Gantry type lifting rod and clamping jaw combined carrying device for crane competition

Abstract

A traditional crane match structure adopts an independent clamping jaw or an independent lifting rod structure, the independent clamping jaw structure only clamps the side wall through a clamping jaw in the object carrying process, and in the device starting, accelerating and steering processes, an object swings outwards under the action of inertia force and is difficult to stop to a designated position quickly. And the crane device needs to be suspended in front of the goods shelf for height adjustment every time the goods are fetched, and time is wasted. An independent lifting rod structure cannot limit movement of an object in the lifting rod direction, and when the object is put down and leaves, the object may be taken away to slide along the lifting rod, so that after the object reaches a target position, the position of the object deflects, and the object cannot accurately enter the position. Therefore, according to the gantry type lifting rod and clamping jaw combined carrying mechanism for the crane match, the lifting rod structure can achieve the effect that the whole carried object is placed at the bottom of the device, the left-right interval position is fixed, repeated carrying and position adjusting are avoided, and the clamping jaw structure can flexibly adjust the position of the clamped object and place the clamped object to the designated position; the combined use of the two can greatly improve the carrying flexibility and reduce the precision control requirement, so that the use time is shortened.

Description

Technical Field

[0001] This invention relates to the technical field of crane competition handling mechanisms, specifically to a crane competition gantry-type lifting arm and gripper combined handling structure. Background Technology

[0002] Traditional crane handling structures employ independent grippers or independent lifting arms. Independent grippers rely solely on the grippers to hold the sidewalls during transport; during startup, acceleration, and turning, the object is subject to inertial forces and may swing outwards, making it difficult to stop quickly at the designated position. Furthermore, each retrieval requires the crane to hover in front of the rack for height adjustment, wasting time. Independent lifting arms cannot restrict the movement of the object along the lifting arm; when lowering the object, it may be pulled along the arm, causing it to slide and become misaligned upon reaching the target position, preventing precise placement. Therefore, this paper proposes a combined gantry-style lifting arm and gripper handling mechanism for crane handling. The lifting arm structure allows the entire object to be placed at the bottom of the device, with fixed left and right intervals, avoiding multiple handling and position adjustments. The gripper structure allows for flexible adjustment of the gripper's position to the designated location. The combined use of these two mechanisms greatly improves handling flexibility and reduces the precision control requirements, thereby shortening the operating time. Summary of the Invention

[0003] The present invention aims to propose a gantry-type lifting rod and gripper combined handling mechanism that can solve the problems of insufficient flexibility and difficulty in controlling precision of traditional crane competition mechanisms.

[0004] According to an embodiment of the present invention, a gantry-type lifting lever and gripper combined handling mechanism is provided to improve the flexibility and precision control of a crane. The mechanism mainly includes European standard V-groove aluminum profiles, trapezoidal aluminum square tubes, stepper motors, geared motors, synchronous belts, synchronous clamps, synchronous pulleys, synchronous belt tensioners, aluminum alloy wheels, plastic base plates, and grippers. The aluminum profiles are fixed with angle brackets, bolts, and T-nuts. The plastic base plates are placed between the V-groove gaps of the aluminum profiles to form a bottom support frame. Four trapezoidal aluminum square tubes are symmetrically installed on the bottom aluminum profile using angle brackets, bolts, and T-nuts. The top aluminum profiles are symmetrically placed on both sides of the trapezoidal aluminum square tubes, and their front ends are fixed to the aluminum square tubes with angle brackets and bolts.

[0005] Four wheels are symmetrically installed under the bottom aluminum profile, front, back, left, and right. The geared motor and L-shaped motor bracket are fixed with screws on one side. The motor shaft passes through the motor shaft hole of the motor bracket and is fixed to the wheel with fastening screws. The other side of the motor bracket is fixed to the lower surface of the bottom aluminum profile with bolts and T-nuts.

[0006] The top two aluminum profiles form a set, with a fixing block placed between the two ends of the two aluminum profiles. The fixing blocks are fixed on both sides with angle brackets, bolts and T-nuts. Two sets of aluminum profiles are placed vertically above the top two aluminum profiles.

[0007] Double-row gantry panels come in two types: with and without motors. Both types include perforated plates, rollers, copper columns, bolts, and hexagonal nuts. Each type of gantry panel is fixed to two sets of aluminum profiles. The inner surface of the V-groove on the lower surface of each set of aluminum profiles coincides with the lower surface of the bolt heads on the gantry panel. The pulleys are placed in the V-grooves of the aluminum profiles on the left and right sides of the gantry panel.

[0008] The front ends of the aluminum profiles on both sides of the top are fixed to the inner side of the straight motor bracket with bolts and T-nuts. The stepper motor and the motor bracket are fixed with screws. The motor shaft passes through the hole in the center of the motor bracket and is fixed to the synchronous pulley with fastening screws. A synchronous belt tensioner is fixed to the rear end of the aluminum profile with bolts and T-nuts.

[0009] The two ends of a synchronous belt and the slots on both sides of the upper surface of the double-row motorless gantry plate are fixed with synchronous belt clamps. The two ends pass through the synchronous pulley at the front end of the aluminum profile and the gear in the tensioner at the rear end.

[0010] A stepper motor is fixed to the upper surface of the double-row motor gantry plate with screws. The motor shaft passes through the hole in the center of the gantry plate and the synchronous pulley and is fixed by fastening screws. Another synchronous belt passes through the synchronous pulley on the motor shaft. The two ends of the synchronous belt are fixed to the two ends of the V groove in the center of the aluminum profile along the direction of the aluminum profile. Bolts pass through the synchronous belt and T-nuts and are fixed to the center of the aluminum profile.

[0011] The combined gantry panel consists of two perforated plates, four bolts, eight hexagonal nuts, twelve cylindrical sleeves, an eccentric nut, and rollers. Two copper pillars are placed between the two perforated plates, and a roller is placed between the copper pillars. An eccentric nut is placed on the other side of one of the perforated plates, adjacent to a roller, and a hexagonal nut is placed on the other side of the roller.

[0012] Two combined gantry panels pass through the horizontal aluminum profile placed above the motorless gantry panel, with a certain distance maintained between the gantry panels. The panels are fixed on both sides using corner brackets, bolts, and T-nuts.

[0013] A lifting device consists of two vertical aluminum profiles and one horizontal aluminum profile. The two vertical aluminum profiles pass through two combined gantry plates placed on a motorless gantry plate. A straight motor bracket is fixed to the top of the vertical aluminum profile, and the motor bracket is secured to the aluminum profile with bolts and T-nuts. The motor shaft passes through the holes in the motor bracket and is secured to a synchronous pulley with fastening screws. A synchronous belt tensioner is fixed to the bottom of the aluminum profile. The synchronous belt passes through the gears in the tensioner of the top and bottom synchronous pulleys, and both ends are secured to the slots on the top and bottom sides of the combined gantry plate with synchronous belt clamps. The bottoms of the two vertical aluminum profiles are secured to the horizontal aluminum profile with angle brackets, bolts, and T-nuts. Six C-clamps are installed at fixed intervals on the horizontal aluminum profile, and single-headed screw rods are installed in the threaded holes on the C-clamps.

[0014] A modular gantry plate passes through a set of aluminum profiles placed above a motor-driven gantry plate. Inside the modular gantry plate is a vertically oriented aluminum profile. A single-slot motor bracket is fixed to the top of the aluminum profile using bolts and T-nuts. The motor is secured to the motor bracket with screws. The motor shaft passes through holes in the motor bracket and is secured to a timing pulley with fastening screws. A timing belt tensioner is fixed to the bottom of the aluminum profile. The timing belt passes through the gears in the timing belt tensioner below the upper and lower timing pulleys, and both ends are secured to slots on the upper and lower sides of the modular gantry plate using timing belt clamps. The bottom of the aluminum profile and the timing belt tensioner are housed in a gripper adapter. The upper end of the gripper adapter is fixed to the aluminum profile with bolts and T-nuts, and the lower end is secured to the servo motor and gripper with bolts and hexagonal nuts.

[0015] Traditional crane handling structures employ independent grippers or independent lifting arms. Independent grippers rely solely on the grippers to hold the sidewalls during transport; during startup, acceleration, and turning, the object is subject to inertial forces and may swing outwards, making it difficult to stop quickly at the designated position. Furthermore, each retrieval requires the crane to hover in front of the rack for height adjustment, wasting time. Independent lifting arms cannot restrict the movement of the object along the lifting arm; when lowering the object, it may be pulled along the arm, causing it to slide and become misaligned upon reaching the target position, preventing precise placement. Therefore, this paper proposes a combined gantry-style lifting arm and gripper handling mechanism for crane handling. The lifting arm structure allows the entire object to be placed at the bottom of the device, with fixed left and right intervals, avoiding multiple handling and position adjustments. The gripper structure allows for flexible adjustment of the gripper's position to the designated location. The combined use of these two mechanisms greatly improves handling flexibility and reduces the precision control requirements, thereby shortening the operating time. Attached Figure Description

[0016] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0017] Figure 1 Axonometric view of a gantry crane and gripper combined conveying device

[0018] Figure 2(a) shows the combined gantry panel assembly.

[0019] Figure 2(b) shows a double-row motorized gantry plate device.

[0020] Figure 2(c) shows the double-row motorless gantry plate device.

[0021] Figure 3 Dual-rail parallel synchronous belt drive module

[0022] Figure 4 For crane boom lifting device

[0023] Figure 5 Crane gripper device

[0024] Figure 6 Overall layout diagram of cranes and site

[0025] In the attached diagrams: 1. European standard V-groove aluminum profile; 2. L-shaped motor bracket; 3. Gear motor; 4. Screw; 5. Wheel; 6. Trapezoidal aluminum square tube; 7. One-line motor bracket; 8. Fastening screw; 9. Synchronous belt; 10. Synchronous pulley; 11. Stepper motor; 12. Double-row motorized gantry plate; 13. Synchronous belt tensioner; 14. Combined gantry plate; 15. Synchronous belt clamp; 16. Clamp connecting device; 17. Servo motor; 18. Clamp; 19. Double-row motorless gantry plate; 20. C-clamp; 21. Single-headed screw rod; 22. Angle bracket; 23. Bolt; 24. T-nut; 25. Plastic base plate; 26. Fixing block; 27. Roller; 28. Eccentric nut; 29. ​​Perforated plate; 30. Copper column; 31. Hexagonal nut; 32. Track; 33. Site; 34. Shelf; 35. Object. Detailed Implementation

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] like Figure 1 The diagram shows an isometric view of the gantry crane and gripper combined handling device. Six aluminum profiles 1 and a plastic base plate 25 together form the bottom support frame of the device. The aluminum profiles 1 are fixed together using angle brackets 22, bolts 23, and T-nuts 24. Four trapezoidal aluminum square tubes 6 are symmetrically fixed to the upper surface of the bottom support. One aluminum profile 1 is fixed to each of the left and right sides of the upper surface of each aluminum square tube 6. A double-row motorized gantry plate 12 and a double-row non-motorized gantry plate 19 are placed on the upper surface of each aluminum profile 1. A set of aluminum profiles 1 is fixed horizontally above each of the two gantry plates. Each set of aluminum profiles 1 is fixed together using fixing blocks 26, which are secured to the aluminum profiles 1 using angle brackets 22, bolts 23, and T-nuts 24 to ensure that the two aluminum profiles 1 do not slide horizontally. A lifting rod device is placed in the combined gantry plate 14 of the double-row aluminum profile 1 placed on the motorless gantry plate 19, and a gripper device is placed in the combined gantry plate 14 of the double-row aluminum profile 1 placed on the motorized gantry plate 12.

[0028] Figure 2(a) shows a combined gantry plate device. Two copper pillars 30 are placed between two perforated plates 29, and a roller 27 is placed between the two copper pillars 30. An eccentric nut 28 is placed on each side of the two perforated plates 29, with the eccentric nut 28 adjacent to a roller 27. A hexagonal nut 31 is placed on the other side of the roller 27.

[0029] Figure 2(a) shows a double-row motor-driven gantry plate device. The motor shaft of the stepper motor 11 passes through the hole of the motor shaft of the perforated plate 29. The motor is fixed to the perforated plate 29 with screws 4. Bolts 23 pass through the perforated plate 29 and are fixed together with the copper column 30 below, the roller 27 and the hexagonal nut 31.

[0030] Figure 2(c) shows a double-row motorless gantry plate device. Bolt 23 passes through the perforated plate 29 and is fixed together with the copper column 30 below, roller 27 and hexagonal nut 31.

[0031] like Figure 3As shown, a dual-track parallel synchronous belt drive module is illustrated. The front ends of the aluminum profiles 1 on both sides are fixed to the inner sides of the aluminum profiles 1 on both sides by bolts 23 and T-nuts 24. The stepper motor 11 and the linear motor bracket 7 are connected by screws 4. The shaft of the motor 11 passes through the hole in the center of the motor bracket 7 and is fixed to the synchronous pulley 10 by fastening screws 8. A synchronous belt tensioner 13 is fixed to the rear end by bolts 23 and T-nuts 24. The two ends of the synchronous belt 9 and the slots on both sides of the upper surface of the motorless gantry plate 19 are fixed by synchronous belt clamps 15. The two ends pass along the direction of the aluminum profile 1 through the synchronous pulley 10 at the front end of the aluminum profile 1 and the gear in the tensioner 13 at the rear end, forming the first synchronous belt 9 drive track. The upper surface of motor 11 is fixed to the motor-loaded gantry plate 12 using screws 4. The shaft of motor 11 passes through the hole in the center of the gantry plate and is fixed to the synchronous pulley 10 by fastening screws 8. The synchronous belt 9 passes through the synchronous pulley 10 on the shaft of motor 11. Both ends of the synchronous belt 9 are fixed in the V-groove in the center of the aluminum profile 1 along the direction of the aluminum profile 1. Bolts 23 pass through the synchronous belt 9 at both ends and T-nuts 24 to fix it in the center of the V-groove of the aluminum profile 1, forming a second synchronous belt 9 transmission track. The two are parallel and do not interfere with each other, forming a double-track parallel synchronous belt 9 transmission module.

[0032] like Figure 4 The image shows a crane boom lifting device. Two vertical aluminum profiles 1 and one horizontal aluminum profile 1 form a boom lifting device. A straight motor bracket 7 is fixed to the top of the vertical aluminum profile 1. The motor bracket 7 is secured to the top of the aluminum profile 1 using bolts 23 and T-nuts 24. A synchronous pulley 10 is fixed to the motor 11 shaft through a hole in the motor bracket using fastening screws 8. A synchronous belt tensioner 13 is fixed to the bottom of the aluminum profile 1. The synchronous belt 9 passes through the gears in the tensioner 13 below the upper and lower synchronous pulleys 10, and is fixed at both ends to the slots on the upper and lower sides of the combined gantry plate 14 using synchronous belt clamps 15. The bottoms of the two vertical aluminum profiles 1 are fixed to the horizontal aluminum profile 1 using angle brackets 22, bolts 23, and T-nuts 24. Six C-clamps 20 are installed at fixed intervals on the horizontal aluminum profile 1, and single-headed screw rods 21 are installed in the threaded holes on the C-clamps 20.

[0033] like Figure 5The image shows a crane gripper assembly. A vertical aluminum profile 1 has a single-slot motor bracket 7 mounted on its top using bolts 23 and T-nuts 24. A motor 11 is fixed to the motor bracket 7 with screws 4. The motor 11 shaft passes through holes in the motor bracket 7 and is secured to a timing pulley 10 using fastening screws 8. A timing belt tensioner 13 is fixed to the bottom of the aluminum profile 1. The timing belt 9 passes through the gears in the timing pulley tensioner 13 below the upper and lower timing pulleys 10, and is fixed at both ends to slots on the upper and lower sides of the combined gantry plate 14 using timing belt clamps 15. The bottom of the aluminum profile 1 and the timing belt tensioner 13 are placed within a gripper adapter 16. The upper end of the gripper adapter 16 is secured with bolts 23 and T-nuts 24, and the lower end is secured with bolts 23 and hexagonal nuts 31 to a servo motor 17 and a gripper 18.

[0034] like Figure 6 The diagram shows the overall layout of the crane and site 33. The gantry-type lifting boom and gripper assembly starts at the center of site 33. As it moves along track 32 to the front of shelf 34, it uses the lifting boom to move three objects 35 from shelf 34 at a time, placing them in the center of the plastic base plate 25. It then moves backward along the thick rod 21 to exit, ready for the next move. After the move is complete, the geared motor 3 rotates in the opposite direction, moving the entire assembly to the other end of site 33, where the grippers 18 are responsible for matching and placing each object 35.

[0035] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications should also be considered to fall within the scope of protection of this application.

Claims

1. A crane competition gantry type lifting boom and gripper combined transport device, which travels along a track (32), characterized in that, The conveying mechanism includes a gantry frame, six aluminum profiles (1) and a plastic base plate (25) together forming the bottom support frame of the device. The aluminum profiles (1) are fixed together using angle brackets (22), bolts (23) and T-nuts (24). Four trapezoidal aluminum square tubes (6) are symmetrically fixed on the upper surface of the bottom support. An aluminum profile (1) is fixed on each of the left and right sides of the upper surface of the aluminum square tube (6). On the upper surface of each aluminum profile (1), a double-row motor-driven gantry plate (12) and a double-row motorless gantry plate (19) are placed. A set of aluminum profiles (1) is fixed horizontally above each of the two gantry plates. Each set of aluminum profiles (1) is fixed together using fixing blocks (26). The fixing blocks (26) are fixed to the aluminum profiles (1) using angle brackets (22), bolts (23) and T-nuts (24) to ensure that the two aluminum profiles (1) will not slide horizontally. A lifting device is placed in the combined gantry plate (14) of the double-row aluminum profile (1) placed on the motorless gantry plate (19), and a gripper device is placed in the combined gantry plate (14) of the double-row aluminum profile (1) placed on the motorized gantry plate (12).

2. The conveying structure according to claim 1, characterized in that, The lifting device consists of two vertical aluminum profiles (1) and one horizontal aluminum profile (1). A straight motor bracket (7) is fixed to the top of the vertical aluminum profile (1). The motor bracket (7) is fixed to the top of the aluminum profile (1) with bolts (23) and T-nuts (24). The motor (11) shaft passes through the hole in the motor bracket and is fixed to a synchronous pulley (10) with fastening screws (8). A synchronous belt tensioner (13) is fixed to the bottom of the aluminum profile (1). The synchronous belt (9) passes through the gears in the upper synchronous pulley (10) and the lower synchronous pulley tensioner (13). Both ends are fixed to the slots on the upper and lower sides of the combined gantry plate (14) with synchronous belt clips (15). The bottoms of the two vertical aluminum profiles (1) are fixed to the horizontal aluminum profile (1) with angle brackets (22), bolts (23) and T-nuts (24). Six C-clamps (20) are installed at fixed intervals on the horizontal aluminum profile (1), and a single-headed screw rod (21) is installed in the threaded hole on the C-clamp (20).

3. The conveying structure according to claim 1, characterized in that, The gripper device consists of a vertical aluminum profile (1) with a bolt (23) and a T-nut (24) at the top to fix a single-slot motor bracket (7). The motor (11) is fixed to the motor bracket (7) with screws (4). The motor (11) shaft passes through the hole in the motor bracket (7) and a synchronous pulley (10) is fixed with a fastening screw (8). A synchronous belt tensioner (13) is fixed to the bottom of the aluminum profile (1). The synchronous belt (9) passes through the gears in the upper synchronous pulley (10) and the lower synchronous pulley tensioner (13), and both ends are fixed in the slots on the upper and lower sides of the combined gantry plate (14) with synchronous belt clamps (15). The bottom of the aluminum profile (1) and the timing belt tensioner (13) are placed in a gripper adapter (16). The upper end of the gripper adapter (16) is fixed by bolts (23) and T-nuts (24), and the lower end is fixed by bolts (23) and hexagonal nuts (31) to the servo motor (17) and the gripper (18).

4. The conveying structure according to claim 1, characterized in that, The dual-track parallel synchronous belt drive module consists of two aluminum profiles (1) on both sides, which are fixed to the inner side of the aluminum profiles (1) on both sides by bolts (23) and T-nuts (24) on the straight motor bracket (7). The stepper motor (11) and the straight motor bracket (7) are connected by screws (4). The shaft of the motor (11) passes through the hole in the center of the motor bracket (7) and is fixed to the synchronous pulley (10) by fastening screws (8). A synchronous belt tensioner (13) is fixed at the rear end by bolts (23) and T-nuts (24). The two ends of the synchronous belt (9) and the slots on both sides of the upper surface of the motorless gantry plate (19) are fixed by synchronous belt clamps (15). The two ends pass along the direction of the aluminum profile (1) through the synchronous pulley (10) at the front end of the aluminum profile (1) and the gear in the tensioner (13) at the rear end, forming the first synchronous belt (9) drive track. The upper surface of the motor (11) is fixed to the motor-loaded gantry plate (12) with screws (4). The motor (11) shaft passes through the hole in the center of the gantry plate and the synchronous pulley (10) and is fixed by fastening screws (8). The synchronous belt (9) passes through the synchronous pulley (10) on the motor (11) shaft. The two ends of the synchronous belt (9) are fixed in the V-groove in the center of the aluminum profile (1) along the direction of the aluminum profile (1). Bolts (23) pass through the synchronous belts (9) at both ends and T-nuts (24) and are fixed in the center of the aluminum profile (1), forming a second synchronous belt (9) transmission track. The two are parallel and do not interfere with each other, forming a double-track parallel synchronous belt (9) transmission module.

5. The device structure according to claims 2, 3, and 4, characterized in that, The combined gantry plate (14) consists of two perforated plates (29) with two copper pillars (30) placed between them, a roller (27) placed between the two copper pillars (30), an eccentric nut (28) placed on the other side of each of the two perforated plates (29), the eccentric nut (28) being close to a roller (27), and a hexagonal nut (31) placed on the other side of the roller (27). The double-row motor-equipped gantry plate (12) has the motor shaft of the stepper motor (11) passing through the hole of the motor (11) shaft in the perforated plate (29). The motor is fixed to the perforated plate (29) with screws (4), and bolts (23) pass through the perforated plate (29) and are fixed together with the copper pillar (30), roller (27) and hexagonal nut (31) below. The double-row motorless gantry plate (19) is fixed by bolts (23) passing through the perforated plate (29) and the copper column (30) below, rollers (27) and hexagonal nuts (31).

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