is connected through the first limiting block (31), a second rod (33) is hinged to the lower end of the first rod (32), and a first guide rail (12) is installed on the upper part of the fixing bracket (1). The first transmission assembly (5) includes a first push rod (51) and a fixed rod (53). Both the first push rod (51) and the fixed rod (53) are vertically arranged, with the first push rod (51) positioned above the fixed rod (53). A first fixed sleeve (34) is installed on the first rod (32) to restrict the movement of the first push rod (51) in the vertical direction. The lower end of the first push rod (51) passes through the first fixed sleeve (34). A second fixed sleeve (35) is installed on the second rod (33) to restrict the movement of the fixed rod (53) in the vertical direction. 53) A first rack (52) is fixedly connected through the second fixed sleeve (35). A reset component is provided inside the second fixed sleeve (35). The reset component maintains the relative position of the fixed rod (53) and the second fixed sleeve (35). The first rack (52) cooperates with the adjustment component. The upper end of the first push rod (51) is connected to the first horizontal plate (511). The lower end face of the first guide rail (12) is equipped with a first protrusion (14). The first protrusion (14) adjusts the first horizontal plate (511) to adjust the lifting of the first horizontal plate (511). The second mounting bracket (6) includes a second limiting block (61) and a third rod (62), and a second guide rail (13) is installed at the upper middle position of the fixing bracket (1); The second transmission assembly (7) includes a second push rod (71), which is vertically arranged. The lower part of the third rod (62) is connected to a third fixed sleeve (63). The lower end of the second push rod (71) passes through the third fixed sleeve (63), and the lower end of the second push rod (71) is connected to a second rack (72). The second rack (72) cooperates with another adjustment assembly. The upper end of the second push rod (71) is equipped with a second horizontal plate (711). The lower end face of the second guide rail (13) is provided with a second protrusion (15). The second protrusion (15) adjusts the lifting and lowering of the second horizontal plate (711). Another reset assembly is provided inside the third fixed sleeve (63). The other reset assembly maintains the relative position of the second push rod (71) and the third fixed sleeve (63).

2. The intelligent self-unloading mobile gantry trolley according to claim 1, characterized in that: The first limiting block (31) is slidably installed on the horizontal part of the frame (2). The horizontal part of the frame (2) is symmetrically provided with limiting grooves to limit the sliding direction of the first limiting block (31). The upper part of the first rod (32) is fitted with a first spring (322). The first spring (322) maintains the relative position of the first rod (32) and the first limiting block (31). The lower end of the second rod (33) is fixedly connected to a first mounting base (36). A gripper (4) is rotatably connected to the first mounting base (36). An adjustment component that cooperates with the first transmission component (5) is installed on the first mounting base (36). The first transmission component (5) drives the adjustment component to adjust the posture of the gripper (4). The upper end of the first rod (32) is fixedly connected to a first limiting wheel (321). The first guide rail (12) adjusts the height and horizontal position of the first limiting wheel (321).

3. The intelligent self-unloading mobile gantry trolley according to claim 2, characterized in that: The reset assembly includes a stop (532) which is mounted on the upper part of the fixed rod (53). A second spring (531) is mounted on the fixed rod (53). The second spring (531) maintains the relative position of the fixed rod (53) and the second fixed sleeve (35) through the stop (532).

4. The intelligent self-unloading mobile gantry trolley according to claim 3, characterized in that: The second limiting block (61) is fixedly connected to the middle of the frame (2). The third rod (62) is set vertically, and the upper end of the third rod (62) passes through the second limiting block (61). The upper end of the third rod (62) is fitted with a third spring (622). The third spring (622) maintains the relative position of the third rod (62) and the second limiting block (61). The lower end of the third rod (62) is fitted with a second mounting seat (64). Another gripper (4) is hinged on the second mounting seat (64). Another adjustment component is installed on the second mounting seat (64). The second transmission component (7) drives the other adjustment component to adjust the posture of the gripper (4). The upper end of the third rod (62) is fitted with a second limiting wheel (621). The second guide rail (13) adjusts the lifting and lowering of the second limiting wheel (621).

5. The intelligent self-unloading mobile gantry trolley according to claim 4, characterized in that: The adjustment assembly includes a horizontally positioned rotating shaft (362) and a connecting shaft (365). The rotating shaft (362) is perpendicular to the right side of the first mounting base (36) or the second mounting base (64), and the connecting shaft (365) is perpendicular to the front side of the first mounting base (36) or the second mounting base (64). The rotating shaft (362) is rotatably mounted on the side of the first mounting base (36) corresponding to the first rack (52) or the side of the second mounting base (64) corresponding to the second rack (72) via a fixed base. Second helical gears (363) are mounted at both ends of the rotating shaft (362). The connecting shaft (365) is rotatably connected to the first mounting base (36) or the second mounting base (64). A first helical gear (361) is installed at the end of the rotating shaft (362), and a spur gear (366) is fitted in the middle of the rotating shaft (362). The spur gear (366) meshes with the first rack (52) or the second rack (72). The first helical gear (361) meshes with a second helical gear (363). The gripper (4) is rotatably connected to the first mounting seat (36) or the second mounting seat (64) through the mounting shaft. The mounting shaft is perpendicular to the right side of the first mounting seat (36) or the second mounting seat (64), and a third helical gear (364) is installed at the end of the mounting shaft. The third helical gear (364) meshes with another second helical gear (363).

6. The intelligent self-unloading mobile gantry trolley according to claim 5, characterized in that: The gripper (4) includes a fixed base, on which two sets of gripping arms are hinged. Both sets of gripping arms are V-shaped. A drive assembly is provided on the fixed base, which drives the gripping arms to rotate simultaneously in opposite directions.

7. The intelligent self-unloading mobile gantry trolley according to claim 6, characterized in that: The drive assembly includes a cylinder mounted on a fixed base, and adjusting rods are hinged to the bent positions of both sets of clamping arms. The ends of the adjusting rods are hinged to the extended ends of the cylinders.

8. The intelligent self-unloading mobile gantry trolley according to claim 7, characterized in that: Two sets of adjusting blocks (16) are provided on the inner side of the fixed frame (1). Both sets of adjusting blocks (16) are located on the inner side of the frame (2). When the frame (2) drives the gripper (4) to move from the slotting mechanism to the first welding mechanism, the adjusting blocks (16) adjust the angle of the second rod (33).

Images