Novel gantry storage equipment

Abstract

The utility model relates to novel gantry warehousing equipment, which comprises a double-beam crane, a box-type packaging glass bag, a glass material frame and a gantry lifting appliance, the double-beam crane transversely and longitudinally moves above the glass material frame and the box-type packaging glass bag, the box-type packaging glass bag is arranged on the glass material frame, and the gantry lifting appliance is arranged on the double-beam crane. And the gantry lifting appliance is mounted below the double-beam crane and is used for transferring the box-type packaging glass bags on the glass material rack. According to the automatic glass grabbing and placing device, accurate grabbing, rapid and accurate moving and accurate placing of glass can be achieved, and automatic management of a glass warehouse is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of glass storage equipment, in particular to a new gantry storage equipment. Background Technique

[0002] Glass is an amorphous inorganic non-metallic material, generally made of a variety of inorganic minerals (such as quartz sand, borax, boric acid, barite, barium carbonate, limestone, feldspar, soda ash, etc.) as the main raw materials, and a small amount of auxiliary raw materials are added additionally. Its main components are silicon dioxide and other oxides.

[0003] In the existing technology, at present, for glass warehouses, traveling cranes are mainly used in cooperation with tooling fixtures to manually operate the warehousing, outbound and sorting of whole packages or single pieces of glass. Since the glass size in glass warehouses is generally 6 meters long * 3.3 meters wide, and the weight of each package of glass is about 3 - 4 tons, this manual operation method has low safety, low efficiency, and high technical requirements for operators.

[0004] Under this current situation, how to liberate workers from the dangerous operation environment, the market has always called for the development of gantry storage equipment with automatic operation capabilities. Some enterprises in the market have also tried to conduct research and development. However, due to factors such as the large moving distance of the hoisting equipment for handling glass raw material packages in the glass raw material warehouse, the large weight of the spreader + the whole package of glass raw materials (a large weight means a large inertia), and the different varieties and specifications of glass in the warehouse, it is extremely difficult to fully automate a series of operation processes such as the automatic positioning, automatic grasping, automatic handling, and automatic placement of the gantry spreader. It not only requires complete hardware facilities but also the synchronous improvement of management software and control software.

[0005] In the existing technology, such as the Chinese patent with the publication number CN 117262569 A, it discloses a gantry storage equipment, including a double-girder traveling crane, a glass rack, and a gantry spreader. The double-girder traveling crane moves horizontally and longitudinally above the glass rack, and the gantry spreader is installed below the double-girder traveling crane for transporting whole packages of glass or single pieces of glass. A traveling trolley connected to the gantry spreader is arranged on the double-girder traveling crane, and the gantry spreader includes a slewing bearing, a fixing component, a lifting component, a flipping component, a flipping fork component, a backrest support component, a hook component, an electric push rod component, and a lift component.

[0006] The above-mentioned existing technical solutions have the following defects: First, its flipping fork component cannot adjust the extending length according to the thickness of the glass. In this way, when glass packages with different thicknesses are placed on the glass rack, when grasping the outer glass package, interference with the glass plates placed inside will occur, which will cause danger.

[0007] Second, when the gantry spreader grabs the glass, only the tipping of the upper part of the glass is restricted. However, the lateral dimension of the glass is very large, and there is no restraint during the overall handling process. High-speed handling of the glass will also pose risks.

[0008] Third, spacer bars are placed between the glass packages for convenient grasping and placement. These spacer bars need to remain in place during handling. If the spacer bars cannot be kept in the placement position during handling, manual entry into the site is required for placement, which is time-consuming, laborious, and unsafe.

[0009] Fourth, the backrest support assembly is used to support the grabbed glass. If the backrest support assembly cannot ensure a necessary parallel relationship with the glass plate surface, the support effect of the backrest support assembly on the glass will be greatly reduced. Thus, it is very important to detect whether there is a roughly parallel relationship between them and how to adjust when there is a non-parallel relationship.

[0010] Fifth, during the process of the gantry spreader performing the operations of grabbing and placing the glass, a series of actions need to be completed. The execution of this series of actions requires a certain sequence logic relationship. Only by executing according to the correct logic sequence relationship can the equipment exert its due efficacy.

[0011] In summary, the problems of how to achieve precise grasping, rapid and precise positioning, and precise placement of the glass during the process of the gantry spreader performing the operations of grabbing and placing the glass urgently need to be solved. Summary of the Invention

[0012] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a new type of gantry storage equipment, which can achieve precise grasping, rapid and precise positioning, and precise placement of the glass, and realize the automated management of the glass warehouse.

[0013] The above-mentioned invention purpose of the present invention is achieved through the following technical solutions:

[0014] A new type of gantry storage equipment includes a double-girder crane, box-packaged glass packages, a glass rack, and a gantry spreader. The double-girder crane moves horizontally and longitudinally above the glass rack and the box-packaged glass packages. The box-packaged glass packages are arranged on the glass rack, and the gantry spreader is installed below the double-girder crane for transporting the box-packaged glass packages on the glass rack.

[0015] As a further technical solution of the present invention: A crane trolley connected to the gantry spreader is arranged on the double-girder crane. The crane trolley moves horizontally on the track arranged on the double-girder crane, and a laser distance sensor for realizing horizontal precise positioning is installed on the crane trolley.

[0016] As a further technical solution of the present utility model: guide rails are respectively arranged at the bottoms of both ends of the double-girder overhead crane, and the double-girder overhead crane longitudinally moves on the guide rails, and a two-dimensional code strip for longitudinal positioning is arranged on the guide rails.

[0017] As a further technical solution of the present utility model: the gantry spreader includes a frame and a fixed component, a slewing bearing, a hoisting component, a lifting component, a servo electric cylinder flipping component for the top backrest, a bottom forklift component, two side clamping mechanism components, two hook components on the left and right sides of the top, two hook components on the left and right sides of the waist, a spacer support component, a backrest support component, and a linear displacement sensor component which are installed on the frame.

[0018] As a further technical solution of the present utility model: the whole gantry spreader is connected to the overhead crane trolley through the fixed component, and the fixed component includes an inner ring of the slewing bearing, a rotary reduction motor, a driving small pinion driven by the rotary reduction motor, and a bottom plate of the overhead crane trolley. The upper end surface of the inner ring of the slewing bearing is detachably and fixedly connected to the bottom plate of the overhead crane trolley of the double-girder overhead crane.

[0019] As a further technical solution of the present utility model: the hoisting component includes a large gear ring, the outer ring of the slewing bearing is fixedly connected to the large gear ring, the large gear ring is fixedly connected to the hoisting component, the outer ring of the slewing bearing is used in pair with the inner ring of the slewing bearing, the driving small pinion meshes with the large gear ring to drive the large gear ring to rotate, and the whole gantry spreader can rotate 360° around the fixed component under the drive of the large gear ring.

[0020] As a further technical solution of the present utility model: the hoisting component is the core load-bearing part of the gantry spreader, and the vertical gravity load and tilting moment of the gantry spreader for handling glass packages are transferred to the overhead crane trolley through the slewing bearing by the hoisting component, and the gripper part of the gantry spreader is organically combined with the overhead crane trolley through the hoisting component.

[0021] As a further technical solution of the present utility model: a guiding mechanism and a lifting device are installed on the hoisting component, and are connected to the lifting component through the guiding mechanism and the lifting device. Under the action of the lifting device, the lifting component can move up and down along the guiding mechanism of the hoisting component.

[0022] As a further technical solution of the present utility model: the backrest support component is connected to the bottom of the lifting component through a hinge shaft, and the top of the backrest support component is connected to the top of the lifting component through the servo electric cylinder flipping component for the top backrest arranged on the left and right sides of the top of the backrest support component;

[0023] The telescopic length of the electric push rod is used to change the angular relationship between the backrest support assembly and the lifting assembly. The angular change range is from 82° to 93°, and the overall adjustment range is 11°. When the gantry spreader grabs the glass package, it can adjust the glass support surface of the backrest support assembly to be parallel to the glass package placed on the glass rack. When the gantry spreader grabs and transports the whole package of glass, the backrest support assembly supports the glass from the back to prevent the glass from shaking.

[0024] As a further technical solution of the present invention: the swing rotation shaft of the bottom fork assembly is hinged to the bottom of the backrest support assembly.

[0025] As a further technical solution of the present invention: the bottom fork assembly can determine the pre-extended length according to the thickness dimension of the glass sheet package to be transported. The thickness dimension of the glass sheet package has been entered into the warehousing control management system when the original sheet is warehoused. A variety of sensors are also installed on the side of the bottom fork assembly, which can determine the appropriate extended length according to the actual thickness of the glass package, so as to ensure that when transporting the outer glass sheet package on the glass rack, it will not touch the inner glass sheet package placed on the glass rack and ensure the safe operation of the equipment.

[0026] As a further technical solution of the present invention: the left and right hook assemblies at the top are installed on both sides of the top backrest servo-electric cylinder flipping assembly. The left and right hook assemblies at the top can move up and down along the backrest support assembly. When mainly used to grab whole packages of glass at different heights, the pre-lowered height of the left and right hook assemblies at the top is adjusted according to the height of the glass package. The height dimension of the glass package has been entered into the warehousing control management system when the original sheet is warehoused. Sensors are also installed on the side of the left and right hook assemblies, which can determine the appropriate lowered height according to the actual height of the glass package. After the left and right hook assemblies reach the appropriate height, the hooks are retracted by the servo-electric cylinders arranged on them to pull the glass package towards the backrest support longitudinal beam of the backrest support assembly. The glass package leaves the glass rack, the backrest support assembly supports the glass from the back, and the left and right hook assemblies at the top fix the glass package from the upper part of the glass package to prevent the glass package from shaking during transportation.

[0027] As a further technical solution of the present invention: a set of spacer support assemblies are installed on each side of the two-side clamping mechanism assembly. The spacer support assemblies are extended by a servo-driven guiding mechanism installed on the two-side clamping mechanism assembly according to the width of the glass to achieve a predetermined numerical value (greater than the width of the glass package). The width dimension of the glass package has been entered into the warehousing control management system when the original sheet is warehoused. Sensors are also installed on the side of the two-side clamping mechanism assembly. According to the actual position where the glass package is placed, the actual extended length of the two-side clamping mechanism assembly is finally adjusted through the sensors.

[0028] As a further technical solution of the present utility model: The hook assemblies on the left and right sides of the waist are installed at the ends of the clamping mechanism assemblies on both sides. The servo cylinders installed on the hook assemblies on the left and right sides of the waist extend by a predetermined numerical amount according to the thickness of the glass package. The thickness dimension of the glass package has been entered into the warehousing control management system when the original sheet is warehoused. Sensors are also installed on the sides of the hook assemblies on the left and right sides of the waist, which can adjust the actual extended length of the hooks of the hook assemblies on the left and right sides of the waist according to the actual thickness of the glass package. After reaching the appropriate position, the hooks are pulled back by the servo cylinders arranged thereon to fix the glass package from the waist of the glass package and prevent the glass package from shaking during handling.

[0029] As a further technical solution of the present utility model: Four sets of linear displacement sensor assemblies are installed at appropriate heights and widths on both sides of the left and right backrest support longitudinal beams on the backrest support assembly, forming four measurement points in the up, down, left, and right directions. When the backrest support assembly moves towards the glass package on the glass rack, it can real-time feedback the relative position relationship between the backrest support assembly and the glass package, and determine the adjustment method of the relative position relationship between the backrest support assembly and the glass package according to the actual measurement data of the four sets of linear displacement sensor assemblies.

[0030] As a further technical solution of the present utility model: According to the actual measurement data of the four sets of linear displacement sensor assemblies installed at appropriate heights on both sides of the left and right backrest longitudinal beams on the backrest support assembly when the backrest support assembly moves towards the glass package on the glass rack, when the values on the left and right sides differ greatly, the driving gear installed on the fixed assembly drives the large gear ring installed on the hoisting assembly in the reverse direction, driving the entire gantry lifting device to rotate in the reverse direction by an appropriate angle until the measurement values of the linear displacement sensor assemblies on both sides are approximately equal. When the value difference is less than a certain set value, it is considered that the backrest support assembly is approximately parallel to the glass package in the horizontal direction.

[0031] As a further technical solution of the present utility model: According to the actual measurement data of the four sets of linear displacement sensor assemblies installed at appropriate heights on both sides of the left and right backrest longitudinal beams on the backrest support assembly when the backrest support assembly moves towards the glass package on the glass rack, when the values of the upper and lower groups differ greatly, the telescopic length of the electric push rod of the backrest servo cylinder flipping assembly installed on the top of the backrest support assembly drives the backrest support assembly to rotate in the reverse direction by an appropriate angle around the hinge axis connected to the bottom of the lifting assembly until the measurement values of the upper and lower sets of linear displacement sensor assemblies are approximately equal. When the value difference is less than a certain set value, it is considered that the backrest support assembly is approximately parallel to the glass package in the vertical direction.

[0032] As a further technical solution of the utility model: the bottom fork assembly forks in the gantry crane reach the final extended position from the predetermined extended position, the clamping mechanism assemblies on both sides reach the final extended position from the predetermined extended position, the left and right hook assemblies on the top reach the final extended position from the predetermined extended position, and the left and right hook assemblies on the waist reach the final extended position from the predetermined extended position, all of which are implemented when the backrest support assembly is adjusted to be roughly parallel to the glass package in the longitudinal and transverse directions.

[0033] As a further technical solution of the utility model: a suction cup and / or a vacuum pumping device is installed on the gantry hoist for hoisting a single large plate glass.

[0034] As a further technical solution of the utility model: the new gantry storage equipment is used to transport single-package box-type packaged glass raw sheet packages, two or even multiple box-type packaged glass raw sheet packages.

[0035] In summary, the present invention includes at least one of the following beneficial technical effects:

[0036] 1. The utility model discloses a novel gantry storage equipment, which realizes the adjustable function of the extension length of the fork by adding a fork extension length adjustment mechanism on the bottom fork assembly on the basis of the prior art, and adds corresponding sensor equipment on the head and side of the fork, so that the extension length can be automatically adjusted according to the result of on-site detection; by adding clamping mechanism components on both sides of the backrest support component to realize the clamping action on the glass waist with large lateral dimensions, so as to ensure the lateral stability of the glass during the transportation process; by arranging a spacer bar component on the clamping mechanism, the spacer bar of the glass is synchronously extended with the clamping mechanism component, so as to keep the glass spacer bar in place.

[0037] A linear displacement sensor assembly is provided to detect whether the backrest support assembly maintains the necessary parallel relationship with the glass panel surface, and the control system makes corresponding adjustments according to the detection result through corresponding adjustment methods to ensure that there is a rough parallel relationship between the two and to ensure that the glass is reliably supported on the backrest support assembly.

[0038] In the process of grabbing and placing glass by the gantry crane, the above series of actions need to be completed. The execution of this series of actions requires a certain logical relationship. Through the careful design of the control system, the gantry storage equipment can accurately complete this series of actions according to the set logical relationship, thereby achieving accurate grabbing, fast and accurate positioning, and accurate placement of the glass.

[0039] 2. The utility model is mainly used for the handling of boxed glass packages in a warehousing raw sheet warehouse. The weight of a whole package of raw sheet glass in the warehouse is about 3 - 4 tons. It can realize the automatic operation of handling a whole package of glass packages from one glass rack to another, for the centralized management of the same type and size of glass on different glass racks in the warehouse. It can also be used for the inbound handling of boxed glass packages and the outbound handling to a glass deep processing production line, realizing the automatic management of the glass raw sheet warehouse.

[0040] 3. The utility model mainly has two modes: manual operation and automatic operation. In the automatic operation mode, it can move the glass package from one glass rack to another according to the system instructions, automatically handle the classification, outbound and inbound of the glass raw sheet packages on the glass racks in the warehouse, with high efficiency and high safety. In the manual operation mode, the operator can control the gantry spreader through a handheld teach pendant to realize the handling, sorting, outbound and inbound of the glass raw sheet packages. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0042] Figure 2 It is a schematic diagram of the overall structure of the utility model showing the gantry spreader.

[0043] Figure 3 It is a schematic side view of the gantry spreader when starting to grasp a whole package of glass raw sheet packages of the utility model.

[0044] Figure 4 It is a schematic side view of the gantry spreader when the grasping of a whole package of glass raw sheet packages is completed of the utility model.

[0045] Figure 5 It is a layout position diagram of four linear displacement sensors of the utility model.

[0046] Figure 6 It is the first top view of the adjustment method of the lateral position relationship between the backrest support assembly of the gantry spreader and the glass plate of the utility model.

[0047] Figure 7 It is the second top view of the adjustment method of the lateral position relationship between the backrest support assembly of the gantry spreader and the glass plate of the utility model.

[0048] Figure 8 It is a side view of the longitudinal position relationship between the backrest support assembly of the gantry spreader and the glass plate of the utility model.

[0049] Figure 9 It is the first side view of the adjustment method of the longitudinal position relationship between the backrest support assembly of the gantry spreader and the glass plate of the utility model.

[0050] Figure 10This is the second side view of the adjustment method for the longitudinal position relationship between the backrest support assembly of the gantry lifting tool of the present utility model and the glass plate.

[0051] Reference numerals: 1. Double-beam traveling crane; 1-01. Traveling trolley; 1-02. QR code belt; 2. Glass storage rack; 3. Gantry lifting tool; 3-01. Fixed assembly; 3-02. Slewing support bearing; 3-03. Lifting assembly; 3-04. Hoisting assembly; 3-05. Servo electric cylinder flipping assembly for the top backrest; 3-06. Bottom fork assembly; 3-07. Clamping mechanism assemblies on both sides; 3-08. Hook assemblies on the left and right sides at the top; 3-09. Hook assemblies on the left and right sides at the waist; 3-10. Spacer support assembly; 3-11. Backrest support assembly; 3-12. Linear displacement sensor assembly. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0053] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "provided with", "sheathed / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0055] Embodiment 1:

[0056] Refer to Figure 1, A new type of gantry storage equipment disclosed by the present utility model includes a double-girder overhead crane 1, boxed-packaged glass packages, a glass rack 2, and a gantry spreader 3. The double-girder overhead crane 1 moves horizontally and longitudinally above the glass rack 2 and the boxed-packaged glass packages. The boxed-packaged glass packages are arranged on the glass rack 2, and the gantry spreader 3 is installed below the double-girder overhead crane 1 for transporting the boxed-packaged glass packages on the glass rack 2.

[0057] A trolley 1-01 connected to the gantry spreader 3 is provided on the double-girder overhead crane 1. The trolley 1-01 moves horizontally on the track provided on the double-girder overhead crane 1, and a laser distance sensor for realizing horizontal precise positioning is installed on the trolley 1-01.

[0058] Guide rails are respectively arranged at the bottoms of both ends of the double-girder overhead crane 1. The double-girder overhead crane 1 moves longitudinally on the guide rails, and a two-dimensional code strip 1-02 for longitudinal positioning is arranged on the guide rails.

[0059] The gantry spreader 3 includes a fixing component 3-01, a slewing bearing 3-02, a hoisting component 3-03, a lifting component 3-04, a servo electric cylinder flipping component 3-05 for the top backrest, a bottom forklift component 3-06, two side clamping mechanism components 3-07, two top left and right hook components 3-08, two waist left and right hook components 3-09, a spacer support component 3-10, a backrest support component 3-11, and a linear displacement sensor component 3-12.

[0060] The whole gantry spreader 3 is connected to the trolley 1-01 through the fixing component 3-01. The fixing component 3-01 includes an inner ring of the slewing bearing, a slewing reduction motor, a driving small pinion driven by the slewing reduction motor, and the bottom plate of the trolley 1-01 of the double-girder overhead crane 1. The upper end surface of the inner ring of the slewing bearing is detachably and fixedly connected to the bottom plate of the trolley 1-01 of the double-girder overhead crane 1.

[0061] The hoisting component 3-03 includes a large gear ring. The outer ring of the slewing bearing is fixedly connected to the large gear ring. The outer ring of the slewing bearing is used in pair with the inner ring of the slewing bearing. The driving small pinion meshes with the large gear ring to drive the large gear ring to rotate. The large gear ring is fixedly connected to the hoisting component 3-03. The whole gantry spreader 3 can rotate 360° around the fixing component 3-01 driven by the large gear ring.

[0062] The hoisting component 3-03 is the core load-bearing part of the gantry spreader 3. The vertical gravity load and tilting moment of the gantry spreader 3 for handling glass packages are transferred to the trolley 1-01 through the slewing bearing by the hoisting component 3-03, and the gripper part of the gantry spreader 3 and the trolley 1-01 are organically combined through the hoisting component 3-03.

[0063] A guiding mechanism and a lifting device are installed on the hoisting assembly 3-03. The hoisting assembly 3-04 is connected through the guiding mechanism and the lifting device. Under the action of the lifting device, the hoisting assembly 3-04 can move up and down along the guiding mechanism of the hoisting assembly 3-03.

[0064] The backrest support assembly 3-11 is connected to the bottom of the hoisting assembly 3-04 through a hinge shaft. The top of the backrest support assembly 3-11 is connected to the top of the hoisting assembly 3-04 through the electric push rods of the servo electric cylinder flipping assembly 3-05 for the top backrest arranged on the left and right sides of the top of the backrest support assembly 3-11;

[0065] By changing the telescopic length of the electric push rod, the angular relationship between the backrest support assembly 3-11 and the hoisting assembly 3-04 can be changed. The angular change range is from 82° to 93°, and the overall adjustment range is 11°. When the gantry crane 3 grabs the glass package, it can adjust the glass package support surface of the backrest support assembly 3-11 to be parallel to the glass package placed on the glass rack 2. When the gantry crane 3 grabs and transports a whole package of glass, the backrest support assembly 3-11 supports the glass from the back to prevent the glass from shaking.

[0066] The swing rotation shaft of the bottom fork assembly 3-06 is hinged to the bottom of the backrest support assembly 3-11.

[0067] The bottom fork assembly 3-06 can determine the pre-extended length according to the thickness dimension of the glass sheet package to be transported. The thickness dimension of the glass sheet package has been entered into the warehousing control management system when the original sheet is warehoused. A variety of sensors are also installed on the side of the bottom fork assembly 3-06, which can determine the appropriate extended length according to the actual thickness of the glass package to ensure that when transporting the outer glass sheet package on the glass rack 2, it will not touch the inner glass sheet package placed on the glass rack 2, ensuring the safe operation of the equipment.

[0068] The left and right top hook assemblies 3-08 are installed on both sides of the servo electric cylinder flipping assembly 3-05 for the top backrest. The left and right top hook assemblies 3-08 can move up and down along the backrest support assembly 3-11. When grabbing whole packages of glass at different heights, it is mainly used to adjust the pre-lowered height of the left and right top hook assemblies 3-08 according to the height of the glass package. The height dimension of the glass package has been entered into the warehousing control management system when the original sheet is warehoused. Sensors are also installed on the sides of the left and right hook assemblies, which can determine the appropriate lowered height according to the actual height of the glass package. After the left and right hook assemblies reach the appropriate height, the hooks are retracted through the servo electric cylinders arranged on them to pull the glass package towards the backrest support longitudinal beam of the backrest support assembly 3-11. The glass package leaves the glass rack 2, the backrest support assembly 3-11 supports the glass from the back, and the left and right top hook assemblies 3-08 fix the glass package from the upper part of the glass package to prevent the glass package from shaking during transportation.

[0069] On each side of the clamping mechanism assembly 3-07, a set of spacer support assemblies 3-10 is installed. The spacer support assemblies 3-10 are extended by a servo-driven guiding mechanism installed on the clamping mechanism assemblies 3-07 on both sides according to the width of the glass to achieve a predetermined numerical quantity (greater than the width of the glass package). The width dimension of the glass package has been entered into the warehousing control management system when the original glass is stored in the warehouse. Sensors are also installed on the sides of the clamping mechanism assemblies 3-07 on both sides. According to the actual position where the glass package is placed, the actual extended length of the clamping mechanism assemblies 3-07 on both sides is finally adjusted through the sensors.

[0070] Hook assemblies 3-09 on the left and right sides of the waist are installed at the ends of the clamping mechanism assemblies 3-07 on both sides. They are extended by servo electric cylinders installed on the hook assemblies 3-09 on the left and right sides of the waist according to the thickness of the glass package. The thickness dimension of the glass package has been entered into the warehousing control management system when the original glass is stored in the warehouse. Sensors are also installed on the sides of the hook assemblies 3-09 on the left and right sides of the waist. According to the actual thickness of the glass package, the actual extended length of the hooks of the hook assemblies 3-09 on the left and right sides of the waist can be adjusted. After reaching the appropriate position, the hooks are pulled back by the servo electric cylinders installed on them to fix the glass package from the waist of the glass package and prevent the glass package from shaking during handling.

[0071] Four sets of linear displacement sensor assemblies 3-12 are installed on the backrest support assembly 3-11 at appropriate heights and widths on both sides of the left and right backrest support longitudinal beams, forming four measurement points in the up, down, left, and right directions. When the backrest support assembly 3-11 moves towards the glass package on the glass rack 2, it can real-time feedback the mutual position relationship between the backrest support assembly 3-11 and the glass package, and determine the adjustment method of the mutual position relationship between the backrest support assembly 3-11 and the glass package according to the actual measurement data of the four sets of linear displacement sensor assemblies 3-12.

[0072] Operation process:

[0073] Refer to Figure 3 And Figure 4 , first, the double-beam crane 1 is positioned at the specified safe position on the rack where the glass package needs to be transported according to the system instructions. The lifting assembly 3-04 descends to a safe height, making the upper surface of the fork of the bottom fork assembly 3-06 lower than the bottom surface of the glass.

[0074] By extending the electric push rods of the top backrest servo electric cylinder flipping assemblies 3-05 arranged on the left and right sides at the top of the backrest support assembly, the glass package support surface of the backrest support assembly 3-11 is adjusted, that is, the backrest support longitudinal beam is in a position state approximately parallel to the glass package placed on the glass rack.

[0075] The bottom fork assembly 3-06 extends a corresponding length according to the thickness dimension of the glass sheet package to be carried.

[0076] The left and right hook assemblies 3-08 at the top move downward along the backrest support assembly 3-11 to a specified height according to the height of the glass package.

[0077] The clamping mechanism assemblies 3-07 on both sides extend the spacer support assemblies 3-10 installed on the left and right respectively to a predetermined position according to the width of the glass to be carried through the servo-driven guiding mechanism installed on the clamping mechanism assemblies 3-07 on both sides.

[0078] The left and right hook assemblies 3-09 at the waist installed at the ends of the clamping mechanism assemblies 3-07 on both sides extend to a predetermined position according to the thickness of the glass package through the servo electric cylinders installed on the left and right hook assemblies 3-09 at the waist.

[0079] The traveling trolley 1-01 moves to gradually approach the glass package with the gantry spreader. At this time, the four linear displacement sensor assemblies 3-12 on both sides of the left and right backrest support longitudinal beams installed on the backrest support assembly 3-11, when the backrest support assembly 3-11 moves towards the glass package on the glass rack, will real-time feedback the relative position relationship between the backrest support assembly 3-11 and the glass package. When the actual measurement data of any one of the linear displacement sensor assemblies 3-12 reaches a certain set value, the traveling trolley 1-01 stops running.

[0080] After the traveling trolley 1-01 stops running, the electrical control system will determine the adjustment method of the relative position relationship between the backrest support assembly 3-11 and the glass package according to the actual measurement data of the four linear displacement sensor assemblies 3-12.

[0081] According to the actual measurement data of the four linear displacement sensor assemblies 3-12 when the backrest support assembly 3-11 moves towards the glass package on the glass rack, when the values on the left and right sides differ greatly, the large gear ring installed on the hoisting assembly 3-03 is reversely driven by the driving pinion installed on the fixed assembly 3-01, driving the entire gantry spreader to rotate in the reverse direction by a suitable angle until the measured values of the linear displacement sensor assemblies 3-12 on both sides are roughly equal. When the value difference is less than a certain set value, it is considered that the backrest support assembly 3-11 is roughly parallel to the glass package in the horizontal direction.

[0082] According to the actual measurement data of the four sets of linear displacement sensor assemblies 3-12 when the backrest support assembly 3-11 moves towards the glass package on the glass rack, when the values of the upper and lower groups differ significantly, the telescopic length of the electric push rod of the servo electric cylinder flipping assembly 3-05 for the backrest installed at the top of the backrest support assembly 3-11 is adjusted, driving the backrest support assembly 3-11 to rotate reversely by an appropriate angle around the hinge axis connected to the bottom of the lifting assembly 3-04, so that the measured values of the upper and lower groups of linear displacement sensor assemblies 3-12 are approximately equal. When the value difference is less than a certain set value, it is considered that the backrest support assembly 3-11 is approximately parallel to the glass package longitudinally.

[0083] The four sets of linear displacement sensors are used to measure whether the backrest support assembly 3-11 is parallel to the glass in the vertical and horizontal directions and the corresponding adjustment methods are described in detail as follows:

[0084] Four sets of linear displacement sensor assemblies 3-12 are installed at appropriate heights and widths on both sides of the left and right backrest support longitudinal beams of the backrest support assembly 3-11, forming four measurement points in the vertical and horizontal directions. When the backrest support assembly 3-11 moves towards the glass package on the glass rack 2, it can real-time feedback the relative position relationship between the backrest support assembly 3-11 and the glass package, and judge the relative position relationship between the backrest support assembly 3-11 and the glass package according to the actual measurement data of the four sets of linear displacement sensor assemblies 3-12, and decide what adjustment method to take.

[0085] Refer to Figure 5 , points A, B, C, and D are the layout positions of the four linear displacement sensors, Figure 5 shows the dimensional position relationship between the four linear displacement sensors and the original glass sheet when the gantry crane 3 approaches the glass package.

[0086] Refer to Figure 6 , when the backrest support assembly 3-11 of the gantry crane 3 has the position relationship shown in the figure with the glass plate, that is, when point A is slightly farther from the glass than point B, we let the large gear ring installed on the lifting assembly 3-03 rotate clockwise by a certain angle driven by the driving small gear, so that the readings of the linear displacement sensors at points A and B are approximately close, that is, it is considered that the horizontal adjustment is in place. It is also possible to compare the sensor values of points C and D. All of this is completed instantaneously by the computer control system.

[0087] Refer to Figure 7, when the backrest support assembly 3-11 of the gantry spreader 3 has the positional relationship shown in the figure with the glass plate, that is, when point B is slightly farther from the glass than point A, we let the large gear ring installed on the lifting assembly 3-03 rotate counterclockwise by a certain angle driven by the driving pinion, so that the readings of the linear displacement sensors at points A and B are approximately close, that is, it is considered that the lateral adjustment is in place. We can also compare the sensor values at points C and D. All of this is completed instantaneously by the computer control system.

[0088] Refer to Figure 8 , when looking from the side of the glass package, the ideal relationship between the gantry spreader 3 and the glass should be the state shown in this figure. However, due to the change in the positional relationship during the glass placement, it is very difficult for the gantry spreader 3 to have equal vertical distances from the glass surface at points A and C or points B and D, and the following two states will occur:

[0089] Refer to Figure 9 , when there is a large gap at the upper part and a small gap at the lower part longitudinally between the backrest support longitudinal beam in the backrest support assembly 3-11 and the glass, we can make the backrest support assembly 3-11 rotate counterclockwise around point O by making the extended length of the upper electric push rod longer. The specific rotation angle can be realized by the electric push rod extending an appropriate length under the control of the computer control system.

[0090] Refer to Figure 10 , when there is a small gap at the upper part and a large gap at the lower part longitudinally between the backrest support longitudinal beam in the backrest support assembly 3-11 and the glass, we can make the backrest support assembly 3-11 rotate clockwise around point O by making the extended length of the upper electric push rod shorter. The specific rotation angle can be realized by the electric push rod retracting an appropriate length under the control of the computer control system.

[0091] After the above adjustment actions are completed under the control of the electrical system, the lifting assembly 3-04 makes a lifting action upward until the forks in the bottom fork assembly 3-06 touch the bottom of the glass package. At this time, the sensor installed on the bottom fork assembly 3-06 sends out a signal indicating that the lifting is in place, and the lifting assembly 3-04 stops the lifting action.

[0092] Then, the fork extension in-place action of the bottom fork assembly 3-06 in the gantry spreader 3, the two-side clamping mechanism assembly 3-07 reaching the final extended position from the predetermined extended position, the hook extension in-place actions of the top left and right hook assemblies 3-08, and the hook extension in-place actions of the waist left and right hook assemblies 3-09 are all implemented with the help of the sensors they carry.

[0093] For the bottom fork assembly in the gantry spreader, the forks reaching the final extended position from the predetermined extended position, the clamping mechanism assemblies on both sides reaching the final extended position from the predetermined extended position, the hook assemblies on the left and right sides at the top reaching the final extended position from the predetermined extended position, and the hook assemblies on the left and right sides at the waist reaching the final extended position from the predetermined extended position are all implemented when the backrest support assembly is adjusted to be roughly parallel to the glass package both longitudinally and horizontally.

[0094] After the fork extension in place action of the bottom fork assembly 3-06 in the gantry spreader 3, the clamping mechanism assemblies 3-07 on both sides reaching the final extended position from the predetermined extended position, the extension in place action of the hook assemblies 3-08 on the left and right sides at the top, and the extension in place action of the hook assemblies 3-09 on the left and right sides at the waist are all completed, the hooks of the hook assemblies on the left and right sides at the top, driven by the electric cylinders, pull back the top hooks to fix the top of the glass package on the backrest longitudinal beam. The hooks of the hook assemblies 3-09 on the left and right sides at the waist, driven by the electric cylinders, pull back the waist hooks to clamp the waist of the glass package.

[0095] At this time, the backrest support assembly 3-11 has already abutted against the back of the glass. Next, the electric push rod connecting the top of the backrest support assembly 3-11 and the lifting assembly 3-04 starts to retract, driving the entire backrest support assembly 3-11 to rotate around the bottom rotation axis of the lifting assembly 3-04 until the backrest support assembly 3-11 changes from the forward inclination state to the backward inclination state of 3° with respect to the vertical plane, and the glass sheet package disengages from the glass rack, completing the sheet picking action of grasping the entire glass sheet package. Next, the lifting assembly 3-04 of the gantry spreader 3 completes the upward lifting action of the entire glass package. Then, the traveling trolley moves the gantry spreader to a designated safe position at a certain distance from the glass rack.

[0096] Then, the double-girder overhead crane 1 starts to move rapidly as a whole from this safe position until it reaches the designated safe position of the next glass rack where the glass raw material packages need to be placed. The overhead crane trolley continues to move with the gantry lifting tool until the sensors on the forklift assembly start to detect the working position. The lifting assembly 3-04 drives the glass package to start descending to the predetermined position. The electric push rod connecting the top of the backrest support assembly 3-11 to the lifting assembly 3-04 starts to slowly extend to adjust the glass package on the gantry lifting tool 3 to be parallel to the glass rack. At this time, the back of the glass is already supported on the glass rack. Next, the hooks of the hook assemblies 3-08 on the left and right sides at the top first extend a certain distance and then start to rise to disengage from the top of the glass package. The hooks of the hook assemblies 3-09 on the left and right sides at the waist also first extend a certain distance and then start to open. After opening, they retract to the home position of the electric cylinder. Then, the hook assemblies 3-09 on the left and right sides at the waist are driven by the clamping mechanism assemblies 3-07 on both sides to retract to the original position. Then, the entire lifting assembly 3-04 descends, and the entire gantry lifting tool 3 starts to disengage from the glass package, completing the glass sheet placing operation for the entire package of glass. Next, the overhead crane trolley moves the gantry lifting tool without load to the designated safe position at a certain distance from the glass rack or returns to the designated starting origin in the original glass storage warehouse to wait for the next handling operation instruction.

[0097] The gantry lifting tool 3 is equipped with suction cups and / or vacuum pumping equipment. Since the handling of the entire package of glass raw material packages can be completed automatically or manually from one glass rack 2 to another glass rack 2, any person with similar work experience can, on this basis, transform it into a lifting tool for single-pane glass by adding suction cups and vacuum pumping equipment. Therefore, any work on transforming it into a lifting tool for single-pane glass based on this falls within the protection scope of this patent.

[0098] The new gantry storage equipment is used to handle single-package boxed glass raw material packages, two or more boxed glass raw material packages. Through appropriate transformation, it can not only handle single-package boxed glass raw material packages but also be used for the handling of two or more boxed glass raw material packages. Therefore, any work on transforming it for the handling of two or more boxed glass raw material packages based on this will fall within the protection scope of this patent.

[0099] The guide rails for the longitudinal movement of the double-beam crane 1 can be laid on the ground or on the columns on both sides of the factory building, and can be erected through the supporting mechanism close to the top of the factory building columns. The steel rails laid on the ground (commonly known as ground rails), the gantry crane with support legs moves longitudinally along the steel rails (ground rails) through the traveling mechanism; the steel rails laid on the supporting mechanism of the factory building columns (commonly known as overhead rails), the traveling mechanisms set at both ends of the double crossbeams of the overhead crane are directly connected across them, and move longitudinally along the steel rails (overhead rails). Alternatively, the longitudinal movement of the storage equipment can be accomplished through a truss structure. Therefore, any simple labor to circumvent the claims of this patent by changing the longitudinal movement mode of the storage equipment on this basis will fall within the scope of protection of this patent.

[0100] The implementation principle of the utility model is as follows: the utility model discloses a novel gantry storage equipment, which, on the basis of the prior art, realizes the adjustable function of the fork extension length by adding a fork extension length adjustment mechanism on the bottom fork assembly 3-06, and adds corresponding sensor equipment on the head and side of the fork, so that the extension length can be automatically adjusted according to the result of on-site detection; by adding clamping mechanism components on both sides of the backrest support component 3-11 to realize the clamping action on the glass waist with a large lateral dimension, so as to ensure the lateral stability of the glass during the transportation process; by arranging a spacer bar component on the clamping mechanism, which is synchronously extended with the clamping mechanism component, the glass spacer bar is kept in place.

[0101] By setting up a linear displacement sensor component 3-12, it is possible to detect whether the backrest support component 3-11 maintains the necessary parallel relationship with the glass plate surface, and the control system makes corresponding adjustments through corresponding adjustment methods according to the detection results to ensure that there is a rough parallel relationship between the two, and to ensure that the glass is reliably supported on the backrest support component 3-11.

[0102] In the process of the gantry crane 3 grabbing and placing the glass, the above series of actions need to be completed. The execution of this series of actions requires a certain logical relationship. Through the careful design of the control system, the gantry storage equipment can accurately complete this series of actions according to the set logical relationship, thereby realizing the precise grabbing, fast and accurate positioning, and precise placement of the glass.

[0103] The purpose of setting the above series of components and actions is to achieve a fully fixed state after the glass package is grabbed by the gantry crane 3, with a load on the bottom (the bottom fork assembly 3-06 bears the full weight of the glass), a backrest (leaning on the backrest support longitudinal beam of the backrest support assembly 3-11), a hook on the top to pull it inward, and hooks on both sides to clamp it around the waist, so as to fix the glass package and the gantry crane 3 tightly together, thereby ensuring the safety of the glass during the transportation process.

[0104] The embodiments of this specific implementation manner are all preferred embodiments of the present utility model, and do not limit the protection scope of the present utility model accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present utility model shall be covered within the protection scope of the present utility model.

Claims

1. A new type of gantry storage equipment, comprising a double-girder overhead crane (1), boxed packaged glass packages, a glass rack (2), and a gantry spreader (3), characterized in that, The double-girder overhead crane (1) moves horizontally and vertically above the glass storage rack (2) and the boxed glass packages. The boxed glass packages are arranged on the glass storage rack (2), and the gantry lifting device (3) is installed below the double-girder overhead crane (1) for transporting the boxed glass packages on the glass storage rack (2). A suction cup or / and a vacuum pumping device is installed on the gantry lifting device (3) for hoisting single large glass plates. The novel gantry storage equipment is used for handling single-pack boxed glass raw material packages, two or more boxed glass raw material packages.

2. A novel gantry storage device according to claim 1, characterized in that, A trolley (1-01) connected to the gantry lifting device (3) is arranged on the double-girder overhead crane (1). The trolley (1-01) moves horizontally on the track arranged on the double-girder overhead crane (1), and a laser distance sensor for achieving precise horizontal positioning is installed on the trolley (1-01).

3. A novel gantry storage device according to claim 1, characterized in that, Guide rails are respectively arranged at the bottoms of both ends of the double-girder overhead crane (1). The double-girder overhead crane (1) moves longitudinally on the guide rails, and a two-dimensional code strip (1-02) for longitudinal positioning is arranged on the guide rails.

4. A novel gantry storage device according to claim 2, characterized in that, The gantry lifting device (3) includes a fixing component (3-01), a slewing bearing (3-02), a hoisting component (3-03), a lifting component (3-04), a servo electric cylinder flipping component (3-05) for the top backrest, a bottom fork component (3-06), a pair of clamping mechanism components (3-07) on both sides, a pair of hook components (3-08) on the left and right at the top, a pair of hook components (3-09) on the left and right at the waist, a spacer support component (3-10), a backrest support component (3-11), and a linear displacement sensor component (3-12). The pair of hook components (3-08) on the left and right at the top are installed on both sides of the servo electric cylinder flipping component (3-05) for the top backrest, and the pair of hook components (3-08) on the left and right at the top can move up and down along the backrest support component (3-11). A group of spacer support components (3-10) are respectively installed on the left and right of the pair of clamping mechanism components (3-07) on both sides, and the pair of hook components (3-09) on the left and right at the waist are installed at the ends of the pair of clamping mechanism components (3-07) on both sides.

5. A novel gantry storage device according to claim 4, characterized in that, The whole gantry lifting device (3) is connected to the trolley (1-01) through the fixing component (3-01). The fixing component (3-01) includes a slewing bearing, a slewing reduction motor, a driving pinion, and a trolley bottom plate. The upper end face of the inner ring of the slewing bearing is detachably and fixedly connected to the trolley bottom plate of the double-girder overhead crane (1), and the driving pinion is in transmission connection with the slewing reduction motor.

6. A novel gantry storage device according to claim 5, characterized in that, The hoisting component (3-03) includes a large gear ring. The outer ring of the slewing bearing is fixedly connected to the large gear ring. The outer ring of the slewing bearing is used in pair with the inner ring of the slewing bearing. The driving pinion meshes with the large gear ring to drive the large gear ring to rotate. The large gear ring is installed at the top of the hoisting component (3-03), and the whole gantry lifting device (3) can rotate 360° around the fixing component (3-01) driven by the large gear ring.

7. A novel gantry storage device according to claim 4, characterized in that, The vertical gravity load and tipping moment of the gantry spreader (3) for handling the glass package are transferred by the hoisting assembly (3-03) to the overhead crane trolley (1-01) through a slewing bearing, and the gripper part of the gantry spreader (3) is organically combined with the overhead crane trolley (1-01) through the hoisting assembly (3-03).

8. A novel gantry storage device according to claim 4, characterized in that, A guiding mechanism and a lifting device are installed on the hoisting assembly (3-03), and are connected to the lifting assembly (3-04) through the guiding mechanism and the lifting device. Under the action of the lifting device, the lifting assembly (3-04) can move up and down along the guiding mechanism of the hoisting assembly (3-03).

9. A novel gantry storage device according to claim 4, characterized in that, The backrest support assembly (3-11) is connected to the bottom of the lifting assembly (3-04) through a hinge shaft, and the top of the backrest support assembly (3-11) is connected to the top of the lifting assembly (3-04) through a servo electric cylinder turning assembly (3-05) arranged on the left and right sides of the top of the backrest support assembly (3-11); The telescopic length of the electric push rod is used to change the angular relationship between the backrest support assembly (3-11) and the lifting assembly (3-04). The angular change range is from 82° to 93°, and the overall adjustment is 11°. When the gantry spreader (3) grabs the glass package, it plays the role of adjusting the glass package support surface of the backrest support assembly (3-11) to be parallel to the glass package placed on the glass rack. When the gantry spreader (3) grabs and transports the whole package of glass, the backrest support assembly (3-11) supports the glass from the back to prevent the glass from shaking.

10. A novel gantry storage device according to claim 4, characterized in that, The swing rotation shaft of the bottom fork assembly (3-06) is hinged to the bottom of the backrest support assembly (3-11).

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