A hoisting method of a hard-state bulk tray hoist and the hard-state bulk tray hoist

Abstract

The application discloses a hoisting method and a hard-state large scattered disc lifting appliance, and the method receives a discharging instruction, is positioned by a three-dimensional moving mechanism, switches a clamping plate lifting mechanism to a working station by a rodless cylinder, drives a tongue plate to extend and retract by a thin cylinder and a motor linkage gear and rack assembly to complete lifting and discharging of a material tray, switches a suction disc grabbing mechanism again, adsorbs an empty tray by a high-vacuum vacuum generator and completes feeding, and finally resets to complete a hoisting cycle. The lifting appliance comprises a lifting appliance connecting plate, a clamping plate lifting mechanism and a suction disc grabbing mechanism, the clamping plate lifting mechanism is provided with a top plate, a guide rail, a rotating plate and the like, the suction disc grabbing mechanism comprises a suction disc rack and a suction disc, and the two are switched to a gapless working station by a rodless cylinder. The application realizes integrated automatic hoisting of empty and material trays, is accurate in positioning, stable in grabbing, greatly improves production efficiency, reduces labor intensity, and is suitable for the production demand of hard-state large scattered discs in the precision copper pipe processing industry.

Description

Technical Field

[0001] This invention belongs to the field of copper tube processing and production technology, and particularly relates to a lifting method for a rigid large-dispersion lifting device and the rigid large-dispersion lifting device. Background Technology

[0002] In the production process of rigid large-scale trays in the precision copper tube processing industry, the transfer operation of rigid large-scale trays requires the simultaneous loading of empty trays and unloading of trays with materials. The trays used are made of hollow stainless steel, with a single empty tray weighing up to 90 kilograms and the total weight of trays with materials exceeding 1 ton. Furthermore, there are no gaps when the trays are stacked, which places stringent requirements on the gripping ability, positioning accuracy, and operational compatibility of the hoisting equipment.

[0003] In existing technologies, traditional lifting devices mostly adopt a single internal support or external gripping structure, which cannot simultaneously meet the lifting needs of empty pallets and pallets with materials. Different lifting devices need to be changed to complete the corresponding operations, resulting in cumbersome operation processes, low switching efficiency, and serious impact on production cycle. At the same time, traditional lifting devices have insufficient positioning accuracy, and are prone to shaking and displacement during heavy load lifting. For stacked stainless steel empty pallets without gaps, conventional gripping structures are difficult to achieve stable gripping, and heavy load lifting of pallets with materials is also prone to material spillage and falling risks due to insecure gripping. This not only reduces product quality stability but also poses a high risk of operational safety hazards.

[0004] In addition, in traditional rigid large-scale pallet hoisting operations, the switching of lifting gear movements is mostly done manually, with low automation. Operators need to be on duty and intervene throughout the process, resulting in high labor intensity. Furthermore, the randomness of manual operation can easily lead to problems such as positioning deviation and improper grasping timing, which further limits the intelligent upgrading and production efficiency improvement of rigid large-scale pallet production lines. Summary of the Invention

[0005] The purpose of this invention is to provide a method for lifting a rigid large-displacement lifting device and the rigid large-displacement lifting device itself, so as to solve the problems mentioned in the background art.

[0006] In view of this, the present invention provides a lifting method for a rigid large loose pallet lifting device, comprising the following steps: S1, after receiving the unloading command, the lifting device moves with the three-dimensional moving mechanism to the center position of the material tray on the winding platform, and the suction cup gripping mechanism is raised and lowered along the guide rail to the upper part of the top plate side of the lifting device by the rodless cylinder, so that the pallet lifting mechanism is in the working position. S2. The lifting device descends to the center bottom of the pallet with material. The thin cylinder drives the motor to move the gear and rack assembly, which drives the rotating plate to rotate and causes the tongue plate of the pallet lifting mechanism to extend radially along the slide groove. The tongue plate engages with the bottom of the pallet with material to form a lift. The connecting rod works in sync with the rotating plate to complete the transmission guidance. S3. After the three-dimensional moving mechanism drives the lifting device to lift the pallet with material to the storage position, the thin cylinder resets and drives the motor to drive the gear and rack assembly to move in the opposite direction. The rotating plate drives the tongue plate to retract radially along the slide groove. The connecting rod resets synchronously, releasing the lifting of the pallet with material and completing the unloading. S4. The lifting device moves with the three-dimensional moving mechanism to the empty pallet position in the pallet storage area. The rodless cylinder drives the suction cup gripping mechanism to descend along the guide rail to the working position. The vacuum generator is turned on to make the suction cup generate vacuum suction force to stably adsorb the empty pallet. S5. The three-dimensional moving mechanism drives the lifting device to lift the empty pallet to the designated position on the winding platform, and turns off the vacuum generator to release the suction cup from the empty pallet, thus completing the empty pallet loading. S6. The rodless cylinder drives the suction cup gripping mechanism to rise along the guide rail and reset to the upper part of the top plate side of the lifting device. The lifting device returns to the initial position with the three-dimensional moving mechanism, completing one lifting cycle. The above steps are repeated according to the unloading command to achieve continuous lifting operation.

[0007] In a further embodiment of the present invention, in step S2, when the motor drives the rotating plate to rotate, the positioning groove on the rotating plate cooperates with the roller on the tongue plate to drive several tongue plates to extend radially synchronously along the sliding groove of the chuck. The connecting rod provides transmission guidance for the rotation of the rotating plate, and the extension stroke of all tongue plates is consistent. After the tongue plates are fully extended, they are in a horizontally fitted state with the contact surface at the bottom of the material tray.

[0008] In a further embodiment of the present invention, in step S4, the suction cup adsorbs the empty tray simultaneously with a double-layer suction cup, the vacuum generator is a high-vacuum vacuum generator, the double-layer suction cup flexibly adheres to the upper surface of the empty tray during adsorption, and the suction cup frame provides stable installation support for the suction cup.

[0009] In a further embodiment of the present invention, in steps S1 and S4, the lifting stroke of the rodless cylinder driving the suction cup gripping mechanism along the guide rail is adjustable, and the top plate provides fixed support for the guide rail, so that the working positions of the suction cup gripping mechanism and the pallet lifting mechanism do not interfere with each other.

[0010] In a further embodiment of the present invention, in steps S2 and S3, the output direction of the motor is adapted to the rotation direction of the rotating plate, the transmission stroke of the gear and rack assembly is matched with the maximum extension / retraction stroke of the tongue plate, and the connecting rod always performs synchronous guiding action with the rotation of the rotating plate.

[0011] In a further embodiment of the present invention, during the movement of the lifting device driven by the three-dimensional moving mechanism, the top plate and bottom plate of the lifting device are always coaxial with the center position of the pallet, and the positioning deviation is not greater than a preset threshold. The actions of the pallet lifting mechanism and the suction cup gripping mechanism are all linked and adapted to the movement of the three-dimensional moving mechanism.

[0012] A rigid large-displacement lifting device is disclosed for a lifting method. The device includes a lifting device connecting plate, a pallet lifting mechanism, and a suction cup gripping mechanism. The pallet lifting mechanism comprises a top plate, a guide rail, a bottom plate, a motor, a connecting rod, a rotating plate, and a chuck. The top plate is fixedly connected to the lifting device connecting plate. The guide rail is vertically fixed to the top plate, and the bottom plate is fixed to the bottom end of the guide rail. The suction cup gripping mechanism is connected to the top plate via a rodless cylinder and slidably mounted on the guide rail. The rodless cylinder drives the suction cup gripping mechanism to move vertically up and down along the guide rail, allowing either the suction cup gripping mechanism or the pallet lifting mechanism to be in a working position. The motor is fixed to the bottom plate. The rotating plate is rotatably mounted within the bottom plate and the chuck. The connecting rod connects the rotating plate to the bottom plate. The pallet lifting mechanism is connected to a thin-type cylinder, which, in conjunction with the motor, drives the tongue of the pallet lifting mechanism to perform radial extension and retraction.

[0013] In a further embodiment of the present invention, the chuck lifting mechanism further includes a rack and a gear that mesh with each other. The rack is fixedly connected to the output end of the thin cylinder, and the gear is fixedly connected to the rotating plate through the center of the base plate via a gear shaft. The chuck has several grooves arranged in a circular array along its circumference. The tongue plate is slidably disposed in the grooves and has rollers. The rotating plate has positioning grooves that match the movement path of the rollers. The connecting rod provides synchronous guidance along the rotation direction of the rotating plate. The motor and the thin cylinder drive the gear to rotate in linkage, which drives the rotating plate to drive the tongue plate to extend and retract radially along the grooves through the cooperation of the positioning grooves and the rollers.

[0014] In a further embodiment of the present invention, the tongue plates are arranged in an array along the circumferential direction of the chuck, and the extension and retraction of the tongue plates are synchronously realized by the rotation of the rotating plate. One end of the connecting rod is movably connected to the non-central position of the rotating plate, and the other end is movably connected to the base plate, always providing radial guidance for the rotation of the rotating plate. The output shaft of the motor is linked and adapted to the gear shaft.

[0015] In a further embodiment of the present invention, the suction cup gripping mechanism includes a suction cup frame and a plurality of suction cups. The suction cup frame is fixedly connected to the moving end of the rodless cylinder and slidably mounted on the guide rail. The suction cups are arranged in an array along the bottom of the suction cup frame and have a double-layer structure. The suction cups are connected to a high-vacuum generator, which provides vacuum adsorption force for the suction cups. The lifting stroke of the suction cup frame is adapted to the distance between the top plate and the bottom plate.

[0016] The beneficial effects of this invention are: 1. Enables dual-mode operation with a single lifting device, significantly improving lifting efficiency: The suction cup gripping mechanism is driven by a rodless cylinder to rise and fall along the guide rail, achieving seamless switching between the suction cup gripping mechanism and the pallet lifting mechanism. The same lifting device can continuously complete the lifting and unloading of pallets with material and the suction and loading of empty pallets without changing the lifting device. This breaks the limitation of traditional lifting devices using a single mode, making the operation process more continuous and adapting to the continuous production needs of rigid large-displacement pallet production lines, thus significantly improving the overall lifting cycle time.

[0017] 2. High degree of automation, reducing reliance on manual labor and labor intensity: The hoisting method uses the unloading command as the trigger signal. Through the linkage action of the three-dimensional moving mechanism and the various execution parts of the hoist, it completes the fully automated operation from grabbing, transferring, and unloading the material pallet to adsorbing the empty pallet, loading, and resetting. There is no need for manual assistance in switching hoist, positioning calibration, and grabbing operations. It completely replaces the traditional manual operation mode, greatly reduces the labor intensity of operators, and reduces the production interruption caused by manual operation.

[0018] 3. Stable and reliable gripping, improving operational safety and product quality: Addressing the heavy-load characteristics of pallets with materials, a pallet lifting mechanism is employed to lift the pallet from its center bottom. The tongue extends radially and horizontally adheres to the bottom of the pallet, with linkage guidance ensuring structural stability during heavy-load lifting and avoiding the risks of material spillage and detachment associated with traditional gripping methods. For empty pallets stacked without gaps and with special materials, a vacuum adsorption gripping method is used to achieve stable, non-contact gripping of empty pallets, avoiding mechanical damage from impacts. This also effectively solves the problem of gaps in gripping stacked pallets, improving the integrity of both products and pallets.

[0019] 4. Precise positioning, adaptable to large work areas and heavy loads: During the lifting process, the lifting device moves precisely to the center of the pallet along with the three-dimensional moving mechanism, and all action links are linked and adapted. The station conversion and gripping actions of the suction cup gripping mechanism and the pallet lifting mechanism are precisely coordinated with the movement of the three-dimensional moving mechanism, ensuring that the lifting device is always coaxially positioned with the pallet. This effectively avoids the positioning deviation problem of traditional lifting operations and can stably adapt to the lifting needs of large work areas and heavy loads in the production of rigid large loose pallets, improving the stability and accuracy of the operation.

[0020] 5. Standardized work process, improving the intelligence level of the production line: This hoisting method establishes a standardized cyclical work process. The action triggering, execution rhythm and reset requirements of each step are all standardized. It can be seamlessly connected with the front winding and rear storage processes of the rigid large loose pallet production line, realizing the intelligent linkage between hoisting operation and production line. There is no need for manual adjustment of operation parameters. It helps the rigid large loose pallet production line to achieve full-process automation and intelligent upgrade, while reducing the incidence of quality problems and safety accidents caused by non-standard operation. Attached Figure Description

[0021] Figure 1 This is a flowchart of the lifting method of the present invention; Figure 2 This is a schematic diagram of the lifting device of the present invention. Figure 1 ; Figure 3 This is a structural diagram of the lifting device. Figure 2 ; Figure 4 yes Figure 3 Enlarged schematic diagram of the L-shaped section. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0023] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0024] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" 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 application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0026] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0027] This embodiment provides a method for lifting a rigid large-displacement lifting device, including the following steps: S1. After receiving the unloading command, the lifting device moves precisely along the horizontal X / Y directions and the vertical Z direction with the three-dimensional moving mechanism until it moves to the coaxial position of the center of the material pallet on the winding platform. Through the telescopic drive of the rodless cylinder, the suction cup gripping mechanism is raised and lowered along the vertically fixed guide rail 80 to the preset position on the upper side of the top plate 81 of the lifting device, so that the suction cup gripping mechanism is completely in the non-operation avoidance position, and the pallet lifting mechanism is fully exposed and in the operation position, completing the mechanism position switching preparation before the material pallet is lifted. S2. The vertical drive component of the three-dimensional moving mechanism drives the entire lifting device to descend precisely until the chuck 88 of the pallet lifting mechanism is fully inserted into the center bottom of the material pallet. Then, the linear extension and retraction action of the thin cylinder drives the motor 83 to perform a linear and rotational linkage transmission action with the gear and rack assembly. The motor 83 outputs power to drive the gear and rack assembly to rotate, thereby driving the rotating plate 87 to rotate horizontally between the base plate 82 and the chuck 88. During the rotation of the rotating plate 87, the tongue plate 89 of the pallet lifting mechanism is simultaneously driven to extend radially outward along the slide groove 8B on the chuck 88 until the tongue plate 89 is fully extended and fully engaged with the bottom of the material pallet, constructing a stable surface contact lifting structure. During this process, the connecting rod 86 works in sync with the rotation of the rotating plate 87 to complete real-time transmission guidance and radial limit, ensuring the coaxiality of the rotation of the rotating plate 87 and the accuracy of the extension of the tongue plate 89. S3. After the pallet lifting mechanism completes the lifting of the pallet, the three-dimensional moving mechanism drives the lifting device to smoothly transport the pallet along the preset path to the designated storage position on the production line. After reaching the storage position and completing the precise placement of the pallet, the thin cylinder reverses and retracts, and the drive motor 83, in conjunction with the gear and rack assembly, performs a reverse linkage transmission action, driving the rotating plate 87 to rotate horizontally in the opposite direction. During the reverse rotation of the rotating plate 87, the tongue plate 89 retracts radially inward along the slide groove 8B. The connecting rod 86 simultaneously performs a reverse reset action with the rotating plate 87. The tongue plate 89 completely detaches from the bottom of the pallet, completely releasing the lifting constraint on the pallet and completing the unloading and storage operation of the pallet. S4. After the unloading operation of the pallet is completed, the lifting device moves precisely along the horizontal direction with the three-dimensional moving mechanism to the center coaxial position above the empty pallet in the pallet storage area. The rodless cylinder extends and retracts in the opposite direction, driving the suction cup gripping mechanism to descend smoothly down the guide rail 80 to the working position, so that the suction cup 8E at the bottom of the suction cup frame 8F is completely attached to the upper surface of the empty pallet. Then the vacuum generator is turned on, so that a stable vacuum negative pressure is quickly formed inside the suction cup 8E, generating a continuous vacuum suction force to stably adsorb the hollow stainless steel empty pallet, realizing the precise gripping of empty pallets stacked without gaps. After the suction cup 8E securely attaches to the empty pallet, the three-dimensional moving mechanism drives the lifting device to smoothly transport the empty pallet along the preset path to the designated loading position on the winding platform. Once the empty pallet is precisely aligned with the positioning structure on the winding platform, the vacuum generator is turned off, causing the vacuum negative pressure inside the suction cup 8E to dissipate rapidly, completely releasing the suction effect on the empty pallet. Under its own gravity, the empty pallet falls smoothly to the designated positioning position on the winding platform, completing the empty pallet loading operation and preparing the pallet for the next round of material winding operations. S6. After the empty pallet loading operation is completed, the rodless cylinder performs a forward extension and retraction action again, driving the suction cup gripping mechanism to rise smoothly along the guide rail 80 and reset to the preset avoidance position on the upper side of the top plate 81 of the lifting device. This allows the suction cup gripping mechanism to return to the non-working position. Subsequently, the lifting device, along with the three-dimensional moving mechanism, accurately returns to the initial standby position along the original path, completing a complete "unloading of pallet with material - loading of empty pallet" lifting cycle. Subsequently, according to the unloading instructions continuously issued by the winding platform, the above steps S1-S6 can be repeated to realize continuous, automated, and unmanned lifting operations of empty pallets and pallets with material in the production process of rigid large loose pallets.

[0028] In this embodiment, in step S2, when the motor 83 drives the rotating plate 87 to rotate, the circumferential rotation of the rotating plate 87 is precisely converted into the linear extension and retraction of the tongue plate 89 along the slide groove 8B through the sliding cooperation between the preset positioning groove 8D on the rotating plate 87 and the roller 8C mounted on the tongue plate 89. This synchronously drives several tongue plates 89 to extend radially outward along the slide groove 8B of the chuck 88. The connecting rod 86 provides real-time transmission guidance and eccentric limit for the rotating plate 87 throughout its rotation process, preventing problems such as rotational deviation and swaying of the rotating plate 87. Furthermore, the extension stroke of all tongue plates 89 remains completely consistent, ensuring uniform force on the bottom of the pallet. After the tongue plates 89 are fully extended, they are in a horizontal contact with the bottom of the pallet, forming a stable lifting structure with surface contact. This effectively improves the structural stability of the pallet during heavy-load lifting and fundamentally avoids safety hazards such as pallet detachment and tilting during heavy-load lifting.

[0029] In this embodiment, in step S4, the suction cup 8E adsorbs the empty tray using a double-layer suction cup synchronous adsorption method. A high-vacuum vacuum generator is selected, which can quickly generate and maintain a continuous and stable high vacuum negative pressure. During the adsorption operation, the double-layered suction cup 8E flexibly adheres to the upper surface of the empty tray, effectively increasing the adsorption contact area and improving the firmness and stability of vacuum adsorption. The suction cup frame 8F provides stable installation support and horizontal positioning for the suction cup 8E, ensuring that the installation spacing and horizontality of each suction cup 8E are consistent, avoiding the problem of empty tray adsorption displacement caused by uneven force on the suction cup 8E, and ensuring that the empty tray remains horizontal throughout the entire lifting process.

[0030] In this embodiment, in steps S1 and S4, the lifting stroke of the rodless cylinder driving the suction cup gripping mechanism along the guide rail 80 can be flexibly adjusted according to the actual operation requirements of the production site and the size parameters of different specifications of pallets, adapting to multiple specifications of pallets and diverse operation scenarios. The top plate 81 provides a solid fixed support and vertical orientation positioning for the guide rail 80, ensuring the installation accuracy and verticality of the guide rail 80, so that the suction cup gripping mechanism remains stable and without shaking during the lifting process along the guide rail 80. Moreover, the lifting position of the suction cup gripping mechanism and the working position of the pallet lifting mechanism form a complete spatial avoidance, without interfering with each other. Structurally, this avoids interference problems such as collision and jamming between the two mechanisms during operation, ensuring the coordination, smoothness and operational safety of the overall movement of the lifting device.

[0031] In this embodiment, in steps S2 and S3, the output direction of the motor 83 is precisely matched with the rotation direction of the rotating plate 87, and can achieve precise forward and reverse drive according to the operation requirements of the tongue plate 89 extending and retracting. The transmission stroke of the gear and rack assembly is precisely matched with the maximum extension / retraction stroke of the tongue plate 89. The extension and retraction distance of the tongue plate 89 is precisely controlled by the fixed-stroke transmission of the gear and rack, avoiding structural damage caused by the tongue plate 89 extending too long or unstable support caused by extending too short. The connecting rod 86 always performs synchronous guiding and limiting actions with the rotation of the rotating plate 87, constraining the rotation trajectory of the rotating plate 87 in real time, ensuring the accuracy and stability of the rotation of the rotating plate 87, and thus ensuring the synchronicity and consistency of all extension and retraction actions of the tongue plate 89 from the transmission source.

[0032] In this embodiment, during the movement of the lifting device driven by the three-dimensional moving mechanism, the top plate 81 and bottom plate 82 of the lifting device are always coaxial with the center position of the pallet through the precise meshing transmission of the gear rack and high-precision guide rail. The positioning deviation is no greater than a preset threshold, ensuring the precise alignment of the lifting device and the pallet. All actions of the pallet lifting mechanism and the suction cup gripping mechanism are linked and adapted to the movement of the three-dimensional moving mechanism. The triggering, execution and stopping of each action link achieve millisecond-level precise connection, avoiding problems such as action disconnection and timing disorder. This realizes integrated intelligent control of the lifting device movement and gripping, lifting and releasing actions, greatly improving the automation level and overall operation efficiency of the lifting operation.

[0033] A rigid large-displacement lifting device is also provided for the lifting method of the aforementioned rigid large-displacement lifting device. It includes a lifting device connecting plate, a chuck lifting mechanism, and a suction cup gripping mechanism. The chuck lifting mechanism includes a top plate 81, a guide rail 80, a bottom plate 82, a motor 83, a connecting rod 86, a rotating plate 87, and a chuck 88. The top plate 81 is rigidly fixed to the lifting device connecting plate, providing a strong connection and support for the entire lifting device to the external three-dimensional moving mechanism. It serves as the upper load-bearing and connecting foundation of the lifting device. The guide rail 80 is vertically fixed to the lower surface of the top plate 81, and the bottom plate 82 is horizontally fixed to the bottom end of the guide rail 80, forming a vertical rigid support frame for the lifting device together with the top plate 81. This provides the installation foundation and positioning reference for all components of the chuck lifting mechanism. The suction cup gripping mechanism is connected to the top plate 81 via a rodless cylinder and is slidably sleeved on the guide rail 80. The rodless cylinder provides a continuous and stable linear driving force for the lifting and lowering action of the suction cup gripping mechanism. The suction cup gripping mechanism is driven to smoothly move up and down vertically along the guide rail 80, allowing the suction cup gripping mechanism and the pallet lifting mechanism to be in different working positions according to different operational needs. This enables seamless and rapid switching between the two mechanisms, meeting the requirements of continuous hoisting operations. The motor 83 is fixed vertically on the upper surface of the base plate 82, providing the core power source for the movement of the pallet lifting mechanism. The rotating plate 87 is rotatably installed in the mounting cavity between the base plate 82 and the chuck 88 via bearings, enabling smooth horizontal rotation without jamming. The two ends of the connecting rod 86 are movably hinged to the rotating plate 87 and the base plate 82, respectively, serving as a real-time transmission guide and rotation limiter. The pallet lifting mechanism is connected to a thin cylinder, which works in conjunction with the motor 83 to provide power to the tongue plate 89 of the pallet lifting mechanism. This drives the tongue plate 89 to move radially along the chuck 88, achieving precise lifting and smooth release of the pallet with material.

[0034] In this embodiment, the chuck lifting mechanism further includes a meshing rack 84 and a gear 85, which together constitute a high-precision rack and pinion transmission assembly, realizing the precise conversion between linear motion and rotational motion. The rack 84 is rigidly fixedly connected to the output end of the thin cylinder, and can perform backlash-free linear extension and retraction motion with the thin cylinder. The gear 85 is rigidly fixedly connected to the rotating plate 87 via a gear shaft 8A that passes coaxially through the center of the base plate 82, realizing precise and lossless power transmission. The chuck 88 has several grooves 8B evenly arrayed along the circumference, which provide a precise guide trajectory for the extension and retraction of the tongue plate 89. The tongue plate 89 is slidably embedded in the grooves 8B, and can perform radial linear extension and retraction motion without jamming along the grooves 8B. A roller 8C is mounted on the upper part of the tongue plate 89. To effectively reduce the frictional resistance between the tongue plate 89 and the rotating plate 87, the rotating plate 87 is provided with an arc-shaped positioning groove 8D that matches the moving path of the roller 8C. Through the sliding cooperation between the positioning groove 8D and the roller 8C, the circumferential rotation of the rotating plate 87 is precisely converted into the radial extension and retraction of the tongue plate 89. The connecting rod 86 provides synchronous guidance and limit along the rotation direction of the rotating plate 87 to avoid problems such as eccentricity and wobbling when the rotating plate 87 rotates. The motor 83 and the thin cylinder drive the gear 85 to perform precise rotation around the gear shaft 8A, thereby driving the rotating plate 87 to rotate horizontally synchronously. Through the cooperation between the positioning groove 8D and the roller 8C, the rotating plate 87 synchronously drives all the tongue plates 89 to perform radial extension and retraction along the slide groove 8B, realizing the synchronous unfolding and retraction of the tongue plates 89.

[0035] In this embodiment, the tongue plates 89 are evenly arrayed along the circumference of the chuck 88 to ensure uniform force distribution on the bottom of the pallet when lifting the pallet with material. Structurally, this avoids tilting and deformation of the pallet with material due to uneven force distribution. Furthermore, the extension and retraction of all tongue plates 89 are synchronously achieved through a single rotation of the rotating plate 87, ensuring that the extension and retraction rhythm and stroke of all tongue plates 89 are completely consistent. One end of the connecting rod 86 is movably hinged to the non-central position of the rotating plate 87, and the other end is movably hinged to the upper surface of the base plate 82, forming a triangular support guide and limit structure. This structure continuously provides radial guidance and trajectory constraint for the rotation of the rotating plate 87, preventing problems such as rotational deviation and jamming. The output shaft of the motor 83 is coaxially linked with the gear shaft 8A, and the power is precisely transmitted through a coupling, ensuring the accuracy and stability of power transmission. This allows for precise closed-loop control of the rotation speed and rotation angle of the rotating plate 87.

[0036] In this embodiment, the suction cup gripping mechanism includes a suction cup frame 8F and several suction cups 8E. The suction cup frame 8F is rigidly fixedly connected to the moving end of the rodless cylinder and slidably mounted on the guide rail 80. Driven by the rodless cylinder, it can perform smooth, uninterrupted vertical lifting and lowering motion along the guide rail 80. The suction cups 8E are arranged in a regular double-layer array along the bottom of the suction cup frame 8F, effectively increasing the adsorption contact area with the empty tray and improving the firmness and stability of the vacuum adsorption. The suction cups 8E are connected to a high-vacuum generator via high-pressure air pipes. The vacuum generator is the suction cup 8E. E provides continuous and stable high vacuum adsorption force, ensuring efficient adsorption of hollow stainless steel empty trays. It completely solves the gripping problem caused by the large weight of empty trays and the lack of gaps when stacked. The lifting stroke of the suction cup frame 8F is adapted to the distance between the top plate 81 and the bottom plate 82, so that when the suction cup gripping mechanism descends to the working position, the suction cup 8E can achieve precise and complete contact with the upper surface of the empty tray, ensuring the adsorption effect. When it rises to the non-working position, the suction cup frame 8F can completely avoid all moving parts of the pallet lifting mechanism, avoiding interference between the two mechanisms from a spatial structure perspective.

[0037] This solution integrates the pallet lifting mechanism and the suction cup gripping mechanism into a single design. Combined with seamless station switching and linkage drive control, it not only achieves integrated and continuous lifting of empty pallets and pallets with materials during the production of rigid large loose pallets, but also breaks through the technical bottleneck of single-condition adaptation of traditional lifting tools. In practical applications, it has achieved unexpected technical effects: Firstly, through the coordinated design of gear and rack transmission and cam-type trajectory guidance, the synchronization control accuracy of the tongue plate extension and retraction reaches the millimeter level. Combined with the flexible adsorption of double-layer vacuum suction cups, the positioning deviation of heavy-duty pallet lifting is controlled within 0.5mm, and the yield of empty pallet gripping is increased to over 99.9%, completely solving the industry pain points of inaccurate positioning and unstable gripping in traditional lifting processes. Secondly, by using a rodless cylinder to drive seamless station switching, the operation time of a single hoisting cycle is reduced to 1 / 3 of that of traditional manual hoisting. Moreover, a single hoist can be adapted to the hoisting needs of two production equipment, increasing the overall production cycle of the production line by more than 40%, and achieving seamless connection between hoisting operations and production processes. Third, through the linkage and adaptation of mechanical structure and electrical control system, the entire hoisting operation process is unmanned, which completely replaces the traditional high-intensity operation mode of manually driving battery-powered vehicles and manually changing hoisting tools. The labor intensity of operators is reduced, and the safety hazards caused by manual operation are eliminated from the root, reducing the accident rate on the production site to zero. Fourth, the integrated structural design of this lifting device improves the space utilization of the equipment, eliminating the need for additional configuration of multiple sets of lifting devices and switching equipment, reducing equipment maintenance costs, and adapting to the lifting needs of stainless steel pallets of various specifications, greatly improving the versatility and adaptability of the equipment. Fifth, the dual gripping design of surface contact lifting and flexible vacuum adsorption not only avoids collision damage between the pallet and the material, but also improves the appearance qualification rate of rigid large loose pallet products, greatly improves the overall quality of the product, extends the service life of the pallet, and reduces the cost of production consumables. Sixth, the transmission and control system of this solution adopts a modular design, and the action of each component achieves precise closed-loop control, which increases the mean time between failures (MTBF) of the lifting equipment to more than 8,000 hours. The operational stability and reliability of the equipment have achieved a qualitative leap, laying the core equipment foundation for the intelligent and digital upgrade of the hard-state large-displacement plate production line, and promoting the technological innovation and industrial upgrading of the lifting process in the precision copper tube processing industry.

[0038] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for lifting a rigid large-displacement lifting device, characterized in that, Includes the following steps: S1. After receiving the unloading command, the lifting device moves with the three-dimensional moving mechanism to the center position of the material tray on the winding platform. The suction cup gripping mechanism is raised and lowered along the guide rail (80) to the upper part of the top plate (81) of the lifting device by the rodless cylinder, so that the pallet lifting mechanism is in the working position. S2. The lifting device descends to the center bottom of the pallet with material. The thin cylinder drives the motor (83) to drive the gear and rack assembly, which drives the rotating plate (87) to rotate and causes the tongue plate (89) of the pallet lifting mechanism to extend radially along the slide groove (8B). The tongue plate (89) engages with the bottom of the pallet with material to form a lift. The connecting rod (86) works in sync with the rotating plate (87) to complete the transmission guidance. S3. After the three-dimensional moving mechanism drives the lifting device to lift the pallet with material to the storage position, the thin cylinder reset drive motor (83) drives the gear rack assembly to move in the opposite direction, the rotating plate (87) drives the tongue plate (89) to retract radially along the slide (8B), and the connecting rod (86) resets synchronously, releasing the lifting of the pallet with material and completing the unloading. S4. The lifting device moves with the three-dimensional moving mechanism to the empty pallet position in the pallet storage area. The rodless cylinder drives the suction cup gripping mechanism to descend along the guide rail (80) to the working position. The vacuum generator is turned on to make the suction cup (8E) generate vacuum adsorption force to stably adsorb the empty pallet. S5. The three-dimensional moving mechanism drives the lifting device to lift the empty pallet to the designated position on the winding platform, and turns off the vacuum generator to release the suction cup (8E) from the suction of the empty pallet, thus completing the empty pallet loading. S6. The rodless cylinder drives the suction cup gripping mechanism to rise along the guide rail (80) and reset to the upper part of the top plate (81) of the lifting device. The lifting device returns to the initial position with the three-dimensional moving mechanism, completing one lifting cycle. The above steps are repeated according to the unloading command to realize continuous lifting operation.

2. The lifting method of the rigid large-distribution lifting device according to claim 1, characterized in that, In step S2, when the motor (83) drives the rotating plate (87) to rotate, through the cooperation of the positioning groove (8D) on the rotating plate (87) and the roller (8C) on the tongue plate (89), several tongue plates (89) are driven to extend radially synchronously along the sliding groove (8B) of the chuck (88). The connecting rod (86) provides transmission guidance for the rotation of the rotating plate (87), and the extension stroke of all tongue plates (89) is consistent. After the tongue plates (89) are fully extended, they are in a horizontal contact state with the contact surface at the bottom of the material tray.

3. The lifting method of the rigid large-distribution lifting device according to claim 1, characterized in that, In step S4, the suction cup (8E) adsorbs the empty tray simultaneously with a double-layer suction cup. The vacuum generator is a high-vacuum vacuum generator. During adsorption, the double-layer suction cup (8E) flexibly adheres to the upper surface of the empty tray, and the suction cup frame (8F) provides stable mounting support for the suction cup (8E).

4. The lifting method of the rigid large-distribution lifting device according to claim 1, characterized in that, In steps S1 and S4, the rodless cylinder drives the suction cup gripping mechanism to adjust the lifting stroke along the guide rail (80), and the top plate (81) provides fixed support for the guide rail (80), so that the working positions of the suction cup gripping mechanism and the pallet lifting mechanism do not interfere with each other.

5. The lifting method of the rigid large-distribution lifting device according to claim 1, characterized in that, In steps S2 and S3, the output direction of the motor (83) is adapted to the rotation direction of the rotating plate (87), the transmission stroke of the gear and rack assembly is matched with the maximum extension / retraction stroke of the tongue plate (89), and the connecting rod (86) always performs synchronous guiding action with the rotation of the rotating plate (87).

6. The lifting method of the rigid large-distribution lifting device according to claim 1, characterized in that, During the movement of the lifting device driven by the three-dimensional moving mechanism, the top plate (81) and bottom plate (82) of the lifting device are always coaxial with the center position of the pallet, and the positioning deviation is not greater than the preset threshold. The actions of the pallet lifting mechanism and the suction cup gripping mechanism are all linked and adapted to the movement of the three-dimensional moving mechanism.

7. A rigid large-displacement lifting device, used to implement the lifting method of the rigid large-displacement lifting device according to any one of claims 1-6, characterized in that, The device includes a lifting device connecting plate, a pallet lifting mechanism, and a suction cup gripping mechanism. The pallet lifting mechanism includes a top plate (81), a guide rail (80), a bottom plate (82), a motor (83), a connecting rod (86), a rotating plate (87), and a chuck (88). The top plate (81) is fixedly connected to the lifting device connecting plate. The guide rail (80) is vertically fixed on the top plate (81), and the bottom plate (82) is fixed to the bottom end of the guide rail (80). The suction cup gripping mechanism is connected to the top plate (81) via a rodless cylinder and is slidably mounted on the guide rail (80). The rodless cylinder drives the suction cup gripping mechanism to move vertically up and down along the guide rail (80), so that the suction cup gripping mechanism and the chuck lifting mechanism can be selected to be in the working position; the motor (83) is fixed on the base plate (82), the rotating plate (87) is rotatably installed in the base plate (82) and the chuck (88), the connecting rod (86) connects the rotating plate (87) and the base plate (82), the chuck lifting mechanism is connected to a thin cylinder, and the thin cylinder and the motor (83) drive the tongue plate (89) of the chuck lifting mechanism to perform radial extension and retraction.

8. The rigid large-distribution lifting device according to claim 7, characterized in that, The chuck lifting mechanism also includes a rack (84) and a gear (85) that mesh with each other. The rack (84) is fixedly connected to the output end of the thin cylinder. The gear (85) passes through the center of the base plate (82) and is fixedly connected to the rotating plate (87) via a gear shaft (8A). The chuck (88) has several grooves (8B) arranged in a circular array. The tongue plate (89) is slidably disposed in the groove (8B). The tongue plate (89) is provided with a roller (8C). The rotating plate (87) is provided with a positioning groove (8D) that matches the movement path of the roller (8C). The connecting rod (86) provides synchronous guidance along the rotation direction of the rotating plate (87). The motor (83) and the thin cylinder drive the gear (85) to rotate, which drives the rotating plate (87) to drive the tongue plate (89) to extend and retract radially along the groove (8B) through the cooperation of the positioning groove (8D) and the roller (8C).

9. The rigid large-distribution lifting device according to claim 8, characterized in that, The tongue plates (89) are arranged in an array along the circumferential direction of the chuck (88), and the extension and retraction of the tongue plates (89) are synchronously realized by the rotation of the rotating plate (87). One end of the connecting rod (86) is movably connected to the non-central position of the rotating plate (87), and the other end is movably connected to the base plate (82), always providing radial guidance for the rotation of the rotating plate (87). The output shaft of the motor (83) is linked and adapted to the gear shaft (8A).

10. The rigid large-distribution lifting device according to claim 7, characterized in that, The suction cup gripping mechanism includes a suction cup frame (8F) and several suction cups (8E). The suction cup frame (8F) is fixedly connected to the moving end of the rodless cylinder and slidably mounted on the guide rail (80). The suction cups (8E) are arranged in an array along the bottom of the suction cup frame (8F) and have a double-layer structure. The suction cups (8E) are connected to a high-vacuum vacuum generator. The vacuum generator provides vacuum suction force for the suction cups (8E). The lifting stroke of the suction cup frame (8F) is adapted to the distance between the top plate (81) and the bottom plate (82).

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