CN113023565A - Self-walking carrying device, self-walking trolley and production line - Google Patents

Abstract

The invention discloses a self-walking carrying device, a self-walking trolley and a production line, wherein the self-walking carrying device comprises a guide rail and the self-walking trolley movably arranged on the guide rail, a balance crane is arranged on the self-walking trolley, the self-walking trolley comprises a frame, walking wheels are arranged on the frame, at least one of the walking wheels is connected with a driving mechanism for driving the self-walking wheels to rotate, the driving mechanism comprises a transmission shaft which is arranged on the frame in a self-rotating manner, the transmission shaft is connected with at least one walking wheel through a first transmission mechanism, the transmission shaft is connected with a motor through a second transmission mechanism, and the second transmission mechanism comprises an electromagnetic clutch for controlling the on-off of the transmission torque. This scheme need not manual drive from the dolly of walking, has reduced intensity of labour, and can be when needs manual dragging or under outage or the fault condition, through being connected of electromagnetic clutch disconnection motor and transmission shaft, makes the dolly of walking from can be dragged by the freedom, has guaranteed the convenience in use, can effectively satisfy different application scene needs.

Description

Self-walking carrying device, self-walking trolley and production line

Technical Field

The invention relates to the field of automation equipment, in particular to a self-walking carrying device, a self-walking trolley and a production line.

Background

The balance crane is a novel material hoisting device, and a unique spiral lifting mechanism is adopted to lift heavy objects, so that the manual labor is replaced. The balance crane is mainly used for assembling upper and lower parts processed by a machine tool and parts between processes and for short-distance, high-frequency and intensive lifting operation in various occasions such as stations, wharves, warehouses and the like.

The balance crane is a convenient light hoisting device, and is mostly fixedly installed. Due to the limitation of the use of the fixed-mounted balance crane, various mobile balance cranes are available on the market, and in one implementation, the balance crane is arranged on a trolley which can move on the ground, so that the balance crane can move, and the structure disclosed by the application number 2017208904056 is adopted.

In another implementation, the balance crane is arranged on the guide rail through a trolley, and the movement of the balance crane is realized through the movement of the trolley along the guide rail, such as the structure disclosed in the application number 2018215030164.

The two structures need to manually push or pull the trolley or the pulley to move, so that the balance crane can move, and the labor intensity is high for a production line of loading and unloading of a plurality of machine tools, such as a production line.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a self-walking carrying device, a self-walking trolley and a production line.

The purpose of the invention is realized by the following technical scheme:

from handling device that walks, guide rail and removal setting including the level extension are in from dolly on the guide rail, it hangs to be provided with the balance on the dolly to walk, the lifting rope lower extreme that the balance hung is provided with the manipulator, from dolly includes the frame of walking, be provided with on the frame can rolling walking wheel on the guide rail, at least one in the walking wheel is connected the motor that sets up on the frame through the drive mechanism who sets up on the frame, gear drive mechanism sets up including can the rotation ground on the frame and the axis with the parallel transmission shaft and the control of axis of walking wheel the transmission shaft with the electromagnetic clutch of break-make is connected to the biography of motor.

The second transmission mechanism comprises a first gear connected with the motor shaft, the first gear is meshed with a second gear, the second gear is connected with the electromagnetic clutch in a coaxial mode, and the electromagnetic clutch is sleeved on the transmission shaft in a coaxial mode.

Preferably, in the self-walking carrying device, the guide rail is i-shaped, the walking wheels are positioned in two U-shaped grooves of the guide rail, the top surface of the lower wing plate of the guide rail is an inclined surface, and the wheel surface of the walking wheels in contact with the inclined surface is frustum-shaped.

Preferably, in the self-propelled conveying device, the frame is provided with side guide wheels attached to both side edges of the lower wing plate of the guide rail and/or the frame is provided with lower guide wheels attached to the bottom surface of the guide rail.

Preferably, in the self-walking conveying device, a hanger rail is hung below the frame through a hanger rod, the upper end of the hanger rod is pivoted with the frame, the lower end of the hanger rod is movably connected with the hanger rail, and the balance crane is arranged on the hanger rail.

Preferably, in the self-propelled conveying device, the balance crane is provided on the hanger rail via a moving frame that is movable along the hanger rail.

Preferably, in the self-propelled conveying device, the balance crane can automatically descend through a pneumatic control lifting rope under the signal of a sensor.

Preferably, in the self-propelled conveying device, a safety sensor is arranged on the pneumatic balance crane, and a trigger plate for triggering the safety sensor is arranged on the lifting rope.

Preferably, in the self-propelled conveying device, a manipulator is provided at a lower end of the hoist rope of the balance crane.

From walking dolly, including the frame, be provided with on the frame can rolling walking wheel on the guide rail, at least one in the walking wheel is connected the motor that sets up on the frame through the drive mechanism who sets up on the frame, gear drive mechanism sets up including can autogyration ground on the frame and the axis with the parallel transmission shaft of axis and the control of walking wheel the transmission shaft with the electromagnetic clutch of break-make is connected in the biography of motor.

The production line comprises at least one row of machine tools and further comprises the self-walking carrying device.

The technical scheme of the invention has the advantages that:

this scheme is through hanging the setting with the balance on the dolly of walking certainly, the dolly of walking sets up on the guide rail and from taking power, can follow the automatic walking of guide rail from the dolly of walking, realize the removal of balanced hanging, and need not manual drive and remove, intensity of labour has greatly been reduced, and simultaneously, actuating mechanism on the dolly of walking adopts electromagnetic clutch to connect transmission shaft and motor, can be when needs manual dragging or under outage or the fault condition, be connected through electromagnetic clutch disconnection motor and transmission shaft, make the dolly of walking certainly can be dragged by the freedom, the convenience that the dolly of walking used has been guaranteed, and application is nimble various, can effectively satisfy different application scene needs.

The contact surface shape of the wheel face of the walking wheel and the guide rail and the wheel face of the walking wheel can effectively limit the self-walking trolley to a certain extent for the matched inclined plane, the risk of the self-walking trolley moving along the axial direction of the walking wheel is reduced, the jumping and the deviation in the running process of the trolley can be effectively prevented by further combining the guide wheel, and the conveying stability is ensured.

The balance crane is arranged on the hanger rail, and the hanger rail can slightly swing relative to the frame, so that the buffer of the balance crane can be effectively carried out when the trolley is started or stopped, the potential safety hazard is reduced, and flexible unloading is realized.

The balance of this scheme hangs through removing the movably setting of frame on the hanger rail, and the position that the balance was hung can finely tune to effectively reduce the requirement from walking dolly shift position precision, and when not in place from walking dolly shift position, can effectively hang the translation of relative hanger rail through the balance and rectify, guarantee the reliability of using.

This scheme adopts the pneumatic balance to hang to through the automatic whereabouts of lifting rope that pressure control pneumatic balance hung, reduce manual operation. Meanwhile, the starting of the motor is controlled through the sensor, so that the walking safety of the trolley can be effectively guaranteed, and the potential safety hazard is reduced.

Drawings

FIG. 1 is a perspective view of the self-propelled conveying apparatus of the present invention (only one section of the guide rail and one section of the hoist rope of the balance crane are shown in the figure)

FIG. 2 is an end view of the self-propelled handling device of the present invention (with the balance sling sash-line hidden);

FIG. 3 is a cross-sectional view of the self-propelled handling device of the present invention (with the sling of the counter-balance sling hidden);

FIG. 4 is a top view of the drive mechanism of the self-propelled trolley of the present invention;

FIG. 5 is a perspective view of the drive mechanism of the self-propelled trolley of the present invention (with the risers hidden);

FIG. 6 is an enlarged view of area A of FIG. 2;

FIG. 7 is a front view of the self-propelled handling device of the present invention (only a section of the track is shown);

FIG. 8 is a first perspective view of the robot of the present invention;

FIG. 9 is a second perspective view of the robot of the present invention;

FIG. 10 is a top view of the robot of the present invention;

FIG. 11 is a side view of the robot of the present invention;

FIG. 12 is a schematic view of a robot holding spool of the present invention;

FIG. 13 is an enlarged view of area B of FIG. 8;

fig. 14 is a perspective view of a robot hand according to embodiment 2 of the present invention;

fig. 15 is a front view of a robot hand according to embodiment 2 of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.

In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The self-propelled carrier device of the present invention will now be described with reference to the accompanying drawings, as shown in figure 1, which comprises a horizontally extending guide rail 100 and a self-walking trolley 200 movably arranged on the guide rail 100, the self-walking trolley is provided with a balance crane 300, the self-walking trolley 200 comprises a frame 201, the frame 201 is provided with a road wheel 202 capable of rolling on the guide rail 100, at least one of the walking wheels 202 is connected with a driving mechanism for driving the walking wheels to rotate, the driving mechanism comprises a transmission shaft 203 which is arranged on the frame in a rotatable way and has the axis parallel to the axis of the walking wheels, the transmission shaft 203 is connected with at least one travelling wheel through a first transmission mechanism, the transmission shaft 203 is connected with a motor 204 arranged on the frame through a second transmission mechanism, the second transmission mechanism comprises an electromagnetic clutch 205 for controlling the on-off of the transmission shaft and the torque transmission connection of the motor 204.

During normal work, the electromagnetic clutch 205 enables the motor 204 and the transmission shaft 203 are connected in a torque transmission mode, and the motor 204 drives the traveling wheel 202 to rotate during work, so that the self-traveling trolley can automatically travel along the guide rail 100 without manual intervention. The torque transmission connection between the transmission shaft 203 and the motor 204 is realized by the electromagnetic clutch 205, and the electromagnetic clutch 205 disconnects the transmission shaft 203 from the motor 204 in the event of a failure or power failure, so that the operation can be conveniently performed by a human, and the application is flexible.

In particular, as shown in fig. 2, the guide rail 100 is i-shaped, preferably i-steel, and is fixed in position by a vertical post (not shown) for providing support and guidance for the travel of the self-propelled vehicle.

The frame 201 of the self-propelled trolley 200 may be of various feasible structures, as shown in fig. 1 and fig. 2, in a preferred structure, the frame 201 includes two symmetrical mounting frames 2011 arranged at two sides of the guide rail 100 with a gap and connecting members (screws and nuts) connecting the two mounting frames 2011, the mounting frames 2011 are assembled by a plurality of members, and the specific shape of the mounting frames can be adjusted as required.

As shown in fig. 2, a set of the road wheels 202 with parallel axes and equal height is rotatably disposed on the inner side (the side facing to the other support frame) of each support frame 2011, and the axes of the road wheels 202 are horizontal and perpendicular to the extending direction of the guide rail 100.

As shown in fig. 3, the number of a set of road wheels of each support 2011 may be designed as required, preferably 3, two of the 3 road wheels are disposed adjacent to a riser 2012, the other one is spaced from the adjacent two, and two sets of road wheels on the two support 2011 are respectively disposed in the two U-shaped grooves 101 of the i-shaped steel.

As shown in fig. 2, two adjacent travelling wheels 202 on one support 2011 on the right side are connected with a driving mechanism for driving the travelling wheels to rotate, so that the driving force can be increased, and the effective movement of the trolley is ensured.

As shown in fig. 4 and 5, the transmission shaft 203 extends from the outside of the right support 2011 to the inside thereof, a third gear 207 is coaxially disposed at the inner end of the transmission shaft 203, the third gear 207 is engaged with two fourth gears 208, the two fourth gears 208 are coaxially mounted on the two adjacent road wheels 202, respectively, and the third gear 207 and the fourth gear 208 constitute the first transmission mechanism. The electromagnetic clutch 205 arranged on the transmission shaft 203 is positioned on the outer side of the support frame 2011, the electromagnetic clutch 205 is connected with the second gear 209, the second gear 209 is meshed with the first gear 211, the first gear 211 is coaxially arranged on a motor shaft of the motor 204, and the first gear 211, the second gear 209 and the electromagnetic clutch form the second transmission mechanism. And the motor 204 is located inside the support 2011. Of course, in other embodiments, the transmission structure formed by the gears may also adopt a transmission structure formed by a chain and a chain wheel or a synchronous belt and a synchronous wheel.

As shown in fig. 2, in order to reduce the risk of axial deviation during the moving process of the road wheel, the surface 102 of the i-beam contacting the road wheel is an inclined surface inclined from inside to outside, and the corresponding road wheel 202 has a frustum 2021 matching the surface 102. Further, as shown in fig. 2, two side guide wheels 206 are rotatably arranged on the mounting rack 2011, the axis of each side guide wheel 206 is perpendicular to the axis of the traveling wheel 202 and the extending direction of the guide rail 100, the distance between the side guide wheels 206 of the mounting rack 2011 is equivalent to the width of the guide rail 100, and the two side guide wheels 206 on the mounting rack 2011 are abutted to the two side edges of the lower wing plate 103 of the i-steel.

As shown in fig. 2, in order to prevent the frame 201 from jumping during movement, the frame 201 may further be provided with two lower guide wheels, two of which are located at two ends of the frame 201, wherein one of the lower guide wheels 212 has a larger diameter and is located between the two mounting brackets 2011, and is located at one end far away from the two traveling wheels connected to the driving mechanism, the other lower guide wheel 214 has a smaller diameter and is located on one of the mounting brackets 2011, and the driving mechanism is not mounted on the mounting bracket 2011.

As shown in fig. 2, the frame 201 is further provided with an electric control cabinet 225, and the electric control cabinet 225 and the driving mechanism are located on two different mounting racks 2011 of the frame 201, so that the gravity center of the self-walking trolley can be balanced, and the load difference of the walking wheels 202 on different sides caused by the eccentricity of the gravity center of the trolley is avoided, and the stable use of the walking wheels 202 is influenced.

As shown in fig. 2 and 6, a hanger rail 500 is hung below the frame 201 through two hanger rods 213, a pivot connecting block 215 is arranged at the upper end of each hanger rod 213, the pivot connecting block 215 is pivoted on a supporting shaft 217 at the end of the frame 201, and the axis of the supporting shaft 217 is parallel to the axis of the traveling wheel 202, so that the upper end of the hanger rod 213 can rotate relative to the supporting shaft 217.

As shown in fig. 1 and 3, the hanger rail 500 is disposed at the lower end of the two hanger rods 213 and can move relatively, as shown in fig. 6, the hanger rail 500 is a section with an approximate shape like a Chinese character ri in cross section, notches 530 and 540 linearly extending from one end to the other end are formed on the top plate 510 and the bottom plate 520 of the section, and the hanger rod 213 extends into the upper through groove 550 of the section from above the top plate 510 through the notch 530.

As shown in fig. 3, a limiting plate 219 perpendicular to the suspension rod 213 is disposed at one end in the profile, the limiting plate 219 is disposed in a space enclosed by two L-shaped limiting members 221, the two L-shaped limiting members 221 are fixed in an upper through groove 550 of the suspension rail 500, for example, the L-shaped limiting members 221 may be fixed in the suspension rail 500 by a conventional connection manner such as welding. Two plates of the L-shaped member 221 parallel to the top plate 510 of the hanger rail are combined to form a through hole 223, the diameter of the through hole 223 is larger than the diameter of the hanger rod 213 and smaller than the size of the limit plate 219, therefore, the hanger rod 213 can slightly move in the through hole 223, so that the whole hanger rail 500 and the frame 201 are of a floating structure, when the self-walking trolley stops or starts, the balance crane is prevented from generating large swing due to inertia, and flexible discharging is realized. Of course, the lower end of the suspension rod 213 may be connected to the suspension rail through a ball joint, or may be pivotally connected to the suspension rail.

As shown in fig. 3 and 6, the balance crane 300 is disposed on the hanger rail 500, in order to facilitate fine adjustment of the balance crane 300 for facilitating cooperation with a machine tool, the balance crane 300 is disposed on the hanger rail 500 through a moving frame 600 capable of moving along the hanger rail, the moving frame 600 includes two pairs of rollers 610 rolling and disposed in a lower through slot 560 of the hanger rail 500, axes of the rollers 610 are parallel to an axis of the rollers, each pair of the rollers 610 is coaxially and rotatably disposed on both sides of a moving member 620, the moving member 620 extends from the lower through slot 560 to below the hanger rail 500 through a notch on the bottom plate, the moving member 620 is approximately Y-shaped, the moving member 620 is connected with the balance crane 300 through a connecting plate 630, and the balance crane 300 is connected with the connecting plate 630 through a bolt and a nut. The hanger rail 500 is provided with a limit structure for limiting the rolling of the roller 610 out of the hanger rail 500, for example, stoppers for closing ends of the hanger rail 500 are respectively provided at both ends of the hanger rail 500.

In addition, the balance crane 300 may be an electric hoist, a pneumatic hoist, or the like, and is preferably a pneumatic balance crane, and the balance crane 300 may control the automatic lowering of the lifting rope by air pressure, specifically, as shown in fig. 1, it is determined whether the position to which the balance crane 300 moves is a set machine tool position by a sensor 700, the sensor 700 is multiple and is installed on the guide rail 100, a trigger (not marked in the figure) for triggering the sensor 700 is provided on the frame of the self-traveling trolley, and after it is determined that the balance crane moves in place, the lifting rope of the balance crane automatically lowers, where the lifting rope of the balance crane automatically lowers by air pressure is a known technology, and is not described herein again. The lifting of the lifting rope of the balance crane can be triggered by a button and the like, and the lifting rope is known in the art and is not described in detail herein.

As shown in fig. 7 and 8, the lower end of the lifting rope of the balance crane 300 is provided with a manipulator 400, which may be of various known structures, such as an active clamping device like a three-grip chuck, an electric clamping jaw, etc., and is designed according to the workpiece to be clamped. In this embodiment, the manipulator 400 is hung on a lifting rope of the balance crane 300 through a lifting ring 401 thereon, the manipulator 400 may be various known pneumatic or electric clamping jaws, and preferably, the manipulator 400 is a manual clamping jaw and is used for grabbing a spool.

As shown in fig. 8, the robot 400 includes a carrier plate 403, two fixed jaw bodies 405 and a movable jaw body 407, wherein the two fixed jaw bodies 405 and the movable jaw body 407 are distributed on the carrier plate 403 in a triangle shape, and they cooperate to hold a workpiece, and the movable jaw body 407 can be opened and closed, and is connected to a self-locking mechanism that keeps it in a closed state in a normal state.

As shown in fig. 8, each of the fixing claws 405 is fixed to the bottom of the carrier plate 403, the fixing claw 405 includes a bent portion 4051 parallel to the carrier plate 403 and a claw main body 4052 perpendicular to the bent portion 4051, the bottom of the claw main body 4052 is a flat surface 4054 parallel to the carrier plate 403 for abutting against the outer end surface of the wheel disc 1100 of the spool 1000 to prevent the spool 1000 from moving axially when the fixing claw holds the spool, an L-shaped claw hook 4053 is formed at a lower vertex angle position outside the claw main body 452, a transverse portion of the L-shaped claw hook 4053 extends inward, the L-shaped claw hook 4053 and the flat surface 4054 form a catch groove with a notch facing inward, and the extension length of the flat surface 4054 is about 2 to 4 times the length of the transverse portion of the L-shaped claw hook 4053.

As shown in fig. 8, in order to increase the contact area between the fixed jaw body and the wheel disc, an L-shaped clamp 402 is arranged at the L-shaped jaw 4053, an L-shaped pad 404 is arranged at the front end of the L-shaped clamp 402, and the distance between the top surface of the L-shaped pad 404 and the plane 4054 is equivalent to the thickness of the wheel disc 1100 of the spool 1000.

As shown in fig. 8, the lower apex angle of the inside of the claw body 4052 is rounded 4055 to facilitate the entry of the spool wheel into the L-shaped claw hook 4053.

As shown in fig. 8 and 9, the movable claw body 407 includes a first portion 4071, a second portion 4072, and a hook portion 4073, which are sequentially disposed. The upper end of the first portion 4071 is pivotally connected to a connecting rod 409, the connecting rod 409 is normally horizontal or approximately horizontal, the hanging ring 401 is disposed on the connecting rod 409, the other end of the connecting rod 409 is pivotally connected to a seat block 411, and the seat block 411 is fixed to the top of the carrier plate 403.

As shown in fig. 9 and 10, the first portion 4071 passes through the through hole 4031 formed on the carrier plate 403, and the lower end thereof is engaged with one end of the second portion 4072, the first portion 4071 and the second portion 4072 are arranged at an obtuse angle, the second portion 4072 is bent outward, the other end of the second portion 4072 is provided with the hook portion 4073, the hook portion 4073 is L-shaped and forms a V-shaped slot with an inward opening with the second portion 4072, and the hook portion 4073 is normally at the same height as the L-shaped claw 4053 on the fixing claw body and is provided with an L-shaped pad.

As shown in fig. 8 and 9, the first portion 4071 is formed with a waist-shaped hole 4074 extending along the length direction thereof, the self-locking mechanism includes a connecting protrusion 413 pivotally connected to the waist-shaped hole 4074 and located below the carrier plate 403, the connecting protrusion 413 is fixed on a sliding plate 415, the sliding plate 415 is perpendicular to the carrier plate 403, and the length direction thereof is perpendicular to the extending direction of the connecting rod 409. The slide plate 415 is movably arranged on two guide rods 419 by two shaft sleeves 417, the guide rods 419 are perpendicular to the slide plate 415, i.e. the axis of the guide rod is parallel to the carrier plate 403 and perpendicular to the shaft 421 connecting the connecting rod 409 and the seat block 411, the two ends of the guide rod 419 are fixed on two mounting blocks 423 at the bottom of the carrier plate 403, and one of the mounting blocks 423 is located at an edge of the carrier board 403, and the other mounting block 423 is located at a middle region of the carrier board, and the guide rod 419 is sleeved with a spring (not shown in the figure), the spring keeps the movable claw body 407 in a closed state, that is, one end of the spring is abutted against or fixed to the inner wall of the outer mounting block 423, the other end is abutted against or fixed to the shaft sleeve 417 or the sliding plate 415, such that the slide plate 415 is normally positioned at the inner end 4191 of the guide bar 419 as shown in fig. 11.

As shown in fig. 8, the top surface of the second portion 4072 is provided with a nearly L-shaped opening handle 425 extending to the outside, and the carrier plate 403 is provided with a fixed handle 427, and the axis of the fixed handle 427 is parallel to the axis of the guide rod 419 and extends to the outside of the carrier plate 403 and is located right above the fixed handle 427.

When it is desired to open the movable jaw body 407, one hand grasps the fixed handle 427, the other hand grasps the opening handle 425 and lifts the movable jaw body 407 upward, the movable jaw body 407 rotates around its end connected to the connecting rod 409, the sliding plate 415 moves the compression spring from the inner end to the outer end of the two guide rods 419, so that the movable jaw body 407 opens, the wheel disc 1100 of the spool 1000 can be placed into the recess of the L-shaped clamping heads 4053 of the two fixed jaw bodies, and then the opening handle 425 is released, the reaction force of the spring automatically closes the movable jaw body 407, so that the movable jaw body 407 cooperates with the two fixed jaw bodies 405 to hold the upper wheel disc of the spool, as shown in fig. 12.

As shown in fig. 13, in order to prevent the movable claw 407 from being opened abnormally due to spring failure under heavy load, the carrier plate 403 is further provided with a self-resetting limiting mechanism, the self-resetting limiting mechanism comprises a pistol-shaped locking member 429, a convex portion 4291 of the locking member 429 in a bent position is pivotally connected to the connecting seat 431, an axis of a rotating shaft 433 connecting the locking member and the connecting seat is perpendicular to an axis of the guide rod 419 and parallel to the carrier plate 403, the connecting seat 431 is adjustably arranged at the top of the carrier plate 403 at a vertex angle of the carrier plate 403, an adjusting screw 435 is arranged at the side of the carrier plate 403, an axis of the adjusting screw 435 is parallel to an axis of the guide rod 419, and the adjusting screw 435 can perform position adjustment on the connecting seat 431.

As shown in fig. 10 and 13, the blocking portion 4292 of the locking member 429 passes through the relief hole 4032 formed on the carrier plate 403 from above the carrier plate 403 to below the carrier plate 403, and the lower end 4294 of the blocking portion 4292 is close to the inner end 4191 of the guide rod 419 and the lowest position of the lower end 4294 is lower than the top of the sliding plate 415, so that the sliding plate 415 is blocked by the lower end of the blocking portion 4292, and the sliding plate 415 is prevented from moving from the inner end 4191 to the outer end 4192 of the guide rod 419, thereby preventing the movable claw from opening.

As shown in fig. 10 and 13, the operation portion 4293 of the locking member 429 extends linearly to the outside of the carrier plate 403 and is located adjacent to the fixed handle 427, and the top height of the outer end thereof corresponds to the top height of the fixed handle 427, and the length of the operation portion 4293 extending outside the carrier plate is about half of the length of the fixed handle, so that the outer end of the operation portion 4293 can be simultaneously pressed downward by a thumb while the fixed handle 427 is grasped by a hand, thereby rotating the locking member 429 around the rotating shaft 433 to open and release the restriction of the movement of the sliding plate 415. When the pressing force applied to the outer end of the operating portion 4293 is released, the locking member 429 is automatically restored to the locking position by a torsion spring (not shown) fitted around the rotating shaft 433, thereby restricting the movement of the sliding plate 415 again. Of course, the torsion spring may be other elastic members capable of automatically returning the locking member 429.

As shown in fig. 7, after the robot 400 grabs a workpiece, in order to avoid the self-walking trolley 200 from being started by mistake when the workpiece is not lifted to a safe height, the pneumatic balance crane 300 is provided with a safety sensor 800 located at a side portion of the main body of the pneumatic balance crane, the safety sensor 800 can be a proximity switch or other possible creations, and the safety sensor 800 cooperates with a trigger plate 900 provided on the lifting rope to generate a corresponding condition signal, that is, when the trigger plate 900 is sensed by the safety sensor 800, the self-walking trolley 200 can move.

The manipulator of this scheme need not the power supply, and equipment running cost is low, need not complicated wiring, and the operation is convenient, and is fixed stable, can effectively satisfy the transport requirement of the I-shaped wheel of heavy weight, and the security is high, only need after the combination self-walking dolly in lathe department manual work carry on simple manipulator centre gripping operation can, greatly improved the feasibility of operation.

Example 2

The present embodiment is similar to the above embodiments in overall structure, and the difference is that: the structure of the manipulator 400 is different, in this embodiment, the manipulator is an electric manipulator, and the specific structure thereof is as follows:

as shown in fig. 14, the electric manipulator 400a includes a carrier 410, at least one guide rail 420 is disposed at the bottom of the carrier 410, two sliding members 430 and an opening and closing driving mechanism 440 for driving the two sliding members to reciprocate along the guide rail are slidably disposed on the guide rail 420, four rollers 450 having axes perpendicular to the extending direction of the guide rail and extending horizontally are disposed on each sliding member 430, a V-shaped groove 451 is formed on a wheel surface of each roller 450, the four rollers 450 on one sliding member are divided into two pairs, the two rollers 450 in each pair are disposed coaxially and at an interval, each roller 450 on the upper position is opposite to one roller 450 on the lower position, and the rollers 450 on the two sliding members 420 are disposed oppositely and are in one-to-one correspondence.

As shown in fig. 14, the carrier 410 of the electric robot 400a may be made of various feasible materials with sufficient strength and support, not limited herein, which is a rectangular plate, two guide rails 420 are disposed at the bottom of the carrier 410, the guide rails 420 are in a convex shape and extend along the length direction of the carrier, they are close to two long sides of the carrier 410, two sliding members 430 are arranged on the two guide rails 420, the sliding member 430 includes sliding blocks 431 slidably disposed on the two guide rails 420, the two sliding blocks 431 are connected by a connecting plate 432, two support rods 433 are arranged below the connecting plate 432, an upper wheel mounting arm 434 and a lower wheel mounting arm are arranged at the end surface of each support rod 433 facing to the other sliding piece 430, the support rod 433 and the wheel mounting arms 434 are approximately F-shaped, and one roller 450 is disposed on each wheel mounting arm 434.

As shown in fig. 15, the opening/closing driving mechanism 440 for driving the two sliding members 430 may be of various known structures, for example, in one embodiment, two sliding members may be respectively connected to a cylinder for actuating the reciprocating movement of the two sliding members along the guide rail. In a preferred embodiment, the opening/closing driving mechanism 440 includes a motor 441 fixed on the top of the carrier 410, a motor shaft of the motor 441 extends out of one end of the carrier plate and is connected to one end of a screw 443 through a transmission mechanism 442 (a transmission mechanism formed by a timing belt, a timing wheel, a chain, a sprocket, or the like), the screw of the screw 443 is rotatably disposed on the bottom of the carrier 410 and is located between the two guide rails 420, the screw 443 is a double-slider screw, and the moving directions of two sliders (not shown) on the screw are opposite, i.e., the two sliders synchronously move toward each other and synchronously move back, and a specific structure of the double-slider screw is known in the art and will not be described herein. The two sliders are connected with the connecting plate of the two sliders 430, so that the two sliders are driven to move, and opening and closing are realized.

The electric manipulator 400a is also connected to the balancing crane 300 by a lifting ring at the top thereof, and the position of the lifting ring keeps the electric manipulator balanced. The start and stop of the electric manipulator 400a may be controlled by a remote controller or buttons, which are known in the art and are not described in detail herein.

Example 3

The embodiment further discloses a production line (not shown in the figure), which comprises a row of machine tools, wherein the machine tools comprise known structures such as a pay-off machine, a tensioning mechanism and a winding machine, the known structures are known in the prior art and are not described in detail, and the production line further comprises the self-walking carrying device of the embodiment, so that the spool piece can be effectively carried.

And, a call button (not shown in the figure) is arranged beside each machine tool, when a plurality of machine tools need loading and unloading at the same time, the PLC can control the self-moving cart to preferentially move to the machine tool corresponding to the call button for loading and unloading operation through the call button, and controlling the work of the whole production line through the PLC is a known technology, is not an innovative point of the scheme, and is not described herein again.

During normal work, the PLC reads a signal that a finished product of a machine tool is finished, controls the self-moving trolley to move to a position right above the corresponding machine tool to stop, the manipulator on the pneumatic balance crane automatically descends to a set height to wait for an operator to take the manipulator to carry out unloading operation, and after the action of the replacement wheel is finished, the self-moving trolley unloads the next machine tool in front of the signal.

When operating personnel operates the manipulator, the following processes are carried out:

s1, holding the fixed handle with one hand and pressing down the outer end of the locking piece to make the locking piece release the restriction of the sliding plate;

s2, the movable clamping jaw is opened by the other hand;

s3, enabling the edge area of the disk to be embedded into the clamping grooves of the two fixing claw bodies;

s4, loosening the movable claw body, closing the movable claw body to match with the two fixed claw bodies to hold the disc-shaped object;

and S5, stopping applying the downward pressure to the outer ends of the locking pieces, and resetting the locking pieces to limit the movement of the sliding plate.

When the workpiece is moved to or from the machine tool and the manipulator is separated from the workpiece, the operation is performed according to the processes of S1-S2.

The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.

Claims (11)

1. From handling device that walks, guide rail and removal setting including the level extension are in from the dolly of walking on the guide rail, be provided with balanced the hanging on the dolly of walking, from the dolly of walking including the frame, be provided with on the frame can rolling walking wheel on the guide rail, its characterized in that: at least one of the walking wheels is connected with a driving mechanism for driving the walking wheels to rotate, the driving mechanism comprises a transmission shaft which can be arranged on the frame in a rotating manner and has an axis parallel to the axis of the walking wheels, the transmission shaft is connected with at least one walking wheel through a first transmission mechanism, the transmission shaft is connected with a motor arranged on the frame through a second transmission mechanism, and the second transmission mechanism comprises an electromagnetic clutch which controls the transmission shaft to be connected with a torque transmission of the motor to be switched on or off.

2. The self-propelled handling device of claim 1, wherein: the second transmission mechanism comprises a first gear connected with the motor shaft, the first gear is meshed with a second gear, the second gear is connected with the electromagnetic clutch in a coaxial mode, and the electromagnetic clutch is sleeved on the transmission shaft in a coaxial mode.

3. The self-propelled handling device of claim 1, wherein: the guide rail is I-shaped, the walking wheel is located in two U-shaped grooves of the guide rail, the top surface of a lower wing plate of the guide rail is an inclined plane, and the walking wheel and a wheel surface in contact with the inclined plane are frustum-shaped.

4. The self-propelled handling device of claim 1, wherein: the frame is provided with side guide wheels which are attached to two side edges of the lower wing plate of the guide rail and/or the frame is provided with lower guide wheels which are attached to the bottom surface of the guide rail.

5. The self-propelled handling device of claim 1, wherein: the lower part of the frame is provided with a hanger rail through a hanger rod in a hanging way, the upper end of the hanger rod is pivoted with the frame, the lower end of the hanger rod is movably connected with the hanger rail, and the balance crane is arranged on the hanger rail.

6. The self-propelled handling device of claim 5, wherein: the balance crane is arranged on the hanging rail through a movable frame capable of moving along the hanging rail.

7. The self-propelled handling device of claim 1, wherein: the balance crane can automatically descend through pneumatic control of the lifting rope under the signal of a sensor.

8. The self-propelled handling device of claim 1, wherein: the pneumatic balance crane is provided with a safety sensor, and a lifting rope of the pneumatic balance crane is provided with a trigger plate for triggering the safety sensor.

9. The self-propelled handling device of any of claims 1-8, wherein: and the lower end of the lifting rope of the balance crane is provided with a manipulator.

10. From walking dolly, including the frame, be provided with a set of walking wheel on the frame, its characterized in that: at least one of the walking wheels is connected with a driving mechanism for driving the walking wheels to rotate, the driving mechanism comprises a transmission shaft which can be arranged on the frame in a rotating manner and has an axis parallel to the axis of the walking wheels, the transmission shaft is connected with at least one walking wheel through a first transmission mechanism, the transmission shaft is connected with a motor arranged on the frame through a second transmission mechanism, and the second transmission mechanism comprises an electromagnetic clutch which controls the transmission shaft to be connected with a torque transmission of the motor to be switched on or off.

11. Production line, including at least one row of lathe, its characterized in that: further comprising the self-propelled handling device of any of claims 1-9.

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