CN216072159U

CN216072159U - Gantry type hoisting and carrying device

Info

Publication number: CN216072159U
Application number: CN202122483560.5U
Authority: CN
Inventors: 李小龙; 王亮亮; 宋文锦
Original assignee: Xian University of Architecture and Technology
Current assignee: Xian University of Architecture and Technology
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2022-03-18
Anticipated expiration: 2031-10-14

Abstract

The utility model discloses a gantry type hoisting and carrying device, which comprises: the device comprises a complete machine frame, a grabbing and hoisting device, a stacking device and a carrying device; a horizontal moving mechanism is arranged on the whole machine frame, and a grabbing and hoisting device is arranged on the horizontal moving mechanism; the stacking device comprises bottomless stacking grids for internally stacking goods and a bottom plate positioned at the bottom of the stacking grids, and the bottom plate is connected with a bottom plate driving mechanism; the carrying device is arranged at the bottom of the whole machine frame and is used for driving the whole machine frame to walk. According to the gantry type hoisting and carrying device provided by the embodiment of the utility model, the grabbing and hoisting device, the stacking device and the carrying device are arranged on the whole machine frame, and the grabbing and hoisting device, the stacking device and the carrying device are skillfully matched, so that the gantry type hoisting and carrying device is simple and convenient to operate, and labor force is liberated; and the performance is reliable, the manufacturing cost is low, and the environment is protected.

Description

Gantry type hoisting and carrying device

Technical Field

The utility model belongs to the field of carrying machinery, and particularly relates to a gantry type hoisting and carrying device.

Background

At present, most of the transportation is still completed manually, and the efficiency is low, the error rate is high, and the requirements of the current society are difficult to meet. For example, the logistics industry and shopping malls are expanding, and even though a large amount of manpower and material resources are input, the requirements of work tasks are still difficult to meet, so the current situation of few people and many things is still not relieved. Although some devices for carrying are available, the devices do not solve the problem of low lifting and carrying in the prior art, and therefore, higher requirements are put on lifting and carrying tools.

The existing hoisting and carrying tool has poor flexibility and practicability, single type and high price.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a gantry type hoisting and carrying device, which solves the problem that hoisting and carrying tools in the prior art are poor in flexibility and practicability.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a gantry crane handling apparatus comprising: the device comprises a complete machine frame, a grabbing and hoisting device, a stacking device and a carrying device;

a horizontal moving mechanism is arranged on the whole machine frame, and the grabbing and hoisting device is arranged on the horizontal moving mechanism; the stacking device comprises bottomless stacking grids for internally stacking goods and a bottom plate positioned at the bottom of the stacking grids, and the bottom plate is connected with a bottom plate driving mechanism; the carrying device is arranged at the bottom of the whole machine frame and is used for driving the whole machine frame to walk.

Optionally, the whole machine frame is a rectangular parallelepiped frame.

Optionally, the horizontal moving mechanism includes a first linear guide rail, a second linear guide rail, a third linear guide rail, a first slider, a second slider, a third slider, a first motor, and a second motor;

the first linear guide rail and the second linear guide rail are respectively arranged on two opposite edges of the top of the whole machine frame; the first sliding block and the second sliding block are respectively arranged on the first linear guide rail and the second linear guide rail; two edges for installing the first linear guide rail and the second linear guide rail are respectively provided with a first synchronous belt mechanism, and the first sliding block and the second sliding block are respectively connected with the corresponding first synchronous belt mechanisms;

the first motor is fixedly arranged on the whole machine frame and is connected with a transmission shaft for driving the first synchronous belt mechanism to move through a coupler;

and two ends of the third linear guide rail are respectively arranged on the first sliding block and the second sliding block, the third sliding block is arranged on the third linear guide rail, the second motor is fixed on the second sliding block, and the second synchronous belt mechanism is connected with the second synchronous belt mechanism and is used for driving the third sliding block to move along the third linear guide rail.

Optionally, the first synchronous belt mechanism includes a first synchronous belt pulley and a first synchronous belt, the first synchronous belt is mounted on the first synchronous belt pulley, the first synchronous belt pulley is mounted on the frame of the whole machine and connected to the transmission shaft, and the first slider and the second slider are respectively connected to the corresponding first synchronous belts.

Optionally, the second synchronous belt mechanism includes a second synchronous belt pulley and a second synchronous belt, the two second synchronous belt pulleys are respectively installed on the first slider and the second slider, the second synchronous belt is installed on the two second synchronous belt pulleys, one of the second synchronous belt pulleys is connected with the output shaft of the second motor, and the first slider and the second slider are respectively connected with the corresponding second synchronous belt.

Optionally, the grabbing and lifting device comprises an electric hoisting telescopic rod and a grabbing mechanism, the first end of the electric hoisting telescopic rod is installed on the third sliding block, and the grabbing mechanism is installed at the second end of the electric hoisting telescopic rod.

Optionally, the grabbing mechanism comprises a grabbing manipulator support, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first grab hand and a second grab hand;

the first end of the grabbing manipulator support is connected with an electric hoisting telescopic rod, the first end of the first connecting rod and the first end of the second connecting rod are respectively connected with one side of the second end of the grabbing manipulator support, and the first end of the third connecting rod and the first end of the fourth connecting rod are respectively connected with the other side of the second end of the grabbing manipulator support;

the second end of the first connecting rod and the second end of the second connecting rod are respectively connected to the first gripper, and the second end of the third connecting rod and the second end of the fourth connecting rod are respectively connected to the second gripper;

a first gear and a second gear are respectively arranged at the first end of the first connecting rod and the first end of the fourth connecting rod; and a steering engine for driving the first gear and the second gear is arranged on the grabbing manipulator support.

Optionally, the first gear and the second gear are engaged, and the output end of the steering engine is connected with the first gear and/or the second gear.

Optionally, the bottom plate driving mechanism includes a third motor, a rack and a gear set;

the stacking grids are fixed on the whole machine frame, a movable plate is arranged on the bottom plate, and the rack is mounted on the movable plate; the third motor is installed on the bottom plate and is connected with the rack through a gear set.

Optionally, the carrying device includes a servo motor and a mecanum wheel mounted at the bottom of the complete machine frame, and an output end of the servo motor is connected to the mecanum wheel.

The utility model has the following beneficial effects:

(1) according to the gantry type hoisting and carrying device provided by the embodiment of the utility model, the grabbing and hoisting device, the stacking device and the carrying device are arranged on the whole machine frame, and the grabbing and hoisting device, the stacking device and the carrying device are skillfully matched, so that the gantry type hoisting and carrying device is simple and convenient to operate, and labor force is liberated; and the performance is reliable, the manufacturing cost is low, and the environment is protected.

(2) The gantry type hoisting and carrying device provided by the embodiment of the utility model has the advantages of compact structure, multiple functions, small occupied space and high practical value.

(3) The gantry type hoisting and carrying device provided by the embodiment of the utility model mainly achieves the functions of hoisting, carrying, stacking and the like on various articles, and achieves the purposes of improving the working efficiency, reducing the labor force and reducing the cost. Can be widely applied to the production of industries such as markets, logistics and the like, and greatly shortens the working time of labor personnel.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 is a schematic structural diagram of a gantry type hoisting and carrying device provided by an embodiment of the utility model;

FIG. 2 is a schematic structural diagram of a grabbing and lifting device according to an embodiment of the present invention;

fig. 3 is a front view of a gantry type lifting and carrying device provided in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a handling apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a palletizing device according to an embodiment of the present invention;

in the figure: 1. a complete machine frame; 2. grabbing the hoisting device; 3. stacking plates; 4. a carrying device; 5. an electric hoisting telescopic rod; 6. grabbing a manipulator support; 7. a first link; 8. a second link; 9. a third link; 10. a fourth link; 11. a first gripper; 12. a second gripper; 13. a first gear; 14. a second gear; 15. a steering engine; 16. a first linear guide rail; 17. a second linear guide; 18. a third linear guide rail; 19. a first slider; 20. a second slider; 21. a third slider; 22. a first motor; 23. a second motor; 24. a third motor; 25. a drive shaft; 26. a coupling; 27. stacking grids; 28. a base plate; 29. a rack; 30. a gear set; 31. a first servo motor; 32. a second servo motor; 33. a third servo motor; 34. a fourth servo motor; 35. a first Mecanum wheel; 36. a second Mecanum wheel; 37 a third mecanum wheel; 38. a fourth mecanum wheel.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The following detailed description is exemplary in nature and is intended to provide further details of the utility model. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model.

As shown in fig. 1 and 3, an embodiment of the present invention provides a gantry type crane handling apparatus, including: the automatic conveying device comprises a complete machine frame 1, a grabbing and lifting device 2, a stacking device 3 and a conveying device 4; a horizontal moving mechanism is arranged on the whole machine frame 1, and a grabbing and hoisting device 2 is arranged on the horizontal moving mechanism; the stacking device 3 comprises a stacking square grid 27 without a bottom surface for internally stacking goods and a bottom plate 28 positioned at the bottom of the stacking square grid 27, and the bottom plate 28 is connected with a bottom plate driving mechanism; the carrying device 4 is arranged at the bottom of the whole machine frame 1 and is used for driving the whole machine frame 1 to walk.

As an example, the whole machine frame 1 is a rectangular parallelepiped frame, and the top portion includes two long sides and two short sides.

In the embodiment of the present invention, the horizontal moving mechanism includes a first linear guide 16, a second linear guide 17, a third linear guide 18, a first slider 19, a second slider 20, a third slider 21, a first motor 22, and a second motor 23; the first linear guide rail 16 and the second linear guide rail 17 are respectively arranged on two opposite short edges at the top of the whole machine frame 1; the first slider 19 and the second slider 20 are respectively arranged on the first linear guide rail 16 and the second linear guide rail 17; two edges for installing the first linear guide rail 16 and the second linear guide rail 17 are respectively provided with a first synchronous belt mechanism, and a first slide block 19 and a second slide block 20 are respectively connected with the corresponding first synchronous belt mechanisms; the first motor 22 is fixedly arranged on the whole machine frame 1 and is connected with a transmission shaft 25 for driving the first synchronous belt mechanism to move through a coupler 26; the first sliding block 19 and the second sliding block 20 are driven to do linear motion by the first motor 22. The two ends of the third linear guide rail 18 are respectively installed on the first slider 19 and the second slider 20, the third slider 21 is installed on the third linear guide rail 18, the second motor 23 is fixed on the second slider 20, and the second synchronous belt mechanism for driving the third slider 21 to move along the third linear guide rail 18 is connected. The third sliding block 21 is driven to do linear motion on the third linear guide rail 18 by the power transmitted by the second motor 23.

As an example, the first timing belt mechanism includes a first timing belt wheel and a first timing belt, the first timing belt wheel is mounted on the first timing belt wheel, the first timing belt wheel is mounted on the frame 1 and connected to the transmission shaft 25, and the first slider 19 and the second slider 20 are respectively connected to the corresponding first timing belt.

As an example, the second synchronous belt mechanism includes a second synchronous pulley and a second synchronous belt, the two second synchronous pulleys are respectively mounted on the first slider 19 and the second slider 20, the second synchronous belt is mounted on the two second synchronous pulleys, one of the second synchronous pulleys is connected with the output shaft of the second motor 23, and the first slider 19 and the second slider 20 are respectively connected with the respective corresponding second synchronous belts.

In the embodiment of the utility model, the grabbing and lifting device 2 comprises an electric lifting and lifting telescopic rod 5 and a grabbing mechanism, wherein the first end of the electric lifting and lifting telescopic rod 5 is installed on the third sliding block 21, and the grabbing mechanism is installed on the second end of the electric lifting and lifting telescopic rod 5, so that the z-axis lifting action is realized.

As an example, the grasping mechanism includes a grasping robot holder 6, a first link 7, a second link 8, a third link 9, a fourth link 10, a first gripper 11, and a second gripper 12; the first end of the grabbing manipulator support 6 is connected with the electric hoisting telescopic rod 5, the first end of the first connecting rod 7 and the first end of the second connecting rod 8 are respectively connected with one side of the second end of the grabbing manipulator support 6, and the first end of the third connecting rod 9 and the first end of the fourth connecting rod 10 are respectively connected with the other side of the second end of the grabbing manipulator support 6; the second end of the first connecting rod 7 and the second end of the second connecting rod 8 are respectively connected to a first handle 11, and the second end of the third connecting rod 9 and the second end of the fourth connecting rod 10 are respectively connected to a second handle 12; a first gear 13 and a second gear 14 are respectively arranged on the first end of the first connecting rod 7 and the first end of the fourth connecting rod 10; the grabbing manipulator support 6 is provided with a steering engine 15 used for driving the first gear 13 and the second gear 14, the steering engine 15 drives the first gear 13 and the second gear 14 to drive the first connecting rod 7 and the fourth connecting rod 10 to rotate, so that the first grabbing hand 11 and the second grabbing hand 12 are driven to move, and grabbing and releasing actions are achieved.

As an example, the first gear 13 and the second gear 14 are meshed, and the output end of the steering gear 15 is connected with the first gear 13 and/or the second gear 14. When driven, the steering gear 15 drives both the first gear 13 and the second gear 14, or drives only one of the first gear 13 and the second gear 14.

In the embodiment of the present invention, the bottom plate driving mechanism includes a third motor 24, a rack 29, and a gear set 30; the stacking grids 27 are fixed on the whole machine frame 1, a movable plate is arranged on the bottom plate 28, and a rack 29 is arranged on the movable plate; the third motor 24 is mounted on a base plate 28 and is connected to a rack 29 by a gear set 30. The third motor 24 drives the gear set 30 to drive the movable plate to move, and after the movable plate moves, goods fall from the stacking grids 27, so that a release function after stacking is realized.

In the embodiment of the utility model, the carrying device 4 comprises a servo motor and a Mecanum wheel which are arranged at the bottom of the whole machine frame 1, and the output end of the servo motor is connected with the Mecanum wheel.

As an example, in the carrying device, the first servo motor 31, the second servo motor 32, the third servo motor 33 and the fourth servo motor 34 are respectively fixedly mounted on the frame 1 through bolts, the first servo motor 31, the second servo motor 32, the third servo motor 33 and the fourth servo motor 34 are respectively provided with a first mecanum wheel 35, a second mecanum wheel 36, a third mecanum wheel 37 and a fourth mecanum wheel 38, and the flexible movement of the whole machine can be realized through the forward and reverse rotation of the first servo motor 31, the second servo motor 32, the third servo motor 33 and the fourth servo motor 34.

It will be appreciated by those skilled in the art that the utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the utility model are intended to be embraced therein.

Claims

1. A gantry type hoisting and carrying device is characterized by comprising: the automatic stacking machine comprises a whole machine frame (1), a grabbing and lifting device (2), a stacking device (3) and a carrying device (4);

the whole machine frame (1) is provided with a horizontal moving mechanism, and the grabbing and hoisting device (2) is arranged on the horizontal moving mechanism; the stacking device (3) comprises bottomless stacking grids (27) used for internally stacking goods and a bottom plate (28) positioned at the bottom of the stacking grids (27), and the bottom plate (28) is connected with a bottom plate driving mechanism; the carrying device (4) is arranged at the bottom of the whole machine frame (1) and is used for driving the whole machine frame (1) to travel.

2. Gantry crane handling device according to claim 1, characterized in that the complete machine frame (1) is a rectangular parallelepiped frame.

3. Gantry crane handling device according to claim 2, characterized in that the horizontal movement mechanism comprises a first linear guide (16), a second linear guide (17), a third linear guide (18), a first slide (19), a second slide (20), a third slide (21), a first motor (22) and a second motor (23);

the first linear guide rail (16) and the second linear guide rail (17) are respectively arranged on two opposite edges at the top of the whole machine frame (1); the first sliding block (19) and the second sliding block (20) are respectively arranged on the first linear guide rail (16) and the second linear guide rail (17); two edges for installing the first linear guide rail (16) and the second linear guide rail (17) are respectively provided with a first synchronous belt mechanism, and the first sliding block (19) and the second sliding block (20) are respectively connected with the corresponding first synchronous belt mechanisms;

the first motor (22) is fixedly arranged on the whole machine frame (1) and is connected with a transmission shaft (25) for driving the first synchronous belt mechanism to move through a coupler (26);

the two ends of the third linear guide rail (18) are respectively installed on the first sliding block (19) and the second sliding block (20), the third sliding block (21) is installed on the third linear guide rail (18), the second motor (23) is fixed to the second sliding block (20), and the second synchronous belt mechanism is connected with the second synchronous belt mechanism and is used for driving the third sliding block (21) to move along the third linear guide rail (18).

4. Gantry crane handling device according to claim 3, wherein the first timing belt mechanism comprises a first timing belt wheel and a first timing belt, the first timing belt wheel is mounted on the first timing belt wheel, the first timing belt wheel is mounted on the whole frame (1) and connected with the transmission shaft (25), and the first slider (19) and the second slider (20) are respectively connected with the corresponding first timing belt.

5. Gantry crane handling device according to claim 3, wherein the second timing belt mechanism comprises a second timing belt pulley and a second timing belt, two second timing belt pulleys are respectively mounted on the first slider (19) and the second slider (20), the second timing belt is mounted on the two second timing belt pulleys, one of the second timing belt pulleys is connected with the output shaft of the second motor (23), and the first slider (19) and the second slider (20) are respectively connected with the corresponding second timing belt.

6. Gantry crane handling device according to claim 3, wherein the gripping and lifting device (2) comprises an electric lifting and telescoping rod (5) and a gripping mechanism, the first end of the electric lifting and telescoping rod (5) being mounted on the third slide (21) and the gripping mechanism being mounted on the second end of the electric lifting and telescoping rod (5).

7. Gantry crane handling device according to claim 6, characterized in that the gripping mechanism comprises a gripping manipulator support (6), a first link (7), a second link (8), a third link (9), a fourth link (10), a first gripper (11) and a second gripper (12);

the first end of the grabbing manipulator support (6) is connected with the electric hoisting telescopic rod (5), the first end of the first connecting rod (7) and the first end of the second connecting rod (8) are respectively connected with one side of the second end of the grabbing manipulator support (6), and the first end of the third connecting rod (9) and the first end of the fourth connecting rod (10) are respectively connected with the other side of the second end of the grabbing manipulator support (6);

the second end of the first connecting rod (7) and the second end of the second connecting rod (8) are respectively connected to the first gripper (11), and the second end of the third connecting rod (9) and the second end of the fourth connecting rod (10) are respectively connected to the second gripper (12);

a first gear (13) and a second gear (14) are respectively arranged at the first end of the first connecting rod (7) and the first end of the fourth connecting rod (10); and a steering engine (15) for driving the first gear (13) and the second gear (14) is mounted on the grabbing manipulator support (6).

8. Gantry crane handling device according to claim 7, characterized in that the first gear (13) and the second gear (14) are engaged, and the output of the steering gear (15) is connected to the first gear (13) and/or the second gear (14).

9. Gantry crane handling device according to claim 1, characterized in that the floor drive mechanism comprises a third motor (24), a rack (29) and a gear train (30);

the stacking grids (27) are fixed on the whole machine frame (1), a movable plate is arranged on the bottom plate (28), and the rack (29) is mounted on the movable plate; the third motor (24) is arranged on the bottom plate (28) and is connected with the rack (29) through a gear set (30).

10. Gantry crane handling device according to claim 1, characterized in that the handling device (4) comprises a servomotor and mecanum wheels mounted on the bottom of the frame (1), the output of the servomotor being connected to the mecanum wheels.