CN108639965A - A kind of crane transportation equipment - Google Patents

Abstract

A kind of crane transportation equipment, the X-direction traveling mechanism includes the X-direction traveling guide rail and the X-direction traveling frame, the X-direction traveling frame cooperates with the X-direction traveling guide rail through the X-direction traveling slider or the traveling wheel, and the X-direction traveling slider or The traveling wheels are driven by the X-direction traveling power device; the Y-direction traveling mechanism includes the Y-direction traveling guide rail fixed on the top of the X-direction traveling frame and the Y-direction traveling frame, and the Y-direction traveling frame travels through the Y-direction traveling The slider or walking wheel cooperates with the Y-direction walking guide rail, and the Y-direction walking slider or walking wheel is driven by the Y-direction walking power device; the Z-direction walking mechanism includes a lifting mechanism that is rotatably connected to the lower end of the Y-direction walking frame through a rotating mechanism and a lifting bracket fixedly connected to the lower end of the lifting mechanism; a fork or a platform is fixedly connected to the lower end of the lifting bracket; a pushing platform connected with the lifting bracket is installed in the bearing space. The device has simple structure and good flexibility.

Description

A kind of crane transportation equipment

technical field

The invention belongs to the technical field of industrial robots, and in particular relates to a mobile crane transportation device.

Background technique

At present, in the transportation or loading of bagged materials, manual loading and unloading or simple manipulator palletizing are generally used, and then reloading or loading by forklifts or other lifting equipment, but these methods need to rely on manual parts. If the operation is carried out manually and with simple auxiliary equipment, it is not only time-consuming and laborious, but also has the problems of uneven laying, low loading or transfer efficiency, which will lead to low overall production capacity; if it is carried out by manipulators The method of reloading or transshipment by forklift after palletizing will have many restrictions, which makes the operation flexibility not high. The subsequent rapid production operations can only be realized after the palletizer neatly places them on the pallet, which not only increases the production cost, but also is not convenient for the secondary recycling of the packaging, resulting in an extreme waste of resources. At the same time, the palletizer belongs to the rotary mechanism, all manufacturers must consider during the rotation process is the inertia of the equipment, which leads to the fact that the rotation speed should not be too fast, which will still lead to low production capacity.

After the bagged material is palletized, the overall volume and weight are generally large, and it is difficult to implement it by manual handling. If a forklift or crane is used for reloading operations, manual control operations must be performed, and alignment, lifting, transfer, The process time of placing the material and returning it takes at least a few minutes to implement a cycle, which directly leads to the disadvantage that this operation method cannot be used for a long time. To adjust the size, thus increasing the limitation of this operation mode, its versatility is not high.

With the rapid development of the economy, this traditional way of loading and unloading trucks and transshipment can no longer meet the increasing social needs of bagged materials. How to quickly and efficiently load or transfer bagged materials is an important issue in the industry. Big test and a discipline technique that requires deep thought.

Contents of the invention

Aiming at the problems existing in the above-mentioned prior art, the present invention provides a crane transport equipment, which has simple structure, convenient operation, good flexibility, can significantly reduce the labor intensity of workers, can save production costs, and improve production and work efficiency .

In order to achieve the above object, the present invention provides a kind of crane transport equipment, including X-direction traveling mechanism, Y-direction traveling mechanism, Z-direction traveling mechanism and rotating mechanism; The X-direction walking frame on the upper part of the walking guide rail, the X-direction walking frame slides or rolls with the X-direction walking guide rail through the X-direction walking slider or the walking wheel installed on its lower part, and the X-direction walking slider or walking The wheel is driven by the X-direction travel power device installed on the X-direction travel frame;

The Y-direction traveling mechanism includes a Y-direction traveling guide fixedly arranged on the top of the X-direction traveling frame and a Y-direction traveling frame arranged on the upper part of the Y-direction traveling guide. The Y-direction traveling guide is perpendicular to the length direction of the X-direction traveling guide. Extending, the Y-direction walking frame slides or rolls with the Y-direction walking guide rail through the Y-direction walking slider or walking wheel installed on it, and the Y-direction walking slider or walking wheel is installed on the Y-direction walking machine Driven by the Y-direction walking power device on the frame;

The Z-direction walking mechanism includes a lifting mechanism that is rotatably connected to the lower end of the Y-direction walking frame through a rotating mechanism and a lifting bracket that is fixedly connected to the lower end of the lifting mechanism; the telescopic direction of the lifting mechanism is perpendicular to the length of the Y-direction walking guide rail. direction, the lower end of the lifting bracket is fixedly connected with a fork or a platform, and there is a bearing space on the fork or platform; a pushing platform connected with the lifting bracket is installed in the bearing space, and the pushing platform is passed through a hydraulic cylinder or an air cylinder Or lead screw or sprocket chain drive or hydraulic push rod or pulley block to realize walking in the direction of fork or platform length;

The rotation mechanism includes a rotation drive device fixedly installed on the Y-direction traveling frame and a rotation assembly drivingly connected with the rotation drive device.

The invention is simple in structure, easy to manufacture, can realize the movement of the lifting bracket in the X, Y and Z axis directions, and can make the lifting bracket rotate around the Z axis, so the lifting bracket can be more flexibly after carrying the bagged materials. The operation of loading and unloading trucks and subsequent transshipment can effectively reduce the labor intensity of workers, save production costs, improve production and work efficiency, and can be widely used in cement, food, grain, feed, fertilizer, chemical and other industries.

As a preference, the power device for traveling in the X direction includes driving equipment for traveling in the X direction, an active gear for traveling in the X direction assembled on the output shaft of the driving equipment for traveling in the X direction, and a traveling gear in the X direction connected to the sliding blocks or traveling wheels for traveling in the X direction. Driven gear; X-direction travel driving gear meshes with X-direction travel driven gear.

As a preference, the power device for traveling in the Y direction includes a driving device for traveling in the Y direction, a driving gear for traveling in the Y direction assembled on the output shaft of the driving device for traveling in the Y direction, and a traveling gear in the Y direction connected to a sliding block or a traveling wheel for traveling in the Y direction. Driven gear; the active gear for traveling in the Y direction meshes with the driven gear for traveling in the Y direction.

As a preference, the rotating assembly includes a rotating driving gear fixedly assembled on the output shaft of the rotating drive device, a rotating shaft rotatably connected to the Y-direction traveling frame, and a rotating driven gear fixedly assembled on the upper end of the rotating shaft , wherein the rotating driving gear meshes with the rotating driven gear, and the lower end of the rotating shaft is fixedly connected with the lifting mechanism.

As a preference, the number of X-direction walking guide rails in the X-direction traveling mechanism is two, and they are arranged in parallel; Cooperate with a X-direction walking guide rail.

As a preference, there are two Y-direction travel guide rails in the X-direction travel mechanism, which are arranged in parallel.

As a preference, the lifting mechanism is a hydraulic cylinder, the base of the hydraulic cylinder is connected to the lower end of the rotating shaft, and the end of the piston rod of the hydraulic cylinder is fixedly connected to the upper end of the lifting bracket; the lower end of the cylinder barrel of the hydraulic cylinder is fixedly set There is positioning plate 1. The piston rod end of the hydraulic cylinder is fixedly fitted with positioning plate 2. Positioning plate 2 is fixedly equipped with a vertical guide rod on the outside of the cylinder barrel of the hydraulic cylinder. Positioning plate 1 is provided with a guide at the position corresponding to the guide rod. hole, and the guide rod is slidably inserted into the guide hole.

Preferably, the rotating shaft is connected to the Y-direction traveling frame through a rotating bearing seat.

Further, in order to facilitate the adjustment of the angle of the fork or platform relative to the lifting bracket, the vertical section of the lifting bracket is connected with the horizontal section of the fork or platform through a pin shaft, and the middle part of the lifting bracket is also connected with the middle part of the fork or platform. Both ends of the folding hydraulic cylinder are hinged.

Further, the number of the guide rods is two or more.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a three-dimensional structure schematic diagram A in the present invention;

Fig. 3 is an assembly diagram between the Y direction walking frame and the Z direction walking mechanism in the present invention;

Fig. 4 is a schematic structural view of the lifting bracket in the present invention;

Fig. 5 is a three-dimensional structure schematic diagram B in the present invention;

Fig. 6 is a partially enlarged view of part A in Fig. 5;

FIG. 7 is a partially enlarged view of part B in FIG. 5 .

In the figure: 1. X direction travel guide rail, 2. X direction travel drive equipment, 3. X direction travel driving gear, 4. X direction travel driven gear, 5. Y direction travel guide rail, 6. X direction travel rack, 7. Rotation drive equipment, 8. Rotation driving gear, 9. Rotation driven gear, 10. Y direction travel driving device, 11. Y direction travel driving gear, 12. Y direction travel driven gear, 13. Y direction travel machine Frame, 14, lifting mechanism, 15, guide bar, 16, push and unload platform, 17, lift bracket, 18, Y direction travel slider or travel wheel, 19, X direction travel slider or travel wheel, 20, fork or platform , 21, positioning plate one, 22, positioning plate two, 23, hook or ring, 24, pin shaft, 25, folding hydraulic cylinder, 26, X direction rack, 27, Y direction rack.

Detailed ways

The present invention will be further described below.

As shown in Fig. 1 to Fig. 4, a kind of crane transportation equipment, comprises X-direction traveling mechanism, Y-direction traveling mechanism, Z-direction traveling mechanism and rotating mechanism; Said X-direction traveling mechanism comprises X-direction traveling guide rail 1 and is arranged on The X-direction walking frame 6 on the top of the X-direction walking guide rail 1, the X-direction walking frame 6 slides or rolls with the X-direction walking guide rail 1 through the X-direction walking slider or the traveling wheel 19 installed on its lower part, and the X direction travel slide block or travel wheel 19 are driven by the X direction travel power device installed on the X direction travel frame 6;

The walking mechanism in the X direction and the walking mechanism in the Y direction are preferably frame structures, which mainly play the role of carrying heavy objects and mechanical walking and transportation. Z-direction walking mechanism adopts hydraulic cylinder walking or guide rail slider combination or guide rail wheel pair combination or lead screw or hoist and other driving or transmission traveling mechanism, which mainly plays the role of lifting heavy objects.

As a preferred structure, as shown in Figures 5 to 7, in the X-direction traveling mechanism, at least one X-direction tooth meshed with the X-direction travel driven gear 4 can be installed on one side of the X-direction travel guide rail 1 The bar 26, the X-direction rack 26 is used for the mechanical positioning of the equipment when the equipment is parked or to reduce the inertia of the equipment, so as to achieve the purpose of quickly stopping the equipment and to prevent the equipment from slipping.

Described Y direction walking mechanism comprises the Y direction walking guide rail 5 that is fixedly arranged on the X direction walking frame 6 tops and the Y direction walking frame 13 that is arranged on the Y direction walking guide rail 5 tops, and described Y direction walking guide rail 5 is perpendicular to X direction The extension of the walking guide rail 1 in the length direction, the Y direction walking frame 13 slides or rolls with the Y direction walking guide rail 5 through the Y direction walking slider or the walking wheel 18 installed thereon, and the Y direction walking slider or Walking wheel 18 is driven by the Y direction walking power device installed on the Y direction walking frame 13;

As a preferred structure, as shown in Figures 5 to 7, in the Y-direction traveling mechanism, at least one Y-direction rack 27 that is engaged with the Y-direction traveling driven gear 12 can be installed on the Y-direction traveling guide rail 5 , The Y-direction rack 27 is used for mechanical positioning of the equipment when it is parked or to reduce the inertia of the equipment, so as to achieve the purpose of quickly stopping the equipment and to prevent the equipment from slipping.

Described Z direction walking mechanism comprises the elevating mechanism 14 that is rotatably connected on the lower end of Y direction traveling frame 13 and the lifting bracket 17 that is fixedly connected on the lower end of elevating mechanism 14 by rotating mechanism; The stretching direction of described elevating mechanism 14 is perpendicular to In the Y direction walking guide rail 5 length direction, the lower end of the lifting bracket 17 is fixedly connected with a fork or a platform 20, and there is a bearing space on the fork or platform 20, and when it is a fork, there is at least a single-strand fork, preferably a double-strand fork. Specifically, the number of fork strands can be determined according to the size of the bagged material; a push-off platform 16 connected to a lifting bracket 17 is installed in the bearing space, and the push-off platform 16 is driven by a hydraulic cylinder or an air cylinder or a lead screw or a sprocket chain Or hydraulic push rod or pulley block realizes walking on the length direction of fork or platform 20; Dodging platform 16 preferably adopts frame or plate structure, that is, its pushing part can adopt frame structure or plate structure, and the structure of pushing pushing part can adopt Horizontal scissor type telescopic wall structure or linear telescopic structure, linear telescopic structure can use linear electric push rod or hydraulic cylinder, the specific driving mechanism can be driven by hydraulic system or screw structure or pulley pair structure or hoist structure, as a In a preferred manner, the evacuation platform 16 is composed of a scissor-type telescopic arm hinged with the vertical section of the lifting bracket 17, a push plate connected to the side of the scissor-type telescopic arm away from the vertical section of the lifting bracket 17, and a movable connecting lifting arm. The hydraulic cylinder between the vertical section of the bracket 17 and the scissor type telescopic arm is formed.

As a kind of preferred structure, as shown in Fig. 5 to Fig. 7, in Z direction running mechanism, at least one hook or ring 28 or other hoisting device can be installed on lifting bracket 17, be used for lifting and equipment to heavy object Routine maintenance operations, thereby increasing the practicality of lifting bracket 17.

The rotation mechanism includes a rotation drive device 7 fixedly installed on the Y-direction traveling frame 13 and a rotation assembly connected to the rotation drive device 7 in a driving manner. The driving device 7 can be driven or transmitted by using a motor, a reducer or a hydraulic motor or a gear or a sprocket chain or a leading screw.

The X-direction walking power device includes an X-direction walking driving device 2, an X-direction walking driving gear 3 assembled on the output shaft of the X-direction walking driving device 2, and an X-direction walking driving gear 3 connected with the X-direction walking slider or the walking wheel 19 transmission. The driven gear 4 can be connected by a coaxial transmission, or can be connected by a gear set or other modes of transmission; the driving gear 3 for traveling in the X direction meshes with the driven gear 4 for traveling in the X direction. The driving device 2 for traveling in the X direction can be an electric motor or a hydraulic motor.

The Y-direction walking power device includes a Y-direction walking driving device 10, a Y-direction walking driving gear 11 assembled on the output shaft of the Y-direction walking driving device 10, and a Y-direction walking driving gear 11 that is transmission-connected with a Y-direction walking slider or a walking wheel 18. Driven gear 12 ', can be coaxial transmission connection, also can be connected through the transmission connection of gear set or other modes; The driving device 10 for traveling in the Y direction may be an electric motor or a hydraulic motor.

The rotating assembly includes a rotating driving gear 8 fixedly assembled on the output shaft of the rotating drive device 7, a rotating shaft rotatably connected to the Y-direction walking frame 13 and a rotating driven gear 9 fixedly assembled on the upper end of the rotating shaft, Wherein the rotating driving gear 8 meshes with the rotating driven gear 9, and the lower end of the rotating shaft is fixedly connected with the lifting mechanism 14. The rotary drive device 7 can be an electric motor or a hydraulic motor.

The number of X-direction walking guide rails 1 in the X-direction walking mechanism is two, and they are arranged in parallel; the X-direction walking frame 6 is an inverted U shape, and the two free ends of its lower part are respectively connected with two X-direction rails. Walking guide rail 1 cooperates.

There are two Y-direction travel guide rails 5 in the X-direction travel mechanism, which are arranged in parallel.

The lifting mechanism 14 is a hydraulic cylinder, the base of the hydraulic cylinder is connected to the lower end of the rotating shaft, and the end of the piston rod of the hydraulic cylinder is fixedly connected to the upper end of the lifting bracket 17; the lower end of the cylinder barrel of the hydraulic cylinder is fixedly fitted with a positioning plate 1. 21. The piston rod end of the hydraulic cylinder is fixedly fitted with a positioning plate 22. The positioning plate 22 can be directly fixedly connected to the upper end of the lifting bracket 17. The positioning plate 22 is fixedly installed on the outside of the cylinder barrel of the hydraulic cylinder. The guide rod 15, the positioning plate one 21 is provided with a guide hole at the position corresponding to the guide rod 15, and the guide rod 15 is slidably inserted in the guide hole. The cooperation of the guide rod 15 and the guide hole is used to ensure the synchronous rotation of the lifting bracket 17 and the lifting mechanism 14 and the operation stability of the lifting mechanism 14 . As a preference, there are two guide rods 15, which are located on both sides of the cylinder barrel of the hydraulic cylinder respectively; there are also two guide holes, and the two guide rods 15 are slidably fitted with the two guide holes.

The vertical section of described lifting bracket 17 is connected with the horizontal section of fork or platform 20 by bearing pin 24, and the middle part of lifting bracket 17 and the middle part of fork or platform 20 are also hinged with folding hydraulic oil cylinder 25 two ends. The angle between the horizontal H and the vertical V directions is adjusted by at least one folding hydraulic cylinder 25 or hydraulic motor or cylinder or sprocket chain or pulley combination to achieve the best use effect.

As a preference, an integral structure or a rotating pin shaft structure is adopted between the push-off platform 16 and the lifting bracket 17 to ensure the horizontal and vertical directions of lifting heavy objects on the lifting bracket 17. At this time, the evacuation platform 16 remains in a state of moving parallel to the horizontal bracket of the above-mentioned lifting bracket 17 to lift weights, thereby ensuring the uniform stress and smooth operation of the evasion platform 16.

The rotating shaft is connected with the Y-direction traveling frame 13 through a rotating bearing seat.

The number of the guide rods 15 is two or more.

Working process: the zero point of the X-direction traveling mechanism is located at the B end of the X-direction traveling guide rail 1, and the zero point of the Y-direction traveling mechanism is located at the C end of the Y-direction traveling guide rail 5.

It is recommended to place the bagged materials or other packaging rules after palletizing at the zero position of the Y-direction traveling mechanism to facilitate the rapid application and implementation of the automation solution.

1. A mobile crane transportation equipment, when the bagged materials or other packaging rules are stacked and ready, the X-direction travel driving device 2 drives the X-direction travel driving gear 3 to rotate, and passes through the X-direction travel drive gear The X-direction travel driven gear 4 that is meshed with each other is driven to rotate, and the X-direction travel slider or travel wheel 19 that is connected with the X-direction travel driven gear 4 is also driven to rotate, so that the X, Y and Z travel mechanisms Walk the guide rail 1 along the X direction for movement.

2. A crane transportation device, the X-direction traveling mechanism moves along the X-direction traveling guide rail 1, and at the same time, the Y-direction traveling driving device 10 drives the Y-direction traveling driving gear 11 to rotate, and through the Y-direction traveling driving gear 11 The Y-direction travel driven gear 12 that is meshed is driven to rotate, and the Y-direction travel slider or travel wheel 18 that is connected with the Y-direction travel driven gear 12 is also driven to rotate, so that the Y and Z travel mechanisms move along the Y direction. Direction walking guide rail 5 moves.

3. A crane transportation device, the X-direction walking mechanism moves along the X-direction walking guide rail 1, and at the same time, the rotation drive device 7 drives the rotation driving gear 8 to rotate, and the rotation driven gear meshed with the rotation driving gear 8 The gear 9 is driven to rotate, and the lifting mechanism 14 connected with the rotating driven gear 9 through the rotating bearing seat is driven to rotate at the same time, thereby realizing the rotating movement of the lifting bracket 17 .

4. A crane transportation equipment, the X-direction walking mechanism moves along the X-direction walking guide rail 1, and at the same time, the hydraulic system provides power for the lifting mechanism 14, so that the piston rod in the lifting mechanism 14 can move freely in the Z direction Until the lifting bracket 17 moves to meet the height condition of lifting the bagged materials or other packaging rules after palletizing, the hydraulic system stops providing power for the lifting mechanism 14.

5. A kind of crane transportation equipment, the cylinder body of the lifting mechanism 14 is connected with at least one guide rod 15 that can slide, and the guide rod 15 is connected with the lifting bracket 17 through the piston rod in the lifting mechanism 14, so that Can not self-propagation when lifting bracket 17 when doing up and down movement, has guaranteed the steady operation of lifting bracket 17.

6. A mobile crane transportation device, the lifting bracket 17 is equipped with a dodge platform 16, and the dodge platform 16 realizes reciprocating arbitrary walking through hydraulic cylinders or air cylinders or screw or sprocket chain transmission or hydraulic push rods or pulley blocks, thereby Realize the purpose of pushing and unloading platform 16 to push off materials and reset.

7. A mobile crane transport equipment, the X, Y, Z direction walking mechanism and the rotating mechanism all meet the condition that the lifting bracket 17 can lift up the bagged materials or other packaging rules after palletizing, all All actions stop, and then enter the working procedure of lifting materials.

8. A kind of mobile crane transportation equipment. When entering the working program of lifting materials, the hydraulic system provides power for the lifting mechanism 14, so that the piston rod in the lifting mechanism 14 can move freely in the Z direction until the lifting bracket 17 moves to the After the height of the bagged material or other packaging rules that needs to be placed on it, the hydraulic system stops providing power for the lifting mechanism 14 .

9. A type of crane transportation equipment. When entering the working program of lifting materials, the rotating drive device 7 drives the rotating driving gear 8 to rotate, and the driven gear 9 is driven to rotate through the rotating mechanism meshed with the rotating driving gear 8. At the same time The lifting mechanism 14 connected with the driven gear 9 of the rotating mechanism through the rotating bearing seat is driven to rotate, thereby realizing the rotating movement of the lifting bracket 17 until the lifting bracket 17 runs to the bagged material or other packaging rules that need to be placed on it After the orientation of the package, the rotary drive device 7 stops working.

10. A kind of crane transportation equipment, when entering the working program of lifting materials, the Y-direction travel driving device 10 drives the Y-direction travel driving gear 11 to rotate, and the Y-direction travel driven gear 11 meshes with the Y-direction travel driving gear 11 The gear 12 is driven to rotate, and the Y-direction travel slider or travel wheel 18 connected with the Y-direction travel driven gear 12 is also driven to rotate simultaneously, so that the Y and Z travel mechanisms move along the Y-direction travel guide rail 5 until After the lifting bracket 17 moves to the Y-direction position of the bagged material or other packaging rules that need to be placed on it, the Y-direction walking drive device 10 stops working.

11. A mobile crane transportation equipment, when entering the working program of lifting materials, the X-direction travel driving device 2 drives the X-direction travel driving gear 3 to rotate, and the X-direction travel driven gear meshes with the X-direction travel driving gear 3 The gear 4 is driven to rotate, and the X-direction travel slider or travel wheel 19 connected with the X-direction travel driven gear 4 is also driven to rotate, so that the X, Y and Z travel mechanisms move along the X-direction travel guide rail 1 , until the lifting bracket 17 moves to the X-direction position of the bagged material or other packaging rules that need to be placed on it, the X-direction walking drive device 2 stops working.

12. A mobile crane transportation equipment, when the walking mechanism and the rotating mechanism in the X, Y, and Z directions meet the requirement that the lifting bracket 17 can place and push off the bagged materials or other packaging rules on it, the hydraulic system is The hydraulic oil cylinder of push-off platform 16 provides power, and the bagged material or other packing rule packages that are placed on lifting bracket 17 are pushed away.

A kind of mobile crane transportation equipment, after pushing away the bagged materials or other packaging rules placed on the lifting bracket 17, the working procedures of steps 1-12 will be carried out repeatedly.

A kind of mobile crane transportation equipment, when it is necessary to load and unload bagged materials or other packaging rules in a small space, when the process step 12 is carried out, the hydraulic system provides power for the folding hydraulic cylinder 25 to drive the folding The piston rod of the hydraulic cylinder 25 is stretched out, so that a certain angle is formed between the horizontal section H and the vertical section V of the lifting bracket 17 through the installed rotating pin shaft. After the angle is formed, the hydraulic system is a pushing platform The hydraulic oil cylinder of 16 provides power, and the bagged material or other packaging rule packages that are placed on the lifting bracket 17 are pushed away. After this working procedure is completed, the working procedure of steps 1-12 or the working procedure of this process will be carried out repeatedly.

The transmission mode of X and Y walking mechanism among the present invention is leading screw transmission or chain sprocket transmission or gear transmission or pulley block transmission. The driving mode is hoist drive, motor drive or reducer drive. The walking mode is guide rail slider walking or guide rail and wheel pair walking.

The present invention adopts the above-mentioned structure. The crane transportation equipment is novel in design and reasonable in structure, which can effectively reduce the labor intensity of workers, reduce environmental pollution, and improve production and work efficiency during loading and unloading of bagged materials, and can be widely used in Cement, food, grain, feed, fertilizer, chemical industry and other industries.

For the present invention, any skilled person who is familiar with this profession and industry, without departing from the scope of the technical solution of the present invention, when using the method and technical content disclosed above to make a small change or modification is an equivalent implementation case of equivalent change . However, any simple modification, equivalent change and modification made to the above implementation cases according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of the technical solution of the present invention.

To sum up, the special structural form of the present invention has the above-mentioned many advantages, practicability and industrial utilization value, and there is no similar structural design and working principle published or used in similar products, which is indeed an innovative design.

Claims (10)

1. a kind of row handling transfer device, including X-direction walking mechanism, Y-direction walking mechanism and Z-direction walking mechanism, the side X Include the X-direction walked frame (6) of X-direction walking guide rail (1) and setting on X-direction walking guide rail (1) top to walking mechanism, The X-direction walked frame (6) is walked with X-direction and is led by walk sliding block or traveling wheel (19) of the X-direction mounted on its underpart Rail (1) slides or rolls cooperation, and the X-direction walking sliding block or traveling wheel (19) are by being mounted on X-direction walked frame (6) X-direction walking power plant driving；It is characterized in that, further including rotating mechanism；

The Y-direction walking mechanism includes being fixed at the Y-direction walking guide rail (5) at the top of X-direction walked frame (6) and setting Set the Y-direction walked frame (13) on walking guide rail (5) top in the Y direction, the vertical X-direction walking of the Y-direction walking guide rail (5) The extension of guide rail (1) length direction, the Y-direction walked frame (13) pass through Y-direction walking sliding block mounted thereto or row It walks wheel (18) and slides or roll with Y-direction walking guide rail (5) to coordinate, the Y-direction walking sliding block or traveling wheel (18) are by installing Y-direction walking power plant driving on walked frame (13) in the Y direction；

The Z-direction walking mechanism includes that the liter of Y-direction walked frame (13) lower end is rotatably connected to by rotating mechanism Descending mechanism (14) and the act bracket (17) for being fixedly connected on elevating mechanism (14) lower end；The telescopic direction of the elevating mechanism (14) Perpendicular to Y-direction walking guide rail (5) length direction, the lower end for lifting bracket (17) is fixedly connected with fork or platform (20), And there is bearing space on fork or platform (20)；It is equipped in the bearing space and shirks with what act bracket (17) was connect Platform (16) shirks platform (16) and passes through hydraulic cylinder or cylinder or leading screw or sprocket wheel chain transmission or hydraulic push rod or pulley blocks Realize the walking on fork or platform (20) length direction；

The rotating mechanism includes the rotational driving device (7) being fixedly mounted on walked frame (13) in the Y direction and is driven with rotation The rotary components composition that dynamic equipment (7) is drivingly connected.

2. a kind of row handling transfer device according to claim 1, which is characterized in that the X-direction walking power plant packet Include X-direction hoofing part equipment (2), the X-direction being assemblied on X-direction hoofing part equipment (2) output shaft walking driving gear (3), the X-direction walking driven gear (4) being connect with X-direction walking sliding block or traveling wheel (19)；X-direction walking driving gear (3) it is engaged with X-direction walking driven gear (4).

3. a kind of row handling transfer device according to claim 1 or 2, which is characterized in that the Y-direction walking power plant It walks actively including the Y-direction in Y-direction hoofing part equipment (10), assembly in the Y direction hoofing part equipment (10) output shaft The Y-direction walking driven gear (12) that gear (11), walk with Y-direction sliding block or traveling wheel (18) are connect；Y-direction walking is actively Gear (11) is engaged with Y-direction walking driven gear (12).

4. a kind of row handling transfer device according to claim 3, which is characterized in that the rotary components include fixing assembling Rotation driving gear (8) on rotational driving device (7) output shaft is rotatably connected on Y-direction walked frame (13) Rotary shaft and be securely fitted in the rotary drive gear (9) of rotary shaft upper end, wherein rotation driving gear (8) and rotating driven Gear (9) engages, and the lower end of rotary shaft is fixedly connected with elevating mechanism (14).

5. a kind of row handling transfer device according to claim 1 or 2, which is characterized in that X in the X-direction walking mechanism The quantity of direction walking guide rail (1) is two, and parallel is arranged；The X-direction walked frame (6) is inverted u-shaped, its underpart Two free ends matched respectively with two X-direction walking guide rails (1).

6. a kind of row handling transfer device according to claim 5, which is characterized in that Y-direction in the X-direction walking mechanism The quantity of walking guide rail (5) is two, and parallel is arranged.

7. a kind of row handling transfer device according to claim 4, which is characterized in that the elevating mechanism (14) is hydraulic pressure Cylinder, the pedestal of hydraulic cylinder and the lower end of rotary shaft connect, and the piston rod end of hydraulic cylinder is fixed with the upper end for lifting bracket (17) to be connected It connects；Tailpiece of the piston rod fixing sleeve of the lower end fixing sleeve of the Barrel of Hydraulic Cylinders equipped with positioning plate one (21), hydraulic cylinder is equipped with positioning Plate two (22), positioning plate two (22) have vertically arranged guide rod (15), positioning plate in the outside fixing assembling of Barrel of Hydraulic Cylinders One (21) offer pilot hole in the position of corresponding guide rod (15), and guide rod (15) sliding is plugged in pilot hole.

8. a kind of row handling transfer device according to claim 4, which is characterized in that the rotary shaft passes through rotating shaft holder It is connect with Y-direction walked frame (13).

9. a kind of row handling transfer device according to claim 7, which is characterized in that the vertical section for lifting bracket (17) is logical It crosses axis pin (24) to connect with the horizontal segment of fork or platform (20), lifts the middle part at the middle part and fork or platform (20) of bracket (17) It is also hinged with folding hydraulic cylinder (25) both ends.

10. a kind of row handling transfer device according to claim 7, which is characterized in that the quantity of the guide rod (15) is Two or more.