Safe truss robot with opening and closing supporting plate at bottom of trolley

Abstract

The invention discloses a safety truss robot with an opening and closing supporting plate at the bottom of a trolley, which is characterized in that a longitudinal track, parts and a truss robot are arranged in a production workshop of products, the truss robot comprises a cart, the trolley, a lifting device, the opening and closing supporting plate and a clamping jaw device, and the cart comprises a cart body and a transverse track; the cart body can longitudinally run on the longitudinal track, and the trolley comprises a trolley body; the lifting device comprises a lifting column, the lifting column comprises a fixed column and a movable column capable of doing lifting motion on the fixed column, the fixed column is installed on the trolley body, and the clamping jaw device is fixed to the bottom of the movable column when the movable column is located at the lowest position; the opening and closing supporting plate comprises an opening and closing device and a supporting plate; the opening and closing device is mounted at the bottom of the trolley body; after the clamping jaw device grabs a part and lifts the part to the highest position, when the supporting plate is closed through the opening and closing device, the supporting plate is located at the bottom of the part, the part can be prevented from falling, and after the supporting plate is opened through the opening and closing device, the supporting plate does not affect lifting of the part. The method has the main advantage of safety.

Description

Technical Field

[0001] This invention belongs to the field of automated equipment technology, specifically a safety gantry robot with an opening and closing tray at the bottom of the vehicle. Background Technology

[0002] Currently, most gantry robots in various companies lack fall protection devices, instead using fences to physically isolate personnel on the ground. However, in the event of a fall, they could damage equipment below, posing a significant safety hazard. While a very small number of gantry robots incorporate fall protection pallets on the main gantry, where the pallet moves under the component after it has been lifted to its final position, this structure is complex and requires a large amount of space. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention aims to provide a safe gantry robot with an opening and closing tray at the bottom of the vehicle, thereby solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The production workshop of product 1 includes a longitudinal track 1X, components 2 of product 1, and a gantry robot 3. The gantry robot 3 includes a large vehicle 3A, a small vehicle 3B, a lifting device 3C, an opening and closing pallet 3D, and a gripper device 3E. The large vehicle 3A includes a large vehicle body 3A1 and a transverse track 3A2 installed on the large vehicle body 3A1. The large vehicle body 3A1 can move longitudinally on the longitudinal track 1X. The small vehicle 3B includes a small vehicle body 3B1 that can move laterally on the transverse track 3A2. The lifting device 3C includes a lifting column 4, which includes a fixed column 4A and a movable column 4B that can move up and down on the fixed column 4A. The fixed column 4A is installed on the trolley body 3B1, and the gripper device 3E is fixed to the bottom of the movable column 4B when it is in the lowest position. The opening and closing tray 3D includes an opening and closing device 3D1 and a tray 3D2. The opening and closing device 3D1 is mounted on the trolley body 3B1. When the gripper device 3E grabs the component 2 and raises it to the highest position, the tray 3D2 is closed by the opening and closing device 3D1. The tray 3D2 is located at the bottom of the component 2 and can prevent the component 2 from falling. When the tray 3D2 is opened by the opening and closing device 3D1, the tray 3D2 does not affect the raising and lowering of the component 2.

[0005] As a further aspect of the present invention: the movable column 4B includes a starting column 4B1, an intermediate column 4B2 and a final column 4B3. The starting column 4B1 can move up and down on the fixed column 4A, the intermediate column 4B2 can move up and down on the starting column 4B1, the final column 4B3 can move up and down on the intermediate column 4B2, and the gripper device 3E is installed at the bottom of the final column 4B3.

[0006] As a further aspect of the present invention: the trolley body 3B1 includes a trolley column 3B1A, and the opening and closing tray 3D includes a horizontal tray device 5. The horizontal tray device 5 includes a tray frame 5A, a tray guide rail 5B, a horizontal tray 5C, and a horizontal drive 5D. The tray frame 5A is installed at the bottom of the trolley column 3B1A, and the tray guide rail 5B and the horizontal drive 5D are both installed on the tray frame 5A. The horizontal drive 5D enables the horizontal tray 5C to open and close on the tray guide rail 5B.

[0007] As a further aspect of the present invention: the product 1 includes a special vehicle 1A.

[0008] As a further embodiment of the present invention: the lifting device 3C includes a single column lifting 31, which includes a set of lifting columns 4; the horizontal support plate 5C includes a single support plate 5C1; the component 2 includes a shaft-type component 2A; the gripper device 3E includes a shaft-type gripper 3E1, which includes a shaft hook 3E1A.

[0009] As a further embodiment of the present invention: the lifting device 3C includes a double-column lifting 32, which includes two sets of lifting columns 4; the horizontal support plate 5C includes a double support plate 5C2.

[0010] As a further aspect of the present invention: the component 2 includes a tire 2B, the gripper device 3E includes a tire gripper 3E2, and the tire gripper 3E2 includes a telescopic V-shaped clamp 3E2A.

[0011] As a further embodiment of the present invention: the lifting device 3C includes a four-column lifting 34, which includes four sets of lifting columns 4; the component 2 includes an axle 2C, which includes an end inner hole 2C1 and an end outer circle 2C2 located at both ends; the gripper device 3E includes an axle gripper 3E3, which includes a telescopic conical shaft 3E3A and a telescopic three-jaw 3E3B. The axle gripper 3E3 can grip the axle 2C by inserting the telescopic conical shaft 3E3A into the end inner hole 2C1 and clamping the end outer circle 2C2 with the telescopic three-jaw 3E3B.

[0012] As a further aspect of the present invention: the opening and closing support plate 3D includes a flexible roller shutter support plate 6, which includes a guide rail frame 6A, a chain 6B, a support strip 6C, and a chain drive 6D. The guide rail frame 6A, including the chain guide rail, is fixed on the trolley body 3B1. The chain 6B can run on the chain guide rail through the chain drive 6D. The support strip 6C is installed on the chain 6B to form the roller shutter support plate. When the support strip 6C is located below the component 2, it can prevent the component 2 from falling. When the roller shutter support plate is rolled up, it does not affect the lifting and lowering of the component 2.

[0013] As a further embodiment of the present invention: the opening and closing pallet 3D includes a swing pallet device 7, which includes a swing frame 7A, a swing pallet 7B, a hinge pin 7C, and a telescopic electric cylinder 7D. The swing frame 7A is installed on the bottom of the trolley body 3B1. One end of the swing pallet 7B is hinged to the swing frame 7A through the hinge pin 7C, and the other end is connected to one end of the telescopic electric cylinder 7D. The other end of the telescopic electric cylinder 7D is installed on the swing frame 7A.

[0014] In summary, compared with the prior art, the main advantage of this invention is that it creatively sets an opening and closing tray directly at the bottom of the vehicle body. The main advantages are: safety, simple structure, and small space occupation. Attached Figure Description

[0015] Figure 1 It is a structural diagram of the longitudinal track 1X in the production workshop, the component 2 of product 1 and the gantry robot 3, as well as a structural diagram of the special vehicle 1A that makes up product 1, and a structural diagram of the shaft part 2A, tire 2B and axle 2C that make up component 2. Figure 2 yes Figure 1 View AA is also a structural schematic diagram of the gantry robot 3, which consists of the large vehicle 3A, the small vehicle 3B, the lifting device 3C, the opening and closing pallet 3D, and the gripper device 3E. It is also a structural schematic diagram of the large vehicle body 3A1 and the transverse track 3A2 that make up the large vehicle 3A. It is also a structural schematic diagram of the small vehicle body 3B1 that makes up the small vehicle 3B. It is also a structural schematic diagram of the opening and closing device 3D1 and the pallet 3D2 that make up the opening and closing pallet 3D. It is also a structural schematic diagram of the double column lifting 32 and the lifting column 4 that make up the lifting device 3C. It is also a structural schematic diagram of the fixed column 4A and the movable column 4B that make up the lifting column 4. It is also a structural schematic diagram of the initial column 4B1, the intermediate column 4B2 and the final column 4B3 that make up the movable column 4B. It is also a structural schematic diagram of the double pallet 5C2 that makes up the horizontal pallet 5C. It is also a structural schematic diagram of the tire gripper 3E2 that makes up the gripper device 3E. It is also a structural schematic diagram of the telescopic V-shaped clamp 3E2A that makes up the tire gripper 3E2. Figure 3 It is a structural schematic diagram of the horizontal pallet device 5 that makes up the opening and closing pallet 3D, and also a structural schematic diagram of the pallet frame 5A, pallet guide rail 5B, horizontal pallet 5C and horizontal drive 5D that make up the horizontal pallet device 5, as well as a structural schematic diagram of the trolley column 3B1A that makes up the trolley body 3B1. Figure 4 yes Figure 3 K-direction view; Figure 5 This is a schematic diagram of the shaft-type gripper 3E1 that makes up the gripper device 3E, and also a schematic diagram of the shaft hook 3E1A that makes up the shaft-type gripper 3E1. Figure 6This is a structural schematic diagram of the single column lifting device 31 that makes up the lifting device 3C, and also a structural schematic diagram of the single support plate 5C1 that makes up the horizontal support plate 5C. Figure 7 yes Figure 6 L-direction view; Figure 8 It is a structural schematic diagram of the end inner hole 2C1 and end outer circle 2C2 that make up the axle 2C, a structural schematic diagram of the axle gripper 3E3 that makes up the gripper device 3E, and a structural schematic diagram of the telescopic cone shaft 3E3A and telescopic three-jaw 3E3B that make up the axle gripper 3E3. Figure 9 yes Figure 8 View from direction A; Figure 10 yes Figure 9 A magnified view of a section at point I; Figure 11 yes Figure 8 The N-direction view in the middle; Figure 12 This is a schematic diagram of the structure of the four-column lifting device 34 that makes up the lifting device 3C; Figure 13 It is a structural schematic diagram of the flexible roller shutter support plate 6 that makes up the opening and closing support plate 3D, a structural schematic diagram of the guide rail frame 6A, chain 6B, support strip 6C and chain drive 6D that make up the flexible roller shutter support plate 6, and a structural schematic diagram of the single opening roller shutter support plate 61 that makes up the flexible roller shutter support plate 6. Figure 14 This is a schematic diagram of the structure of the double-opening roller shutter support plate 62 that makes up the flexible roller shutter support plate 6; Figure 15 yes Figure 8 A magnified view of a section at point I; Figure 16 yes Figure 8 Enlarged view of section II in the middle; Figure 17 This is a structural schematic diagram of the swing frame 7A, swing plate 7B, hinge pin 7C and telescopic electric cylinder 7D that make up the swing plate device 7; and a structural schematic diagram of the single swing plate 71 that makes up the swing plate device 7. Figure 18 This is a schematic diagram of the structure of the double swing plate 72 that makes up the swing plate device 7.

[0016] Product 1, Special Vehicle 1A, Longitudinal Track 1X, Components 2, Axle Parts 2A, Tire 2B, Axle 2C, End Inner Hole 2C1, End Outer Circle 2C2, Gantry Robot 3, Main Vehicle 3A, Main Vehicle Body 3A1, Transverse Track 3A2, Small Vehicle 3B, Small Vehicle Body 3B1, Small Vehicle Column 3B1A, Lifting Device 3C, Opening and Closing Pallet 3D, Opening and Closing Device 3D1, Pallet 3D2, Gripper Device 3E, Axle Gripper 3E1, Axle Hook 3E1A, Tire Gripper 3E2, Telescopic V-Gripper 3E2A, Axle Gripper 3E3, Telescopic Conical Axle 3E3A, Telescopic Three-Jaw Gripper 3E3B, Single-Column Lifting 31. Double-column lifting system; 32. Four-column lifting system; 34. Lifting column; 4. Fixed column; 4A. Movable column; 4B. Starting column; 4B1. Intermediate column; 4B2. Ending column; 4B3. Horizontal support plate device; 5. Support plate frame; 5A. Support plate guide rail; 5B. Horizontal support plate; 5C. Single support plate; 5C1. Double support plate; 5C2. Horizontal drive; 5D. Flexible roller shutter support plate; 6. Guide rail frame; 6A. Chain; 6B. Support bar; 6C. Chain drive; 6D. Single-opening roller shutter support plate; 61. Double-opening roller shutter support plate; 62. Swing support plate device; 7. Swing frame; 7A. Swing support plate; 7B. Hinge pin; 7C. Telescopic electric cylinder; 7D. Single swing support plate; 71. Double swing support plate; 72. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1-18 In this embodiment of the invention, the production workshop of product 1 includes a longitudinal track 1X, components 2 of product 1, and a gantry robot 3. The gantry robot 3 includes a large vehicle 3A, a small vehicle 3B, a lifting device 3C, an opening and closing pallet 3D, and a gripper device 3E. The large vehicle 3A includes a large vehicle body 3A1 and a transverse track 3A2 installed on the large vehicle body 3A1. The large vehicle body 3A1 can move longitudinally on the longitudinal track 1X. The small vehicle 3B includes a small vehicle body 3B1 that can move laterally on the transverse track 3A2. The lifting device 3C includes a lifting column 4, which includes a fixed column 4A and a movable column 4B that can move up and down on the fixed column 4A. The fixed column 4A is installed on the trolley body 3B1, and the gripper device 3E is fixed to the bottom of the movable column 4B when it is in the lowest position. The opening and closing tray 3D includes an opening and closing device 3D1 and a tray 3D2. The opening and closing device 3D1 is mounted on the trolley body 3B1. When the gripper device 3E grabs the component 2 and raises it to the highest position, the tray 3D2 is closed by the opening and closing device 3D1. The tray 3D2 is located at the bottom of the component 2 and can prevent the component 2 from falling. When the tray 3D2 is opened by the opening and closing device 3D1, the tray 3D2 does not affect the raising and lowering of the component 2.

[0019] The movable column 4B includes a starting column 4B1, an intermediate column 4B2, and a final column 4B3. The starting column 4B1 can move up and down on the fixed column 4A, the intermediate column 4B2 can move up and down on the starting column 4B1, and the final column 4B3 can move up and down on the intermediate column 4B2. The gripper device 3E is installed at the bottom of the final column 4B3.

[0020] It should be noted that the movable column 4B may also be without the intermediate column 4B2, and the final column 4B3 may move up and down directly on the initial column 4B1.

[0021] It should also be noted that the intermediate column 4B2 can also be a secondary or higher-level lifting column.

[0022] The trolley body 3B1 includes a trolley column 3B1A, and the opening and closing tray 3D includes a horizontal tray device 5. The horizontal tray device 5 includes a tray frame 5A, a tray guide rail 5B, a horizontal tray 5C, and a horizontal drive 5D. The tray frame 5A is installed at the bottom of the trolley column 3B1A, and the tray guide rail 5B and the horizontal drive 5D are both installed on the tray frame 5A. The horizontal drive 5D enables the horizontal tray 5C to open and close on the tray guide rail 5B.

[0023] Product 1 includes a special vehicle 1A.

[0024] It should be noted that: Special vehicle 1A can be a fire truck.

[0025] It should also be noted that: Product 1 can be one or more of the following: agricultural machinery, port machinery, environmental protection equipment, power equipment, machine tool equipment, wind power equipment, new energy equipment, etc.

[0026] The lifting device 3C includes a single-column lifting 31, which includes a set of lifting columns 4; the horizontal support plate 5C includes a single support plate 5C1; the component 2 includes a shaft-type component 2A; the gripper device 3E includes a shaft-type gripper 3E1, which includes a shaft hook 3E1A.

[0027] The lifting device 3C includes a double-column lifting device 32, which includes two sets of lifting columns 4; the horizontal support plate 5C includes a double support plate 5C2.

[0028] The component 2 includes a tire 2B, and the gripper device 3E includes a tire gripper 3E2, which includes a telescopic V-shaped clamp 3E2A.

[0029] The lifting device 3C includes a four-column lifting device 34, which includes four sets of lifting columns 4; the component 2 includes an axle 2C, which includes an end inner hole 2C1 and an end outer circle 2C2 located at both ends; the gripper device 3E includes an axle gripper 3E3, which includes a telescopic conical shaft 3E3A and a telescopic three-jaw 3E3B. The axle gripper 3E3 can grasp the axle 2C by inserting the telescopic conical shaft 3E3A into the end inner hole 2C1 and clamping the end outer circle 2C2 with the telescopic three-jaw 3E3B.

[0030] It should be noted that the trolley column 3B1A can be combined with the fixed column 4A.

[0031] It should also be noted that the telescopic jaw 3E3B can be a rotating jaw that rotates around the line connecting the two centers of the telescopic cone axis 3E3A and the telescopic jaw 3E3B.

[0032] The opening and closing support plate 3D includes a flexible roller shutter support plate 6, which includes a guide rail frame 6A, a chain 6B, a support strip 6C, and a chain drive 6D. The guide rail frame 6A, including the chain guide rail, is fixed on the trolley body 3B1. The chain 6B can run on the chain guide rail through the chain drive 6D. The support strip 6C is installed on the chain 6B to form the roller shutter support plate. When the support strip 6C is located below the component 2, it can prevent the component 2 from falling. When the roller shutter support plate is rolled up, it does not affect the lifting and lowering of the component 2.

[0033] It should be noted that the flexible roller shutter support plate 6 includes a single-opening roller shutter support plate 61 and a double-opening roller shutter support plate 62.

[0034] The opening and closing tray 3D includes a swing tray device 7, which includes a swing frame 7A, a swing tray 7B, a hinge pin 7C, and a telescopic electric cylinder 7D. The swing frame 7A is installed on the bottom of the trolley body 3B1. One end of the swing tray 7B is hinged to the swing frame 7A through the hinge pin 7C, and the other end is connected to one end of the telescopic electric cylinder 7D. The other end of the telescopic electric cylinder 7D is installed on the swing frame 7A.

[0035] It should be noted that the swing pallet device 7 can be a single swing pallet 71 or a double swing pallet 72.

[0036] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In this invention, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium. The specific meaning of the terms in this invention can be understood according to the specific circumstances.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A safety gantry robot with an opening and closing tray at the bottom of the vehicle, characterized in that: The production workshop for product (1) includes a longitudinal track (1X), components (2) of product (1), and a gantry robot (3). The gantry robot (3) includes a large trolley (3A), a small trolley (3B), a lifting device (3C), an opening and closing pallet (3D), and a gripper device (3E). The large trolley (3A) includes a large trolley body (3A1) and a transverse track (3A2) installed on the large trolley body (3A1). The large trolley body (3A1) can move longitudinally on the longitudinal track (1X). The small trolley (3B) includes a small trolley body (3B1) that can move laterally on the transverse track (3A2). The lifting device (3C) includes a lifting column (4). The lifting column (4) includes a fixed column (4A) and a device that can move laterally on the fixed column (4A). The movable column (4B) moves up and down on the trolley body (3B1), and the fixed column (4A) is installed on the trolley body (3B1). The gripper device (3E) is fixed to the bottom of the movable column (4B) when it is in the lowest position. The opening and closing tray (3D) includes an opening and closing device (3D1) and a tray (3D2). The opening and closing device (3D1) is installed on the trolley body (3B1). When the gripper device (3E) grabs the part (2) and raises it to the highest position, the tray (3D2) is closed by the opening and closing device (3D1). The tray (3D2) is located at the bottom of the part (2) and can prevent the part (2) from falling. When the tray (3D2) is opened by the opening and closing device (3D1), the tray (3D2) does not affect the lifting and lowering of the part (2).

2. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 1, characterized in that: The movable column (4B) includes a starting column (4B1), an intermediate column (4B2), and a final column (4B3). The starting column (4B1) can move up and down on the fixed column (4A), the intermediate column (4B2) can move up and down on the starting column (4B1), and the final column (4B3) can move up and down on the intermediate column (4B2). The gripper device (3E) is installed at the bottom of the final column (4B3).

3. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 2, characterized in that: The trolley body (3B1) includes a trolley column (3B1A), and the opening and closing tray (3D) includes a horizontal tray device (5). The horizontal tray device (5) includes a tray frame (5A), a tray guide rail (5B), a horizontal tray (5C), and a horizontal drive (5D). The tray frame (5A) is installed at the bottom of the trolley column (3B1A), and the tray guide rail (5B) and the horizontal drive (5D) are both installed on the tray frame (5A). The horizontal drive (5D) enables the horizontal tray (5C) to open and close on the tray guide rail (5B).

4. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 1, characterized in that: The product (1) mentioned includes special vehicles (1A).

5. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 3 or 4, characterized in that... The lifting device (3C) includes a single column lifting (31), which includes a set of lifting columns (4); the horizontal support plate (5C) includes a single support plate (5C1); the component (2) includes shaft parts (2A); the gripper device (3E) includes shaft grippers (3E1), which includes shaft hooks (3E1A).

6. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 3 or 4, characterized in that... The lifting device (3C) includes a double-column lifting device (32), which includes two sets of lifting columns (4); the horizontal support plate (5C) includes a double support plate (5C2).

7. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 6, characterized in that: The component (2) includes a tire (2B), and the gripper device (3E) includes a tire gripper (3E2), which includes a telescopic V-clamp (3E2A).

8. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 3 or 4, characterized in that... The lifting device (3C) includes a four-column lifting device (34), which includes four lifting columns (4); the component (2) includes an axle (2C), which includes an end inner hole (2C1) and an end outer circle (2C2) located at both ends; the gripper device (3E) includes an axle gripper (3E3), which includes a telescopic cone shaft (3E3A) and a telescopic three-jaw chuck (3E3B). The axle gripper (3E3) can grip the axle (2C) by inserting the telescopic cone shaft (3E3A) into the end inner hole (2C1) and the telescopic three-jaw chuck (3E3B) to clamp the end outer circle (2C2).

9. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 1, characterized in that: The opening and closing support plate (3D) includes a flexible roller shutter support plate (6), which includes a guide rail frame (6A), a chain (6B), a support strip (6C), and a chain drive (6D). The guide rail frame (6A) including the chain guide rail is fixed on the trolley body (3B1). The chain (6B) can run on the chain guide rail through the chain drive (6D). The support strip (6C) is installed on the chain (6B) to form the roller shutter support plate. When the support strip (6C) is located below the component (2), it can prevent the component (2) from falling. When the roller shutter support plate is rolled up, it does not affect the lifting and lowering of the component (2).

10. A safety gantry robot with an opening and closing tray at the bottom of the vehicle according to claim 1, characterized in that: The opening and closing tray (3D) includes a swing tray device (7), which includes a swing frame (7A), a swing tray (7B), a hinge pin (7C), and a telescopic electric cylinder (7D). The swing frame (7A) is installed on the bottom of the trolley body (3B1). One end of the swing tray (7B) is hinged to the swing frame (7A) through the hinge pin (7C), and the other end is connected to one end of the telescopic electric cylinder (7D). The other end of the telescopic electric cylinder (7D) is installed on the swing frame (7A).

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