CN115043200A

CN115043200A - Stacking equipment

Info

Publication number: CN115043200A
Application number: CN202110253785.3A
Authority: CN
Inventors: 金强; 张德群; 刘韬; 李炜; 王东; 周振; 杨名
Original assignee: TANGSHAN BAICHUAN INTELLIGENT MACHINE CO Ltd
Current assignee: TANGSHAN BAICHUAN INTELLIGENT MACHINE CO Ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2022-09-13

Abstract

The invention discloses stacking equipment, which comprises a first base and a second base which are oppositely arranged, wherein a first guide rail is arranged on the first base, a first lifting support capable of lifting along the first guide rail is arranged on the first guide rail, a first telescopic mechanism capable of lifting along the first lifting support is arranged on the first lifting support, and the first telescopic mechanism is connected with a first clamp; a second guide rail is arranged on the second base, a second lifting support capable of lifting along the second guide rail is arranged on the second guide rail, a second telescopic mechanism capable of lifting along the second lifting support is arranged on the second lifting support, the second telescopic mechanism is connected with the second clamp, and the first lifting support and the second lifting support are connected through a cross beam; and the first base and the second base are provided with a traveling mechanism. This pile up neatly equipment can shift, go up and down, pile up neatly framework or wheel pair, and factor of safety is high to it is steady to advance in track tool car workshop.

Description

Stacking equipment

Technical Field

The invention relates to the technical field of stacking of large components of rail trains, in particular to stacking equipment.

Background

In the maintenance process of the rail train, large-scale components such as a framework or a wheel set and the like need to be disassembled from the rail train and then sent to a maintenance point to complete maintenance work, and the framework or the wheel set is generally in a symmetrical structure, so that the size, the weight and the quantity are large, a special three-dimensional storage warehouse is usually arranged for caching and storing the framework or the wheel set, and the framework or the wheel set is pushed by manpower or moved by a heavy tractor in the whole maintenance process at present; the three-dimensional garage is usually provided with a plurality of layers, so that the framework or the wheel set can be positioned, lifted, stacked and the like at a high layer only by transferring to special auxiliary lifting equipment such as a forklift and the like after entering the three-dimensional garage, the positioning, transferring, lifting and stacking of the framework or the wheel set are very complicated, and particularly, the wheel set is very easy to slip off in the transferring process due to the paired rotating wheels; common palletizing robots or palletizing equipment are not suitable for positioning, transferring, lifting and palletizing of frameworks or wheel sets, and the main reasons are as follows: the common stacking robot or stacking equipment is mainly divided into a pushing type stacking robot or a mechanical arm type stacking robot or stacking equipment, obviously, the shape and the structure of a framework or a wheel pair are limited, and the two types of modes can not be used for positioning, transferring, lifting and stacking; secondly, the common robot palletizer or common equipment palletizer usually has small lifting space, the framework or wheel pair usually has higher storage height, and although the problem that the robot palletizer or common equipment palletizer can stack height can be solved to a certain extent by simply increasing the length of the lifting mechanism, the gravity center of the robot palletizer or common equipment palletizer is easily increased, and the stability is reduced; thirdly, the wheel pair is provided with paired rotating wheels, so that the wheel pair is very easy to slip off in the transferring process by using a conventional stacking robot or stacking equipment; and fourthly, a gap of 70-80 mm is formed between the rail of the rail maintenance workshop and the ground, and a travelling wheel of a conventional stacking robot or stacking equipment is extremely easy to clamp in the gap.

Disclosure of Invention

The invention aims to provide stacking equipment which can transfer, lift and stack a framework or a wheel set, has high safety factor and stably travels between rail maintenance vehicles.

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

a stacking device comprises a first base and a second base which are oppositely arranged, wherein a first guide rail is arranged on the first base, a first lifting support capable of lifting along the first guide rail is arranged on the first guide rail, a first telescopic mechanism capable of lifting along the first lifting support is arranged on the first lifting support, and the first telescopic mechanism is connected with a first clamp; a second guide rail is arranged on the second base, a second lifting support capable of lifting along the second guide rail is arranged on the second guide rail, a second telescopic mechanism capable of lifting along the second lifting support is arranged on the second lifting support, the second telescopic mechanism is connected with the second clamp, and the first lifting support and the second lifting support are connected through a cross beam; and the first base and the second base are provided with traveling mechanisms, and the traveling mechanisms are used for driving the first base and the second base.

Preferably, the travelling mechanism comprises at least four groups of rotatable travelling wheels, at least two groups of travelling wheels are respectively arranged at the bottoms of the first base and the second base, at least two travelling wheels are arranged in each group of travelling wheels, and each group of travelling wheels is arranged in a staggered manner.

Preferably, the first clamp and the second clamp are both provided with brackets, and the brackets are respectively provided with at least one group of riding wheels.

Preferably, the first lifting column is lifted along the first guide rail by a first hydraulic cylinder system, and the second lifting column is lifted along the second guide rail by a second hydraulic cylinder system.

Preferably, the first lifting support and the second lifting support are respectively provided with a first screw-nut mechanism and a second screw-nut mechanism, and the first telescopic mechanism is lifted along the first lifting support through the first screw-nut mechanism; the second telescopic mechanism is lifted along the second lifting support column through a second lead screw nut mechanism, the first lead screw nut mechanism is connected with the first driving device, and the second lead screw nut mechanism is connected with the second driving device.

Preferably, the first telescopic mechanism and the second telescopic mechanism both comprise hydraulic cylinders, and the first clamp and the second clamp are respectively close to and far away from the two clamps through the hydraulic cylinders of the first telescopic mechanism and the second telescopic mechanism.

Preferably, the device also comprises a control system and a visual detection system, wherein the visual detection system is connected with the control system, and the control system is also connected with the travelling mechanism, the first hydraulic cylinder system, the second hydraulic cylinder system, the first driving device, the second driving device, the hydraulic cylinder of the first clamp and the hydraulic cylinder of the second clamp.

Further preferably, the vehicle further comprises an anti-collision component, and the anti-collision component is connected with the control system.

In the technical scheme, the first lifting strut is lifted along the first guide rail through the first hydraulic cylinder system, and the second lifting strut is synchronously lifted along the second guide rail through the second hydraulic cylinder system; the first telescopic mechanism is lifted along the first lifting strut through the first lead screw nut mechanism so as to drive the first clamp to lift; the second telescopic mechanism is lifted along the second lifting support column through the second lead screw nut mechanism, so that the second clamp is driven to lift synchronously, the lifting space of the first clamp and the second clamp is greatly increased, in addition, the two lead screw nut mechanisms and the two lifting support columns are matched with each other, so that the first clamp and the second clamp can adapt to clamping and transferring of frameworks or wheel pairs with different heights, the gravity center of the device can be kept at a reasonable position, and the safety and the reliability are greatly improved; the first clamp and the second clamp are respectively close to and far away from each other through the first telescopic mechanism and the second telescopic mechanism, and further, the support bracket and the support roller are matched to realize shifting, lifting and stacking wheel timing, the support rollers on the first clamp and the second clamp can stably support paired rotating wheels on the wheel pair, and the rotating wheels are prevented from rotating to cause the wheel pair to slide; first base and second base bottom are through setting up at least two sets of walking wheels respectively to every group walking wheel dislocation set has guaranteed that the device is when strideing across the clearance on track and ground, has at least one walking wheel and ground contact in every group walking wheel, thereby has effectually avoided walking wheel card in this clearance, has guaranteed that the device is smooth-going to stride across from this clearance simultaneously, reaches and steadily marchs between track maintenance workshop.

Drawings

Fig. 1 is a perspective view of the palletizing apparatus (the first telescoping mechanism and the first clamp are located at the upper position of the first lead screw and nut mechanism);

FIG. 2 is a left side elevational view, partially in cross-section (with the first telescoping mechanism and the first clamp in the lower position of the first lead screw-nut mechanism) of the present palletizing apparatus;

fig. 3 is a schematic left side view of the present palletizing apparatus (the first telescoping mechanism and the first gripper are located at an upper position of the first lead screw-nut mechanism).

Detailed Description

The invention will be further explained with reference to the accompanying drawings:

as shown in fig. 1, 2 and 3, the stacking apparatus includes a first base 200 and a second base 300 which are oppositely disposed, wherein a first guide rail 260 is disposed on the first base 200, a first lifting pillar 210 which can lift along the first guide rail 260 is disposed on the first guide rail 260, a first telescoping mechanism 220 which can lift along the first lifting pillar 210 is disposed on the first lifting pillar 210, the first telescoping mechanism 220 is connected to a first clamp 230, and reciprocating telescoping movement of the first clamp 230 is realized by the first telescoping mechanism 220, so that the first clamp 230 is driven by the first lifting pillar 210 to further lift while lifting along the first lifting pillar 210, so that lifting space of the first clamp 230 is greatly increased, and the stacking apparatus is suitable for wheel pair clamping at different heights; similarly, a second guide rail 360 is arranged on the second base 300, a second lifting pillar 310 capable of lifting along the second guide rail 360 is arranged on the second guide rail 360, a second telescopic mechanism 320 capable of lifting along the second lifting pillar 310 is arranged on the second lifting pillar 310, the second telescopic mechanism 320 is connected with the second clamp 330, and the second clamp 330 can perform reciprocating telescopic motion through the second telescopic mechanism 320; in this way, the second clamp 330 is driven by the second lifting support column 310 to further lift while lifting along the second lifting support column 310, so that the lifting space of the second clamp 330 is greatly increased, and the clamp is suitable for clamping wheel sets with different heights; the first telescopic mechanism 220 and the second telescopic mechanism 320 are matched to be synchronously telescopic, so that the two clamps are close to and far away from each other; the upper ends of the first lifting strut 210 and the second lifting strut 320 are connected through the cross beam 20 and synchronously lift, and the first clamp 230 and the second clamp 330 synchronously lift, approach or separate, so that the lifting and stacking of the wheel pair are realized; the first base 200 and the second base 300 are both provided with the traveling mechanism 100, and the traveling mechanism 100 is usually located at the bottom of the first base 200 and the bottom of the second base 300 and is used for driving the first base 200 and the second base 300, so as to drive the device to move. In this embodiment, the traveling mechanism 100 includes at least four sets of rotatable traveling wheels 110, wherein at least two sets of traveling wheels 110 are respectively disposed at the bottoms of the first base 200 and the second base 300, each set of traveling wheels 110 has two traveling wheels, and the two traveling wheels are arranged in a staggered manner, so that when the device spans a gap 110a between a track and the ground, at least one traveling wheel in each set of traveling wheels 110 is in contact with the ground, thereby effectively avoiding the traveling wheels from being clamped in the gap 110a, and simultaneously ensuring that the device can smoothly span from the gap 110a, so as to achieve smooth traveling between track maintenance vehicles.

In a preferred embodiment, the first fixture 230 and the second fixture 330 are provided with brackets 240, and each bracket 240 is provided with at least one set of riding wheels 250, the brackets 240 arranged in pairs can stably support large members such as a framework, and the riding wheels 250 can stably support paired wheels on the wheel pair, so that the wheels are prevented from rotating, the wheel pair is prevented from sliding, and the safety factor of the device is greatly improved.

In a preferred embodiment, the first lifting column 210 is raised and lowered along the first rail 260 by a first hydraulic cylinder system 270 (which may also be a pneumatic cylinder system), and the second lifting column 310 is raised and lowered along the second rail 360 by a second hydraulic cylinder system. A first lead screw and nut mechanism 280 and a second lead screw and nut mechanism 380 are respectively arranged on the first lifting support column 210 and the second lifting support column 310, the first lead screw and nut mechanism 280 is connected with a first driving motor of a first driving device 281, and the second lead screw and nut mechanism 380 is connected with a second driving motor of a second driving device; thus, the first telescoping mechanism 220 moves up and down along the first lifting column 210 via the nut 282 of the first lead screw nut mechanism 280, and then the first clamp 230 is driven to move up and down; the second telescopic mechanism 320 is lifted along the second lifting strut 310 through the nut 382 of the second lead screw nut mechanism 380, so as to drive the second clamp 330 to lift; the two lead screw nut mechanisms and the two lifting struts are mutually matched, so that the first clamp 230 and the second clamp 330 can adapt to clamping and transferring of wheel sets with different heights, the two lifting struts drive the cross beam 20 to lift, the gravity center of the device can be kept at a reasonable position, and safety and reliability are greatly improved. Furthermore, the first telescoping mechanism 220 and the second telescoping mechanism 230 each include a hydraulic cylinder (which may also be an air cylinder), so that the first clamp 230 and the second clamp 330 respectively realize approaching and departing of the two clamps through the hydraulic cylinder 221 of the first telescoping mechanism 220 and the hydraulic cylinder 321 of the second telescoping mechanism 320, and further realize lifting, stacking and separating of the wheel set or the member.

In another preferred embodiment, the apparatus further comprises a control system and a vision inspection system 400, wherein the vision inspection system 400 is connected to the control system, and the control system is further connected to the traveling mechanism 100, the first hydraulic cylinder system 270, the second hydraulic cylinder system, the first driving device 281, the second driving device, the hydraulic cylinder of the first clamp 230, and the hydraulic cylinder of the second clamp 330. The vision inspection system 400 is a conventional technology, and includes a plurality of cameras with different orientations and at least one central controller, the cameras are used for shooting images, the shot images are transmitted to the central controller, the central controller transmits signals to a control system, and the control system controls the alignment of the two clamps and the path and pose correction of the device through the traveling mechanism 100, the first hydraulic cylinder system 270, the second hydraulic cylinder system, the first driving device 281, the second driving device 381, the hydraulic cylinder of the first clamp 230 and the hydraulic cylinder of the second clamp 330; therefore, the device can calculate the walking distance and the current pose of the device by taking the existing track as an identification object, realize positioning by combining the position of the on-site track, further determine the positioning position of the transported wheel pair, correct the path of the volume of the transported wheel pair, ensure that the beam 20 smoothly crosses the transported wheel pair, and accurately clamp the first clamp 230 and the second clamp 330 at the two sides of the transported wheel pair, thereby realizing automatic positioning, transferring, lifting and stacking of a framework or the wheel pair. In this embodiment, the device further comprises an anti-collision component 500, and the anti-collision component 500 is connected with the control system, so that the device is prevented from being mistakenly collided with people or other objects.

In the above technical solution, after the control system of the palletizing apparatus receives the instruction, the traveling mechanism 100 drives the traveling wheel 110 to make the apparatus travel to the position of the transported wheel pair along the preset path, and the visual detection system 400 performs path correction on the volume of the transported wheel pair, so as to ensure that the cross beam 20 smoothly crosses the transported wheel pair; after the cross beam 20 integrally spans and covers the transported wheel pair, the first lifting strut 210 is lifted along the first guide rail 260 through the first hydraulic cylinder system 270, the second lifting strut 310 is lifted synchronously along the second guide rail 360 through the second hydraulic cylinder system, so as to drive the first lead screw nut mechanism 280 of the first lifting strut 210 and the second lead screw nut mechanism 380 of the second lifting strut 310 to lift synchronously, and further drive the first clamp 230 and the second clamp 330 to lift synchronously through the first telescopic mechanism 220 and the second telescopic mechanism 320; the first telescopic mechanism 220 is lifted along the first lifting column 210 through the nut 282 of the first lead screw nut mechanism 280, so as to drive the first clamp 230 to lift; the second telescopic mechanism 320 is lifted along the second lifting strut 310 through a nut 382 of the second lead screw nut mechanism 380, so as to drive the second clamp 330 to lift synchronously until the first clamp 230 and the second clamp 330 move to proper heights, and the first clamp 230 and the second clamp 330 respectively approach to proper positions of the transported wheel pair through hydraulic cylinders of the first telescopic mechanism 220 and the second telescopic mechanism 230; the first driving motor of the first driving device 281 and the second driving motor of the second driving device 381 respectively drive the first lead screw nut mechanism 280 and the second lead screw nut mechanism 380, so that the first fixture 230 and the second fixture 330 rise, the bracket 240 stably supports large-scale components such as a framework, or the supporting wheel 250 stably supports paired rotating wheels on the wheel pair, and the wheel pair is prevented from sliding down due to the rotation of the rotating wheels; in the process, the camera transmits the shot image to the central controller, the central controller transmits a signal to the control system, the control system controls the alignment of the two clamps and the path and pose correction of the device through the traveling mechanism 100, the first hydraulic cylinder system 270, the second hydraulic cylinder system, the first driving device 281, the second driving device 381, the hydraulic cylinder of the first clamp 230 and the hydraulic cylinder of the second clamp 330, after the component or the wheel pair to be transported is transported to a target area, the first clamp 230 and the second clamp 330 are far away, and the device is separated from the component or the wheel pair to be transported and returns to a standby position. When the device crosses the gap 110a between the track and the ground, at least one walking wheel in each group of walking wheels 110 is in contact with the ground, so that the walking wheels are effectively prevented from being clamped in the gap 110a, the device is guaranteed to smoothly cross the gap 110a, and the purpose of stably advancing between the track maintenance vehicles is achieved.

The embodiment is only for explaining the conception and the implementation of the invention, and does not limit the same, and the technical solution without substantial change is still in the protection scope under the conception of the invention.

Claims

1. A stacking device comprises a first base and a second base which are oppositely arranged, and is characterized in that a first guide rail is arranged on the first base, a first lifting support capable of lifting along the first guide rail is arranged on the first guide rail, a first telescopic mechanism capable of lifting along the first lifting support is arranged on the first lifting support, and the first telescopic mechanism is connected with a first clamp; a second guide rail is arranged on the second base, a second lifting support capable of lifting along the second guide rail is arranged on the second guide rail, a second telescopic mechanism capable of lifting along the second lifting support is arranged on the second lifting support, the second telescopic mechanism is connected with the second clamp, and the first lifting support and the second lifting support are connected through a cross beam; and the first base and the second base are provided with travelling mechanisms, and the travelling mechanisms are used for driving the first base and the second base.

2. The palletizing apparatus as claimed in claim 1, wherein the travelling mechanism comprises at least four sets of rotatable travelling wheels, at least two sets of travelling wheels are provided at the bottom of the first base and the second base, respectively, at least two of the travelling wheels are provided in each set, and the travelling wheels are provided in a staggered arrangement.

3. The palletising apparatus as claimed in claim 2, wherein the first and second clamps are each provided with a carriage on which at least one set of idlers is provided.

4. The palletizing apparatus according to claim 2, wherein the first lifting column is lifted along the first guide rail by means of a first hydraulic cylinder system, and the second lifting column is lifted along the second guide rail by means of a second hydraulic cylinder system.

5. The pallet apparatus of claim 4 wherein a first lead screw and nut mechanism and a second lead screw and nut mechanism are provided on the first lifting column and the second lifting column, respectively, the first telescoping mechanism being raised and lowered along the first lifting column by the first lead screw and nut mechanism; the second telescopic mechanism is lifted along the second lifting support column through a second lead screw nut mechanism, the first lead screw nut mechanism is connected with the first driving device, and the second lead screw nut mechanism is connected with the second driving device.

6. The pallet apparatus of claim 5, wherein the first and second telescoping mechanisms each comprise a hydraulic cylinder, the first and second clamps being movable towards and away from each other by the hydraulic cylinder of the first and second telescoping mechanisms, respectively.

7. The palletizing apparatus according to claim 6, further comprising a control system and a visual detection system, wherein the visual detection system is connected to the control system, and the control system is further connected to the traveling mechanism, the first hydraulic cylinder system, the second hydraulic cylinder system, the first driving device, the second driving device, the hydraulic cylinder of the first clamp, and the hydraulic cylinder of the second clamp.

8. The palletizing apparatus as in claim 7, further comprising an anti-collision component, the anti-collision component being connected to the control system.