Load-gripping mechanism for gantry manipulator

Abstract

FIELD: lifting and transport engineering.SUBSTANCE: invention is used in lifting devices during loading, unloading and transportation of cargo. A load-gripping mechanism for a portal manipulator with a load trolley comprises a frame with vertical guides rigidly connected to it, configured to be secured with the load trolley, a movable part located under the frame, configured to move along the vertical guides on movable roller supports by means of a rope. The movable part comprises a horizontally mounted beam equipped with a linear electric drive designed to allow linear movement of the load grippers along the beam. A compensation mechanism for compensating for the positional error of a load includes a horizontally arranged upper plate, a middle plate, and a lower plate, of which the upper plate is configured for displacement in the transverse direction relative to the middle plate and joint displacement with the middle plate in the longitudinal direction relative to the lower plate. The top plate is secured to the beam and adapted for their joint displacement in the longitudinal and transverse directions.EFFECT: reliable operation of the portal manipulator, including when working with a load located at a deviation from the specified position.8 cl, 3 dwg

Description

[0001] The invention relates to lifting and transport engineering and can be used in lifting, lowering and moving cargo, including cargo located at a deviation from a given position.

[0002] From patent RU187767 (published 03 / 18 / 2019), a load-gripping device for transporting disk-shaped loads is known, used when the loads are not arranged in an orderly manner.

[0003] The disadvantage of the device is that it cannot exclude the possibility of the load swinging during transportation, which can lead to the load falling.

[0004] Furthermore, the device is not designed for transporting packaged goods, such as stacked disc-shaped goods.

[0005] Another disadvantage of this device is that the technological operations of guiding the load gripper onto the load and gripping the load are carried out manually, which is unreliable and labor-intensive.

[0006] A load gripper for an overhead crane with a load trolley is known from patent JPS5874490 (published 04.05.1983). The load trolley (4) is moved along horizontal tracks (8) of an overpass. A drive drum (7) is mounted on the trolley (4) for winding ropes, by means of which the load gripper (2), equipped with lifting levers (2a) for gripping the load (slab), is raised and lowered. The load gripper (2) is connected to a vertical elevator (11), which can move inside a cylindrical element (10).

[0007] A well-known patent involves gripping a plate positioned at an angle to the load gripper, specifically when the plate is tilted relative to the load gripper, or the longitudinal centerline of the plate deviates from the centerline of the load gripper. In such cases, the load gripper absorbs the reaction force from the plate through its clamps, which contact the plate, and this reaction force causes the load gripper to rotate, changing its position relative to the plate.

[0008] This patent attempts to grip a load positioned at an angle. However, adjusting the gripper's position based on the load's reaction force, which can be inaccurately determined, especially when the plate rotates, does not guarantee gripping of the load, which could lead to the load falling. Consequently, the gripper does not ensure reliable operation of the overhead crane.

[0009] Furthermore, the patent only transports a single load (slab), and does not provide for the transportation of stacked loads.

[0010] The technical objective of the invention is to eliminate the above-mentioned disadvantages of analogues.

[0011] The technical result is to ensure reliable operation of the portal manipulator, including when working with a load located at a deviation from the specified position.

[0012] The technical problem is solved and the technical result is achieved in a load-gripping mechanism for a gantry manipulator with a load trolley, containing:

[0013] - a frame with vertical guides rigidly connected to it, designed with the possibility of being secured to a cargo trolley;

[0014] - a movable part located under the frame, designed with the possibility of movement along vertical guides on movable roller supports by means of a rope;

[0015] - the movable part contains a horizontally installed beam equipped with a linear electric drive, designed with the possibility of linear movement of the load grippers along the beam;

[0016] - a compensation mechanism for compensating for the positional error of a load, including a horizontally located upper plate, a middle plate, and a lower plate, of which the upper plate is designed with the possibility of displacement in the transverse direction relative to the middle plate and joint displacement with the middle plate in the longitudinal direction relative to the lower plate, wherein the upper plate is fixed to the beam with the possibility of their joint displacement in the longitudinal and transverse directions.

[0017] In addition, the middle plate on the side of the upper plate is provided with a transverse protrusion located in the transverse recess of the upper plate, wherein the transverse recess is made longer than the transverse protrusion, and the transverse protrusion is conjugated in the longitudinal direction with the transverse recess.

[0018] In addition, the middle plate on the side of the lower plate is provided with a longitudinal protrusion located in the longitudinal recess of the lower plate, wherein the longitudinal recess is made longer than the longitudinal protrusion, and the longitudinal protrusion is mated in the transverse direction with the longitudinal recess.

[0019] In addition, the top plate is fixed to the beam by means of posts, which are fixed with their upper part to the top plate and with their lower part to the beam.

[0020] In addition, the bottom plate is fixed with movable roller supports.

[0021] In addition, the movable part is provided with a leveler containing a wedge element fixed to the upper plate on the frame side and made narrower in the direction of the frame, and rollers fixed to the frame with their housings.

[0022] In addition, the linear electric drive contains a lever-type linear mechanism, which includes a drive linkage, pivotally connected on both sides to connecting rods, which, on the side opposite the linkage, are pivotally connected to sliders rigidly fixed with grippers.

[0023] In this case, the beam is equipped with guides fixed to the bottom side of the beam, and carriages are installed in the said guides, rigidly connected to the sliders.

[0024] The essence of the invention is explained by drawings.

[0025] Fig. 1 shows the load-gripping mechanism in the lower position, before gripping the load.

[0026] Fig. 2 explains the structure of a lever-type linear mechanism.

[0027] Fig. 3 shows the load-gripping mechanism in the upper position (longitudinal section).

[0028] The coordinate axes X, Y, Z in Fig. 3 denote, respectively, the longitudinal, transverse and vertical directions of the arrangement of the elements of the load-gripping mechanism.

[0029] The gantry manipulator is a stationary lifting mechanism with the ability to grip, lift, lower and move loads in a horizontal plane in automatic mode, using an automated control system (ACS), and in manual mode from a mobile operator panel.

[0030] The gantry manipulator consists of mechanical units, electromechanical drives, sensors for tracking kinematic characteristics and position control.

[0031] The main supporting structure of the portal manipulator is a trestle (not shown), on which the transport mechanisms are located: trolley 1 (Fig. 1), load-gripping mechanism 2, cable layers (not shown), etc.

[0032] Trolley 1 is equipped with a controlled electric drive and is configured to move the load-gripping mechanism 2 along the overpass. A drive drum 3 (Fig. 1) is installed on trolley 1 for winding ropes 4, by means of which load-gripping mechanism 2 and load 5 are raised and lowered. To increase traction, load-gripping mechanism 2 is equipped with a pulley block 6.

[0033] The load-gripping mechanism 2 is configured to grip, lift, and lower to a predetermined height, and hold the load 5 in a vertical position during transportation, including packaged loads with a central opening, such as stacked railroad wheels. Fig. 1 shows, as an example, a stack of six railroad wheels arranged on a pin 7.

[0034] The load-gripping mechanism 2 comprises a frame 8 with two vertical guides 9 rigidly fixed to it and a movable part 10 located under the frame 8, made with the possibility of linear movement along the vertical guides 9 on movable roller supports 11 by means of a rope 4. The frame 8 is made with the possibility of a rigid connection with the lower end of the trolley 1.

[0035] The vertical guides 9 can be profile rails. In this case, carriages with rollers housed within them serve as the movable roller supports 11.

[0036] In the specific embodiment shown in Fig. 1, the vertical guides 9 are cylindrical. The movable roller supports 11 contain rollers arranged in pairs on opposite sides of each vertical guide 9.

[0037] The movable part 10 (Fig. 1) comprises a horizontally mounted beam 12 and a linear electric drive (not designated by a position) for the linear movement of the grippers 14 along the beam 12, i.e., in the longitudinal direction of movement. The linear electric drive comprises an electric motor 19 (Fig. 3) attached to the beam 12, kinematically connected to a linear mechanism 13, which ensures the conversion of rotational motion into linear movement.

[0038] A ball screw mechanism, for example, can be used as a linear mechanism. The specific embodiment shown in Fig. 2 utilizes a lever-type linear mechanism 13, the main advantage of which is its reliability and operating efficiency, including under high temperatures.

[0039] The grippers 14 are made in the form of frames or a box-shaped form, open on the side of the load 5, for securely gripping and holding the load 5. The shape of the grippers 14 is made in accordance with the shape of the load 5. In the specific embodiment in Fig. 1, the grippers 14 have a shape that ensures the gripping and holding of a stack of railway wheels.

[0040] The linear mechanism in Fig. 2 includes a link 15 (driving link), pivotally connected on both sides to connecting rods 16. Connecting rods 16 on the side opposite from the link 15 are pivotally connected to sliders 17 for linear movement of the sliders 17 together with grippers 14 rigidly fixed to the sliders 17. The hinge joints 18 are based on plain bearings. In this case, self-aligning bearings can be used as plain bearings, which ensure smooth rotation even under conditions of possible misalignment of the unit.

[0041] Beam 12 is provided with guides 21 (Fig. 2, 3), fixed to the bottom side of beam 12. Carriages 22 (Fig. 3) are installed in the guides, rigidly connected to sliders 17, to ensure linear movement of sliders 17 along beam 12 under the action of linear mechanism 13. Profile rails are used as guides 21.

[0042] To compensate for the positional error of the load, the movable part 10 is equipped with a compensation mechanism 23 (Fig. 3). The term "positional error of the load" in the context of the description means the possible deviation from the specified position of the load 5 during its loading and unloading.

[0043] The compensation mechanism 23 in Fig. 3 includes a horizontally arranged upper plate 25, a lower plate 26 and a middle plate 27 located between them.

[0044] The upper plate 25 is secured to the beam 12 by means of posts 24, which are secured with their upper part to the upper plate 25 and with their lower part to the beam 12.

[0045] The middle plate 27 is provided on the side of the upper plate 25 with a transversely oriented (hereinafter referred to as transverse) projection 28 located in a corresponding transverse recess (not indicated) of the upper plate 25. In this case, the transverse recess of the upper plate 25 is made longer than the transverse projection 28 to provide a transverse displacement of the upper plate 25 relative to the middle plate 27, and the transverse projection 28 is also connected in the longitudinal direction with the transverse recess of the upper plate 25 to provide a joint longitudinal displacement of the middle plate 27 with the upper plate 25. That is, the transverse projection 28 and the transverse recess have a shape that provides a transverse displacement of the upper plate 25 relative to the middle plate 27 and a joint longitudinal displacement of the middle plate 27 with the upper plate 25.

[0046] The middle plate 27 on the side of the lower plate 26 is provided with a longitudinally oriented (hereinafter referred to as longitudinal) projection 29, located in a corresponding longitudinal recess (not indicated) of the lower plate 26. In this case, the longitudinal recess of the lower plate 26 is made longer than the longitudinal projection 29 to ensure longitudinal displacement of the middle plate 27 relative to the lower plate 26. The longitudinal projection 29 is connected in the transverse direction with the longitudinal recess of the lower plate 26 to ensure fixation of the middle plate 27 in the transverse direction relative to the lower plate 26.

[0047] The bottom plate 26 is fixed with movable roller supports 11.

[0048] For aligning the movable part 10 in the upper position, the movable part 10 is provided with an equalizer, which includes a wedge element 30, fixed on the upper plate 25 from the side of the frame 8, and rollers 31, whose housings are fixed to the frame 8. In this case, the wedge element 30 is narrowed in the direction of the frame 8. The wedge element 30 can be made in the form of a truncated cone, the smaller base of which is located on the side of the frame 8. In the specific embodiment in Fig. 3, the wedge element 30 is made in the form of four inclined plates, which are placed symmetrically on four sides from the axis O-O (Fig. 3) of the load-gripping mechanism 2, with each inclined plate corresponding to its own roller 31.

[0049] For precise positioning, the load-gripping mechanism 2 is equipped with an intelligent vision device 32 (Fig. 3) directed towards the load 5.

[0050] In case of operation in high temperature conditions, for example in metallurgical production, the load-gripping mechanism 2 can be equipped with a heat shield 33 (Fig. 1) with air ducts located inside the shield to remove heat from components requiring cooling and thermal protection, including from the intelligent vision device 32.

[0051] The operation of the lifting mechanism is as follows.

[0052] Trolley 1 with load-gripping mechanism 2 approaches load 5, the coordinates of which are stored in the automated control system (ACS). Pin 7, on which load 5 is located, enters the field of view of intelligent vision device 32, which is connected via a data link to the ACS control unit. If necessary, the ACS adjusts the position of load-gripping mechanism 2 along the X and Y axes, ensuring precise positioning of load-gripping mechanism 2 over pin 7.

[0053] Then the movable part 2 is lowered by means of the rope 4, rolling on the rollers of the movable roller supports 11 along the vertical guides 9 of the frame, which eliminates the swinging of the movable part 2 during lowering and, similarly, during lifting. Fig. 1 shows the lower position of the movable part 2.

[0054] After the movable part 2 is lowered, the electric motor 19 sets in motion the linear mechanism 13 of the lever type, all of whose moving points move in parallel planes. The link 15 rotates due to its rigid fastening on the shaft 20 of the electric drive, and the connecting rods 16, pivotally connected to the link 15 and the sliders 17, pull the sliders 17 together with the grippers 14 attached to them in the direction of the load 5 (in the longitudinal direction, along the arrows A in Fig. 1). Because sliders 17 are rigidly connected to carriages 22 mounted in guides 21 secured to the underside of beam 12, sliders 17 with grippers 14 move smoothly along beam 12. The force exerted by grippers 14 on load 5 can be automatically adjusted by a controlled electric drive. Upon completion of gripping load 5, linear mechanism 13 is in a compressed position, ensuring secure gripping and retention of load 5.

[0055] After the load 5 has been captured, the movable part 10 is lifted by means of the rope 4 until it rests against the frame 8, which is equipped with a damper (not shown) on the bottom to soften the contact with the movable part 10. At the final stage of lifting, the movable part 10 is aligned in the longitudinal and transverse directions by moving the wedge element 30 along the rollers 31. Fig. 3 shows the upper position of the movable part 10, in which it is positioned due to the rest of the rollers 31 against the wedge element 30.

[0056] Then, load-gripping mechanism 2 is moved with load 5 to the unloading location. For safety reasons, the horizontal movement of load-gripping mechanism 2, with and without load 5, is performed with the lever-type linear mechanism 13 in the fixed (compressed) position and the movable part 10 in the upper position. This helps prevent swinging of the movable part 10, including during acceleration. The operation of load-gripping mechanism 2 during lowering and unloading load 5 is similar to the operation of load-gripping mechanism 2 during lifting and gripping load 5.

[0057] Capture or unloading of load 5 located with a deviation from a given position, for example, capture of a stack of railway wheels located on pin 7 with a deviation from the center of pin 7, or unloading of a stack of railway wheels located non-coaxially with each other, leads to displacement of the movable part 10 under the action of a lateral load.

[0058] The movable part 10 is displaced by the compensation mechanism 23, due to the longitudinal displacement (by sliding) of the upper plate 25 together with the middle plate 27 relative to the lower plate 26 along the X axis and / or the transverse displacement (by sliding) of the upper plate 25 relative to the middle plate 27 along the Y axis, as well as due to the fastening of the upper plate 25 with the beam 12, which ensures the joint displacement of the upper plate 25 with the beam 12 in the longitudinal and transverse directions. The displacement of the movable part 10 along the X and / or Y axes allows for the reliable gripping of the load 5 or its precise unloading in the event of the aforementioned deviations from the specified position.

[0059] Thus, the load-gripping mechanism performs all technological operations with stable accuracy, including when working with a load located at a deviation from the specified position, which ensures reliable operation of the gantry manipulator.

Claims

1. A load-gripping mechanism for a gantry manipulator with a load trolley, comprising: - a frame with vertical guides rigidly connected to it, designed with the possibility of being secured to a cargo trolley; - a movable part located under the frame, designed with the possibility of movement along vertical guides on movable roller supports by means of a rope; - the movable part contains a horizontally installed beam equipped with a linear electric drive designed to allow linear movement of the load grippers along the beam; - a compensation mechanism for compensating for the positional error of a load, comprising a horizontally arranged upper plate, a middle plate, and a lower plate, of which the upper plate is designed with the possibility of displacement in the transverse direction relative to the middle plate and joint displacement with the middle plate in the longitudinal direction relative to the lower plate, wherein the upper plate is secured to the beam with the possibility of their joint displacement in the longitudinal and transverse directions.

2. A load-gripping mechanism according to paragraph 1, characterized in that the middle plate on the side of the upper plate is provided with a transverse projection located in a transverse recess of the upper plate, wherein the transverse recess is made longer than the transverse projection, and the transverse projection is connected in the longitudinal direction with the transverse recess.

3. A load-gripping mechanism according to paragraph 1, characterized in that the middle plate on the side of the lower plate is provided with a longitudinal projection located in a longitudinal recess of the lower plate, wherein the longitudinal recess is made longer than the longitudinal projection, and the longitudinal projection is connected in the transverse direction with the longitudinal recess.

4. A load-gripping mechanism according to paragraph 1, characterized in that the upper plate is secured to the beam by means of posts, which are secured with their upper part to the upper plate and with their lower part to the beam.

5. A load-gripping mechanism according to paragraph 1, characterized in that the lower plate is secured with movable roller supports.

6. A load-gripping mechanism according to paragraph 1, characterized in that the movable part is equipped with a leveler containing a wedge element secured to the upper plate on the frame side and made narrower in the direction of the frame, and rollers secured to the frame with their housings.

7. A load-gripping mechanism according to claim 1, characterized in that the linear electric drive contains a linear lever-type mechanism, including a drive linkage, pivotally connected on both sides to connecting rods, which on the side opposite the linkage are pivotally connected to sliders rigidly fixed to the grippers.

8. A load-gripping mechanism according to paragraph 7, characterized in that the beam is equipped with guides secured to the bottom side of the beam, and carriages are installed in said guides, rigidly connected to the sliders.

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