Truss type logistics transfer exchange system

Abstract

A truss type logistics transfer exchange system belongs to the technical field of transfer tools and comprises a truss type logistics trolley and an exchange worktable, and a synchronous rotating shaft is supported on the top surface of a lifting frame through two mounted bearings; symmetrically-distributed mechanical arms are arranged at the two ends of the synchronous rotating shaft correspondingly, connecting rods are hinged between the two symmetrically-distributed mechanical arms and the synchronous rotating shaft, and the mechanical arms are hinged to the bottom of the lifting frame; a hydraulic oil cylinder for driving the synchronous rotating shaft to rotate is arranged on one side of the synchronous rotating shaft; the synchronous rotating shaft is driven by the hydraulic oil cylinder to rotate to drive the connecting rods on the two sides to link the mechanical arm to open and close. The hydraulic oil cylinder guarantees sufficient grabbing force, and the situation that arms are not synchronous is avoided; the workpiece horizontally moves for a long distance along the machine tool body, is matched with the exchange workbench to vertically lift in the truss type logistics trolley and is parallel to the truss type logistics trolley along the machine tool body, so that the position switching of the workpiece between the machine tool body and the machine tool workbench is realized, and the repeated positioning precision of movement is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of transport tools, and in particular to a truss type logistics transport exchange system. Background Art

[0002] With the continuous progress and innovation of aerospace technology, the machining accuracy of aviation parts will develop in the direction of more efficiency, precision and environmental protection. On the one hand, the application of advanced technologies such as CNC technology and intelligent manufacturing technology will further improve machining efficiency and accuracy; on the other hand, the research and development of new tool materials, cutting fluids and machining technologies will also provide better technical support for the machining of aviation parts. The machining accuracy of aviation parts is one of the core elements in the field of aviation manufacturing. By selecting high-quality machining equipment and tools, optimizing machining technology, strengthening measurement and inspection, strengthening employee skills training and improving the quality management system, the machining accuracy of aviation parts can be continuously improved, providing more solid support for the development of the aviation industry.

[0003] As the demand for precision machining of heavy aerospace workpieces increases, the size and load capacity of machine tools have increased significantly, especially when machining super-large aerospace workpieces, the machine tool worktable has become larger and heavier. Such large worktables need to be frequently adjusted during use, and the existing manipulators are mostly designed for the handling of small workpieces, which is difficult to meet the gripping needs of heavy worktables.

[0004] Since the workpieces to be transported in this case are large and cylindrical with irregular structures, the gantry cranes commonly used for transportation are difficult to install in existing factory buildings due to their large footprint. At the same time, the gantry cranes will cause the workpieces to shake during use, and the repeated positioning accuracy before and after the movement cannot be guaranteed, resulting in deviations in subsequent processing. In addition, traditional handling devices often face problems such as insufficient gripping force, asynchrony between arms and low positioning accuracy when transporting such large workbenches, which affects production efficiency and operational safety. Summary of the invention

[0005] In order to solve the problem that the movement of the workpiece to be processed cannot meet the requirements of repeated positioning accuracy, the present invention provides a truss type logistics transfer and exchange system.

[0006] The present invention is achieved through the following technical solutions: A truss-type logistics transfer and exchange system comprises a truss-type logistics trolley and an exchange workbench, wherein the exchange workbench moves along a machine tool bed passing through the truss-type logistics trolley; the truss-type logistics trolley can move parallel to the machine tool bed, and a lifting frame that can be controlled to rise and fall vertically is provided in the truss-type logistics trolley, and a synchronous rotating shaft is supported on the top surface of the lifting frame through two bearings with seats; symmetrically distributed mechanical arms are respectively provided at the two ends of the synchronous rotating shaft, and connecting rods are hinged between the two symmetrically distributed mechanical arms and the synchronous rotating shaft, and the mechanical arms are hinged to the bottom of the lifting frame; a hydraulic cylinder installed on the top surface of the lifting frame and driving the synchronous rotating shaft to rotate is provided on one side of the synchronous rotating shaft; the synchronous rotating shaft is driven by the hydraulic cylinder to rotate to drive the connecting rods on both sides to link the mechanical arms to open and close, and the mechanical arms on both sides close and clamp the exchange workbench and are controlled by the truss-type logistics trolley to rise and fall in the vertical direction and to move parallel to the machine tool bed.

[0007] The mechanical arms on both sides can complete the opening and closing operations synchronously, and the hydraulic cylinder ensures sufficient grasping force to avoid the occurrence of asynchronism between the arms; the workpiece completes a long distance horizontal movement along the machine tool bed, and after being clamped with the exchange workbench, it is vertically lifted and lowered in the truss-type logistics trolley with the lifting frame and can move parallel to the machine tool bed with the truss-type logistics trolley, realizing the position switching of the workpiece between the machine tool bed and the machine tool workbench, reducing the large shaking of the workpiece during movement, and ensuring the repeated positioning accuracy of the movement.

[0008] A further improvement of the present invention is that the upper part of the mechanical arm close to the lifting frame is provided with an avoidance notch matched with the lifting frame; the avoidance notch is provided with a swing arm hinge assembly connected with the lifting frame. The avoidance notch avoids interference between the mechanical arm and the lifting frame during the opening stroke of the mechanical arm.

[0009] A further improvement of the present invention is that a reinforcing ridge is provided on a side of the mechanical arm away from the lifting frame, which helps to strengthen the structural strength of the mechanical arm.

[0010] A further improvement of the present invention is that the aforementioned reinforcing protrusion corresponds to the swing arm hinge assembly.

[0011] A further improvement of the present invention is that the lifting frame is provided with a reinforcing rib plate on the side close to the swing of the mechanical arm, the reinforcing rib plate connects the two mechanical arms, and the reinforcing rib plate is close to the end of the mechanical arm away from the connecting rod. The reinforcing rib plate helps to improve the structural strength between the two mechanical arms on the same side and increase the opening and closing range.

[0012] A further improvement of the present invention is that a lifting pin corresponding to the mechanical arm is provided on the side wall of the exchange workbench; and a lifting hole adapted to the lifting pin is provided on the mechanical arm, which helps to form a simple and reliable connection structure.

[0013] A further improvement of the present invention is that both ends of the synchronous shaft are provided with a transfer plate, and the two connecting rods at the same end of the synchronous shaft are hinged to the transfer plate, and the two hinge points are symmetrical about the center of the circle. The transfer plate helps to increase the rotation range of the two symmetrical connecting rods.

[0014] A further improvement of the present invention is that the connecting rod is a threaded telescopic rod structure, and the clamping accuracy of the robot arm on the exchange workbench can be improved by adjusting the length of the connecting rod itself.

[0015] A further improvement of the present invention is that a proximity switch is provided on the lifting frame, and the proximity switch is used to detect the extreme position of the closing of the mechanical arm.

[0016] A further improvement of the present invention is that a limit block is connected to the bottom of the lifting frame, and the limit block provides anti-collision protection for the mechanical arm in the closed extreme position.

[0017] It can be seen from the above technical scheme that the beneficial effects of the present invention are: the mechanical arms on both sides can complete the opening and closing operations synchronously, the hydraulic cylinder ensures sufficient grasping force, and avoids the occurrence of asynchronism between the arms; the workpiece completes long-distance horizontal movement along the machine tool bed, and after being clamped with the exchange workbench, it is vertically lifted and lowered in the truss-type logistics trolley with the lifting frame and can follow the truss-type logistics trolley to move parallel to the machine tool bed, thereby realizing the position switching of the workpiece between the machine tool bed and the machine tool workbench, reducing the large-scale shaking of the workpiece during the movement, and ensuring the repeated positioning accuracy of the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a first structural schematic diagram of a specific implementation mode of the present invention.

[0020] Figure 2 It is a second structural schematic diagram of a specific implementation mode of the present invention.

[0021] Figure 3 It is a first structural schematic diagram of a robot arm clamping an exchange workbench according to a specific embodiment of the present invention.

[0022] Figure 4 It is a second structural schematic diagram of a robot arm clamping and exchanging workbench according to a specific embodiment of the present invention.

[0023] Figure 5 for Figure 4 The schematic cross-sectional view of the robotic arm clamping exchange workbench at AA is shown.

[0024] In the attached figure: 101, upper beam guide rail; 102, manipulator lifting guide wall; 103, guide wall frame; 201, workbench tray; 202, machine tool bed; 10, water guide trough; 11, lifting frame; 12, exchange workbench; 121, lifting pin; 20, synchronous shaft; 30, robot arm; 301, avoidance gap; 302, reinforced ridge; 303, swing arm hinge assembly; 304, lifting hole; 31, reinforcing rib plate; 32, water collecting box, 40, hydraulic cylinder; 50, seat bearing; 60, adapter plate; 70, connecting rod; 80, proximity switch; 90, limit block. DETAILED DESCRIPTION

[0025] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0026] like Figure 1-5 As shown, a truss-type logistics transfer and exchange system includes a truss-type logistics trolley and an exchange workbench 12, wherein the exchange workbench 12 moves along a machine tool bed 202 passing through the truss-type logistics trolley; the truss-type logistics trolley can move parallel to the machine tool bed 202, and a lifting frame 11 which can be controlled to lift vertically is provided inside the truss-type logistics trolley.

[0027] The truss-type logistics trolley includes an upper crossbeam guide rail 101 arranged in parallel above the machine tool bed 202, and a manipulator lifting guide wall 102 is provided inside the upper crossbeam guide rail 101, which slides along it and controls the vertical lifting of the exchange workbench 12, and the lower end of the manipulator lifting guide wall 102 is connected to a guide wall frame 103; the guide wall frame 103 and the lower part of the manipulator lifting guide wall 102 are enclosed to form a closed frame, which reduces the opening and closing deformation of the manipulator lifting guide wall 102 when controlling the lifting frame 11 to move up and down, and helps to improve the structural strength of the truss-type logistics trolley and the stable state when carrying workpieces.

[0028] A workbench tray 201 capable of carrying the exchange workbench 12 is slidably provided on the machine tool bed 202, and the accuracy of the installation position is ensured by a zero-point positioning system between the exchange workbench 12 and the workbench tray 201, so that the assembly error is guaranteed to be within 0.02mm-0.05mm; the movement of the workbench tray 201 is completed by means of a slide rail, and the repeated positioning accuracy during the movement of the workpiece is ensured by limiting the moving trajectory. The top surface of the lifting frame 11 supports a synchronous rotating shaft 20 through two bearings with seats 50; the two ends of the synchronous rotating shaft 20 are respectively provided with mechanical arms 30 that are symmetrically distributed, and a connecting rod 70 is hinged between the two symmetrically distributed mechanical arms 30 and the synchronous rotating shaft 20, and the mechanical arm 30 is hinged with the bottom of the lifting frame 11; one side of the synchronous rotating shaft 20 is provided with a hydraulic cylinder 40 installed on the top surface of the lifting frame 11 and driving the synchronous rotating shaft 20 to rotate; the synchronous rotating shaft 20 is driven by the hydraulic cylinder 40 to rotate to drive the connecting rods 70 on both sides to link the mechanical arms 30 to open and close, and the mechanical arms 30 on both sides are closed to clamp the exchange workbench 12 and move vertically with the height-adjusted lifting frame 11. The side wall of the exchange workbench 12 is provided with a lifting pin 121 corresponding to the mechanical arm 30; the mechanical arm 30 is provided with a lifting hole 304 adapted to the lifting pin 121; it is helpful to form a simple and reliable connection structure. The two groups of robotic arms 30 can realize synchronous opening and closing operations (that is, the two groups of robotic arms 30 are distributed on both sides of the lifting frame 11 and can complete the synchronous opening angle action on both sides of the lifting frame 11). Under the action of the lifting frame 11, the workpiece is driven to move through the exchange workbench 12. The hydraulic cylinder 40 ensures sufficient grasping force, avoids the occurrence of asynchronism between arms, and ensures the repeated positioning accuracy of the movement.

[0029] The exchange workbench 12 is provided with a positioning groove for fixing the workpiece to be processed, and a set of opposite sides of the exchange workbench 12 are provided with a water guide groove 10 that can correspond to the positioning groove and receive the liquid flowing out of the positioning groove; a water collecting box 32 is commonly connected between the two robotic arms 30 on the same side of the lifting frame 11, and the water collecting box 32 is docked with the end of the water collecting box 32 when the robotic arm 30 and the exchange workbench 12 are clamped; the water collecting box 32 is provided with an internal concave water storage space, and when the robotic arm 30 is in an open state (that is, after the robotic arm 30 is separated from the exchange workbench 12 to a certain angle, the water collecting box 32 is flipped because the overall angle moves with the movement of the robotic arm 30, and the accumulated liquid can flow out), the liquid in the water collecting box 32 can flow out.

[0030] The lifting frame 11 is provided with a proximity switch 80, which is used to detect the closed limit position of the mechanical arm 30. The bottom of the lifting frame 11 is connected to a limit block 90, which provides anti-collision protection for the mechanical arm 30 at the closed limit position.

[0031] Both ends of the synchronous shaft 20 are provided with an adapter plate 60, and the two connecting rods 70 at the same end of the synchronous shaft 20 are hinged to the adapter plate 60, and the two hinge points are symmetrical at the center of the circle. The adapter plate 60 helps to increase the rotation range of the two symmetrical connecting rods 70.

[0032] The connecting rod 70 is a threaded telescopic rod structure. The clamping accuracy of the robot arm 30 on the exchange workbench 12 can be improved by adjusting the length of the connecting rod 70 itself.

[0033] The upper part of the mechanical arm 30 close to the lifting frame 11 is provided with an avoidance notch 301 matched with the lifting frame 11; the avoidance notch 301 is provided with a swing arm hinge assembly 303 connected with the lifting frame 11. The avoidance notch 301 prevents the mechanical arm 30 from interfering with the lifting frame 11 during the opening stroke of the mechanical arm 30.

[0034] A reinforcing ridge 302 is provided on one side of the mechanical arm 30 away from the lifting frame 11 ; the reinforcing ridge 302 corresponds to the swing arm hinge assembly 303 , which helps to strengthen the structural strength of the mechanical arm 30 .

[0035] The lifting frame 11 is provided with a reinforcing rib plate 31 on the swing side close to the mechanical arms 30, the reinforcing rib plate 31 connects the two mechanical arms 30, and the reinforcing rib plate 31 is close to the end of the mechanical arms 30 away from the connecting rod 70. The reinforcing rib plate 31 helps to improve the structural strength between the two mechanical arms 30 on the same side and increase the opening and closing range.

[0036] The truss-type logistics transfer and exchange system described in the present invention has mechanical arms on both sides that can synchronously complete opening and closing operations, and the hydraulic cylinder ensures sufficient grasping force to avoid the occurrence of asynchronism between the arms; the workpiece completes long-distance horizontal movement along the machine tool bed, and after being clamped by the exchange workbench, it is vertically lifted and lowered in the truss-type logistics trolley with the lifting frame and can follow the truss-type logistics trolley for parallel movement along the machine tool bed, thereby realizing the position switching of the workpiece between the machine tool bed and the machine tool workbench, reducing large-scale shaking during the movement of the workpiece, and ensuring the repeated positioning accuracy of the movement.

[0037] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0038] The terms "upper", "lower", "outer side", "inner side", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish the relative relationship in position if they exist, and do not need to be qualitative. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0039] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A truss-type logistics transfer and exchange system, characterized in that: The invention comprises a truss-type logistics trolley and an exchange workbench (12), wherein the exchange workbench (12) moves along a machine tool bed (202) passing through the truss-type logistics trolley; the truss-type logistics trolley can move parallel to the machine tool bed (202), and a lifting frame (11) that can be controlled to lift vertically is provided inside the truss-type logistics trolley, and a synchronous rotating shaft (20) is supported on the top surface of the lifting frame (11) via two seat bearings (50); symmetrically distributed mechanical arms (30) are respectively provided at the two ends of the synchronous rotating shaft (20), and the two symmetrically distributed mechanical arms (30) are connected to the synchronous rotating shaft ( A connecting rod (70) is hinged between the two sides of the lifting frame (11), and the mechanical arm (30) is hinged to the bottom of the lifting frame (11); one side of the synchronous rotating shaft (20) is provided with a hydraulic cylinder (40) installed on the top surface of the lifting frame (11) and driving the synchronous rotating shaft (20) to rotate; the synchronous rotating shaft (20) is driven by the hydraulic cylinder (40) to rotate so as to drive the connecting rods (70) on both sides to link the mechanical arms (30) to open and close, and the mechanical arms (30) on both sides are closed to clamp the exchange workbench (12) and are controlled by the truss-type logistics trolley to rise and fall in the vertical direction and move parallel to the machine tool bed (202).

2. A truss type logistics transfer and exchange system according to claim 1, characterized in that: An upper portion of the mechanical arm (30) close to the lifting frame (11) is provided with an escape notch (301) that matches the lifting frame (11); and a swing arm hinge assembly (303) that is connected to the lifting frame (11) is provided on the escape notch (301).

3. A truss type logistics transfer and exchange system according to claim 2, characterized in that: A reinforcing protrusion (302) is provided on a side of the mechanical arm (30) facing away from the lifting frame (11).

4. A truss type logistics transfer and exchange system according to claim 3, characterized in that: The reinforced raised portion (302) corresponds to the swing arm hinge assembly (303).

5. A truss type logistics transfer and exchange system according to any one of claims 1 to 4, characterized in that: A reinforcing rib plate (31) is provided on the lifting frame (11) at a side close to the swinging side of the mechanical arm (30), the reinforcing rib plate (31) connects the two mechanical arms (30), and the reinforcing rib plate (31) is close to an end of the mechanical arm (30) that is away from the connecting rod (70).

6. A truss type logistics transfer and exchange system according to any one of claims 1 to 4, characterized in that: A lifting pin (121) corresponding to the mechanical arm (30) is provided on the side wall of the exchange workbench (12); and a lifting hole (304) adapted to the lifting pin (121) is provided on the mechanical arm (30).

7. A truss type logistics transfer and exchange system according to any one of claims 1 to 4, characterized in that: Both ends of the synchronous rotating shaft (20) are provided with an adaptor plate (60), and the two connecting rods (70) at the same end of the synchronous rotating shaft (20) are both hinged to the adaptor plate (60), and the two hinge points are symmetrical about the center of the circle.

8. A truss-type logistics transfer and exchange system according to claim 7, characterized in that: The connecting rod (70) is a threaded telescopic rod structure.

9. A truss-type logistics transfer and exchange system according to any one of claims 1 to 4, characterized in that: The lifting frame (11) is provided with a proximity switch (80), and the proximity switch (80) is used to detect the closing limit position of the mechanical arm (30).

10. A truss type logistics transfer and exchange system according to claim 9, characterized in that: The bottom of the lifting frame (11) is connected to a limit block (90), and the limit block (90) provides anti-collision protection for the mechanical arm (30) at a closed extreme position.

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