Safety truss robot with trolley provided with supporting plate and used for engineering machinery production

Abstract

The invention discloses a safe truss robot with a trolley provided with a supporting plate for engineering machinery production, which is characterized in that a longitudinal track, a workpiece and a truss robot are arranged in a production workshop for manufacturing engineering machinery, the truss robot comprises a cart, the trolley, a lifting device, an 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, the fixed column is installed on the trolley body, and the clamping jaw device is fixed to the bottom of the movable column 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 workpiece and lifts the workpiece 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 workpiece, the workpiece 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 workpiece; the method has the main advantage of safety.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery production equipment technology, specifically a safety gantry robot with a pallet for use in engineering machinery production. Background Technology

[0002] Currently, most gantry robots in construction machinery production workshops lack fall protection devices. Instead, they rely on ground barriers to physically isolate personnel. However, in the event of a fall, they could still damage equipment below, posing a significant safety hazard. While a very small number of gantry robots are equipped with fall-protection pallet trolleys on their main gantry, where the trolley moves under the workpiece after it has been lifted to its final position, this design suffers from a complex structure and requires a large amount of space. Summary of the Invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a safe gantry robot with a pallet for use in the production of engineering machinery, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The production workshop 1 for manufacturing engineering machinery includes a longitudinal track 1X, a workpiece 2, 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, 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 pallet 3D includes an opening and closing device 3D1 and a pallet 3D2. The opening and closing device 3D1 is installed at the bottom of the trolley body 3B1. When the gripper device 3E grabs the workpiece 2 and raises it to the highest position, the pallet 3D2 is closed by the opening and closing device 3D1. The pallet 3D2 is located at the bottom of the workpiece 2, which can prevent the workpiece 2 from falling. When the pallet 3D2 is opened by the opening and closing device 3D1, the pallet 3D2 does not affect the lifting and lowering of the workpiece 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 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 workpiece 2 includes a shaft-type workpiece 2A; the gripper device 3E includes a shaft-type gripper 3E1, which includes a shaft hook 3E1A.

[0008] 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.

[0009] As a further aspect of the present invention: the workpiece 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.

[0010] As a further embodiment of the present invention: the lifting device 3C includes a four-column lifting device 34, which includes four sets of lifting columns 4.

[0011] As a further aspect of the present invention: the workpiece 2 includes an axle 2C, the axle 2C 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, the axle gripper 3E3 includes a telescopic conical shaft 3E3A and a telescopic three-jaw 3E3B, the axle gripper 3E3 extends into the end inner hole 2C1 through the telescopic conical shaft 3E3A and clamps the end outer circle 2C2 through the telescopic three-jaw 3E3B to grasp the axle 2C.

[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 below the workpiece 2, it can prevent the workpiece 2 from falling. When the roller shutter support plate is rolled up, it does not affect the lifting and lowering of the workpiece 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 advantages of this invention are: the innovative design of directly setting an opening and closing tray at the bottom of the vehicle body, which has the advantages of safety, simple structure, and small space occupation. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of the longitudinal track 1X, workpiece 2 and gantry robot 3 in production workshop 1, and also a structural schematic diagram of the shaft workpiece 2A, tire 2B and axle 2C that make up workpiece 2. Figure 2 yes Figure 1 View AA is also a structural diagram of the gantry robot 3, which includes a large vehicle 3A, a small vehicle 3B, a lifting device 3C, an opening and closing pallet 3D, and a gripper device 3E. It is also a structural diagram of the large vehicle body 3A1 and the transverse track 3A2 of the large vehicle 3A, a structural diagram of the opening and closing device 3D1 and the pallet 3D2 of the opening and closing pallet 3D, a structural diagram of the lifting column 4 of the lifting device 3C, a structural diagram of the fixed column 4A and the movable column 4B of the lifting column 4, a structural diagram of the initial column 4B1, the intermediate column 4B2 and the final column 4B3 of the movable column 4B, a structural diagram of the tire gripper 3E2 of the gripper device 3E, and a structural diagram of the telescopic V-shaped clamp 3E2A of the tire gripper 3E2. Figure 3 It is a structural schematic diagram of the double column lifting 32 that makes up the lifting device 3C, a structural schematic diagram of the double pallet 5C2 that makes up the horizontal pallet 5C, a structural schematic diagram of the trolley body 3B1 that makes up the trolley 3B, a structural schematic diagram of the horizontal pallet device 5 that makes up the opening and closing pallet 3D, and 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. Figure 4 yes Figure 3 K-direction view; Figure 5 This is a structural schematic diagram of the shaft-type gripper 3E1 that makes up the gripper device 3E, and also a structural 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 N-direction view; 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] Production workshop 1, longitudinal track 1X, workpiece 2, shaft workpiece 2A, tire 2B, axle 2C, end inner hole 2C1, end outer circle 2C2, gantry robot 3, large trolley 3A, large trolley body 3A1, transverse track 3A2, small trolley 3B, small trolley column 3B1A, lifting device 3C, opening and closing pallet 3D, opening and closing device 3D1, pallet 3D2, gripper device 3E, shaft gripper 3E1, shaft hook 3E1A, tire gripper 3E2, telescopic V-clamp 3E2A, axle gripper 3E3, telescopic conical shaft 3E3A, telescopic three-jaw 3E3B, single column lifting 31, double column lifting 31. 32. Lowering column; 34. Four-post lifting column; 4. 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; 6. Flexible roller shutter support plate; 6A. Guide rail frame; 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 1 for manufacturing engineering machinery includes a longitudinal track 1X, a workpiece 2, 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 pallet 3D includes an opening and closing device 3D1 and a pallet 3D2. The opening and closing device 3D1 is installed at the bottom of the trolley body 3B1. When the gripper device 3E grabs the workpiece 2 and raises it to the highest position, the pallet 3D2 is closed by the opening and closing device 3D1. The pallet 3D2 is located at the bottom of the workpiece 2, which can prevent the workpiece 2 from falling. When the pallet 3D2 is opened by the opening and closing device 3D1, the pallet 3D2 does not affect the lifting and lowering of the workpiece 2.

[0019] It should be noted that: Production workshop 1 can be a welding workshop, a machining workshop, or an assembly workshop.

[0020] 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.

[0021] 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.

[0022] It should be noted that the intermediate column 4B2 can also be a two-level or higher lifting mechanism.

[0023] 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.

[0024] 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 workpiece 2 includes a shaft-type workpiece 2A; the gripper device 3E includes a shaft-type gripper 3E1, which includes a shaft hook 3E1A.

[0025] 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.

[0026] The workpiece 2 includes a tire 2B, and the gripper device 3E includes a tire gripper 3E2, which includes a telescopic V-shaped clamp 3E2A.

[0027] The lifting device 3C includes a four-column lifting device 34, which includes four sets of lifting columns 4.

[0028] It should be noted that the trolley column 3B1A can be combined with the fixed column 4A.

[0029] The workpiece 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 extending into the end inner hole 2C1 through the telescopic conical shaft 3E3A and clamping the end outer circle 2C2 through the telescopic three-jaw 3E3B.

[0030] 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 bar 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 bar 6C is installed on the chain 6B to form the roller shutter support plate. When the support bar 6C is below the workpiece 2, it can prevent the workpiece 2 from falling. When the roller shutter support plate is rolled up, it does not affect the lifting and lowering of the workpiece 2.

[0031] 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.

[0032] 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.

[0033] It should be noted that the swing pallet device 7 can be a single swing pallet 71 or a double swing pallet 72.

[0034] 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.

[0035] 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 a pallet for use in the production of engineering machinery, characterized in that: The production workshop (1) for manufacturing engineering machinery includes a longitudinal track (1X), a workpiece (2), 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) that moves up and down is mounted on the trolley body (3B1), and the fixed column (4A) is mounted 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 mounted on the bottom of the trolley body (3B1). When the gripper device (3E) grabs the workpiece (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 workpiece (2) and can prevent the workpiece (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 workpiece (2).

2. A safety gantry robot with a pallet for use in engineering machinery production, as described in claim 1, is 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 a pallet for use in engineering machinery production, as described in claim 2, is 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 a pallet for use in engineering machinery production according to claim 3, 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 workpiece (2) includes a shaft workpiece (2A); the gripper device (3E) includes a shaft gripper (3E1), which includes a shaft hook (3E1A).

5. A safety gantry robot with a pallet for use in engineering machinery production according to claim 3, 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).

6. A safety gantry robot with a pallet for use in engineering machinery production according to claim 5, characterized in that: The workpiece (2) includes a tire (2B), and the gripper device (3E) includes a tire gripper (3E2), which includes a telescopic V-clamp (3E2A).

7. A safety gantry robot with a pallet for use in engineering machinery production according to claim 3, characterized in that: The lifting device (3C) includes a four-column lifting (34), which includes four sets of lifting columns (4).

8. A safety gantry robot with a pallet for use in engineering machinery production according to claim 7, characterized in that: The workpiece (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 chuck (3E3B). The axle gripper (3E3) extends into the end inner hole (2C1) and the telescopic three-jaw chuck (3E3B) through the telescopic conical shaft (3E3A) to clamp the end outer circle (2C2) and can grip the axle (2C).

9. A safety gantry robot with a pallet for use in engineering machinery production 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 below the workpiece (2), it can prevent the workpiece (2) from falling. When the roller shutter support plate is rolled up, it does not affect the lifting and lowering of the workpiece (2).

10. A safety gantry robot with a pallet for use in engineering machinery production 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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