A gantry palletizing loading and unloading type corner assembling line

Abstract

The present invention discloses a gantry palletizing loading and unloading type corner assembling line, which includes a gantry loading and palletizing device, a feeding transmission device, a corner assembling device, a discharging transmission device and a gantry unloading and palletizing device; the gantry loading and palletizing device grabs the topmost one of a plurality of stacked aluminum alloy door and window frames, and horizontally places it on the feeding transmission device; the feeding transmission device transports the aluminum alloy door and window frames to the corner assembling device; the corner assembling device receives the aluminum alloy door and window frames and performs corner assembling on them to form aluminum alloy doors and windows, and transports the aluminum alloy doors and windows to the discharging transmission device; the discharging transmission device receives the aluminum alloy doors and windows and transports them to a set palletizing position; the gantry unloading and palletizing device grabs the aluminum alloy doors and windows at the palletizing position and performs palletizing; through the gantry type palletizing device, the present invention can realize automatic feeding before corner assembling of aluminum alloy doors and windows and automatic palletizing after corner assembling, reduce the labor intensity of people, and further improve the corner assembling efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of aluminum alloy door and window processing equipment, and particularly relates to a gantry palletizing loading and unloading type corner assembling line. Background Art

[0002] The statements here only provide the background art related to the present invention and do not necessarily constitute the prior art.

[0003] With the popularization and development of aluminum alloy doors and windows, aluminum alloy door and window processing enterprises are developing towards the modern direction of intensification and standardization. With the continuous development and growth of aluminum alloy door and window processing enterprises, more and more large and medium-sized domestic and foreign aluminum alloy door and window processing enterprises need stable, reliable, and highly automated production lines suitable for the aluminum alloy door and window processing industry. And corner assembling is a key step in the production of aluminum alloy doors and windows. The four-head corner assembling machine can complete the positioning and corner assembling of four corners of an aluminum alloy door and window at one time, improving the corner assembling production efficiency. However, due to the need for manual participation in the loading and unloading process, the labor intensity is high, and it is difficult to further improve the production efficiency.

[0004] A Chinese patent application with the publication number CN112157428A and the publication date of January 1, 2021 discloses a fully automatic numerically controlled four-corner corner assembling production line for aluminum alloy doors and windows, including a feeding conveyor table, a four-corner corner assembling machine, and a discharging conveyor table arranged in sequence; the feeding conveyor table and the discharging conveyor table can realize automatic feeding and discharging to the four-corner corner assembling machine. The working efficiency of this production line has been further improved, the labor intensity has been reduced, and the product quality has been guaranteed. However, it is still necessary to place the aluminum alloy door and window frame assembled with corner codes on the feeding conveyor table by manual feeding; in addition, the discharging conveyor table can only realize automatic discharging but cannot realize automatic palletizing and unloading, which is not conducive to subsequent turnover. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a gantry palletizing loading and unloading type corner assembling line, which can realize automatic loading before corner assembling and automatic palletizing after corner assembling, further improving the corner assembling efficiency. To achieve the above purpose, the present invention is solved by the following technical solutions:

[0006] The present invention provides a gantry palletizing loading and unloading type corner assembling line, including:

[0007] A gantry loading and palletizing device, a feeding transmission device, a corner assembling device, a discharging transmission device, and a gantry unloading and palletizing device;

[0008] The gantry loading and palletizing device grabs the topmost one of a plurality of palletized aluminum alloy door and window frames and horizontally places it on the feeding transmission device;

[0009] The feeding and transporting device transports the aluminum alloy door and window frames to the corner assembling device;

[0010] The corner assembling device receives the aluminum alloy door and window frames, assembles the corners thereof to form aluminum alloy doors and windows, and transports the aluminum alloy doors and windows to the discharging and transporting device;

[0011] The discharging and transporting device receives the aluminum alloy doors and windows and transports them to the set stacking position;

[0012] The gantry blanking and stacking device grabs the aluminum alloy doors and windows at the stacking position and stacks them.

[0013] Further, the gantry loading and stacking device includes a bracket, a three-axis linkage device provided on the bracket, and a claw device connected to the three-axis linkage device; the three-axis linkage device includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism, and the claw device is connected to the Z-axis moving mechanism;

[0014] The claw device includes a claw support beam connected to the Z-axis moving mechanism, and two claw mechanisms provided on the claw support beam. One of the two claw mechanisms is a fixed claw mechanism fixed at one end of the claw support beam; the other is a movable claw mechanism that moves along the length direction of the claw support beam. The two claw mechanisms grab the opposite frames in the aluminum alloy door and window frames.

[0015] Further, the feeding and transporting device includes a bracket, two belt transmission mechanisms symmetrically arranged on the bracket, and a motor for driving the belt transmission mechanisms to move.

[0016] Further, the X-axis moving mechanism is provided on the bracket and moves along the length direction of the bracket, the Y-axis moving mechanism is provided on the X-axis moving mechanism and moves along the width direction of the bracket, and the Z-axis moving mechanism is provided on the Y-axis moving mechanism and moves up and down in the vertical direction.

[0017] Further, the claw mechanism includes two clamps respectively arranged on both sides of the claw support beam. The clamp includes a movable claw and a fixed claw arranged oppositely, and a driving device for driving the movable claw. A profile detection device is provided on the clamp.

[0018] Further, the driving device includes a clamping cylinder and a clamping guide shaft. The movable claw is arranged on the clamping guide shaft, and the clamping cylinder drives the clamping guide shaft to move to drive the movable claw to move.

[0019] Further, a clamp connecting beam is provided between the two clamps and fixed at both ends of the clamp connecting beam; the clamp connecting beam is connected to the claw support beam and is perpendicular to it.

[0020] Further, two sets of circular guide rails and racks are oppositely arranged on the bracket. The X-axis mechanism includes an X-axis moving cross beam, rollers and gears arranged at both ends of the X-axis moving cross beam, and a driving device for driving the gear to rotate. The rollers and the gears are respectively engaged with the circular guide rails and the racks.

[0021] Further, the driving device is arranged on one side of the X-axis moving cross beam and includes two main synchronous pulley shafts, a motor for simultaneously driving the two main synchronous pulley shafts to rotate, a main synchronous pulley and a slave synchronous pulley that rotate synchronously with the main synchronous pulley shafts. The main synchronous pulley and the slave synchronous pulley are connected by a synchronous belt; the slave synchronous pulley is connected to the gear.

[0022] Further, the gantry loading and palletizing device and the gantry unloading and palletizing device have the same structure.

[0023] The beneficial effects of the present invention are as follows:

[0024] (1) By arranging the gantry loading and unloading and palletizing devices at the head and tail of the corner assembly line, the present invention can realize automatic loading before the corner assembly of the aluminum alloy door and window frame and automatic palletizing after the corner assembly, reducing the labor intensity of people and further improving the corner assembly efficiency.

[0025] (2) For the gantry loading and palletizing device and the gantry unloading and palletizing device provided by the present invention, the two claw mechanisms arranged in the claw device can grab the opposite frames in the aluminum alloy door and window. Through the cooperation of driving the movement of the claw device by the linkage of the X, Y, and Z axes, the automatic and high-efficiency grasping of the aluminum alloy door and window frame can be realized.

[0026] (3) The claw device of the present invention includes a movable claw mechanism and a fixed claw mechanism. By adjusting the distance between the two, it can adapt to aluminum alloy door and window frames of different sizes. Moreover, both the movable claw mechanism and the fixed claw mechanism are provided with two clamps, ensuring the stability and reliability of clamping the aluminum alloy door and window. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute a limitation to the present invention. It should also be understood that these drawings are shown for simplicity and clarity and are not necessarily drawn to scale. Now the present invention will be described and explained with additional features and details by using the drawings, wherein:

[0028] Figure 1 The isometric view of the corner assembly line in the embodiment of the present invention is shown;

[0029] Figure 2 The isometric view of the feeding transmission device in the embodiment of the present invention is shown;

[0030] Figure 3 Shows an axonometric view of the palletizer in an embodiment of the present invention;

[0031] Figure 4 Shows an axonometric view of the palletizer in an embodiment of the present invention;

[0032] Figure 5 Shows Figure 4 The partial enlarged view at position A in

[0033] Figure 6 Shows an axonometric view of the jaw device and the Z-axis moving mechanism in an embodiment of the present invention;

[0034] Figure 7 Shows an axonometric view of the moving jaw mechanism in an embodiment of the present invention;

[0035] Figure 8 Shows a cross-sectional view of the jaw support beam of the jaw device in an embodiment of the present invention;

[0036] Figure 9 Shows an axonometric view of the X-axis moving mechanism in an embodiment of the present invention;

[0037] Figure 10 Shows the front view of the X-axis moving mechanism in an embodiment of the present invention;

[0038] Figure 11 Shows Figure 10 The sectional view taken along line A-A in

[0039] Figure 12 Shows the front view of the jaw device and the Z-axis moving mechanism in an embodiment of the present invention;

[0040] Figure 13 Shows Figure 12 The partial enlarged view at position B in

[0041] In the figure: 1 gantry loading and palletizing device, 11 support, 111 cross beam, 112 longitudinal beam, 1121 circular guide rail, 1122 rack, 113 leg, 12 three-axis linkage device, 121 X-axis moving mechanism, 1210 X-axis moving cross beam, 1211 main synchronous pulley shaft, 1212 main synchronous pulley shaft fixing seat, 1213 worm and worm gear reducer, 1214 servo motor, 1215 coupling, 1216 roller, 1217 gear, 1218-1 slave synchronous pulley, 1218-2 main synchronous pulley, 1219 installation and adjustment plate, 122 Y-axis moving mechanism, 1221 servo motor, 1222 gear, 1223 Y-axis moving bottom plate, 1224 slider, 1225 guide rail, 1226 rack, 123 Z-axis moving mechanism, 1230-1 Z-axis moving reducer support, 1230-2 Z-axis moving reducer, 1231 Z-axis moving vertical beam, 1232 guide rail, 1233 rack, 1234 Z-axis moving bottom plate, 1235 gear shaft, 1236 Z-axis moving gear support, 1237 gear, 1238 servo motor, 1239 coupling, 13 jaw device, 131 jaw support beam, 132 moving jaw mechanism, 1321 fixture connecting beam, 1322 fixture, 1322-1 clamping cylinder, 1322-2 jaw fixing frame, 1322-3 clamping guide shaft, 1322-4 jaw bottom plate, 1322-5 moving jaw, 1322-6 fixed jaw, 1322-7 profile detection device, 1323 servo motor, 1324 plate, 1325 gear, 133 fixed jaw mechanism, 134 guide rail, 135 rack, 2 feeding transmission device, 20 belt transmission mechanism, 201 servo motor, 202 transmission belt profile support, 203 worm and worm gear reducer, 204 profile, 205 main synchronous pulley fixing plate, 206 main synchronous pulley, 207 slave synchronous pulley, 208 slave synchronous pulley fixing plate, 209 synchronous belt, 21 support, 3 corner assembling device, 4 discharging transmission device, 5 gantry unloading and palletizing device, 6 control system. Detailed implementation manners

[0042] Next, the technical solutions in a typical embodiment of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0043] As Figure 1As shown in the figure, this embodiment provides a gantry palletizing loading and unloading type corner assembling line, including a gantry loading and palletizing device 1, a feeding transmission device 2, a corner assembling device 3, a discharging transmission device 4, and a gantry unloading and palletizing device 5. The gantry loading and palletizing device 1 grabs the topmost one of the multiple stacked aluminum alloy door and window frames, and horizontally places it on the feeding transmission device 2. The feeding transmission device 2 transports the aluminum alloy door and window frame to the corner assembling device 3. The corner assembling device 3 receives the aluminum alloy door and window frame and assembles its corners to form an aluminum alloy door and window, and then transports the aluminum alloy door and window to the discharging transmission device 4. The discharging transmission device 4 receives the aluminum alloy door and window and transports it to the set palletizing position. The gantry unloading and palletizing device 5 grabs the aluminum alloy door and window at the palletizing position and palletizes it. The corner assembling line in this embodiment further includes a control system 6 to control the operation of the corner assembling line. The control system 6 is not within the protection scope of this patent, and its specific structure will not be described in detail herein.

[0044] The gantry loading and palletizing device 1 and the gantry unloading and palletizing device 5 have the same structure, and the feeding transmission device 2 and the discharging transmission device 3 have the same structure. Of course, it can be understood that the gantry loading and palletizing device 1 and the gantry unloading and palletizing device 5, as well as the feeding transmission device 2 and the discharging transmission device 3, may not have the same structure, and any device that can achieve the corresponding functions of the present invention is acceptable. The best structural forms of the above two devices are given in the following description. In this embodiment, the corner assembling device 3 is a four-corner corner assembling machine, which is a prior art and will not be elaborated herein.

[0045] As Figure 3 and Figure 4 As shown in the figure, the gantry loading and palletizing device 1 includes a bracket 11, a three-axis linkage device 12 provided on the bracket 11, and a claw device 13 connected to the three-axis linkage device 12. In this embodiment, the bracket 11 includes two cross beams 111, two longitudinal beams 112, and six legs 113. It can be understood that the numbers of the cross beam 111, the longitudinal beam 112, and the legs 113 can also be other numbers, as long as the three-axis linkage device 12 can be set on the bracket 11 and three-axis linkage can be achieved.

[0046] The three-axis linkage device 12 includes an X-axis moving mechanism 121, a Y-axis moving mechanism 122, and a Z-axis moving mechanism 123, and the claw device 13 is connected to the Z-axis moving mechanism 123.

[0047] In this embodiment, the X-axis moving mechanism 121 is provided on the bracket 11 and moves along the length direction of the bracket 11, and can drive the claw device 13 to move along the X-axis direction. The Y-axis moving mechanism 122 is provided on the X-axis moving mechanism 121 and moves along the width direction of the bracket 11, and can drive the claw device 13 to move along the Y-axis direction. The Z-axis moving mechanism 123 is provided on the Y-axis moving mechanism 122 and moves up and down in the vertical direction, and can drive the claw device 13 to move along the Z-axis direction.

[0048] As Figure 6 shown, the jaw device 13 includes a jaw support beam 131 connected to the Z-axis moving mechanism 123, and two jaw mechanisms provided on the jaw support beam 131. The two jaw mechanisms grip the opposite frames of the aluminum alloy doors and windows.

[0049] In this embodiment, as Figure 6 shown, one of the two jaw mechanisms is a fixed jaw mechanism 133, which is fixed at one end of the jaw support beam 131; the other is a movable jaw mechanism 132, which moves along the length direction of the jaw support beam 131. This can not only ensure that the jaw mechanism can clamp aluminum alloy doors and windows of different sizes, but also save one driving device.

[0050] By driving the movement of the jaw device 13 through the linkage of the X, Y, and Z axes, automatic feeding before corner joining of the aluminum alloy doors and windows and automatic palletizing after corner joining can be achieved, reducing the labor intensity of people and further improving the corner joining efficiency.

[0051] As Figure 6 shown, as Figure 7 and Figure 8 shown, the jaw mechanism includes two clamps 1322, which are respectively arranged on both sides of the jaw support beam 131. A clamp connecting beam 1321 is provided between the two clamps 1322 and is fixed at both ends of the clamp connecting beam 1321; the clamp connecting beam 1321 is connected to and perpendicular to the jaw support beam 131.

[0052] The clamp 1322 includes a movable jaw 1322-5 and a fixed jaw 1322-6 arranged oppositely, and a driving device for driving the movable jaw 1322-5. The driving device includes a clamping cylinder 1322-1 and a clamping guide shaft 1322-3. The movable jaw 1322-5 is arranged on the clamping guide shaft 1322-3, and the clamping cylinder 1322-1 drives the movement of the clamping guide shaft 1322-3 to drive the movement of the movable jaw 1322-5.

[0053] In this embodiment, the clamping cylinder 1322-1 and the clamping guide shaft 1322-3 are fixed on the upper surface of the jaw bottom plate 1322-4. The fixed jaw 1322-6 is fixed on the lower surface of the right side of the jaw bottom plate 1322-4, and a rectangular hole is provided in the middle of the jaw bottom plate 1322-4. The movable jaw 1322-5 extends downward from the rectangular hole and is arranged oppositely to the fixed jaw 1322-6. A jaw fixing bracket 1322-2 is provided on the jaw bottom plate 1322-4 for connecting the end of the clamp connecting beam 1321.

[0054] As Figure 7 and Figure 8As shown, whether it is the fixed jaw mechanism 133 or the movable jaw mechanism 132, the structure of the fixture 1322 is the same. The difference is that the fixed jaw mechanism 133 is directly fixed to the jaw support beam 131 through the connecting frame provided on the fixture connecting beam 1321, while on the fixture connecting beam 1321 of the movable jaw mechanism 132, there is a plate 1324. On the plate 1324, there are a gear 1325, a servo motor 1323, and a track groove (not shown in the figure). The gear 1325 and the track groove cooperate with the rack 135 and the guide rail 134 provided on one side of the jaw support beam 131 to achieve the movement of the movable jaw mechanism 132 along the length direction of the jaw support beam 131.

[0055] As Figure 7 shown, on the fixture 1322, there is a profile detection device 1322 - 7, and the profile detection device 1322 - 7 includes a pressure sensor. The fixture 1322 gradually moves downward. When it moves down to a certain position, the profile detection device 1322 - 7 contacts the aluminum alloy frame, and the pressure increases, which is identified by the pressure sensor.

[0056] As Figure 5 and Figure 9 shown, on the bracket 11, there are two groups of circular guide rails 1121 and racks 1122 arranged oppositely. The two groups of circular guide rails 1121 and racks 1122 are parallel to each other. In this embodiment, the circular guide rails 1121 and the racks 1122 are arranged on the longitudinal beam 112. The X - axis moving mechanism 121 includes an X - axis moving cross beam 1210, as well as rollers 1216 and gears 1217 provided at both ends of the X - axis moving cross beam 1210, and a driving device for driving the gear 1217 to rotate. The rollers 1217 and the gears 1216 cooperate with the circular guide rails 1121 and the racks 1122 respectively.

[0057] The driving device is arranged on one side of the X - axis moving cross beam 1210, and includes two main synchronous pulley shafts 1211, and a motor for simultaneously driving the two main synchronous pulley shafts 1211 to rotate. The motor is a servo motor 1214, as well as a main synchronous pulley 1218 - 2 and a slave synchronous pulley 1218 - 1 that rotate synchronously with the main synchronous pulley shaft 1211. The main synchronous pulley 1218 - 2 and the slave synchronous pulley 1218 - 1 are connected by a synchronous belt (not shown in the figure); the slave synchronous pulley 1218 - 1 is connected to the gear 1217.

[0058] As Figure 9As shown, an X-axis motion reducer mounting plate is fixed to the side of the X-axis moving crossbeam 1210 (not shown in the figure). A worm and worm gear reducer 1213 is fixed to the X-axis motion reducer mounting plate by bolts. The input end of the worm and worm gear reducer 1213 is connected to a servo motor 1214. The output end of the worm and worm gear reducer 1213 is connected to a main synchronous pulley shaft 1211 through a coupling 1215. The main synchronous pulley shaft 1211 is fixed to the X-axis moving crossbeam 1210 through a main synchronous pulley shaft support seat 1212. A main synchronous pulley 1218-2 is fixed to one end of the main synchronous pulley shaft 1211. A slave synchronous pulley mounting seat is also fixed to the X-axis moving crossbeam 1210 by bolts. The slave synchronous pulley mounting seat is connected to the slave synchronous pulley shaft through a bearing. A slave synchronous pulley 1218-1 is fixed to one end of the slave synchronous pulley shaft, and a gear 1217 is fixed to the other end of the slave synchronous pulley shaft. A synchronous belt is also included between the main synchronous pulley 1218-2 and the slave synchronous pulley 1218-1.

[0059] As Figure 10 and Figure 11 shown, a guide rail 1225 is provided on the upper surface of the X-axis moving crossbeam 1210. A rack 1226 parallel to the guide rail 1225 is also included. A slider 1224 is provided on the guide rail 1225. Another adjacent side of the upper surface of the X-axis moving crossbeam 1210 is provided with the same guide rail 1225 and slider 1224.

[0060] As Figure 12 and Figure 13 shown, the two sliders 1224 jointly carry a Y-axis motion bottom plate 1223. A Y-axis motion reducer mounting plate is fixed to the Y-axis motion bottom plate 1223 (not shown in the figure). A Y-axis motion reducer is fixed to the Y-axis motion reducer mounting plate by bolts (not shown in the figure). The input end of the reducer is fixed to a servo motor 1221 by bolts. The output end of the Y-axis motion reducer is fixed with a gear 1222, and the gear 1222 cooperates with the rack 1226.

[0061] On the Y-axis moving base plate 1223, there is also a fixed Z-axis moving gear support 1236. On the Z-axis moving gear support 1236, a gear 1237 is fixed through a gear shaft 1235. On the Y-axis moving base plate 1223, there is also a fixed Z-axis moving reducer support 1230-1. On the Z-axis moving reducer support 1230-1, a Z-axis moving reducer 1230-2 is fixed through bolts. The output end of the Z-axis moving reducer 1230-2 is connected to the gear shaft 1235 through a coupling 1239, and the input end of the Z-axis moving reducer 1230-2 is connected to a servo motor 1238. On the Y-axis moving base plate 1223, there is also a fixed Z-axis moving base plate 1234. A slider (not shown in the figure) is installed on the Z-axis moving base plate 1234. The guide rail 1232 is fixed to the Z-axis moving vertical beam 1231 through bolts. On the Z-axis moving vertical beam 1231, there is also a rack 1233 parallel to the guide rail 1232. The slider is connected to the guide rail 1232. The movement of the Z-axis moving vertical beam 1231 relies on the meshing transmission of the gear 1237 and the rack 1233.

[0062] As Figure 2 shown, in this embodiment, the feeding and transporting device 2 includes a bracket 21, two belt transmission mechanisms 20 symmetrically arranged on the bracket 21, and a motor for driving the movement of the belt transmission mechanism 20. Preferably, the motor is a servo motor 201.

[0063] The belt transmission mechanism 20 includes a transmission belt profile support 202, which is fixed to the bracket 21 through bolts. On the transmission belt profile support 202, a profile 204 is fixed through bolts. One end of the profile 204 is fixed with a main synchronous pulley fixing plate 205 through bolts. On the main synchronous pulley fixing plate 205, a worm and worm gear reducer 203 is fixed through bolts. The input end of the worm and worm gear reducer 203 is connected to the servo motor 201 through bolts. The output end of the worm and worm gear reducer 203 is connected to an output shaft through bolts. The output shaft is connected to a main synchronous pulley 206 through bolts. It also includes a slave synchronous pulley fixing plate 208 fixed to the other end of the profile 204 through bolts. The slave synchronous pulley fixing plate 208 is connected to a slave synchronous pulley shaft through bearings. The slave synchronous pulley shaft is connected to a slave synchronous pulley 207 through bearings. It also includes a synchronous belt 209 connected between the main synchronous pulley 206 and the slave synchronous pulley 207.

[0064] Working method of the above embodiments: After assembling the aluminum alloy profiles into an aluminum alloy door and window frame on the assembly table with corner codes and stacking them, place them at the positioning device on one side of the gantry loading and stacking device 1 for positioning. The servo motor 1214 on the gantry loading and stacking device 1 drives the worm and gear reducer 1213 to rotate, driving the X-axis moving crossbeam 1210 to return to the corresponding position in the X-axis direction. The Y-axis driving servo motor 1221 and the Z-axis driving servo motor 1238 jointly drive and return to the corresponding positions. After the profile detection device 1322-7 detects the aluminum profile, the Z-axis driving servo motor 1238 stops operating, and the clamping cylinder 1322-1 controls the moving claw 1322-5 and the fixed claw 1322-6 to grab. After grabbing, the Y-axis driving servo motor 1221, the Z-axis driving servo motor 1238, and the X-axis driving servo motor 1214 jointly drive to drive the aluminum profile to the synchronous belt 209 of the feeding transmission device 2.

[0065] The synchronous belt 209 of the transmission device 2 moves to transport the aluminum alloy door and window frame to the corner assembling device 3. When the corner assembling device 3 is working, the gantry loading and stacking device 1 places the aluminum alloy door and window on the feeding transmission device 2 and then returns to the corresponding position to grab the aluminum alloy door and window frame again. The aluminum alloy door and window frame will stop transmitting on the feeding transmission device 2 and wait to be transmitted to the corner assembling device 3 after the corner assembling device 3 finishes working. When the corner assembling device 3 finishes corner assembling, the feeding transmission device 2 transmits the aluminum alloy door and window frame to it, and then proceeds to the next corner assembling.

[0066] After corner assembling is completed, the corner assembling device 3 transports the aluminum alloy door and window to the synchronous belt of the discharging transmission device 4, waiting for the claw device 13 on the gantry unloading and stacking device 5 to grab the assembled aluminum alloy door and window and transport the aluminum alloy door and window to the placing rack for stacking.

[0067] Although the present invention has been disclosed above with preferred embodiments, it is not used to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A gantry palletizing loading and unloading type corner assembling line, characterized in that Including: A gantry loading and palletizing device, a feeding transmission device, a corner assembling device, an unloading transmission device, and a gantry unloading and palletizing device; The gantry loading and palletizing device includes a bracket and a three-axis linkage device provided on the bracket, and a claw device connected to the three-axis linkage device; the three-axis linkage device includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism, and the claw device is connected to the Z-axis moving mechanism; The claw device includes a claw support beam connected to the Z-axis moving mechanism, and two claw mechanisms provided on the claw support beam. One of the two claw mechanisms is a fixed claw mechanism fixed at one end of the claw support beam; the other is a moving claw mechanism that moves along the length direction of the claw support beam. The two claw mechanisms grip opposite frames in the aluminum alloy door and window frame; Each claw mechanism includes two clamps arranged on both sides of the claw support beam. The clamp includes a moving claw and a fixed claw arranged oppositely, and a first driving device for driving the moving claw. A profile detection device is provided on the clamp; The first driving device includes a clamping cylinder and a clamping guide shaft. The moving claw is arranged on the clamping guide shaft, and the clamping cylinder drives the clamping guide shaft to move and drives the moving claw to move; A clamp connecting beam is provided between the two clamps and fixed at both ends of the clamp connecting beam; the clamp connecting beam is connected to the claw support beam and is perpendicular to it; The gantry loading and palletizing device grabs the topmost one of a plurality of palletized aluminum alloy door and window frames and horizontally places it on the feeding transmission device; The feeding transmission device includes a bracket, two belt transmission mechanisms symmetrically arranged on the bracket, and a motor for driving the belt transmission mechanisms to move; The feeding transmission device transports the aluminum alloy door and window frame to the corner assembling device; The corner assembling device receives the aluminum alloy door and window frame, assembles its corners to form an aluminum alloy door and window, and transports the aluminum alloy door and window to the unloading transmission device; The unloading transmission device receives the aluminum alloy door and window and transports it to a set position to be palletized; The gantry unloading and palletizing device grabs the aluminum alloy door and window at the position to be palletized and palletizes it.

2. The corner assembly line with gantry palletizing for loading and unloading according to claim 1, characterized in that, The X-axis moving mechanism is provided on the bracket and moves along the length direction of the bracket. The Y-axis moving mechanism is provided on the X-axis moving mechanism and moves along the width direction of the bracket. The Z-axis moving mechanism is provided on the Y-axis moving mechanism and moves up and down in the vertical direction.

3. The angle assembling line with gantry palletizing loading and unloading as described in claim 1, wherein, Two sets of circular guide rails and racks are oppositely arranged on the bracket. The X-axis moving mechanism includes an X-axis moving cross beam, rollers and gears provided at both ends of the X-axis moving cross beam, and a second driving device for driving the gear to rotate. The rollers and the gears cooperate with the circular guide rails and the racks respectively.

4. The corner assembling line with gantry palletizing loading and unloading as described in claim 3, characterized in that The second driving device is provided on one side of the X-axis moving cross beam and includes two main synchronous pulley shafts, a motor for simultaneously driving the two main synchronous pulley shafts to rotate, main synchronous pulleys and slave synchronous pulleys that rotate synchronously with the main synchronous pulley shafts. The main synchronous pulley and the slave synchronous pulley are connected by a synchronous belt; the slave synchronous pulley is connected to the gear.

5. The angle assembling line with gantry palletizing for loading and unloading as claimed in claim 1, wherein The gantry loading and palletizing device and the gantry unloading and palletizing device have the same structure.

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