Heavy-duty off-center load workpiece automatic hoisting apparatus and method

Abstract

The application provides a heavy-duty eccentric load workpiece automatic hoisting device and method thereof, which comprises a hoisting device, a leveling device and a control system, the hoisting device and the leveling device are electrically connected with the control system respectively, the hoisting device comprises a truss manipulator, a gripper and a vision system, the gripper is connected to the truss manipulator, the truss manipulator can drive the gripper to move and rotate in three axes, the leveling device comprises an auxiliary hanging mechanism, a telescopic mechanism and a distance measuring mechanism, one end of the telescopic mechanism is connected to the truss manipulator, the other end of the telescopic mechanism is connected to the auxiliary hanging mechanism, the distance measuring mechanism is electrically connected with the control system, the control system can control the gripper and the auxiliary hanging mechanism to automatically hoist and adjust the workpiece, and the distance measuring mechanism is used for measuring the distances of two ends of the hoisted workpiece and feeding data back to the control system. The heavy-duty eccentric load workpiece automatic hoisting device can automatically hoist and level the workpiece, improve the hoisting efficiency and reduce the impact force on the workpiece and the equipment.

Description

Technical Field

[0001] This invention relates to the field of mechanical hoisting technology, and in particular to an automatic hoisting device and method for heavy-duty off-center-loaded workpieces. Background Technology

[0002] In the lifting of various large components using heavy machinery overhead cranes, situations frequently arise where the workpiece tilts due to uneven loading after lifting, making direct installation impossible. Currently, the industry typically uses ordinary lifting tools and manual adjustments to level the workpiece, relying on visual inspection. However, this method is inefficient due to the high lifting point of the workpiece, making leveling difficult and prone to causing impacts to the workpiece and equipment during placement. Furthermore, when lifting irregularly shaped workpieces, visual inspection is challenging, and ordinary grippers are insufficient, further increasing the difficulty and inefficiency of the lifting operation. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an automatic lifting device for heavy-duty off-center load workpieces, which can automatically lift and level the workpieces, improve the lifting efficiency, and reduce the impact force on the workpieces and equipment.

[0004] This invention provides an automatic lifting device for heavy-duty off-center-loaded workpieces, including a lifting device, a leveling device, and a control system. The lifting device and the leveling device are electrically connected to the control system. The lifting device includes a gantry manipulator, a gripper, and a vision system. The gripper is connected to the gantry manipulator, which can drive the gripper to move and rotate along three axes. The gripper is used to grasp the workpiece. The vision system is used to identify the position of the workpiece and the height difference between the workpiece and the initial position of the gripper. The leveling device includes an auxiliary hanging mechanism, a telescopic mechanism, and a distance measuring mechanism. One end of the telescopic mechanism is connected to the gantry manipulator, and the other end is connected to the auxiliary hanging mechanism. The distance measuring mechanism is electrically connected to the control system. The control system can control the gripper and the auxiliary hanging mechanism to automatically lift and adjust the workpiece. The distance measuring mechanism is used to measure the distance between the two ends of the lifted workpiece and feed the data back to the control system.

[0005] In one embodiment, the truss manipulator includes a mounting base and a first drive mechanism connected to the mounting base. The mounting base is rotatable about the Z-axis. The first drive mechanism includes a first motor and left and right helical screws. The gripper includes a first gripper assembly and a second gripper assembly disposed opposite to each other. The first gripper assembly and the second gripper assembly are respectively threadedly connected to the left and right helical screws. When the first motor is working, the left and right helical screws drive the first gripper assembly and the second gripper assembly to move closer to each other or further away from each other.

[0006] In one embodiment, the gantry manipulator includes a second drive mechanism, a second connecting block, a third drive mechanism, a third connecting block, a fourth drive mechanism, and a fourth connecting block. The second connecting block is slidably connected to the second drive mechanism, and the third drive mechanism is connected to the second connecting block. The second drive mechanism can drive the second connecting block to move the third drive mechanism along the X-axis. The third connecting block is slidably connected to the third drive mechanism. The fourth drive mechanism is connected to the third connecting block, and the third drive mechanism can drive the third connecting block to move the fourth drive mechanism along the Y-axis. The fourth connecting block is connected to the fourth drive mechanism. The mounting base is connected to the fourth connecting block, and the fourth drive mechanism can drive the fourth connecting block to move the mounting base along the Z-axis.

[0007] In one embodiment, the fourth drive mechanism includes a fourth motor, which drives the fourth connecting block to move along the Z-axis. After the control system determines that the workpiece is safely dropped based on the load change of the fourth motor, the control system controls the gripper to automatically release itself.

[0008] In one embodiment, the truss manipulator includes a drive motor connected to the fourth connecting block, the drive motor being connected between the mounting base and the fourth connecting block, and the drive motor being capable of driving the mounting base to rotate.

[0009] In one embodiment, the telescopic mechanisms are a first telescopic mechanism and a second telescopic mechanism, and the auxiliary suspension mechanism includes a first lifting member and a second lifting member. The first lifting member is connected to the first telescopic mechanism, and the second lifting member is connected to the second telescopic mechanism. The workpiece includes a first lifting point and a second lifting point. The first lifting point and the second lifting point are spaced apart along the length direction of the workpiece. The first lifting member suspends the first lifting point, and the second lifting member suspends the second lifting point.

[0010] In one embodiment, the telescopic mechanism is an electric actuator, one end of which is connected to the mounting base, and the other end of which is connected to the auxiliary suspension mechanism. The electric actuator can drive the auxiliary suspension mechanism to move along the Z-axis.

[0011] In one embodiment, the ranging mechanism is a laser rangefinder or a 3D camera, and the ranging mechanism is mounted on the ground.

[0012] In one embodiment, two ranging mechanisms are provided, and the two ranging mechanisms are spaced apart.

[0013] The present invention also relates to a method for the above-mentioned automatic hoisting equipment for heavy off-center loaded workpieces, the method comprising:

[0014] The workpiece is delivered to the workstation, and the workpiece is horizontally positioned.

[0015] The vehicle model is input into the control system, which then controls the gantry robot to move to the installation position. The vision system confirms the location of the installation position and transmits the data to the control system.

[0016] The control system controls the gantry robot to move to the workstation, and the vision system confirms the position of the main arm pin of the workpiece.

[0017] The control system controls the gantry robot to adjust its posture and grab the main boom pin, so that the gantry robot can lift the workpiece.

[0018] The ranging mechanism measures the height difference between two points on the flange face of the workpiece. When the height difference between the two points on the flange face is inconsistent, the control system controls the telescopic mechanism to adjust the lifting point height of the auxiliary hanging mechanism to ensure that the height between the two points on the flange face is consistent.

[0019] The heavy-duty off-center workpiece automatic lifting equipment of the present invention enables the gripper to move and rotate in three axes through a gantry manipulator. The vision system can identify the position of the workpiece and the height difference between the workpiece and the initial position of the gripper. After the gripper automatically grabs the workpiece, the distance measuring mechanism measures the distance between the lower surfaces of both ends of the workpiece. The distance measuring mechanism feeds the collected data back to the control system. The control system determines whether the workpiece needs to be leveled based on the data. If the height difference between the two ends of the workpiece is inconsistent, the control system controls the telescopic mechanism to extend and retract to adjust the height of the auxiliary lifting mechanism, thereby automatically leveling the lower surfaces of both ends of the workpiece. The lifting efficiency is significantly improved, and the impact on the workpiece and equipment is reduced. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a structural schematic diagram of the heavy-duty off-center load automatic lifting equipment for workpieces of the present invention;

[0022] Figure 2 This is a side view of the automatic hoisting equipment for heavy-duty off-center load workpieces of the present invention;

[0023] Figure 3 This is a partial structural schematic diagram of the heavy-duty off-center load automatic hoisting equipment of the present invention;

[0024] Reference numerals in the attached diagrams: truss robot - 11; mounting base - 111; slide rail - 1111; first motor - 1121; left and right rotary lead screw - 1122; second drive mechanism - 113; second connecting block - 114; third drive mechanism - 115; fourth drive mechanism - 117; gripper - 12; first gripper assembly - 121; first mounting block - 1211; first gripper - 1212; first slider - 1213; second gripper assembly - 122; second mounting block - 1221; second gripper - 1222; second slider - 1223; vision system - 13; first lifting component - 141; first lifting rope - 1411; first hook - 1412; second lifting component - 142; second lifting rope - 1421; second hook - 1422; first telescopic mechanism - 151; second telescopic mechanism - 152; distance measuring mechanism - 16.

[0025] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0027] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0028] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of description and simplification, 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 present invention.

[0029] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0030] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0031] like Figures 1 to 3 As shown, the heavy-duty off-center workpiece automatic lifting equipment includes a lifting device, a leveling device, and a control system. The lifting device and the leveling device are electrically connected to the control system. The lifting device includes a gantry robot 11, a gripper 12, and a vision system 13. The gripper 12 is connected to the gantry robot 11, which can drive the gripper 12 to move and rotate along three axes: X-axis, Y-axis, and Z-axis. Rotation refers to rotation around the Z-axis. The gripper 12 is used to grasp the workpiece. The vision system 13 is used to identify the position of the workpiece and the height difference between the workpiece and the initial position of the gripper 12. The vision system 13 is preferably a three-dimensional camera, which accurately identifies the position of the main boom pin of the workpiece and the height difference between the workpiece and the initial position of the gripper 12 by taking pictures. The leveling device includes an auxiliary hanging mechanism, a telescopic mechanism, and a distance measuring mechanism 16. One end of the telescopic mechanism is connected to the gantry robot 11. The other end of the structure is connected to the auxiliary lifting mechanism. The ranging mechanism 16 is electrically connected to the control system, which may be a PLC, motion control system, or microcontroller. The control system can control the gripper 12 and the auxiliary lifting mechanism to automatically lift and adjust the workpiece. The ranging mechanism 16 is used to measure the distance between the two ends of the lifted workpiece and feed the data back to the control system. The control system interacts with the upper-level MES system to obtain information on different vehicle models, enabling the control system to control the gantry robot 11 to automatically move to the position of the workpiece. It can be understood that the control system is the system of the heavy-duty off-center workpiece automatic lifting equipment, and the MES system is a cloud system. When the flange surface of the workpiece is tilted and the height difference between the two points of the flange surface is inconsistent, the control system controls the telescopic mechanism to extend and retract to adjust the height of the auxiliary lifting mechanism, thereby automatically leveling the flange surface of the workpiece. The ranging mechanism 16 is a laser rangefinder or a 3D camera. The ranging mechanism 16 is installed on the ground. There are two ranging mechanisms 16, which are spaced apart along the Y-axis. The ranging mechanism 16 identifies the front and rear height difference of the lower surface of the workpiece. When the workpiece is regular, an auxiliary lifting mechanism is not required. However, when the workpiece is irregular, it cannot be lifted using a gripper, so an auxiliary lifting mechanism is required.

[0032] The heavy-duty off-center workpiece automatic hoisting equipment of the present invention enables the gripper 12 to move and rotate in three axes through the gantry manipulator 11. The vision system 13 can identify the position of the workpiece and the height difference between the workpiece and the initial position of the gripper 12. After the gripper 12 automatically grabs the workpiece, the distance measuring mechanism 16 measures the distance between the lower surfaces of both ends of the workpiece. The distance measuring mechanism 16 feeds the collected data back to the control system. The control system determines whether the workpiece needs to be leveled based on the data. If the height difference between two points on the flange surface of the workpiece is inconsistent, the control system controls the telescopic mechanism to extend and retract to adjust the height of the auxiliary hoisting mechanism, thereby automatically leveling the flange surface of the workpiece. The hoisting efficiency is significantly improved, and the impact on the workpiece and equipment is reduced.

[0033] Please continue to refer to this. Figures 1 to 3The gantry robot 11 includes a mounting base 111 and a first drive mechanism connected to the mounting base 111. The mounting base 111 can rotate around the Z-axis. The first drive mechanism includes a first motor 1121 and left and right helical screws 1122. The gripper 12 includes a first gripper assembly 121 and a second gripper assembly 122 arranged opposite to each other. The first gripper assembly 121 and the second gripper assembly 122 are respectively threadedly connected to the left and right helical screws 1122. When the first motor 1121 is working, the left and right helical screws 1122 drive the first gripper assembly 121 and the second gripper assembly 122 to move closer to each other or further away from each other.In this embodiment, the first gripper assembly 121 includes a first mounting block 1211 and two first grippers 1212, which are spaced apart and connected to the first mounting block 1211. The first mounting block 1211 is threadedly connected to the left end of the left-hand and right-hand lead screw 1122. The second gripper assembly 122 includes a second mounting block 1221 and two second grippers 1222, which are spaced apart and connected to the second mounting block 1221. The second mounting block 1221 is threadedly connected to the right end of the left-hand and right-hand lead screw 1122. The first grippers 1212 and the second grippers 1222 cooperate to grip the workpiece. Both the first gripper 1212 and the second gripper 1222 are rigid structures. The two first grippers 1212 and the two second grippers 1222 increase the clamping force and stability on the workpiece, allowing continued use even if one gripper malfunctions. The mounting base 111 also includes a slide rail 1111. The first drive mechanism further includes a first slider 1213, with the first mounting block 1211 fixedly connected to the first slider 1213, which is slidably connected to the slide rail 1111. The second drive mechanism 113 also includes a second slider 1223, with the second mounting block 1221 fixedly connected to the second slider 1223, which is slidably connected to the slide rail 1111. When the first motor... When the left and right rotating screw 1122 is driven to rotate by 1121, the first mounting block 1211 and the second mounting block 1221 move toward each other or away from each other. At this time, the first slider 1213 and the second slider 1223 move on the slide rail 1111 respectively to reduce the moving resistance of the first gripper assembly 121 and the second gripper assembly 122. In particular, the number of left and right rotating screws 1122, the first motor 1121 and the slide rail 1111 in this embodiment can be arranged according to requirements. For example, one first motor 1121 and one left and right rotating screw 1122 are respectively provided, and one slide rail 1111 is provided. The left and right rotating screw 1122 is connected to one end of the first mounting block 1211 and the second mounting block 1222. One end of the two mounting blocks 1221 is connected to the slide rail 1111 via the first slider 1213, and the other end of the second mounting block 1221 is connected to the slide rail 1111 via the second slider 1223. The slide rail 1111 and the left and right rotating screws 1122 are respectively set at both ends of the first mounting block 1211 / second mounting block 1221. The first motor 1121 and the left and right rotating screws 1122 are provided in twos, and the slide rail 1111 is provided in twos. Each left and right rotating screw 1122 is correspondingly set with each slide rail 1111, that is, each end of the first mounting block 1211 and each end of the second mounting block 1221 are provided with a left and right rotating screw 1122 and a slide rail 1111.

[0034] Preferably, the gantry robot 11 includes a second drive mechanism 113, a second connecting block 114, a third drive mechanism 115, a third connecting block, a fourth drive mechanism 117, and a fourth connecting block. The second connecting block 114 is slidably connected to the second drive mechanism 113, and the third drive mechanism 115 is connected to the second connecting block 114. The second drive mechanism 113 can drive the second connecting block 114 to move the third drive mechanism 115 along the X-axis direction. The second drive mechanism 113 includes a second motor, a second support frame, and a second lead screw. The second motor is fixedly connected to the second support frame, and the second lead screw is arranged along the length direction of the second support frame and connected to the second support frame. The second motor is connected to the second lead screw, and the second connecting block 114 is threadedly connected to the second lead screw. When the second motor is driven, the second lead screw drives the second connecting block 114 and the third drive mechanism 115 connected to the second connecting block 114 to move along the X-axis direction, which is the length direction of the second support frame.

[0035] Preferably, the third connecting block is slidably connected to the third driving mechanism 115, and the fourth driving mechanism 117 is connected to the third connecting block. The third driving mechanism 115 can drive the third connecting block to move the fourth driving mechanism 117 along the Y-axis direction. The third driving mechanism 115 includes a third motor, a third support frame, and a third lead screw. The third motor is fixedly connected to the third support frame, and the third lead screw is arranged along the length direction of the third support frame and connected to the third support frame. The third motor is connected to the third lead screw, and the third connecting block is threadedly connected to the third lead screw. When the third motor is driven, the third lead screw drives the third connecting block and the fourth driving mechanism 117 connected to the third connecting block to move along the Y-axis direction, which is the length direction of the third support frame.

[0036] Preferably, the fourth connecting block is connected to the fourth drive mechanism 117, and the mounting base 111 is connected to the fourth connecting block. The fourth drive mechanism 117 can drive the fourth connecting block to move the mounting base 111 along the Z-axis direction. The fourth drive mechanism 117 includes a fourth motor, a fourth support frame, and a fourth lead screw. The fourth motor is fixedly connected to the fourth support frame, and the fourth lead screw is arranged along the length direction of the fourth support frame and connected to the fourth support frame. The fourth motor is connected to the fourth lead screw, and the fourth connecting block is threadedly connected to the fourth lead screw. When the fourth motor is driven, the fourth lead screw drives the fourth connecting block and the mounting base 111 connected to the fourth connecting block to move along the Z-axis direction, which is the length direction of the fourth support frame.

[0037] Preferably, the gantry robot 11 includes a drive motor connected to a fourth connecting block, and the drive motor is connected between the mounting base 111 and the fourth connecting block. The drive motor can drive the mounting base 111 to rotate around the Z-axis.

[0038] Preferably, after the control system determines that the workpiece is safely dropped based on the load change of the fourth motor, the control system controls the gripper 12 to automatically release the gripper.

[0039] Preferably, the telescopic mechanisms are a first telescopic mechanism 151 and a second telescopic mechanism 152, and the auxiliary hanging mechanism includes a first lifting component 141 and a second lifting component 142. The first lifting component 141 is connected to the first telescopic mechanism 151, and the second lifting component 142 is connected to the second telescopic mechanism 152. The workpiece includes a first lifting point and a second lifting point. The first lifting point and the second lifting point are spaced apart along the length direction of the workpiece. The first lifting component 141 hangs the first lifting point, and the second lifting component 142 hangs the second lifting point. In this embodiment, the first lifting component 141 includes a first lifting rope 1411 and a first hook 1412. The first lifting rope 1411 is connected to the first telescopic mechanism 151, and the first hook 1412 is manually suspended to the other end of the first lifting rope 1411. The first lifting point is usually the first ear plate of the workpiece. The second lifting component 142 includes a second lifting rope 1421 and a second hook 1422. The second lifting rope 1421 is connected to the second telescopic mechanism 152, and the second hook 1422 is manually suspended to the other end of the second lifting rope 1421. The second lifting point is usually the second ear plate of the workpiece. The first lifting rope 1411 and the second lifting rope 1421 are, for example, steel ropes or nylon ropes. Both the first and second lifting points are selected at low-lying process holes to eliminate the dangerous high-altitude operation of manually climbing to pick up and drop the hooks, and to avoid workers picking up and dropping the first hook 1412 and the second hook 1422 at high altitudes.

[0040] Preferably, the telescopic mechanism is an electric actuator, one end of which is connected to the mounting base 111, and the other end of which is connected to an auxiliary suspension mechanism. The electric actuator can drive the auxiliary suspension mechanism to move along the Z-axis. In other embodiments, the telescopic mechanism may also be a hydraulic cylinder or a pneumatic cylinder, but is not limited thereto.

[0041] This invention relates to a method for an automatic hoisting device for heavy, off-center-loaded workpieces, the method comprising:

[0042] S1. The workpiece is delivered to the workstation, which is horizontally positioned; the AGV delivers the workpiece to the workstation.

[0043] S2. Input the vehicle model into the control system. The control system controls the gantry robot 11 to move to the installation position. The vision system 13 confirms the position of the installation position and transmits the data to the control system. Alternatively, by manually inputting the vehicle model, the control system interacts with the upper system to obtain the corresponding vehicle model data. The control system controls the gantry robot 11 to move to the installation position based on the vehicle model data. The vision system 13 takes a picture of the installation position to confirm the coordinates of the installation position and transmits the coordinate data to the control system.

[0044] S3. The control system controls the gantry robot 11 to move to the workstation, and the vision system 13 confirms the position of the main arm pin of the workpiece.

[0045] S4. The control system controls the gantry robot 11 to adjust its posture and grasp the main boom pin, causing the gantry robot to lift the workpiece. At this time, the operator manually attaches the first hook 1412 and the second hook 1422 to the first lifting rope 1411 and the second lifting rope 1421, respectively. Then, after the operator gives the lifting command, the gantry robot 11 lifts the workpiece off the incoming material pallet.

[0046] S5. The gantry robot 11 hoists the workpiece above the distance measuring mechanism 16. The distance measuring mechanism 16 measures the height difference between the two ends of the workpiece, that is, the height difference between two points on the inclined flange surface at the bottom of the workpiece. When the height difference between the two ends of the workpiece is inconsistent, the control system controls the telescopic mechanism to adjust the height of the lifting point of the auxiliary hanging mechanism to ensure that the height of the two ends of the workpiece is consistent.

[0047] S6. The telescopic mechanism automatically adjusts the height of the workpiece auxiliary hanging mechanism until the front and rear heights of the flange at the bottom of the workpiece are consistent.

[0048] S7. The gantry robot 11 automatically moves to the installation position of the workpiece; the gantry robot 11 determines the position and the load change of the fourth motor through the vision system 13, determines whether the workpiece can be safely dropped, and automatically releases the gripper.

[0049] S8. Manually release the first hook 1412 and the second hook 1422; reset the equipment; the control system stores the leveling stroke data of this model.

[0050] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An automatic hoisting device for heavy-duty off-center loaded workpieces, characterized in that, The system includes a lifting device, a leveling device, and a control system. The lifting device and the leveling device are electrically connected to the control system. The lifting device includes a gantry manipulator (11), a gripper (12), and a vision system (13). The gripper (12) is connected to the gantry manipulator (11), and the gantry manipulator (11) can drive the gripper (12) to perform three-axis movement and rotation. The gripper (12) is used to grasp the workpiece. The vision system (13) is used to identify the position of the workpiece and the height difference between the workpiece and the initial position of the gripper (12). The leveling device includes an auxiliary hanging mechanism, a telescopic mechanism, and a distance measuring mechanism (16). One end of the telescopic mechanism is connected to the gantry manipulator (11), and the other end of the telescopic mechanism is connected to the auxiliary hanging mechanism. The distance measuring mechanism (16) is electrically connected to the control system. The control system can control the gripper (12) to automatically lift the workpiece. The control system can control the telescopic mechanism to extend and retract to adjust the height of the auxiliary hanging mechanism. The distance measuring mechanism (16) is used to measure the distance between the two ends of the lifted workpiece and feed the data back to the control system. The telescopic mechanisms are a first telescopic mechanism (151) and a second telescopic mechanism (152). The auxiliary hanging mechanism includes a first lifting component (141) and a second lifting component (142). The first lifting component (141) is connected to the first telescopic mechanism (151), and the second lifting component (142) is connected to the second telescopic mechanism (152). The workpiece includes a first lifting point and a second lifting point. The first lifting point and the second lifting point are spaced apart along the length direction of the workpiece. The first lifting component (141) hangs the first lifting point, and the second lifting component (142) hangs the second lifting point. The first lifting component (141) and the second lifting component (142) hang the irregular workpiece. And / or the first telescopic mechanism (151) and the second telescopic mechanism (152) extend and retract the first lifting member (141) and the second lifting member (142) respectively to level the workpiece.

2. The automatic hoisting equipment for heavy-duty off-center load workpieces as described in claim 1, characterized in that, The gantry manipulator (11) includes a mounting base (111) and a first drive mechanism connected to the mounting base (111). The mounting base (111) is rotatable about the Z-axis. The first drive mechanism includes a first motor (1121) and a left-hand and right-hand screw (1122). The gripper (12) includes a first gripper assembly (121) and a second gripper assembly (122) arranged opposite to each other. The first gripper assembly (121) and the second gripper assembly (122) are threadedly connected to the left-hand and right-hand screw (1122). When the first motor (1121) is working, the left-hand and right-hand screw (1122) drives the first gripper assembly (121) and the second gripper assembly (122) to move closer to each other or further away from each other.

3. The heavy-duty off-center load automatic hoisting equipment as described in claim 2, characterized in that, The gantry manipulator (11) includes a second drive mechanism (113), a second connecting block (114), a third drive mechanism (115), a third connecting block, a fourth drive mechanism (117), and a fourth connecting block. The second connecting block (114) is slidably connected to the second drive mechanism (113), and the third drive mechanism (115) is connected to the second connecting block (114). The second drive mechanism (113) can drive the second connecting block (114) to move the third drive mechanism (115) along the X-axis. The third connecting block is slidably connected to the third driving mechanism (115), the fourth driving mechanism (117) is connected to the third connecting block, the third driving mechanism (115) can drive the third connecting block to move the fourth driving mechanism (117) along the Y-axis direction, the fourth connecting block is connected to the fourth driving mechanism (117), the mounting base (111) is connected to the fourth connecting block, and the fourth driving mechanism (117) can drive the fourth connecting block to move the mounting base (111) along the Z-axis direction.

4. The heavy-duty off-center load automatic hoisting equipment as described in claim 3, characterized in that, The fourth drive mechanism (117) includes a fourth motor, which drives the fourth connecting block to move along the Z-axis. After the control system determines that the workpiece is safely dropped based on the load change of the fourth motor, the control system controls the gripper (12) to automatically release the gripper.

5. The automatic hoisting equipment for heavy-duty off-center load workpieces as described in claim 3, characterized in that, The truss manipulator (11) includes a drive motor connected to the fourth connecting block. The drive motor is connected between the mounting base (111) and the fourth connecting block, and the drive motor can drive the mounting base (111) to rotate.

6. The automatic hoisting equipment for heavy-duty off-center load workpieces as described in claim 1, characterized in that, The telescopic mechanism is an electric actuator. One end of the electric actuator is connected to the mounting base (111) of the truss manipulator (11), and the other end of the electric actuator is connected to the auxiliary suspension mechanism. The electric actuator can drive the auxiliary suspension mechanism to move along the Z-axis.

7. The automatic hoisting equipment for heavy-duty off-center load workpieces as described in claim 1, characterized in that, The ranging mechanism (16) is a laser rangefinder or a three-dimensional camera, and the ranging mechanism (16) is installed on the ground.

8. The heavy-duty off-center load automatic hoisting equipment as described in claim 7, characterized in that, There are two ranging mechanisms (16), and the two ranging mechanisms (16) are spaced apart.

9. A method for use in the automatic hoisting equipment for heavy-duty off-center load workpieces as described in any one of claims 1 to 8, characterized in that, The method includes: The workpiece is delivered to the workstation, and the workpiece is horizontally positioned. The vehicle model is input into the control system, which then controls the gantry robot (11) to move to the installation position. The vision system (13) confirms the position of the installation position and transmits the data to the control system. The control system controls the gantry robot (11) to move to the workstation, and the vision system (13) confirms the position of the main arm pin of the workpiece; The control system controls the gantry manipulator (11) to adjust its posture and grab the main arm pin, so that the gantry manipulator can lift the workpiece. The distance measuring mechanism (16) measures the height difference between two points on the flange surface of the workpiece. When the height difference between the two points on the flange surface is inconsistent, the control system controls the telescopic mechanism to adjust the height of the lifting point of the auxiliary hanging mechanism to ensure that the height between the two points on the flange surface is consistent.

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