Jacking device of three-dimensional gantry type intelligent coating robot

Abstract

The invention provides a jacking device of a three-dimensional gantry type intelligent coating robot, which relates to the field of three-dimensional gantry type intelligent coating robots and is characterized by comprising a shell, a plurality of telescopic frames, a plurality of base plates, a plurality of first oil cylinders, a plurality of supporting legs and a central oil cylinder, a swing oil cylinder is installed in the shell and connected with a plurality of telescopic frames. The invention has the advantages that: the support legs can be dynamically positioned and flexibly arranged in the horizontal and vertical directions; a high-strength detachable anti-skid base plate is matched to increase the grounding area and disperse the load to adapt to different ground conditions; a sensor and an intelligent leveling anti-rollover system are integrated, the inclination angle of equipment, the stress of supporting legs and the ground state can be sensed in real time, a leveling strategy is automatically optimized through a self-learning algorithm, and high-precision full-automatic leveling and anti-rollover control is achieved. Therefore, the stability, the safety and the intelligent level of the coating robot in a complex and uneven environment are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional gantry-type intelligent painting robots, and particularly to a lifting device for a three-dimensional gantry-type intelligent painting robot. Background Technology

[0002] In modern intelligent manufacturing, painting robots are widely used in industries such as automotive, aerospace, shipbuilding, and machinery manufacturing. Among them, the 3D gantry-type intelligent painting robot has become an important piece of equipment for high-precision and high-efficiency painting operations due to its advantages such as compact structure, wide coverage, and flexible movement. However, in practical applications, due to the large weight and irregular shape of the workpiece, and the possibility of uneven ground, the traditional fixed leg structure is prone to causing the equipment to tilt or even overturn, affecting the safety and stability of the operation.

[0003] Existing lifting devices typically employ fixed outriggers or simple telescopic cylinder structures, lacking real-time sensing and dynamic adjustment capabilities for changes in the center of gravity, and thus unable to adapt to the automatic leveling requirements under different working conditions. Furthermore, most devices lack intelligent control systems, relying on manual experience for operation, posing safety hazards and failing to meet the high-efficiency and safety requirements of high-end automated production lines.

[0004] Therefore, there is an urgent need to develop a lifting device that can achieve automatic leveling, anti-tipping, and intelligent control to improve the operational safety and adaptability of the three-dimensional gantry-type intelligent painting robot. Summary of the Invention

[0005] The purpose of this invention is to provide a lifting device for a three-dimensional gantry-type intelligent painting robot, which solves the problem that existing lifting devices cannot adapt to the automatic leveling requirements under complex working conditions due to the lack of real-time sensing and dynamic adjustment capabilities.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0007] A lifting device for a three-dimensional gantry-type intelligent painting robot is characterized by comprising: a shell, multiple telescopic frames, multiple pads, multiple first hydraulic cylinders, multiple support legs, and a central hydraulic cylinder.

[0008] A swing cylinder is installed in the housing, and the swing cylinder is connected to multiple telescopic frames to control the direction of the telescopic frames.

[0009] Multiple telescopic frames are rotatably mounted on the housing and are respectively connected to corresponding support legs;

[0010] The first hydraulic cylinder is located between the telescopic frame and the outriggers, and is used to adjust the vertical height of the outriggers.

[0011] The first hydraulic cylinder acts as a telescopic drive element, controlling the raising, lowering, and extending of the outriggers. These cylinders can be independently adjusted according to workpiece size, weight distribution, and ground conditions, allowing for flexible arrangement of support points. This four-way independent adjustment capability gives the device excellent leveling performance, automatically compensating for ground elevation differences and maintaining the robot platform's horizontal position. This improves the equipment's stability in non-ideal environments, ensuring accurate and error-free painting processes. The multi-point distributed outrigger design effectively distributes the load, improving overall stability. This enhances the equipment's adaptability to uneven ground or complex working conditions, significantly reducing the risk of tipping over and improving operational safety.

[0012] As an improvement, a second hydraulic cylinder is installed inside each of the telescopic frames to drive the telescopic frames to perform telescopic movements.

[0013] The telescopic frame incorporates a second hydraulic cylinder to control its telescopic movement. This structure allows for dynamic adjustment of the legs along their length, accommodating workpieces of varying sizes or space constraints. The advantage lies in expanding the device's applicability, enabling the robot to be quickly deployed and its posture adjusted in diverse working environments, and enhancing the system's versatility and intelligence.

[0014] As an improvement, the pad is fixed to the end of the outrigger and is a detachable structure. The pad is made of high-strength alloy material.

[0015] The removable pads installed at the ends of the outriggers increase the contact area, distribute pressure, and prevent ground subsidence or slippage. Their removable nature allows for the replacement of pads of different specifications (such as rubber or metal) to suit various ground conditions, and they can also be removed to adapt to specific working spaces. This improves the stability and adaptability of the equipment on soft surfaces or in high-precision applications, while also facilitating maintenance and transportation.

[0016] As an improvement, the surface of the pad is provided with anti-slip texture and can be quickly installed and removed by bolts or clips, and the appropriate pad can be replaced according to different ground conditions.

[0017] As an improvement, the swing cylinder is connected to the telescopic frame via a universal joint or hinge mechanism, allowing the telescopic frame to rotate in multiple directions in the horizontal plane, thereby achieving dynamic positioning and adjustment of the outriggers.

[0018] As an improvement, the second hydraulic cylinder is located inside the telescopic frame, and its piston rod end is connected to the outer section of the telescopic frame to push the telescopic frame to extend or retract; the central hydraulic cylinder is a center-of-gravity hydraulic cylinder, which can operate independently to lift heavy objects without affecting the posture of the surrounding outriggers.

[0019] The central hydraulic cylinder is not only suitable for welding, assembly, and subsequent processing of hull sections in shipbuilding, but also widely applicable to the manufacturing and assembly of large steel structures, especially large, irregularly shaped, heavy structural components. Its configuration provides uniform, stable support and controllable lifting force for large-area thin-plate structures such as hulls. During hull section tilting or attitude adjustment, the precisely distributed support force applied by the central hydraulic cylinder effectively avoids problems such as weld deformation, structural instability, or overall geometric deformation caused by localized stress concentration or insufficient support. It is particularly suitable for precise positioning and deformation control of hull sections under heavy-duty operating conditions such as welding, painting, and grinding, significantly improving manufacturing accuracy and structural integrity, thereby meeting high shipbuilding process standards.

[0020] A lifting device for a three-dimensional gantry-type intelligent painting robot also includes an intelligent leveling and anti-tipping system for the outriggers, the system comprising:

[0021] Sensor module, outrigger controller, upper vehicle controller, and work display screen;

[0022] The sensor module is used to collect real-time information on equipment tilt angle, outrigger force, and ground condition.

[0023] The outrigger controller receives sensor data and calculates the optimal outrigger height and angle;

[0024] The upper vehicle controller communicates with the outrigger controller to coordinate the control of the hydraulic cylinder movements;

[0025] The operation display screen shows the current attitude parameters, warning information, and operation interface.

[0026] As an improvement, the sensor module includes at least one tilt sensor, multiple pressure sensors, and angle and arm length sensors, all integrated into the control box to achieve dynamic monitoring under all operating conditions.

[0027] As an improvement, the outrigger controller has a self-learning algorithm that can automatically optimize the leveling strategy based on historical work data and supports preset mode switching for various workpiece types.

[0028] As an improvement, the device is also equipped with a human-machine interaction operating system, including a main control console and an operating handle. It adopts an ergonomic layout design and is equipped with a visual UI interface, supporting remote monitoring and fault diagnosis functions, thereby improving operational safety and ease of operation.

[0029] The beneficial effects of this invention are as follows: Through a multi-point outrigger structure with independently adjustable height and telescopic extension, combined with a swing cylinder and dual cylinder collaborative drive, the outriggers achieve dynamic positioning and flexible arrangement in both horizontal and vertical directions; high-strength, detachable anti-slip pads increase the ground contact area and distribute loads, adapting to different ground conditions; integrated sensors and an intelligent leveling and anti-tipping system can perceive the equipment's tilt angle, outrigger force, and ground condition in real time, and automatically optimize the leveling strategy through a self-learning algorithm, achieving high-precision fully automatic leveling and anti-tipping control. This significantly improves the stability, safety, and intelligence level of the painting robot in complex and uneven environments, enhances its adaptability to multiple workpieces and working conditions, and meets the needs of high-end intelligent manufacturing for efficient, reliable, and automated painting equipment. Attached Figure Description

[0030] Figure 1 This is a perspective view of the lifting device of a three-dimensional gantry-type intelligent painting robot according to the present invention.

[0031] Figure 2 This is a flowchart of the intelligent leveling and anti-tipping system of the present invention.

[0032] In the diagram: 1. Shell; 2. Telescopic frame; 3. Pad; 4. First hydraulic cylinder; 5. Support leg; 6. Central hydraulic cylinder. Detailed Implementation

[0033] To make the content of this invention easier to understand, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Identical components are represented by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0034] like Figures 1 to 2 As shown, a lifting device for a three-dimensional gantry-type intelligent painting robot is characterized by comprising: a shell 1, multiple telescopic frames 2, multiple pads 3, multiple first hydraulic cylinders 4, multiple support legs 5, and a central hydraulic cylinder 6; a swing hydraulic cylinder is installed in the shell 1, and the swing hydraulic cylinder is connected to the multiple telescopic frames 2 to control the rotation of the telescopic frames 2; the multiple telescopic frames 2 are rotatably mounted on the shell 1 and are respectively connected to the corresponding support legs 5; the first hydraulic cylinders 4 are disposed between the telescopic frames 2 and the support legs 5 to adjust the vertical height of the support legs 5.

[0035] The first hydraulic cylinder serves as the telescopic drive element, controlling the raising and lowering and extending of the outriggers 5. These cylinders can be independently adjusted according to workpiece size, weight distribution, and ground conditions, allowing for flexible arrangement of support points. This four-way independent adjustment capability gives the device excellent leveling performance, automatically compensating for ground elevation differences and maintaining the robot platform level. This improves the equipment's stability in non-ideal environments, ensuring accurate and error-free painting processes. The multi-point distributed outrigger design of the outriggers 5 effectively distributes the load, improving overall stability. This enhances the equipment's adaptability to uneven ground or complex working conditions, significantly reducing the risk of tipping over and improving operational safety.

[0036] Multiple telescopic frames 2 are equipped with second hydraulic cylinders to drive the telescopic frames 2 to telescopic movement. The pad 3 is fixed to the end of the support leg 5 and is a detachable structure. The pad 3 is made of high-strength alloy material.

[0037] The telescopic frame 2 incorporates a second hydraulic cylinder to control its telescopic movement. This structure allows for dynamic adjustment of the legs along their length, accommodating workpieces of varying sizes or space constraints. This expands the device's applicability, enabling the robot to be quickly deployed and its posture adjusted in diverse working environments, enhancing the system's versatility and intelligence. Removable pads 3 are installed at the ends of the legs to increase contact area, distribute pressure, and prevent ground subsidence or slippage. Their "removable" nature allows for the replacement of pads of different specifications, such as rubber or metal, to suit various ground conditions, and they can also be removed to adapt to specific working spaces. This improves the equipment's stability and adaptability on soft surfaces or in high-precision environments, while also facilitating maintenance and transportation.

[0038] The surface of the pad 3 is textured with anti-slip material and can be quickly installed and removed using bolts or clips. Adaptable pads can be replaced according to different ground conditions. The swing cylinder is connected to the telescopic frame 2 via a universal joint or hinge mechanism, allowing the telescopic frame 2 to rotate in multiple directions in the horizontal plane, thereby achieving dynamic positioning and adjustment of the outriggers 5. The second cylinder is located inside the telescopic frame 2, with its piston rod end connected to the outer section of the telescopic frame 2, pushing the telescopic frame 2 to extend or retract. The central cylinder 6 is a center-of-gravity cylinder that can operate independently, used to lift heavy objects without affecting the posture of the surrounding outriggers 5.

[0039] The central hydraulic cylinder 6 is not only suitable for welding, assembly, and subsequent processing of hull sections in shipbuilding, but also widely applicable to the manufacturing and assembly of large steel structural components, especially large, irregularly shaped, heavy structural components. Its configuration provides uniform, stable support and controllable lifting force for large-area thin-plate structures such as hulls. During hull section tilting or attitude adjustment, the precisely distributed support force applied by the central hydraulic cylinder 6 effectively avoids problems such as weld deformation, structural instability, or overall geometric deformation caused by localized stress concentration or insufficient support. It is particularly suitable for precise positioning and deformation control of hull sections under heavy-duty operating conditions such as welding, painting, and grinding, significantly improving manufacturing accuracy and structural integrity, thereby meeting high shipbuilding process standards.

[0040] A lifting device for a three-dimensional gantry-type intelligent painting robot also includes an intelligent leveling and anti-tipping system for the outriggers. The system includes: a sensor module, an outrigger controller, an upper vehicle controller, and a work display screen. The sensor module is used to collect real-time information on the equipment tilt angle, outrigger force, and ground condition. The outrigger controller receives sensor data and calculates the optimal outrigger height and angle. The upper vehicle controller communicates with the outrigger controller to coordinate the control of the hydraulic cylinder movements. The work display screen displays the current posture parameters, warning information, and the operation interface.

[0041] The sensor module includes at least one tilt sensor, multiple pressure sensors, and angle and arm length sensors, integrated within the control box, enabling dynamic monitoring under all working conditions. The outrigger controller features a self-learning algorithm that automatically optimizes the leveling strategy based on historical work data and supports preset mode switching for various workpiece types. The device is also equipped with a human-machine interface operating system, including a main control console and operating handles, featuring an ergonomic layout and a visual UI. It supports remote monitoring and fault diagnosis, improving operational safety and ease of use.

[0042] In the implementation process, firstly, the housing 1 is installed at the bottom of the three-dimensional gantry-type intelligent painting robot, and a swing cylinder is installed inside the housing 1; multiple telescopic frames 2 are rotatably connected to the housing 1 through a hinge mechanism and connected to the swing cylinder, which drives them to achieve multi-angle rotation in the horizontal direction; each telescopic frame 2 is equipped with a second cylinder inside, which is used to control the extension or retraction of the telescopic frame, thereby adjusting the horizontal position of the support leg 5; the support leg 5 is connected to the telescopic frame 2 through a first cylinder 4, and the vertical height of each support leg 5 is independently adjusted by the first cylinder 4; a detachable high-strength alloy anti-slip pad is installed at the end of the support leg 5. To adapt to different ground conditions and increase the ground contact area, the central hydraulic cylinder 6 is located at the center of gravity of the device and can lift heavy objects independently without disturbing the posture of the outriggers. At the same time, an integrated sensor module collects real-time information on the device's tilt angle, the force on the outriggers 5, and the ground condition. The outrigger 5 controller, combined with a self-learning algorithm, calculates the optimal leveling strategy and coordinates with the upper vehicle controller to drive the action of each hydraulic cylinder, achieving fully automatic high-precision leveling and anti-tipping control. The entire process can be monitored, operated, and fault diagnosed through the work display screen and human-machine interface operating system, ensuring the safe, stable, and intelligent operation of the device in complex and uneven environments.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lifting device for a three-dimensional gantry-type intelligent painting robot, characterized in that, include: The shell (1), multiple telescopic frames (2), multiple pads (3), multiple first hydraulic cylinders (4), multiple outriggers (5) and a central hydraulic cylinder (6); A swing cylinder is installed in the housing (1), and the swing cylinder is connected to multiple telescopic frames (2) to control the direction of the telescopic frames (2); Multiple telescopic frames (2) are rotatably mounted on the housing (1) and connected to the corresponding support legs (5); The first hydraulic cylinder (4) is located between the telescopic frame (2) and the outrigger (5) and is used to adjust the vertical height of the outrigger (5).

2. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 1, characterized in that, Each of the telescopic frames (2) is equipped with a second hydraulic cylinder for driving the telescopic frame (2) to perform telescopic movement.

3. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 1, characterized in that, The pad (3) is fixed to the end of the support leg (5) and is a detachable structure. The pad (3) is made of high-strength alloy material.

4. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 3, characterized in that, The surface of the pad (3) is provided with anti-slip texture and can be quickly disassembled and assembled by bolts or clips. The pad can be replaced according to different ground conditions.

5. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 2, characterized in that, The swing cylinder is connected to the telescopic frame (2) by a universal joint or hinge mechanism, so that the telescopic frame (2) can rotate in multiple directions in the horizontal plane, thereby realizing the dynamic positioning and adjustment of the outrigger (5).

6. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 5, characterized in that, The second hydraulic cylinder is located inside the telescopic frame (2), and its piston rod end is connected to the outer section of the telescopic frame (2) to push the telescopic frame (2) to extend or retract. The central cylinder (6) is a center-of-gravity cylinder that can operate independently to lift heavy objects without affecting the posture of the surrounding outriggers (5).

7. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 1, characterized in that, It also includes an intelligent leveling and anti-tipping system for the outriggers, the system comprising: Sensor module, outrigger controller, upper vehicle controller, and work display screen; The sensor module is used to collect real-time information on equipment tilt angle, outrigger force, and ground condition. The outrigger controller receives sensor data and calculates the optimal outrigger height and angle; The upper vehicle controller communicates with the outrigger controller to coordinate the control of the hydraulic cylinder movements; The operation display screen shows the current attitude parameters, warning information, and operation interface.

8. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 7, characterized in that, The sensor module includes at least one tilt sensor, multiple pressure sensors, and angle and arm length sensors, all integrated in the control box to achieve dynamic monitoring under all operating conditions.

9. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 8, characterized in that, The outrigger controller has a self-learning algorithm that can automatically optimize the leveling strategy based on historical work data and supports preset mode switching for various workpiece types.

10. The lifting device for a three-dimensional gantry-type intelligent painting robot according to claim 9, characterized in that, The device is also equipped with a human-machine interaction operating system, including a main control console and an operating handle. It adopts an ergonomic layout design and is equipped with a visual UI interface. It supports remote monitoring and fault diagnosis functions, improving operational safety and ease of operation.

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