A truss-type automatic loading and unloading device

Abstract

The present invention discloses a truss-type automatic loading and unloading device, which includes an ultra-long sliding beam, a loading and unloading detection mechanism, a sliding beam rack, a belt conveyor and a controller. A plurality of the loading and unloading detection mechanisms are slidably connected to the ultra-long sliding beam and electrically connected to the controller. The belt conveyor is installed below the ultra-long sliding beam and is used for conveying ball pin seats. The sliding beam rack is installed on the ultra-long sliding beam and cooperates with the loading and unloading detection mechanism. The loading and unloading detection mechanism includes a moving seat, a displacement sliding pillow, a lifting sliding pillow, a clamping jaw and a measuring device. The truss-type automatic loading and unloading device of the present invention has a novel structure, is convenient and practical. By using a plurality of loading and unloading detection mechanisms to move back and forth on the ultra-long sliding beam, one loading and unloading detection mechanism can cover the loading and unloading operations of multiple machining centers. At the same time, according to the processing time difference, the loading and unloading operations of each machining center are completed, so as to reduce the use of loading equipment and SPC workstations to reduce production costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of loading and unloading, and particularly relates to a truss-type automatic loading and unloading device. Background Art

[0002] As an important structural part in the automobile chassis suspension system, the function of the automobile swing arm is to connect the vehicle body and the brake and transmit loads between them. When designing the automobile swing arm, it is required to have sufficient strength and reliability, and at the same time, it is also required to minimize weight, size and cost. The swing arm assembly mainly includes a swing arm body, a front bushing, a rear bushing and a ball pin.

[0003] The swing arm body respectively includes a ball pin seat for installing the ball pin, a front bushing cylinder for installing the front bushing, a rear bushing for installing the rear bushing and a swing arm frame. Among them, the ball pin seat, as an important component, is generally directly machined by a lathe. Traditional processing generally uses manual operation of the machine tool. With the gradual popularization of semi-automation, the processing method of one person and one machine has been gradually phased out. Its semi-automation processing also requires manual detection of the equipment, such as the detection of product quality after processing, the compensation of tool wear, the replacement of processed parts or the replacement of tools, all of which need to be processed manually. At the same time, a small number of processing enterprises use fully automated production equipment, which uses a robotic arm for mechanical loading and unloading and an SPC workstation to compensate for the tool of the processing equipment, making the processing efficiency stable, but this processing method has high requirements for the equipment. Especially, one robotic arm and one SPC workstation need to be equipped for every two machining centers, which correspondingly increases the production input cost. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a truss-type automatic loading and unloading device, which is novel in structure, convenient and practical. By using a plurality of loading and unloading detection mechanisms to move back and forth on an ultra-long sliding beam, one loading and unloading detection mechanism can cover the loading and unloading operations of multiple machining centers. At the same time, according to the processing time difference, the loading and unloading operations of each machining center are completed, so as to reduce the use of loading equipment and SPC workstations to reduce production costs.

[0005] A truss type automatic loading and unloading device includes an ultra-long sliding beam, a loading and unloading detection mechanism, a sliding beam rack, a belt conveyor and a controller. A plurality of the loading and unloading detection mechanisms are slidably connected to the ultra-long sliding beam and electrically connected to the controller. The belt conveyor is installed below the ultra-long sliding beam and is used for conveying ball pin seats. The sliding beam rack is installed on the ultra-long sliding beam and cooperates with the loading and unloading detection mechanism. The loading and unloading detection mechanism includes a moving seat, a displacement slide pillow, a lifting slide pillow, a clamping jaw and a measuring device. The moving seat is slidably connected to the ultra-long sliding beam and drives the displacement slide pillow to move horizontally. The displacement slide pillow is slidably connected to the moving seat and drives the lifting slide pillow to move vertically. The lifting slide pillow is slidably connected to one end of the displacement slide pillow and drives the clamping jaw to move up and down. The clamping jaw is connected to the lower end of the lifting slide pillow and is used for grasping the ball pin seat. The measuring device is installed on the moving seat and is used for detecting the ball pin seat.

[0006] Further, the measuring device includes a feeding device and a measuring mechanism. The feeding device is arranged below the measuring mechanism and conveys the ball pin seat to the measuring mechanism. The measuring mechanism includes a dovetail slide plate, a measuring cylinder, a displacement seat, a horizontal optical scale, a fixed detection device and a moving detection device. The dovetail slide plate is fixed on the moving seat and is slidably connected to the displacement seat. The measuring cylinder is installed on the displacement seat and the piston rod penetrates through the displacement seat and is connected to the moving seat. The horizontal optical scale is installed on the moving seat and the measuring end is connected to the displacement seat. The fixed detection device and the moving detection device are respectively installed on the moving seat and the displacement seat.

[0007] Further, both the fixed detection device and the moving detection device include a slide bar, a deep optical scale, a displacement rod, an adjusting slider, a measuring column, a measuring cylinder and a bolt. One end of the displacement rod is connected to the slide bar. The adjusting slider is slidably connected to the displacement rod and is positioned by the bolt. The measuring column is connected to the adjusting slider. The deep optical scale is installed on the slide bar and the measuring ends are respectively connected to the corresponding moving seat and displacement seat. The measuring cylinders of the fixed detection device and the moving detection device are respectively installed on the moving seat and the displacement seat and the piston rods are connected to the displacement rod. The slide bars of the fixed detection device and the moving detection device are respectively slidably connected to the moving seat and the displacement seat.

[0008] Further, it includes a stabilizing column and a sliding sleeve. One end of the stabilizing column is connected to the displacement rod. One ends of the stabilizing columns of the fixed detection device and the moving detection device are respectively connected to the moving seat and the displacement seat through the sliding sleeves.

[0009] Further, the measuring column is a stepped column

[0010] Further, the feeding device includes an online projection image measuring instrument, a fixed frame, a fixed plate, a displacement rodless cylinder, a displacement limiting rod, a horizontal plate, and a material guiding chute. The online projection image measuring instrument is installed on the moving seat and is used to measure the outer contour of the ball pin seat. The fixed plate is connected to the moving seat through the fixed frame. The horizontal plate and the displacement rodless cylinder are respectively connected to the upper and lower sides of the fixed plate. The displacement limiting rod is installed on the piston rod of the displacement rodless cylinder. Avoidance slot holes are formed on the fixed plate and the horizontal plate for the displacement limiting rod to pass through. The material guiding chute is installed on the fixed plate and conveys the ball pin seat to the belt conveyor.

[0011] Further, a slag cleaning device is also included. The slag cleaning device is installed at one end of the displacement ram close to the lifting ram. The slag cleaning device includes a fixed frame, a displacement cylinder, a support plate, a pushing plate, a blowing pipe, and a nozzle. The displacement cylinder and the support plate are connected to the fixed frame. The pushing plate is connected to the piston rod of the displacement cylinder. A plurality of the blowing pipes are fixed on the pushing plate. One end of the blowing pipe is connected with a quick connector and the other end penetrates through the support plate and is connected with the nozzle.

[0012] Further, the clamping jaw includes a rotary cylinder, a rotary frame, a three-jaw cylinder, and a cleaning nozzle. The rotary frame is connected to the power rod of the rotary cylinder. A plurality of the three-jaw cylinders are installed on the rotary frame. The cleaning nozzle is connected to the rotary frame.

[0013] Further, the moving seat includes a sliding seat, a power motor, and a gear. The sliding seat is slidably connected to the ultra-long sliding beam. The power motor is installed on the sliding seat and the power rod is connected to the gear. The gear meshes with the rack on the sliding beam. The displacement ram includes a ram, a rack, and a sliding motor. The ram is slidably connected to the sliding seat. The rack is installed on one side of the ram. The sliding motor is installed on the sliding seat and a transmission gear cooperating with the rack is connected to the power rod.

[0014] Further, the lifting ram includes a lifting ram, a lifting motor, a power helical gear, a driven helical gear, and a worm. The lifting ram is slidably connected to one end of the ram. The lifting motor is installed on the ram and the power rod is connected to the power helical gear. The worm is connected to the ram and one end is connected to the driven helical gear. The power helical gear and the driven helical gear mesh with each other. A worm gear rack cooperating with the worm is installed on the lifting ram.

[0015] Beneficial effects:

[0016] (1) A truss-type automatic loading and unloading device of the present invention has a novel structure, is convenient and practical. By using several loading and unloading detection mechanisms to move back and forth on an ultra-long sliding beam, one loading and unloading detection mechanism can cover the loading and unloading operations of multiple machining centers. At the same time, according to the processing time difference, the loading and unloading operations of each machining center are completed, so as to reduce the use of loading equipment and SPC workstations to reduce production costs.

[0017] (2) A truss-type automatic loading and unloading device of the present invention transports ball pins to a measuring mechanism for detection through a feeding device, and at the same time measures the moving ball pin seat through an on-line projection image measuring instrument to quickly measure the outer contour dimensions of the ball pin seat.

[0018] (3) A truss-type automatic loading and unloading device of the present invention drives a moving detection device to move through a measuring cylinder, so that two measuring columns clamp the inner hole of the ball pin seat. At the same time, the precise aperture is measured in cooperation with an optical scale, and the measurement data is sent to a controller for tool compensation. Brief Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the automatic loading and unloading device;

[0020] Figure 2 It is a schematic structural diagram of the loading and unloading detection mechanism;

[0021] Figure 3 It is a schematic structural diagram of the moving seat;

[0022] Figure 4 It is a schematic structural diagram of the slag cleaning device;

[0023] Figure 5 It is a schematic structural diagram of the lifting ram;

[0024] Figure 6 It is a schematic structural diagram of the measuring device;

[0025] Figure 7 It is a schematic structural diagram of the measuring mechanism;

[0026] Figure 8 It is a schematic structural diagram of the detection device;

[0027] Figure 9 It is a schematic structural diagram of the feeding device;

[0028] Figure 10 It is a measuring schematic diagram of the ball pin seat;

[0029] 1 - Ultra-long sliding beam, 2 - Loading and unloading detection mechanism, 3 - Moving seat, 31 - Sliding seat, 32 - Power motor, 33 - Gear, 4 - Displacement ram, 41 - Ram, 42 - Rack, 43 - Sliding motor, 5 - Lifting ram, 51 - Lifting ram, 52 - Lifting motor, 53 - Power helical gear, 54 - Driven helical gear, 55 - Worm, 6 - Slag cleaning device, 61 - Fixed frame, 62 - Displacement cylinder, 63 - Support plate, 64 - Pushing plate, 65 - Blowing pipe, 7 - Claw, 71 - Rotary cylinder, 72 - Rotary frame, 73 - Three-jaw cylinder, 8 - Feeding device, 81 - On-line projection image measuring instrument, 82 - Fixed frame, 83 - Fixed plate, 84 - Displacement rodless cylinder, 85 - Displacement limit rod, 86 - Horizontal plate, 9 - Measuring mechanism, 91 - Dovetail slide, 92 - Measuring cylinder, 93 - Displacement seat, 94 - Horizontal optical scale, 95 - Fixed detection device, 96 - Moving detection device, 97 - Slide bar, 98 - Deep optical scale, 99 - Displacement rod, 910 - Adjusting slider, 911 - Measuring column, 912 - Stabilizing column, 913 - Measuring cylinder. Detailed implementation mode

[0030] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0031] Embodiment 1

[0032] As Figure 1 shown; A truss-type automatic loading and unloading device, characterized in that it includes an ultra-long sliding beam 1, a loading and unloading detection mechanism 2, a sliding beam rack, a belt conveyor and a controller. A plurality of the loading and unloading detection mechanisms 2 are slidably connected to the ultra-long sliding beam 1 and electrically connected to the controller. The belt conveyor is installed below the ultra-long sliding beam 1 and is used for conveying ball pin seats. The sliding beam rack is installed on the ultra-long sliding beam 1 and cooperates with the loading and unloading detection mechanism 2. The loading and unloading detection mechanism 2 includes a moving seat 3, a displacement ram 4, a lifting ram 5, a claw 7 and a measuring device. The moving seat 3 is slidably connected to the ultra-long sliding beam 1 and drives the displacement ram 4 to move horizontally. The displacement ram 4 is slidably connected to the moving seat 3 and drives the lifting ram 5 to move vertically. The lifting ram 5 is slidably connected to one end of the displacement ram 4 and drives the claw 7 to move up and down. The claw 7 is connected to the lower end of the lifting ram 5 and is used for grasping ball pin seats. The measuring device is installed on the moving seat 3 and is used for detecting ball pin seats.

[0033] Among them, the ball pin seat blank is continuously conveyed to the fixture for positioning through a vibrating disk or a feeding device, and then grabbed and conveyed by the loading and unloading detection mechanism 2. The loading and unloading detection mechanism 2 clamps and conveys the ball pin seat blank and installs it on the machining center. The machining of the ball pin seat is completed by the machining center. After machining, the loading and unloading detection mechanism 2 removes the ball pin seat and detects its dimensions. After the detection is completed, the data is sent to the controller, and then the controller analyzes the data to perform tool compensation on the machining center. At the same time, the loading and unloading detection mechanism 2 conveys the detected ball pin seat to the belt conveyor, and the belt conveyor conveys the ball pin seat to the material basin; specifically, when the loading and unloading detection mechanism 2 works, the moving seat 3 moves on the ultra-long sliding beam 1 for long-distance displacement, so as to realize the displacement of the loading and unloading detection mechanism 2 between multiple machining centers and the action of picking up and installing materials between the vibrating disk or the feeding device. Then, the displacement slide block 4 drives the lifting slide block 5 to move back and forth, and the lifting slide block 5 drives the clamping jaw 7 to move up and down, so that the clamping jaw 7 completes the actions of grabbing the ball pin seat blank and removing the ball pin seat, and conveys the machined ball pin seat to the measuring device for detection; the inner hole diameter of the ball pin seat is denoted as the X direction, and the inner hole depth of the pin seat is denoted as the Y direction, which is convenient for subsequent description and understanding. At the same time, the sliding connection is preferably connected by a high-precision slide rail or a dovetail groove and a slider, which can effectively ensure the accuracy and stability.

[0034] In another embodiment of the present invention, the measuring device includes a feeding device 8 and a measuring mechanism 9. The feeding device 8 is arranged below the measuring mechanism 9 and conveys the ball pin seat to the measuring mechanism 9; the measuring mechanism 9 includes a dovetail slide plate 91, a measuring cylinder 92, a displacement seat 93, a horizontal optical scale 94, a fixed detection device 95 and a moving detection device 96. The dovetail slide plate 91 is fixed on the moving seat 3 and is slidably connected to the displacement seat 93. The measuring cylinder 92 is installed on the displacement seat 93 and the piston rod penetrates through the displacement seat 93 and is connected to the moving seat 3. The horizontal optical scale 94 is installed on the moving seat 3 and the measuring end is connected to the displacement seat 93. The fixed detection device 95 and the moving detection device 96 are respectively installed on the moving seat 3 and the displacement seat 93.

[0035] Specifically, the clamping jaw 7 transports the ball pin seat to the feeding device 8, and the feeding device 8 transports the ball pin seat to the measurement position of the measurement mechanism 9. At this time, the measurement end of the moving detection device 96 restricts the movement position of the ball pin seat driven by the feeding device 8. Then, the measurement end of the fixed detection device 95 is inserted into the inner hole of the ball pin seat. Next, the measurement end of the moving detection device 96 moves. Subsequently, the feeding device 8 continues to push the ball pin seat to move, so that one side of the ball pin seat is restricted between the measurement end of the fixed detection device 95 and the pushing end of the feeding device 8. Then, the measurement end of the moving detection device 96 is inserted into the aperture of the ball pin seat. At this time, the measurement ends of both the fixed detection device 95 and the moving detection device 96 are inserted into the aperture of the ball pin seat. Then, the displacement seat 93 is driven by the measurement cylinder 92 to move, so that the measurement end of the moving detection device 96 moves away from the measurement end of the fixed detection device 95, and the distance of separation is measured by the horizontal optical scale 94, so that the measurement ends of the moving detection device 96 and the fixed detection device 95 move away from each other and clamp the inner aperture of the ball pin seat to complete the X-direction movement, achieving the measurement of the data of the inner hole of the ball pin seat.

[0036] In another embodiment of the present invention, both the fixed detection device 95 and the moving detection device 96 include a slide bar 97, a deep optical scale 98, a displacement rod 99, an adjustment slider 910, a measurement column 911, a measurement cylinder 913 and bolts. One end of the displacement rod 99 is connected to the slide bar 97. The adjustment slider 910 is slidably connected to the displacement rod 99 and positioned by bolts. The measurement column 911 is connected to the adjustment slider 910. The deep optical scale 98 is installed on the slide bar 97 and the measurement ends are respectively connected to the corresponding moving seat 3 and displacement seat 93. The measurement cylinders 913 of the fixed detection device 95 and the moving detection device 96 are respectively installed on the moving seat 3 and the displacement seat 93, and the piston rods are connected to the displacement rod 99. The slide bars 97 of the fixed detection device 95 and the moving detection device 96 are respectively slidably connected to the moving seat 3 and the displacement seat 93.

[0037] Specifically, by measuring, the cylinder 913 drives the displacement rod 99Y to move, so that the measuring columns 911 of the fixed detection device 95 and the moving detection device 96 cooperate to move and insert into the inner hole of the ball pin seat. When the two measuring columns 911 measure the inner hole of the ball pin seat, the ball pin seat on it moves together with the displacement rod 99Y driven by the measuring cylinder 913 and contacts the feeding device 8. After the ball pin seat contacts the feeding device 8, the contact point is set as the basic measurement point and recorded as the Y-direction 0 point. When the two measuring columns 911 measure the inner hole of the ball pin seat, X1, X2... need to be set, which are multiple measurement points for the inner hole of the ball pin seat. One end of the measuring column 911 will contact the step difference of different inner holes of the ball pin seat when moving in the Y direction, recorded as the size of Y1 at X1 and the size of Y2 at X2, and so on to measure the diameter and length of different apertures; adjust the position of the slider 910 according to the size of the inner hole of different ball pin seats, mainly adjust the measuring column 911 above the axis of the inner hole of the ball pin seat to facilitate hole position measurement. For example, when measuring below the axis, the ball pin seat itself contacts the feeding device 8 and cannot adjust its aperture position by itself when the two measuring columns 911 are far apart, resulting in errors in aperture measurement; after the measurement is completed, control the measuring column 911 of the fixed detection device 95 to move out of the inner hole of the ball pin seat, and the measuring column 911 of the moving detection device 96 drives and continues to move, so that the ball pin seat moves to the guiding part of the feeding device 8. At this time, the measuring column 911 horizontally moves out of the inner hole of the ball pin seat, and the feeding device 8 restricts the ball pin seat from moving with the measuring column 911, so that the measuring column 911 exits the inner hole of the ball pin seat, achieving the purpose of the ball pin seat blanking action.

[0038] In another embodiment of the present invention, it includes a stabilizing column 912 and a sliding sleeve. One end of the stabilizing column 912 is connected to the displacement rod 99. One ends of the stabilizing columns 912 of the fixed detection device 95 and the moving detection device 96 are respectively connected to the moving seat 3 and the displacement seat 93 through the sliding sleeve.

[0039] Specifically, the sliding sleeve is used in cooperation with the stabilizing column 912 to improve the stability of the displacement rod 99 when moving. The sliding sleeve and the stabilizing column 912 need to be matched with high precision to ensure better stability when the two measuring columns 911 are far apart and avoid loss of measurement accuracy.

[0040] In another embodiment of the present invention, the measuring column 911 is a stepped column.

[0041] Specifically, when using a stepped column, its stepped part can push the ball pin seat, making the positioning effect of the ball pin seat fast and better.

[0042] In another embodiment of the present invention, the feeding device 8 includes an online projection image measuring instrument 81, a fixed frame 82, a fixed plate 83, a displacement rodless cylinder 84, a displacement limiting rod 85, a horizontal plate 86 and a material guide slide. The online projection image measuring instrument 81 is installed on the moving seat 3 and is used to measure the outer contour of the ball pin seat. The fixed plate 83 is connected to the moving seat 3 through the fixed frame 82. The horizontal plate 86 and the displacement rodless cylinder 84 are respectively connected to the upper and lower sides of the fixed plate 83. The displacement limiting rod 85 is installed on the piston rod of the displacement rodless cylinder 84. The fixed plate 83 and the horizontal plate 86 are provided with avoidance slots for the displacement limiting rod 85 to pass through. The material guide slide is installed on the fixed plate 83 and transports the ball pin seat to the belt conveyor.

[0043] Specifically, the clamping jaws 7 transport the ball pin seat to the horizontal plate 86. At this time, the online projection image measuring instrument 81 measures the outer contour of the ball pin seat, and the clamping jaws 7 can be used to place the ball pin seat in front of the horizontal plate 86 for measurement. Then the displacement rodless cylinder 84 drives the displacement limit rod 85 to move, and the displacement limit rod 85 pushes the ball pin seat to move. Subsequently, two positioning operations are required. The first time, the displacement limit rod 85 cooperates with the measuring column 911 of the mobile detection device 96 to limit the ball pin seat, so that the measuring column 911 of the fixed detection device 95 is inserted into the inner hole of the ball pin seat; then the second positioning is performed, and the measuring column 911 of the fixed detection device 95 cooperates with the displacement limit rod 85 to clamp the side wall of the ball pin seat, so that the measuring column 911 of the mobile detection device 96 is displaced and inserted into the inner hole of the ball pin seat. After the positioning work is completed, the displacement limit rod 85 is reset, so that the measuring column 911 can detect the inner hole of the ball pin seat. After the detection is completed, the ball pin seat is slid out and transported to the belt conveyor through the material guide slide.

[0044] In another embodiment of the present invention, a slag cleaning device 6 is further included, and the slag cleaning device 6 is installed at one end of the displacement slide 4 close to the lifting slide 5; the slag cleaning device 6 includes a fixed frame 61, a displacement cylinder 62, a support plate 63, a push plate 64, a blow pipe 65 and an air nozzle, the displacement cylinder 62 and the support plate 63 are connected to the fixed frame 61, the push plate 64 is connected to the piston rod of the displacement cylinder 62, and a plurality of the blow pipes 65 are fixed on the push plate 64, one end of the blow pipe 65 is connected to a quick connector and the other end passes through the support plate 63 and is connected to the air nozzle.

[0045] Specifically, the quick connector is connected to the air pipe so that the air pipe guides the high-pressure gas from the blow pipe 65 into the air nozzle, and then the high-pressure gas is discharged through the air nozzle so that the high-pressure gas cleans the inner hole of the ball pin seat to prevent dirt from affecting the measurement accuracy of the ball pin seat. The push plate 64 is driven to move by the displacement cylinder 62, and the push plate 64 drives the blow pipe 65 so that the air nozzle at one end of the blow pipe 65 is close to the ball pin seat.

[0046] In another embodiment of the present invention, the clamping jaw 7 includes a rotary cylinder 71, a rotary frame 72, a three-jaw cylinder 73 and a cleaning air nozzle. The rotary frame 72 is connected to the power rod of the rotary cylinder 71. A plurality of the three-jaw cylinders 73 are installed on the rotary frame 72, and the cleaning air nozzle is connected to the rotary frame 72.

[0047] Specifically, the ball pin seat and the blank of the ball pin seat are clamped by the three-jaw cylinder 73, and the pneumatic fixture of the machining center is cleaned by the cleaning air nozzle to prevent dirt from affecting the clamping and positioning of the ball pin seat.

[0048] In another embodiment of the present invention, the moving seat 3 includes a sliding seat 31, a power motor 32 and a gear 33. The sliding seat 31 is slidably connected to the ultra-long sliding beam 1. The power motor 32 is installed on the sliding seat 31 and the power rod is connected to the gear 33. The gear 33 meshes with the sliding beam rack; the displacement ram 4 includes a ram 41, a rack 42 and a sliding motor 43. The ram 41 is slidably connected to the sliding seat 31. The rack 42 is installed on one side of the ram 41. The sliding motor 43 is installed on the sliding seat 31 and a transmission gear cooperating with the rack 42 is connected to the power rod.

[0049] Specifically, the power motor 32 drives the gear 33 to rotate, so that the gear 33 cooperates with the sliding beam rack to realize the movement of the sliding seat 31 on the ultra-long sliding beam 1. Preferably, a position switch is installed on one side of the sliding seat 31 to prevent adjacent sliding seats 31 from colliding during movement; the sliding motor 43 drives the transmission gear to rotate, and the transmission gear cooperates with the rack 42 to make the ram 41 move back and forth.

[0050] In another embodiment of the present invention, the lifting ram 5 includes a lifting ram 51, a lifting motor 52, a driving helical gear 53, a driven helical gear 54 and a worm 55. The lifting ram 51 is slidably connected to one end of the ram 41. The lifting motor 52 is installed on the ram 41 and the power rod is connected to the driving helical gear 53. The worm 55 is connected to the ram 41 and one end is connected to the driven helical gear 54. The driving helical gear 53 and the driven helical gear 54 mesh with each other. A worm gear rack cooperating with the worm 55 is installed on the lifting ram 51.

[0051] Specifically, the lifting motor 52 drives the driving helical gear 53, the driven helical gear 54 and the worm 55 to rotate in sequence, so that the worm 55 drives the worm gear rack to move up and down, and the worm gear rack drives the lifting ram 51 to move up and down. At the same time, the cooperation between the worm 55 and the worm gear rack can ensure the stability of the movement of the lifting ram 51.

[0052] The specific embodiments of the present invention have been described in detail above, but they are only examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions made to the present invention are also within the scope of the present invention. Therefore, equivalent transformations and modifications made without departing from the spirit and scope of the present invention are all covered by the present invention.

Claims

1. A truss type automatic loading and unloading device, characterized in that: It includes an ultra-long sliding beam (1), a loading and unloading detection mechanism (2), a sliding beam rack, a belt conveyor and a controller. A plurality of the loading and unloading detection mechanisms (2) are slidably connected to the ultra-long sliding beam (1) and electrically connected to the controller. The belt conveyor is installed below the ultra-long sliding beam (1) and is used for conveying ball pin seats. The sliding beam rack is installed on the ultra-long sliding beam (1) and cooperates with the loading and unloading detection mechanism (2). The loading and unloading detection mechanism (2) includes a moving seat (3), a displacement sliding pillow (4), a lifting sliding pillow (5), a clamping jaw (7) and a measuring device. The moving seat (3) is slidably connected to the ultra-long sliding beam (1) and drives the displacement sliding pillow (4) to move horizontally. The displacement sliding pillow (4) is slidably connected to the moving seat (3) and drives the lifting sliding pillow (5) to move vertically. The lifting sliding pillow (5) is slidably connected to one end of the displacement sliding pillow (4) and drives the clamping jaw (7) to move up and down. The clamping jaw (7) is connected to the lower end of the lifting sliding pillow (5) and is used for grasping the ball pin seat. The measuring device is installed on the moving seat (3) and is used for detecting the ball pin seat. The measuring device includes a feeding device (8) and a measuring mechanism (9). The feeding device (8) is arranged below the measuring mechanism (9) and conveys the ball pin seat to the measuring mechanism (9). The measuring mechanism (9) includes a dovetail slide plate (91), a measuring cylinder (92), a displacement seat (93), a horizontal optical scale (94), a fixed detection device (95) and a moving detection device (96). The dovetail slide plate (91) is fixed on the moving seat (3) and is slidably connected to the displacement seat (93). The measuring cylinder (92) is installed on the displacement seat (93) and the piston rod penetrates through the displacement seat (93) and is connected to the moving seat (3). The horizontal optical scale (94) is installed on the moving seat (3) and the measuring end is connected to the displacement seat (93). The fixed detection device (95) and the moving detection device (96) are respectively installed on the moving seat (3) and the displacement seat (93). Both the fixed detection device (95) and the moving detection device (96) include a slide bar (97), a deep optical scale (98), a displacement rod (99), an adjusting slider (910), a measuring column (911), a measuring cylinder (913) and a bolt. One end of the displacement rod (99) is connected to the slide bar (97). The adjusting slider (910) is slidably connected to the displacement rod (99) and is positioned by the bolt. The measuring column (911) is connected to the adjusting slider (910). The deep optical scale (98) is installed on the slide bar (97) and the measuring ends are respectively connected to the corresponding moving seat (3) and displacement seat (93). The measuring cylinders (913) of the fixed detection device (95) and the moving detection device (96) are respectively installed on the moving seat (3) and the displacement seat (93) and the piston rods are connected to the displacement rods (99). The slide bars (97) of the fixed detection device (95) and the moving detection device (96) are respectively slidably connected to the moving seat (3) and the displacement seat (93).

2. The truss type automatic loading and unloading equipment according to claim 1, characterized in that: It includes a stabilizing column (912) and a sliding sleeve. One end of the stabilizing column (912) is connected to a displacement rod (99). One ends of the stabilizing columns (912) of the fixed detection device (95) and the moving detection device (96) are respectively connected to a moving seat (3) and a displacement seat (93) through the sliding sleeve.

3. The truss-type automatic loading and unloading equipment according to claim 2, characterized in that: The measuring column (911) is a stepped column.

4. The truss type automatic loading and unloading equipment according to claim 1 or 3, characterized in that: The feeding device (8) includes an on-line projection image measuring instrument (81), a fixing frame (82), a fixing plate (83), a displacement rodless cylinder (84), a displacement limiting rod (85), a horizontal plate (86) and a material guiding chute. The on-line projection image measuring instrument (81) is installed on the moving seat (3) and is used for measuring the outer contour of the ball pin seat. The fixing plate (83) is connected to the moving seat (3) through the fixing frame (82). The horizontal plate (86) and the displacement rodless cylinder (84) are respectively connected to the upper and lower sides of the fixing plate (83). The displacement limiting rod (85) is installed on the piston rod of the displacement rodless cylinder (84). Avoidance groove holes for the displacement limiting rod (85) to pass through are provided on the fixing plate (83) and the horizontal plate (86). The material guiding chute is installed on the fixing plate (83) and conveys the ball pin seat to the belt conveyor.

5. The truss type automatic loading and unloading equipment according to claim 4, characterized in that: It also includes a slag cleaning device (6). The slag cleaning device (6) is installed at one end of the displacement ram (4) close to the lifting ram (5). The slag cleaning device (6) includes a fixing frame (61), a displacement cylinder (62), a support plate (63), a pushing plate (64), a blowing pipe (65) and a nozzle. The displacement cylinder (62) and the support plate (63) are connected to the fixing frame (61). The pushing plate (64) is connected to the piston rod of the displacement cylinder (62). A plurality of the blowing pipes (65) are fixed on the pushing plate (64). One end of the blowing pipe (65) is connected with a quick connector and the other end penetrates through the support plate (63) to be connected with the nozzle.

6. The truss type automatic loading and unloading equipment according to claim 5, characterized in that: The clamping jaw (7) includes a rotary cylinder (71), a rotary frame (72), a three-jaw cylinder (73) and a cleaning nozzle. The rotary frame (72) is connected to the power rod of the rotary cylinder (71). A plurality of the three-jaw cylinders (73) are installed on the rotary frame (72). The cleaning nozzle is connected to the rotary frame (72).

7. The truss type automatic loading and unloading equipment according to claim 1 or 6, characterized in that: The moving seat (3) includes a sliding seat (31), a power motor (32) and a gear (33). The sliding seat (31) is slidably connected to an ultra-long sliding beam (1). The power motor (32) is installed on the sliding seat (31) and its power rod is connected to the gear (33). The gear (33) meshes with the sliding beam rack. The displacement ram (4) includes a ram (41), a rack (42) and a sliding motor (43). The ram (41) is slidably connected to the sliding seat (31). The rack (42) is installed on one side of the ram (41). The sliding motor (43) is installed on the sliding seat (31) and a transmission gear matching with the rack (42) is connected to its power rod.

8. The gantry type automatic loading and unloading equipment according to claim 7, characterized in that: The lifting ram (5) includes a lifting ram (51), a lifting motor (52), a driving helical gear (53), a driven helical gear (54) and a worm (55). The lifting ram (51) is slidably connected to one end of the ram (41). The lifting motor (52) is installed on the ram (41) and the power rod is connected to the driving helical gear (53). The worm (55) is connected to the ram (41) and one end thereof is connected to the driven helical gear (54). The driving helical gear (53) and the driven helical gear (54) are meshed with each other. A worm gear rack which is matched with the worm (55) is installed on the lifting ram (51).

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