Plate carrying device and carrying method

Abstract

The plate carrying device comprises a truss mechanism, a large travelling crane mechanism, a small travelling crane mechanism and a clamp mechanism, the small travelling crane mechanism comprises a small travelling crane assembly and a swing arm assembly, and the swing arm assembly comprises a first arm, a second arm, a mounting base, a driving assembly, a first base, a second base, a steel wire rope and a winding assembly. The first arm comprises a plurality of first swing arms and first rods, the second arm comprises second rods and second swing arms, and each first swing arm comprises a first rotating column A, a first rotating column B, a first sectional material and a first arc-shaped tooth arranged at the lower end of the first sectional material; the second swing arm comprises a second rotating column A, a second rotating column B, a second sectional material and a second arc-shaped tooth arranged at the upper end of the second sectional material, and the first arc-shaped tooth is meshed with the second arc-shaped tooth. The swing arm assembly has the advantage of low requirements on equipment plants. The first arm and the second arm are more stable during synchronous rotation, and the stability and safety of the whole swing arm assembly are effectively enhanced.

Description

Technical Field

[0001] The present invention relates to the field of conveying devices, and in particular to a plate conveying device and a conveying method. Background Art

[0002] There are many types of smart home panels, which need to be picked and sorted in order before further production. Manual picking is time-consuming and labor-intensive, and the efficiency is very low, which cannot meet the increasing production needs. Therefore, more and more manufacturers are beginning to use truss robots to replace manual plate sorting. However, conventional trusses generally use gear racks and guide rail structures, which have high processing and assembly requirements and high production costs. In addition, due to the limitations of traditional truss mechanical structures, the Z axis is generally a profile with a guide rail for lifting and lowering. When it is lifted to a high position, it will occupy the top space, and the plant space utilization rate is low.

[0003] In view of this, it is necessary to provide a plate conveying device and a conveying method. Summary of the invention

[0004] The present invention provides a plate handling device and a handling method, which effectively solves the problem that the Z-axis lifting mechanism of the existing plate handling device occupies a large space during lifting.

[0005] The technical solution adopted by the present invention is

[0006] A plate handling device comprises a truss mechanism, a large crane mechanism sliding along the X direction of the truss mechanism, a small crane mechanism sliding along the Y direction of the large crane mechanism, and also comprises a clamp mechanism arranged on the small crane mechanism, the small crane mechanism comprises a small crane assembly sliding along the Y direction of the large crane mechanism and a swing arm assembly rotatably connected to the small crane assembly, the lower end of the swing arm assembly is fixedly connected to the clamp mechanism, the swing arm assembly comprises a No. 1 arm, a No. 2 arm, a mounting seat hinged to the upper end of the No. 1 arm and horizontally rotatably connected to the small crane assembly, a driving assembly arranged on the small crane assembly for driving the mounting seat to rotate, a No. 1 seat hinged to the lower end of the No. 1 arm and the upper end of the No. 2 arm, a No. 2 seat hinged to the lower end of the No. 2 arm, a steel wire rope connected at one end to the No. 2 seat, and a reel arranged on the small crane assembly for reeling in the other end of the steel wire rope Roll assembly; the No. 1 arm includes a plurality of No. 1 swing arms and a No. 1 rod, the No. 2 arm includes a plurality of No. 2 rods and a No. 2 swing arm, both ends of the No. 1 swing arm and the No. 1 rod are respectively hinged to the mounting seat and the No. 1 seat, and both ends of the No. 2 rod and the No. 2 swing arm are respectively hinged to the No. 1 seat and the No. 2 seat, the No. 1 swing arm includes a No. 1 rotating column A hinged to the mounting seat, a No. 1 rotating column B hinged to the No. 1 seat, a No. 1 profile connected to the No. 1 rotating column A and the No. 1 rotating column B at both ends, and a No. 1 arc-shaped tooth arranged at the lower end of the No. 1 profile, the No. 2 swing arm includes a No. 2 rotating column A hinged to the No. 1 seat, a No. 2 rotating column B hinged to the No. 2 seat, a No. 2 profile connected to the No. 2 rotating column A and the No. 2 rotating column B at both ends, and a No. 2 arc-shaped tooth arranged at the upper end of the No. 2 profile, the No. 1 arc-shaped tooth meshes with the No. 2 arc-shaped teeth.

[0007] Furthermore, the No. 2 seat includes a No. 2 support, a floating member arranged on the No. 2 support, and a hinged column arranged on the No. 2 support for hinged connection with the No. 2 arm, the floating member includes a plurality of guide columns arranged on the No. 2 support, a No. 1 block slidably arranged on the guide column, a plurality of limit parts arranged on the upper ends of the guide columns, springs respectively sleeved on the guide columns, and a connecting member arranged on the No. 1 block and connected to the wire rope, the two ends of the spring respectively resist the limit parts and the No. 1 block, and the connecting member is a tension sensor.

[0008] Furthermore, the small crane assembly includes a No. 1 frame, a No. 1 roller arranged on the No. 1 frame for rolling connection with the large crane mechanism, a driving pulley arranged on one side of the large crane mechanism, a driven pulley arranged on the other side of the large crane mechanism, a No. 1 motor arranged on the large crane mechanism for driving the driving pulley to rotate, and a synchronous belt wound around the driven pulley and the driving pulley and fixedly connected to the No. 1 frame, the winding assembly and the driving assembly are arranged on the No. 1 frame, the mounting seat is rotatably connected to the No. 1 frame, and the winding assembly includes a winding drum fixedly connected to one end of the wire rope and a No. 3 motor arranged on the No. 1 frame for driving the winding drum to rotate.

[0009] Furthermore, the large crane mechanism includes a No. 2 frame, a No. 2 track arranged on the No. 2 frame along the Y direction, a No. 2 roller arranged at both ends of the No. 2 frame for rolling connection with the truss mechanism, a No. 2 motor arranged on the No. 2 frame for driving the No. 2 roller to rotate, a guide wheel arranged on the No. 2 frame, and a reinforcing rib arranged on the No. 2 frame and connected to the No. 2 track.

[0010] Furthermore, the truss mechanism includes a No. 1 truss and a No. 2 truss which are symmetrically arranged, and the No. 1 truss includes a No. 1 track extending along the X direction, a plurality of column assemblies for supporting the No. 1 track, and a diagonal assembly for supporting the column assemblies at the ends.

[0011] Furthermore, the clamp mechanism includes a connecting frame fixedly connected to the second seat, a plurality of elastic suction cup assemblies arranged on the connecting frame, a plurality of downward pressure cylinders arranged on the connecting frame, a cargo detection rod vertically slidable on the connecting frame, and an infrared photoelectric sensor fixedly arranged on the connecting frame. After the cargo detection rod contacts the plate, it slides upward relative to the connecting frame to trigger the infrared photoelectric sensor sensing signal.

[0012] Furthermore, the driving assembly includes a driving sprocket coaxially fixedly connected to the mounting seat, a driven sprocket rotatably arranged on the trolley assembly, a reducer arranged on the trolley assembly for driving the driving sprocket to rotate, a chain wound around the driven sprocket and the driving sprocket, an adjusting rod arranged on the trolley assembly and adjustable in the horizontal direction, a pin arranged on the adjusting rod, a ball bearing arranged on the pin, and a tensioning sprocket fixedly connected to the outer ring of the ball bearing, the inner ring of the ball bearing is fixedly connected to the pin, and the tensioning sprocket engages with the chain from the outside of the chain.

[0013] The plate handling method adopts a plate handling device, wherein a large crane mechanism slides along the X direction of a truss, and a small crane mechanism slides along the Y direction of the large crane mechanism, so that the clamp mechanism moves to above the material taking position or material putting position of the plate, and then the clamp mechanism is driven to rise and fall by a swing arm assembly, and when the wire rope is wound by a winding assembly, the No. 2 seat is driven to rise by the wire rope, and during the rising process, the No. 2 arm rotates relative to the No. 2 seat and the No. 1 seat, and the No. 1 arm rotates relative to the No. 1 seat and the mounting seat, so that the angle between the No. 1 arm and the No. 2 arm becomes smaller, and the distance between the mounting seat and the No. 2 seat becomes shorter, thereby realizing the lifting of the clamp mechanism; when the winding assembly unwinds the wire rope, the No. 2 seat descends to a predetermined height due to gravity, and during the descending process, the No. 2 arm rotates relative to the No. 2 seat and the No. 1 seat, and the No. 1 arm rotates relative to the No. 1 seat and the mounting seat, so that the angle between the No. 1 arm and the No. 2 arm becomes larger, and the distance between the mounting seat and the No. 2 seat becomes longer, thereby realizing the downward movement of the clamp mechanism.

[0014] Beneficial effects of the invention:

[0015] 1. The swing arm assembly is responsible for the lifting and lowering of the clamp mechanism. Since the swing arm mechanism adopts the folding arm design of the No. 1 arm and the No. 2 arm, the clamp mechanism does not occupy the top space when it rises, and the requirements for the equipment plant are low. By setting the No. 1 arc tooth and the No. 2 arc tooth, and through the meshing of the No. 1 arc tooth and the No. 2 arc tooth, the synchronous rotation between the No. 1 arm and the No. 2 arm is more stable, which effectively enhances the stability and safety of the entire swing arm assembly.

[0016] 2. By setting up a tension sensor, the tension on the wire rope can be detected to prevent the wire rope from loosening due to too little tension.

[0017] 3. The structural design of the clamp mechanism can effectively realize the adsorption and separation of the plates to prevent adhesion. The design of the probe rod and infrared photoelectric sensor can effectively detect the plate arrival signal.

[0018] 4. The drive assembly adopts a chain and sprocket meshing structural design to facilitate stable driving of the swing arm assembly and provide sufficient power to the swing arm assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall schematic diagram of a plate handling device provided in an embodiment of the present application.

[0020] Figure 2 A schematic diagram of a No. 1 frame and a swing arm assembly of a plate handling device provided in an embodiment of the present application.

[0021] Figure 3 A schematic diagram of arm No. 1, arm No. 2, seat No. 1, seat No. 2 and mounting seat of the swing arm assembly of the plate handling device provided in an embodiment of the present application.

[0022] Figure 4 A schematic diagram of a large crane mechanism and a small crane assembly of a plate handling device provided in an embodiment of the present application.

[0023] Figure 5 This is a schematic diagram of the second seat of the plate handling device provided in an embodiment of the present application.

[0024] Figure 6 A schematic diagram of a clamp mechanism of a plate handling device provided in an embodiment of the present application.

[0025] Figure 7 A schematic diagram of a No. 1 truss of the plate handling device provided in an embodiment of the present application.

[0026] Figure 8 A schematic diagram showing one perspective of a No. 1 frame, a synchronous belt, a winding assembly and a driving assembly of a plate handling device provided in an embodiment of the present application.

[0027] Fig. 9 A schematic diagram from another perspective of the No. 1 frame, synchronous belt, winding assembly and driving assembly of the plate handling device provided in an embodiment of the present application.

[0028] Fig.10 A schematic diagram of arm No. 1, arm No. 2 and seat No. 1 of a plate handling device provided in an embodiment of the present application.

[0029] The following are marked in the figure: 1, truss mechanism; 2, large crane mechanism; 3, small crane mechanism; 4, clamp mechanism; 31, small crane assembly; 32, swing arm assembly; 321, arm No. 1; 322, arm No. 2; 323, mounting seat; 324, drive assembly; 325, seat No. 1; 326, seat No. 2; 327, wire rope; 328, winding assembly; 3261, support No. 2; 3262, floating 261, guide column; 262, block No. 1; 263, limiter; 264, spring; 265, connector; 3211, swing arm No. 1; 3212, rod No. 1; 3221, rod No. 2; 3222, swing arm No. 2; 311, frame No. 1; 312, roller No. 1; 313, driving pulley; 314, driven pulley; 315, synchronous belt; 316, motor No. 1; 21, frame No. 2; 22. Track No. 2; 23. Roller No. 2; 24. Motor No. 2; 25. Guide wheel; 26. Reinforcement rib; 11. Truss No. 1; 12. Truss No. 2; 111. Track No. 1; 112. Column assembly; 113. Slant-stayed assembly; 41. Connecting frame; 42. Elastic suction cup assembly; 43. Down-pressing cylinder; 44. Probe rod; 45. Infrared photoelectric sensor; 241. Driven sprocket; 242 , driving sprocket; 243, speed reducer; 244, chain; 245, adjusting rod; 246, tensioning sprocket; 281, take-up drum; 282, motor No. 3; 301, rotating column No. 1 A; 302, rotating column No. 1 B; 303, profile No. 1; 304, arc-shaped tooth No. 1; 305, rotating column No. 2 A; 306, rotating column No. 2 B; 307, profile No. 2; 308, arc-shaped tooth No. 2. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] like Figure 1 , Figure 2As shown, a plate handling device provided by an embodiment of the present application comprises a truss mechanism 1, a large crane mechanism 2 sliding along the X direction of the truss mechanism 1, a small crane mechanism 3 sliding along the Y direction of the large crane mechanism 2, and a clamp mechanism 4 arranged on the small crane mechanism 3, wherein the small crane mechanism 3 comprises a small crane assembly 31 sliding along the Y direction of the large crane mechanism 2 and a swing arm assembly 32 rotatably connected to the small crane assembly 31, wherein the lower end of the swing arm assembly 32 is fixedly connected to the clamp mechanism 4, and the swing arm assembly 32 comprises an arm 1 321, arm No. 2 322, mounting seat 323 hinged to the upper end of arm No. 1 321 and connected to the trolley assembly 31 for horizontal rotation, driving assembly 324 arranged on the trolley assembly 31 for driving mounting seat 323 to rotate, seat No. 1 325 hinged to the lower end of arm No. 1 321 and the upper end of arm No. 2 322, seat No. 2 326 hinged to the lower end of arm No. 2 322, steel wire 327 connected to seat No. 2 326 at one end, winding assembly 328 arranged on the trolley assembly 31 for winding the other end of steel wire 327. Figure 3 and 10 As shown, the No. 1 arm 321 includes a plurality of No. 1 swing arms 3211 and a No. 1 rod 3212, the No. 2 arm 322 includes a plurality of No. 2 rods 3221 and a No. 2 swing arm 3222, both ends of the No. 1 swing arm 3211 and the No. 1 rod 3212 are respectively hinged to the mounting seat 323 and the No. 1 seat 325, the No. 2 rod 3221 and the No. 2 swing arm 3222 are respectively hinged to the No. 1 seat 325 and the No. 2 seat 326, the No. 1 swing arm 3211 includes a No. 1 rotating column A301 hinged to the mounting seat 323, and a No. 1 rotating column B301 hinged to the No. 1 seat 325. 2. A No. 1 profile 303 whose two ends are respectively connected to the No. 1 rotating column A301 and the No. 1 rotating column B302, and a No. 1 arc-shaped tooth 304 arranged at the lower end of the No. 1 profile 303. The No. 2 swing arm 3222 includes a No. 2 rotating column A305 hinged to the No. 1 seat 325, a No. 2 rotating column B306 hinged to the No. 2 seat 326, a No. 2 profile 307 whose two ends are respectively connected to the No. 2 rotating column A305 and the No. 2 rotating column B306, and a No. 2 arc-shaped tooth 308 arranged at the upper end of the No. 2 profile 307, and the No. 1 arc-shaped tooth 304 is meshed with the No. 2 arc-shaped tooth 308.

[0032] In actual use, the large crane mechanism 2 slides along the X direction of the truss, and the small crane mechanism 3 slides along the Y direction of the large crane mechanism 2, so that the clamp mechanism 4 moves to above the material taking position or material putting position of the plate, and then the swing arm assembly 32 drives the clamp mechanism 4 to rise and fall. The working principle of the swing arm assembly 32 is: when the wire rope 327 is wound by the winding assembly 328, the second seat 326 is driven to rise by the wire rope 327. During the rising process, the second arm 322 rotates relative to the second seat 326 and the first seat 325, and the first arm 321 rotates relative to the first seat 325 and the mounting seat 323, so that the first arm 321 The angle between the first arm 321 and the second arm 322 becomes smaller, and the distance between the mounting seat 323 and the second seat 326 becomes shorter, thereby realizing the lifting of the clamp mechanism 4; when the winding assembly 328 unwinds the wire rope 327, the second seat 326 drops to a predetermined height due to gravity. During the descent, the second arm 322 rotates relative to the second seat 326 and the first seat 325, and the first arm 321 rotates relative to the first seat 325 and the mounting seat 323, so that the angle between the first arm 321 and the second arm 322 becomes larger, and the distance between the mounting seat 323 and the second seat 326 becomes longer, thereby realizing the downward movement of the clamp mechanism 4. The specific actions of the rotation of the first arm 321 and the second arm 322 are: the first rotating column A301 rotates relative to the mounting seat 323, and the first rotating column B302 rotates relative to the first seat 325, driving the first profile 303 to swing synchronously. The second rotating column A305 rotates relative to the first seat 325, and the second rotating column B306 rotates relative to the second seat 326, driving the second profile 307 to swing synchronously. When the first arm 321 and the second arm 322 rotate relative to each other, the first arc tooth 304 is always meshed with the second arc tooth 308.

[0033] In the above design, the swing arm assembly 32 is responsible for realizing the lifting and lowering of the clamp mechanism 4. Since the swing arm mechanism adopts the folding arm design of the first arm 321 and the second arm 322, the clamp mechanism 4 does not occupy the top space when it rises, and the requirements for the equipment and plant are low. By setting the first arc-shaped tooth 304 and the second arc-shaped tooth 308, through the meshing of the first arc-shaped tooth 304 and the second arc-shaped tooth 308, the synchronous rotation between the first arm 321 and the second arm 322 is more stable, which effectively enhances the stability and safety of the entire swing arm assembly 32.

[0034] Specifically: as shown in Figure 5, the No. 2 seat 326 includes a No. 2 support 3261 and a floating member 3262 arranged on the No. 2 support 3261, the floating member 3262 includes a plurality of guide columns 261 arranged on the No. 2 support 3261, a No. 1 block 262 slidably arranged on the guide column 261, a plurality of limiting portions 263 arranged on the upper end of the guide column 261, springs 264 respectively sleeved on the guide column 261, and a connecting member 265 arranged on the No. 1 block 262 and connected to the wire rope 327, and the two ends of the spring 264 are respectively against the limiting portion 263 and the No. 1 block 262.

[0035] During actual use, the lower end of the wire rope 327 is connected to the connecting piece 265. When the wire rope 327 is wound to lift the No. 2 seat 326, the connecting piece 265 is subjected to an upward pulling force. At this time, the connecting piece 265 drives the No. 1 block 262 to rise synchronously, so that the No. 1 block 262 slides upward relative to the guide column 261. During the upward squeezing process of the No. 1 block 262, the two ends of the spring 264 are squeezed and deformed due to the squeezing of the limiting part 263 and the upper end surface of the No. 1 block 262.

[0036] In the above design, the structural design and specific implementation method of the No. 2 seat 326 can ensure that the steel wire rope 327 has sufficient buffering during the lifting process of the No. 2 seat 326, which helps to extend the service life of the steel wire rope 327.

[0037] Specifically: the connecting member 265 is a tension sensor.

[0038] In actual use, the tension sensor is used to detect the tension of the wire rope 327. When the tension value is less than the set value, an alarm will be triggered to prevent the wire rope 327 from loosening during the clamp falling process.

[0039] In the above design, by setting up a tension sensor, it is possible to detect the tension applied to the wire rope 327, thereby preventing the wire rope 327 from loosening due to too little tension.

[0040] Specifically: Figure 4 As shown, the small crane assembly 31 includes a No. 1 frame 311, a No. 1 roller 312 arranged on the No. 1 frame 311 for rolling connection with the large crane mechanism 2, a driving pulley 313 arranged on one side of the large crane mechanism 2, a driven pulley 314 arranged on the other side of the large crane mechanism 2, a No. 1 motor 316 arranged on the large crane mechanism 2 for driving the driving pulley 313 to rotate, and a synchronous belt 315 wound around the driven pulley 314 and the driving pulley 313 and fixedly connected to the No. 1 frame 311, the winding assembly 328 and the driving assembly 324 are arranged on the No. 1 frame 311, and the mounting seat 323 is rotatably connected to the No. 1 frame 311. The winding assembly 328 includes a winding drum 281 fixedly connected to one end of the wire rope 327 and a No. 3 motor 282 arranged on the No. 1 frame 311 for driving the winding drum 281 to rotate.

[0041] In actual use, the first motor 316 drives the driving pulley 313 to rotate, so that the driving pulley 313 drives the synchronous belt 315 to transmit with the cooperation of the driven pulley 314, so that the synchronous belt 315 drives the first frame 311 to move along the Y direction under the rolling of the first roller 312. The third motor 282 drives the winding drum 281 to rotate, so as to realize the retraction and release of the wire rope 327.

[0042] In the above-mentioned design, the structural design and specific implementation method of the small trolley assembly 31 can effectively realize the rapid and stable movement of the small trolley assembly 31 on the large trolley mechanism 2.

[0043] Specifically: Figure 4 As shown, the large crane mechanism 2 includes a No. 2 frame 21, a No. 2 track 22 arranged on the No. 2 frame 21 along the Y direction, a No. 2 roller 23 arranged at both ends of the No. 2 frame 21 for rolling connection with the truss mechanism 1, a No. 2 motor 24 arranged on the No. 2 frame 21 for driving the No. 2 roller 23 to rotate, a guide wheel 25 arranged on the No. 2 frame 21, and a reinforcing rib 26 arranged on the No. 2 frame 21 and connected to the No. 2 track 22.

[0044] In actual use, the trolley assembly 31 rolls on the No. 2 track 22 , and the No. 2 motor 24 drives the No. 2 roller 23 to move on the truss.

[0045] In the above design, the structure of the large traveling mechanism 2 adopts rollers and rolling connection with the truss mechanism 1 , and the connection stability of the two No. 2 tracks 22 can be enhanced by the reinforcing ribs 26 .

[0046] Specifically: Figure 1 and Figure 7 As shown, the truss mechanism 1 includes a symmetrically arranged No. 1 truss 11 and a No. 2 truss 12, and the No. 1 truss 11 includes a No. 1 track 111 extending along the X direction, a plurality of column assemblies 112 for supporting the No. 1 track 111, and a diagonal assembly 113 for supporting the end column assembly 112.

[0047] In actual use, the No. 1 track 111 is spliced ​​by H-steel, supported by the column assembly 112 , and supported at the connection between the column assembly 112 at the end and the No. 1 track 111 by the inclined-stayed assembly 113 .

[0048] In the above design, the structural design of the truss mechanism 1 can effectively support and fix the No. 1 track 111 and the column assembly 112 through the inclined-stayed assembly 113, so that the No. 1 track 111 can cooperate with the large traveling mechanism 2.

[0049] Specifically: Figure 6 As shown, the clamp mechanism 4 includes a connecting frame 41 fixedly connected to the second seat 326, a plurality of elastic suction cup assemblies 42 arranged on the connecting frame 41, a plurality of downward pressure cylinders 43 arranged on the connecting frame 41, a detection rod 44 vertically slidably arranged on the connecting frame 41, and an infrared photoelectric sensor 45 fixedly arranged on the connecting frame 41. After the detection rod 44 contacts the plate, it slides upward relative to the connecting frame 41 to trigger the infrared photoelectric sensor 45 to sense a signal.

[0050] During actual use, after the probe rod 44 contacts the plate, it slides upward relative to the connecting frame 41, triggering the infrared photoelectric sensor 45 to sense the signal, triggering the control system to control the elastic suction cup assembly 42 to adsorb the plate. After the elastic suction cup assembly 42 adsorbs the plate, the downward pressure cylinder 43 presses the plate from above, causing the plate to deform slightly, and cooperates with the elastic suction cup assembly 42 to separate the plate.

[0051] In the above design, the structural design of the clamp mechanism 4 can effectively realize the adsorption and separation of the plate to prevent adhesion. The design of the probe rod 44 and the infrared photoelectric sensor 45 can effectively detect the plate arrival signal.

[0052] Specifically: Figure 8 and Fig. 9 As shown, the driving assembly 324 includes a driven sprocket 241 coaxially fixedly connected to the mounting seat 323, a driven sprocket 241 rotatably arranged on the trolley assembly 31, a reducer 243 arranged on the trolley assembly 31 for driving the driving sprocket 242 to rotate, a chain 244 wound around the driven sprocket 241 and the driving sprocket 242, an adjusting rod 245 arranged on the trolley assembly 31 and adjustable in the horizontal direction, a pin arranged on the adjusting rod 245, a ball bearing arranged on the pin, and a tensioning sprocket 246 fixedly connected to the outer ring of the ball bearing, the inner ring of the ball bearing is fixedly connected to the pin, and the tensioning sprocket 246 engages with the chain 244 from the outside.

[0053] In actual use, the reducer 243 drives the driving sprocket 242 to rotate, and with the cooperation of the driven sprocket 241, the chain is driven, and the driven sprocket 241 is driven to rotate by the chain 244, and the driven sprocket 241 drives the mounting seat 323 to rotate horizontally. When the tension of the chain 244 needs to be changed, the horizontal position of the pin is changed by the adjusting rod 245, so that the tension of the chain is changed by the tensioning sprocket 246.

[0054] In the above design, the driving assembly 324 adopts a structural design in which the chain 244 is meshed with the sprocket to facilitate stable driving of the swing arm assembly 32 and can provide sufficient power to the swing arm assembly 32.

[0055] The plate handling method adopts a plate handling device, wherein the large crane mechanism 2 slides along the X direction of the truss, and the small crane mechanism 3 slides along the Y direction of the large crane mechanism 2, so that the clamp mechanism 4 moves to above the material taking position or material putting position of the plate, and then the swing arm assembly 32 drives the clamp mechanism 4 to rise and fall, and when the wire rope 327 is wound by the winding assembly 328, the second seat 326 is driven to rise by the wire rope 327. During the rising process, the second arm 322 rotates relative to the second seat 326 and the first seat 325, and the first arm 321 rotates relative to the first seat 325 and the mounting seat 323, so that the first arm 321 and The angle between arm No. 2 322 becomes smaller, and the distance between mounting seat 323 and seat No. 2 326 becomes shorter, thereby achieving the lifting of clamp mechanism 4; when winding assembly 328 unwinds wire rope 327, seat No. 2 326 drops to a predetermined height due to gravity, and during the descent, arm No. 2 322 rotates relative to seat No. 2 326 and seat No. 1 325, and arm No. 1 321 rotates relative to seat No. 1 325 and mounting seat 323, so that the angle between arm No. 1 321 and arm No. 2 322 becomes larger, and the distance between mounting seat 323 and seat No. 2 326 becomes longer, thereby achieving the downward movement of clamp mechanism 4.

[0056] To further explain in detail, it should be understood that the above is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A plate handling device, comprising a truss mechanism (1), a large crane mechanism (2) sliding along the X direction of the truss mechanism (1), and a small crane mechanism (3) sliding along the Y direction of the large crane mechanism (2), characterized in that: The invention also comprises a clamp mechanism (4) arranged on the small trolley mechanism (3), wherein the small trolley mechanism (3) comprises a small trolley assembly (31) sliding along the Y direction of the large trolley mechanism (2) and a swing arm assembly (32) rotatably connected to the small trolley assembly (31), wherein the lower end of the swing arm assembly (32) is fixedly connected to the clamp mechanism (4), and the swing arm assembly (32) comprises a first arm (321), a second arm (322), a mounting seat (323) hinged to the upper end of the first arm (321) and horizontally rotatably connected to the small trolley assembly (31), and a mounting seat (323) arranged on the small trolley assembly (31) for driving The mounting seat (323) includes a driving assembly (324) for rotating the mounting seat (323), a No. 1 seat (325) hinged to the lower end of the No. 1 arm (321) and the upper end of the No. 2 arm (322), a No. 2 seat (326) hinged to the lower end of the No. 2 arm (322), a steel wire rope (327) having one end connected to the No. 2 seat (326), and a winding assembly (328) disposed on the trolley assembly (31) for winding the other end of the steel wire rope (327); the No. 1 arm (321) includes a plurality of No. 1 swing arms (3211) and a No. 1 rod (3212), and the No. 2 arm (322) includes a plurality of No. 2 rods (3213). The first swing arm (3211) and the second swing arm (3222) are respectively hinged to the mounting seat (323) and the first seat (325) at both ends of the first swing arm (3211) and the first rod (3212), and the second rod (3221) and the second swing arm (3222) are respectively hinged to the first seat (325) and the second seat (326) at both ends of the first swing arm (3211). The first swing arm (3211) includes a first rotating column A (301) hinged to the mounting seat (323), a first rotating column B (302) hinged to the first seat (325), and two ends of the first rotating column A (301) and the first rotating column B (302) are respectively hinged to the first rotating column A (301) and the first rotating column B (302). 02) and a No. 1 arc-shaped tooth (304) arranged at the lower end of the No. 1 profile (303), the No. 2 swing arm (3222) comprises a No. 2 rotating column A (305) hinged to the No. 1 seat (325), a No. 2 rotating column B (306) hinged to the No. 2 seat (326), a No. 2 profile (307) whose two ends are respectively connected to the No. 2 rotating column A (305) and the No. 2 rotating column B (306), and a No. 2 arc-shaped tooth (308) arranged at the upper end of the No. 2 profile (307), the No. 1 arc-shaped tooth (304) meshing with the No. 2 arc-shaped tooth (308).

2. The plate handling device according to claim 1, characterized in that: The No. 2 seat (326) comprises a No. 2 support (3261), a floating member (3262) arranged on the No. 2 support (3261), and a hinged column arranged on the No. 2 support (3261) for being hinged to the No. 2 arm (322); the floating member (3262) comprises a plurality of guide posts (261) arranged on the No. 2 support (3261), a No. 1 block (262) slidably arranged on the guide posts (261), a plurality of limit parts (263) arranged at the upper ends of the guide posts (261), springs (264) respectively sleeved on the guide posts (261), and a connecting member (265) arranged on the No. 1 block (262) and connected to the wire rope (327); two ends of the spring (264) respectively abut against the limit parts (263) and the No. 1 block (262); and the connecting member (265) is a tension sensor.

3. The plate handling device according to claim 1, characterized in that: The small traveling crane assembly (31) comprises a first frame (311), a first roller (312) arranged on the first frame (311) and used for rolling connection with the large traveling crane mechanism (2), a driving pulley (313) arranged on one side of the large traveling crane mechanism (2), a driven pulley (314) arranged on the other side of the large traveling crane mechanism (2), a first motor (316) arranged on the large traveling crane mechanism (2) and used for driving the driving pulley (313) to rotate, and a first motor (316) arranged around the driven pulley (314) and the driving pulley. The invention relates to a synchronous belt (315) which is mounted on a wheel (313) and fixedly connected to a No. 1 frame (311); the winding assembly (328) and the driving assembly (324) are arranged on the No. 1 frame (311); the mounting seat (323) is rotationally connected to the No. 1 frame (311); the winding assembly (328) comprises a winding drum (281) which is fixedly connected to one end of a steel wire rope (327) and a No. 3 motor (282) which is arranged on the No. 1 frame (311) and is used for driving the winding drum (281) to rotate.

4. The plate handling device according to claim 1, characterized in that: The large crane mechanism (2) comprises a second frame (21), a second track (22) arranged on the second frame (21) along the Y direction, second rollers (23) arranged at both ends of the second frame (21) for rolling connection with the truss mechanism (1), a second motor (24) arranged on the second frame (21) for driving the second rollers (23) to rotate, a guide wheel (25) arranged on the second frame (21), and a reinforcing rib (26) arranged on the second frame (21) and connected to the second track (22).

5. The plate handling device according to claim 1, characterized in that: The truss mechanism (1) comprises a first truss (11) and a second truss (12) which are symmetrically arranged, wherein the first truss (11) comprises a first track (111) extending along the X direction, a plurality of column assemblies (112) for supporting the first track (111), and a diagonal-stayed assembly (113) for supporting the column assemblies (112) at the ends.

6. The plate handling device according to claim 1, characterized in that: The clamp mechanism (4) comprises a connection frame (41) fixedly connected to the second seat (326), a plurality of elastic suction cup assemblies (42) arranged on the connection frame (41), a plurality of downward pressure cylinders (43) arranged on the connection frame (41), a cargo detection rod (44) arranged on the connection frame (41) for vertical sliding, and an infrared photoelectric sensor (45) fixedly arranged on the connection frame (41); after the cargo detection rod (44) contacts the plate, it slides upward relative to the connection frame (41) to trigger the infrared photoelectric sensor (45) to sense a signal.

7. The plate handling device according to claim 1, characterized in that: The driving assembly (324) comprises a driving sprocket (242) coaxially fixedly connected to the mounting seat (323), a driven sprocket (241) rotatably arranged on the trolley assembly (31), a reducer (243) arranged on the trolley assembly (31) for driving the driving sprocket (242) to rotate, a chain (244) wound around the driven sprocket (241) and the driving sprocket (242), an adjusting rod (245) arranged on the trolley assembly (31) and adjustable in the horizontal direction, a pin arranged on the adjusting rod (245), a ball bearing arranged on the pin, and a tensioning sprocket (246) fixedly connected to the outer ring of the ball bearing, wherein the inner ring of the ball bearing is fixedly connected to the pin, and the tensioning sprocket (246) meshes with the chain (244) from the outside.

8. A plate handling method, using the plate handling device according to any one of claims 1 to 7, characterized in that: The large crane mechanism (2) slides along the X direction of the truss, and the small crane mechanism (3) slides along the Y direction of the large crane mechanism (2), so that the clamp mechanism (4) moves to above the material taking position or material putting position of the plate, and then the swing arm assembly (32) drives the clamp mechanism (4) to rise and fall, and when the steel wire rope (327) is wound by the winding assembly (328), the second seat (326) is driven to rise by the steel wire rope (327). During the rising process, the second arm (322) rotates relative to the second seat (326) and the first seat (325), and the first arm (321) rotates relative to the first seat (325) and the mounting seat (323), so that the first arm (321) and the second arm (322) are rotated. The angle between the first arm (321) and the second arm (322) becomes smaller, and the distance between the mounting seat (323) and the second seat (326) becomes shorter, thereby achieving the lifting of the clamping mechanism (4); when the winding assembly (328) unwinds the wire rope (327), the second seat (326) descends to a predetermined height due to gravity. During the descent, the second arm (322) rotates relative to the second seat (326) and the first seat (325), and the first arm (321) rotates relative to the first seat (325) and the mounting seat (323), so that the angle between the first arm (321) and the second arm (322) becomes larger, and the distance between the mounting seat (323) and the second seat (326) becomes longer, thereby achieving the downward movement of the clamping mechanism (4).

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