Frame type gantry machine and using method thereof

Abstract

The invention discloses a frame type gantry machine and a using method thereof, and relates to the technical field of machining equipment. The frame type gantry machine comprises a feeding platform unit, an equipment rack, a transfer platform unit, a manipulator unit and a regulation and control device. According to the frame type gantry machine, the material fixing position at the bottom of the Z-axis mechanical arm is improved, two fixing modes of the pneumatic suction cup and the pneumatic clamping jaw are additionally arranged, through the design of the regulating device, the pneumatic suction cup and the pneumatic clamping jaw are conveniently controlled to conduct lifting adjustment or function switching, and therefore the first-axis mechanical arm and the Z-axis mechanical arm are rich in function and high in practicability. Materials can be limited and transferred by selecting a proper fixing mode according to the types of the materials, the device is suitable for various use scenes, and the stability of the material transferring process is ensured; and secondly, the positions of the pneumatic suction cup and the pneumatic clamping jaw can be conveniently and flexibly adjusted, so that the device is suitable for transferring and stacking various types of materials, uniform stress point positions of the materials are ensured, and stable material transferring is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of processing equipment, in particular to a frame-type gantry machine and a use method thereof. Background Art

[0002] In the material processing process, the frame gantry crane is mainly used for material transfer. This link involves moving materials from one location to another for subsequent processing, handling or storage. The frame gantry crane can efficiently achieve this function through its unique gantry structure and worktable movement capabilities.

[0003] At present, during the working process of the frame-type gantry crane, the material needs to be fixed by the mechanical arm first, and then the material is transferred by the mechanical arm. Depending on the material, if the surface of the material is rough and uneven and it is not convenient to adsorb, a clamping device is used for clamping and transfer. If the surface of the material is smooth and flat, a pneumatic adsorption device is usually used for material absorption and transfer. The existing frame-type gantry crane has the following shortcomings:

[0004] First, usually only specific clamping devices or adsorption devices can be installed on the manipulator. If the incoming materials need to be stacked in layers of different varieties, the clamping device can only be used to clamp the materials. This will cause instability in the clamping process when transferring materials with smooth surfaces, increasing the risk of failure during the operation of the equipment.

[0005] Second, after the clamping device or adsorption device is installed, its position is usually relatively fixed, which is not conducive to adjusting the position to adapt to various types of materials. It is not flexible to use and it is easy to cause uneven force points on the materials, thus causing instability in the transfer process.

[0006] In view of the deficiencies in the prior art, the present invention provides a frame-type gantry machine and a method of using the same to solve the above problems. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a frame-type gantry machine and a method for using the same, improves the material fixing position at the bottom of the Z-axis robot arm, and adds two fixing methods, a pneumatic suction cup and a pneumatic clamp. Through the design of the regulating device, it is convenient to control the pneumatic suction cup and the pneumatic clamp to perform lifting and lowering adjustment or function switching. Therefore, firstly, the Z-axis robot arm is rich in functions and can select a suitable fixing method according to the type of material to perform limited displacement and transport of the material, which is suitable for a variety of usage scenarios and ensures the stability of the material transfer process; secondly, the positions of the pneumatic suction cup and the pneumatic clamp are convenient and flexibly adjusted to adapt to various types of material transfer and stacking, thereby ensuring that the force points of the materials are uniform, ensuring the stability of material transfer, and reducing the risk of failure in equipment operation.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: A frame-type gantry machine includes a feeding platform unit, an equipment frame, a transfer platform unit, a manipulator unit and a control device;

[0009] The feeding platform unit is used to convey materials to the loading position of the frame gantry machine;

[0010] The equipment frame is arranged at the position of the feeding platform unit and is used to support various structures of the frame-type gantry machine;

[0011] The transfer platform unit is arranged in the equipment frame and is used for material transfer and carrying;

[0012] The manipulator unit is arranged on the equipment frame and is used to transfer materials from the feeding platform unit to the transfer platform unit. The manipulator unit includes:

[0013] An X-axis moving platform is arranged on the equipment frame;

[0014] A Y-axis moving platform is arranged on the X-axis moving platform;

[0015] A Z-axis mechanical arm is arranged on the Y-axis moving platform, and a pneumatic suction cup and a pneumatic clamp are arranged at the bottom of the Z-axis mechanical arm;

[0016] A control device is provided on the Z-axis robot arm and is used to support the pneumatic suction cup and the pneumatic gripper, and the control device includes:

[0017] A bearing bracket is arranged on the Z-axis mechanical arm;

[0018] A distance support, arranged on the bearing bracket;

[0019] A loading frame, arranged on the distance support;

[0020] A mounting base is arranged on the loading frame;

[0021] The cutting and feeding mechanism is arranged on the mounting base and is used to control the lifting and lowering of the pneumatic suction cup and the pneumatic clamping claw so that the pneumatic suction cup and the pneumatic clamping claw move in opposite directions;

[0022] The driving mechanism is arranged on the distance support and is used for driving the cutting and feeding mechanism to move.

[0023] Preferably, the cutting and feeding mechanism comprises:

[0024] A first movable column, slidably connected to the interior of the mounting base and supporting the pneumatic suction cup;

[0025] A second movable column, slidably connected to the interior of the mounting base and supporting the pneumatic clamping jaws;

[0026] A gear assembly, disposed on the mounting base;

[0027] A plurality of racks are respectively arranged on the first movable column and the second movable column and meshed with the gear assembly.

[0028] Preferably, the gear assembly comprises:

[0029] A shaft seat, arranged on the mounting base;

[0030] A rotating tube, arranged inside the shaft seat;

[0031] The gear body is arranged on the rotating tube, and the gear body is respectively meshed with the first movable column and the second movable column.

[0032] Preferably, the driving mechanism comprises:

[0033] A first motor is arranged on the distance support;

[0034] A driving shaft, arranged at an output end of the first motor;

[0035] A worm, disposed on the driving shaft;

[0036] A worm wheel, rotatably connected to the spacer support and meshing with the worm;

[0037] The transmission rod is arranged at the axis of the worm wheel, and the gear body is provided with an engaging hole which is engaged with the transmission rod.

[0038] Preferably, the distance support is provided with a distance adjustment mechanism for adjusting the position of the loading rack, and the distance adjustment mechanism comprises:

[0039] A guide rail rod, arranged on the distance support;

[0040] An adjusting block is arranged on the guide rail and fixedly connected to the loading frame;

[0041] A second motor is arranged on the distance support;

[0042] A double-threaded lead screw is arranged at the output end of the second motor and is threadedly connected to the adjusting block.

[0043] Preferably, a limiting frame for supporting the transmission rod is fixedly connected to the distance support, and the transmission rod is rotatably connected to the limiting frame.

[0044] Preferably, a reinforced shaft seat for supporting the driving shaft is fixedly connected to the limiting frame, and the worm is rotatably connected to the reinforced shaft seat.

[0045] Preferably, the transfer platform unit includes:

[0046] A lifting frame, slidably connected to the equipment rack;

[0047] A powered ground roller, disposed in the lifting frame;

[0048] A hydraulic cylinder is arranged at the bottom of the equipment frame;

[0049] A transmission chain is arranged between the output end of the hydraulic cylinder and the lifting frame, and a sprocket for supporting the transmission chain is arranged on the equipment frame.

[0050] Preferably, the rotating tube and the gear body are configured to be integrally cast.

[0051] A second aspect of the present invention provides a method for using a frame-type gantry machine, the method comprising the following steps: Step S1, the material is conveyed through a feeding platform unit; the material is conveyed to a loading position of the frame-type gantry machine, and is prepared for subsequent processing;

[0052] Step S2, start the manipulator unit to grab the material; control the pneumatic suction cup and the pneumatic gripper on the Z-axis manipulator to descend to an appropriate position; choose to use the pneumatic suction cup for adsorption or the pneumatic gripper for clamping according to the shape and size of the material; the cutting and feeding mechanism in the control device will ensure that the lifting and lowering actions of the pneumatic suction cup and the pneumatic gripper are coordinated and move in opposite directions to meet the grabbing requirements of different materials;

[0053] Step S3, under the coordinated action of the X-axis mobile platform and the Y-axis mobile platform, the Z-axis robot carries the grasped material and moves to the top of the transfer platform unit; then, the pneumatic suction cup or pneumatic gripper is controlled to release the material and place it on the transfer platform unit;

[0054] Step S4, the lifting frame of the transfer platform unit adjusts its height as required, and is driven and adjusted by a hydraulic cylinder and a transmission chain to adapt to materials of different sizes and processing requirements; after the material is placed on the lifting frame, a powered roller is used to assist in the movement and positioning of the material;

[0055] Step S5, repeating steps S2 to S4 according to processing requirements until all materials have been processed or processed accordingly; during the processing, the transfer action of the pneumatic suction cup and the pneumatic gripper is flexibly adjusted by the control device to adapt to different processing requirements and material characteristics;

[0056] Step S6, after processing is completed, the material is taken out from the transfer platform unit for subsequent processing or quality inspection; at the same time, the power supply of the frame gantry machine and related equipment are turned off, and necessary cleaning and maintenance work is performed to ensure the long-term stable operation of the equipment.

[0057] The present invention discloses a frame-type gantry machine and a method for using the same, which have the following beneficial effects:

[0058] 1. The frame-type gantry machine improves the material fixing position at the bottom of the Z-axis robot arm, and adds two fixing methods: pneumatic suction cup and pneumatic clamp. Through the design of the control device, it is easy to control the pneumatic suction cup and pneumatic clamp to perform lifting and lowering adjustment or function switching. Therefore, first, the Z-axis robot arm is rich in functions and can select the appropriate fixing method according to the type of material to perform limited displacement and transportation of the material. It is suitable for a variety of usage scenarios and ensures the stability of the material transfer process; second, the position of the pneumatic suction cup and pneumatic clamp is convenient and flexible to adapt to various types of material transfer and stacking, ensuring that the force points of the material are uniform, ensuring the stability of material transfer, and reducing the risk of equipment operation failure.

[0059] 2. The frame-type gantry crane has a simple overall structure of the driving mechanism. The driving mechanism is used to drive the gear body to rotate, and then control the first movable column and the second movable column to perform lifting and lowering movements. The number of rotations of the first motor determines the function of the cutting and feeding mechanism. Usually, when the output shaft of the first motor rotates 50 times, the height of the pneumatic suction cup and the pneumatic clamp is interchangeable, that is, the function switching of the pneumatic suction cup and the pneumatic clamp is realized. When the number of rotations of the output shaft of the first motor is between 0 and 25 times, the pneumatic suction cup and the pneumatic clamp are controlled to rise and fall. Therefore, when the pneumatic suction cup or the pneumatic clamp adsorbs or clamps the material, it is convenient to control the lifting and lowering of the material.

[0060] 3. The frame-type gantry machine is designed with a spacing adjustment mechanism to facilitate the control of the loading frame adjustment position, thereby adjusting the distance between multiple groups of pneumatic suction cups and pneumatic grippers, so that the pneumatic suction cups and pneumatic grippers can easily adsorb or clamp materials of various models and sizes, ensuring that the materials are stably stressed during the transfer process and are not easy to loosen or fall off.

[0061] 4. In the frame-type gantry machine, during the movement of the cutting and feeding mechanism, the first movable column, the second movable column, the gear assembly and the rack move synchronously, wherein the shaft seat, the rotating tube and the gear body move synchronously. Due to the interlocking design of the interlocking hole and the transmission rod, the gear body slides along the transmission rod. Therefore, when the transmission rod rotates subsequently, it will still drive the gear body to rotate. Stable transmission and adaptation are formed between the cutting and feeding mechanism, the driving mechanism and the spacing adjustment mechanism, ensuring the stability of the device operation process, thereby achieving stable control of the lifting or position function switching process of the pneumatic suction cup and the pneumatic clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art 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.

[0063] Figure 1 This is a first viewing angle of the overall structural diagram of the present invention;

[0064] Figure 2 This is a second viewing angle of the overall structural schematic diagram of the present invention;

[0065] Figure 3 This is a disassembly diagram of the Z-axis robot arm of the present invention;

[0066] Figure 4 It is a schematic diagram of the bottom structure of the load-bearing bracket of the present invention;

[0067] Figure 5 It is a structural schematic diagram of the spacing adjustment mechanism of the present invention;

[0068] Figure 6 It is a structural schematic diagram of the reinforced shaft seat of the present invention;

[0069] Figure 7 It is a structural schematic diagram of the driving mechanism of the present invention;

[0070] Figure 8 It is a structural schematic diagram of the cutting and feeding mechanism of the present invention;

[0071] Fig. 9 It is a schematic structural diagram of the gear assembly of the present invention.

[0072] In the figure: 10, manipulator unit; 101, X-axis moving platform; 102, Y-axis moving platform; 103, Z-axis manipulator; 1031, pneumatic suction cup; 1032, pneumatic gripper; 20, transfer platform unit; 201, lifting frame; 202, power roller; 203, hydraulic cylinder; 204, transmission chain; 30, equipment frame; 40, feeding platform unit; 1, bearing bracket; 2, fixed distance support; 21, limit frame; 22, reinforced shaft seat; 3, loading Frame; 4. Mounting base; 5. Cutting and feeding mechanism; 51. First movable column; 52. Second movable column; 53. Gear assembly; 531. Shaft seat; 532. Rotating tube; 533. Gear body; 534. Fitting hole; 54. Rack; 6. Driving mechanism; 61. First motor; 62. Driving shaft; 63. Worm; 64. Worm wheel; 65. Transmission rod; 7. Spacing adjustment mechanism; 71. Guide rod; 72. Adjustment block; 73. Second motor; 74. Double-threaded screw. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] The embodiment of the present application provides a frame-type gantry machine and a method for using the same, thereby solving the problem that only specific clamping devices or adsorption devices can be installed on the manipulator of a traditional frame-type gantry machine. If incoming materials need to be stacked in layers of different types, only a clamping device can be used to clamp the materials. This causes instability in the clamping process when transferring materials with smooth surfaces, thereby increasing the risk of failure during the operation of the equipment. After the clamping device or adsorption device is installed, its position is usually relatively fixed, which is not conducive to adjusting the position to adapt to various types of materials. It is inflexible to use and is prone to uneven force points on the materials, thereby leading to an unstable transfer process.

[0075] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0076] Embodiment 1:

[0077] The embodiment of the present invention discloses a frame type gantry machine. Figure 1 To Attachment Fig. 9 As shown, it includes a feeding platform unit 40, an equipment frame 30, a transfer platform unit 20, a manipulator unit 10 and a control device;

[0078] The feeding platform unit 40 is used to convey materials to the loading position of the frame-type gantry machine;

[0079] The equipment frame 30 is provided with a feeding platform unit 40 and is used to support various structures of the frame-type gantry machine;

[0080] The transfer platform unit 20 is disposed in the equipment frame 30 and is used for material transfer and carrying; the transfer platform unit 20 includes:

[0081] A lifting frame 201 is slidably connected to the equipment frame 30;

[0082] The powered ground roller 202 is disposed in the lifting frame 201;

[0083] The hydraulic cylinder 203 is arranged at the bottom of the equipment frame 30;

[0084] The transmission chain 204 is arranged between the output end of the hydraulic cylinder 203 and the lifting frame 201 , and a sprocket for supporting the transmission chain 204 is provided on the equipment frame 30 .

[0085] The transfer platform unit 20 places the materials through the lifting frame 201 and the powered roller 202 as a whole. The hydraulic cylinder 203 drives the transmission chain 204 to move, and the transmission chain 204 drives the lifting frame 201 to slide along the equipment frame 30, so that the materials on the lifting frame 201 and the powered roller 202 can be raised and lowered.

[0086] The manipulator unit 10 is disposed on the equipment frame 30 and is used to transfer materials from the feeding platform unit 40 to the transfer platform unit 20. The manipulator unit 10 includes:

[0087] The X-axis moving platform 101 is disposed on the equipment frame 30;

[0088] The Y-axis moving platform 102 is disposed on the X-axis moving platform 101;

[0089] The Z-axis robot arm 103 is disposed on the Y-axis moving platform 102, and a pneumatic suction cup 1031 and a pneumatic clamp 1032 are provided at the bottom of the Z-axis robot arm 103;

[0090] The control device is arranged on the Z-axis robot arm 103 and is used to carry the pneumatic suction cup 1031 and the pneumatic clamp 1032. The control device includes:

[0091] The support bracket 1 is arranged on the Z-axis robot arm 103;

[0092] The distance support 2 is arranged on the bearing bracket 1;

[0093] The loading frame 3 is arranged on the distance support 2;

[0094] A mounting base 4 is arranged on the loading frame 3;

[0095] The cutting and feeding mechanism 5 is arranged on the mounting base 4 and is used to control the lifting and lowering of the pneumatic suction cup 1031 and the pneumatic clamping jaw 1032 so that the pneumatic suction cup 1031 and the pneumatic clamping jaw 1032 move in opposite directions;

[0096] The driving mechanism 6 is arranged on the distance support 2 and is used to drive the cutting and feeding mechanism 5 to move.

[0097] The cutting and feeding mechanism 5 comprises:

[0098] A first movable column 51 is slidably connected to the inside of the mounting base 4 and supports the pneumatic suction cup 1031;

[0099] A second movable column 52 is slidably connected to the inside of the mounting base 4 and supports the pneumatic clamp 1032;

[0100] The gear assembly 53 is arranged on the mounting base 4;

[0101] A plurality of racks 54 are respectively disposed on the first movable column 51 and the second movable column 52 and mesh with the gear assembly 53 .

[0102] A second aspect of the present invention provides a method for using a frame-type gantry machine, the method comprising the following steps: Step S1, the material is conveyed through the feeding platform unit 40; the material is conveyed to the loading position of the frame-type gantry machine, ready for subsequent processing;

[0103] Step S2, start the manipulator unit 10 to grab the material; control the pneumatic suction cup 1031 and the pneumatic clamp 1032 on the Z-axis manipulator 103 to descend to a proper position; according to the shape and size of the material, choose to use the pneumatic suction cup 1031 for adsorption or the pneumatic clamp 1032 for clamping; the cutting and feeding mechanism 5 in the control device will ensure that the lifting and lowering actions of the pneumatic suction cup 1031 and the pneumatic clamp 1032 are coordinated and move in opposite directions to meet the grabbing requirements of different materials;

[0104] Step S3, under the coordinated action of the X-axis mobile platform 101 and the Y-axis mobile platform 102, the Z-axis robot arm 103 moves the grabbed material to the top of the transfer platform unit 20; then, the pneumatic suction cup 1031 or the pneumatic gripper 1032 is controlled to release the material and place it on the transfer platform unit 20;

[0105] Step S4, the lifting frame 201 of the transfer platform unit 20 adjusts the height as needed, and is driven and adjusted by the hydraulic cylinder 203 and the transmission chain 204 to adapt to materials of different sizes and processing requirements; after the material is placed on the lifting frame 201, the powered roller 202 is used to assist in the movement and positioning of the material;

[0106] Step S5, repeating steps S2 to S4 according to processing requirements until all materials have been processed or processed accordingly; during the processing, the transfer action of the pneumatic suction cup 1031 and the pneumatic clamp 1032 is flexibly adjusted by the control device to adapt to different processing requirements and material characteristics;

[0107] Step S6, after processing is completed, the material is taken out from the transfer platform unit 20 for subsequent processing or quality inspection; at the same time, the power supply of the frame gantry machine and related equipment are turned off, and necessary cleaning and maintenance work is performed to ensure the long-term stable operation of the equipment.

[0108] Embodiment 2:

[0109] The embodiment of the present invention discloses a frame type gantry machine. Figure 1 To Attachment Fig. 9 As shown, it includes a feeding platform unit 40, an equipment frame 30, a transfer platform unit 20, a manipulator unit 10 and a control device;

[0110] The feeding platform unit 40 is used to convey materials to the loading position of the frame-type gantry machine;

[0111] The equipment frame 30 is provided with a feeding platform unit 40 and is used to support various structures of the frame-type gantry machine;

[0112] The transfer platform unit 20 is disposed in the equipment frame 30 and is used for material transfer and carrying;

[0113] The manipulator unit 10 is disposed on the equipment frame 30 and is used to transfer materials from the feeding platform unit 40 to the transfer platform unit 20. The manipulator unit 10 includes:

[0114] The X-axis moving platform 101 is disposed on the equipment frame 30;

[0115] The Y-axis moving platform 102 is disposed on the X-axis moving platform 101;

[0116] The Z-axis robot arm 103 is disposed on the Y-axis moving platform 102, and a pneumatic suction cup 1031 and a pneumatic clamp 1032 are provided at the bottom of the Z-axis robot arm 103;

[0117] The control device is arranged on the Z-axis robot arm 103 and is used to carry the pneumatic suction cup 1031 and the pneumatic clamp 1032. The control device includes:

[0118] The support bracket 1 is arranged on the Z-axis robot arm 103;

[0119] The distance support 2 is arranged on the bearing bracket 1;

[0120] The loading frame 3 is arranged on the distance support 2;

[0121] A mounting base 4 is arranged on the loading frame 3;

[0122] The cutting and feeding mechanism 5 is arranged on the mounting base 4 and is used to control the lifting and lowering of the pneumatic suction cup 1031 and the pneumatic clamping jaw 1032 so that the pneumatic suction cup 1031 and the pneumatic clamping jaw 1032 move in opposite directions;

[0123] The driving mechanism 6 is arranged on the distance support 2 and is used to drive the cutting and feeding mechanism 5 to move.

[0124] Through the design of the cutting and feeding mechanism 5 and the driving mechanism 6, the control device is convenient for quickly adjusting the height of the pneumatic suction cup 1031 and the pneumatic clamp 1032 to realize the lifting and lowering action of the pneumatic suction cup 1031 and the pneumatic clamp 1032. On the other hand, it is convenient for quickly switching the positions of the pneumatic suction cup 1031 and the pneumatic clamp 1032 to change the clamping method of the material. When the surface of the material is smooth and flat, the pneumatic suction cup 1031 is switched to adsorb and transfer the material. When the surface of the material is rough and difficult to adsorb, the pneumatic clamp 1032 is switched to clamp and transfer the material. Therefore, it is ensured that the manipulator unit 10 has a good transfer effect on various materials, the transfer process is stable, and the use requirements are met.

[0125] The cutting and feeding mechanism 5 comprises:

[0126] A first movable column 51 is slidably connected to the inside of the mounting base 4 and supports the pneumatic suction cup 1031;

[0127] A second movable column 52 is slidably connected to the inside of the mounting base 4 and supports the pneumatic clamp 1032;

[0128] The gear assembly 53 is arranged on the mounting base 4;

[0129] A plurality of racks 54 are respectively disposed on the first movable column 51 and the second movable column 52 and mesh with the gear assembly 53 .

[0130] The cutting and feeding mechanism 5 has a simple structure, stable operation and convenient operation. The gear assembly 53 and the rack 54 are meshed, so that the first movable column 51 and the second movable column 52 are both arranged on both sides of the gear assembly 53. When the gear body 533 in the gear assembly 53 rotates, the first movable column 51 and the second movable column 52 will be driven to move in opposite directions, thereby flexibly realizing the height lifting or function switching of the pneumatic suction cup 1031 and the pneumatic clamp 1032.

[0131] The gear assembly 53 comprises:

[0132] The shaft seat 531 is arranged on the mounting base 4;

[0133] The rotating tube 532 is disposed inside the shaft seat 531;

[0134] The gear body 533 is disposed on the rotating tube 532 , and the gear body 533 is meshed with the first movable column 51 and the second movable column 52 respectively.

[0135] The gear assembly 53 has a simple structure and stable operation. The shaft seat 531 provides support for the rotating tube 532 , so that the gear body 533 is rotatably connected to the mounting base 4 .

[0136] The driving mechanism 6 comprises:

[0137] The first motor 61 is arranged on the distance support 2;

[0138] A driving shaft 62 is provided at an output end of the first motor 61;

[0139] A worm 63 is disposed on the driving shaft 62;

[0140] A worm wheel 64 is rotatably connected to the spacer support 2 and meshes with the worm 63;

[0141] The transmission rod 65 is disposed at the axis of the worm gear 64 , and the gear body 533 is provided with an engaging hole 534 engaged with the transmission rod 65 .

[0142] The overall structure of the driving mechanism 6 is simple, and the driving mechanism 6 is used to drive the gear body 533 to rotate, thereby controlling the first movable column 51 and the second movable column 52 to perform lifting actions;

[0143] The driving mechanism 6 is powered by the first motor 61. When the first motor 61 is working, it drives the driving shaft 62 to rotate, the driving shaft 62 drives the worm 63 to rotate, the worm 63 drives the worm wheel 64 to rotate, the worm wheel 64 drives the transmission rod 65 to rotate, the transmission rod 65 drives the gear body 533 to rotate, the gear body 533 drives the rotating tube 532 to rotate along the shaft seat 531, and at the same time, the gear body 533 drives the racks 54 on the first movable column 51 and the second movable column 52 to move, thereby driving the first movable column 51 and the second movable column 52 to move in opposite directions.

[0144] The number of revolutions of the first motor 61 determines the function of the cutting and feeding mechanism 5. Usually, when the output shaft of the first motor 61 rotates 50 times, the heights of the pneumatic suction cup 1031 and the pneumatic clamp 1032 are interchanged, that is, the functions of the pneumatic suction cup 1031 and the pneumatic clamp 1032 are switched. When the number of revolutions of the output shaft of the first motor 61 is between 0 and 25, the pneumatic suction cup 1031 and the pneumatic clamp 1032 are controlled to rise and fall. Therefore, when the pneumatic suction cup 1031 or the pneumatic clamp 1032 adsorbs or clamps the material, it is convenient to control the lifting of the material.

[0145] The spacing support 2 is provided with a spacing adjustment mechanism 7 for adjusting the position of the loading frame 3, and the spacing adjustment mechanism 7 includes:

[0146] The guide rail 71 is arranged on the fixed distance support 2;

[0147] An adjusting block 72 is disposed on the guide rail 71 and fixedly connected to the loading frame 3;

[0148] The second motor 73 is arranged on the distance support 2;

[0149] The double-threaded screw 74 is disposed at the output end of the second motor 73 and is threadedly connected to the adjustment block 72 .

[0150] The spacing adjustment mechanism 7 is convenient for controlling the position adjustment of the loading frame 3, thereby adjusting the distance between the multiple sets of pneumatic suction cups 1031 and the pneumatic clamps 1032, so that the pneumatic suction cups 1031 and the pneumatic clamps 1032 can conveniently adsorb or clamp materials of various sizes, ensuring that the materials are stably stressed during the transfer process and are not easy to loosen or fall off;

[0151] The spacing adjustment mechanism 7 is powered by the second motor 73. When the second motor 73 is working, it drives the double-threaded screw 74 to rotate, and the double-threaded screw 74 drives the adjustment block 72 to slide along the guide rod 71. The adjustment block 72 drives the loading frame 3 to move, so that the loading frame 3 drives the mounting base 4, the cutting and feeding mechanism 5, the pneumatic suction cup 1031 and the pneumatic clamping jaws 1032 to move as a whole, so as to achieve the spacing adjustment between the multiple groups of pneumatic suction cups 1031 and the pneumatic clamping jaws 1032;

[0152] During the movement of the cutting and feeding mechanism 5, the first movable column 51, the second movable column 52, the gear assembly 53 and the rack 54 move synchronously, wherein the shaft seat 531, the rotating tube 532 and the gear body 533 move synchronously. Due to the interlocking design of the interlocking hole 534 and the transmission rod 65, the gear body 533 slides along the transmission rod 65. Therefore, when the transmission rod 65 rotates subsequently, it will still drive the gear body 533 to rotate, thereby realizing the control of the lifting or position function switching of the pneumatic suction cup 1031 and the pneumatic clamp 1032.

[0153] A limit frame 21 for supporting the transmission rod 65 is fixedly connected to the distance support 2. The transmission rod 65 is rotatably connected to the limit frame 21. The limit frame 21 provides lateral support for the transmission rod 65, ensuring that the transmission rod 65 is stably stressed and not prone to loosening or shaking.

[0154] A reinforced shaft seat 22 for supporting the drive shaft 62 is fixedly connected to the limit frame 21, and the worm 63 is rotatably connected to the reinforced shaft seat 22. The reinforced shaft seat 22 provides lateral support for the drive shaft 62, ensuring that the force on the drive shaft 62 is stable and not easy to loosen or shake.

[0155] The rotating tube 532 and the gear body 533 are configured to be integrally cast, and the integral casting ensures good strength of the rotating tube 532 and the gear body 533 , so that the pneumatic suction cup 1031 and the pneumatic clamp 1032 are stably stressed during height adjustment or function switching.

[0156] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0157] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A frame type gantry machine, characterized in that: include: A material feeding platform unit (40), which is used to convey materials to the material loading position of the frame-type gantry machine; An equipment frame (30) is arranged at the position of the feeding platform unit (40) and is used to support various structures of the frame-type gantry machine; A transfer platform unit (20) is arranged in the equipment frame (30) and is used for material transfer and carrying; A manipulator unit (10) is arranged on the equipment frame (30) and is used to transfer materials from the feeding platform unit (40) to the transfer platform unit (20), and the manipulator unit (10) comprises: An X-axis moving platform (101) is arranged on the equipment frame (30); A Y-axis moving platform (102) is arranged on the X-axis moving platform (101); A Z-axis mechanical arm (103) is arranged on the Y-axis moving platform (102), and a pneumatic suction cup (1031) and a pneumatic clamp (1032) are provided at the bottom of the Z-axis mechanical arm (103); A control device is arranged on the Z-axis mechanical arm (103) and is used to support the pneumatic suction cup (1031) and the pneumatic clamp (1032), the control device comprising: A bearing support (1) is arranged on the Z-axis mechanical arm (103); A distance support (2) is arranged on the bearing bracket (1); A loading frame (3) is arranged on the distance support (2); A mounting base (4) is arranged on the loading frame (3); A cutting and feeding mechanism (5) is arranged on the mounting base (4) and is used to control the lifting and lowering of the pneumatic suction cup (1031) and the pneumatic clamping claw (1032), so that the pneumatic suction cup (1031) and the pneumatic clamping claw (1032) move in opposite directions; The driving mechanism (6) is arranged on the distance support (2) and is used to drive the cutting and feeding mechanism (5) to move.

2. A frame type gantry machine according to claim 1, characterized in that: The cutting and feeding mechanism (5) comprises: A first movable column (51) is slidably connected to the interior of the mounting base (4) and supports the pneumatic suction cup (1031); A second movable column (52) is slidably connected to the interior of the mounting base (4) and supports the pneumatic clamp (1032); A gear assembly (53) is arranged on the mounting base (4); A plurality of groups of racks (54) are respectively arranged on the first movable column (51) and the second movable column (52) and mesh with the gear assembly (53).

3. A frame type gantry machine according to claim 2, characterized in that: The gear assembly (53) comprises: A shaft seat (531) is arranged on the mounting base (4); A rotating tube (532) is arranged inside the shaft seat (531); The gear body (533) is arranged on the rotating tube (532), and the gear body (533) is respectively meshed with the first movable column (51) and the second movable column (52).

4. A frame type gantry machine according to claim 3, characterized in that: The driving mechanism (6) comprises: A first motor (61) is arranged on the distance support (2); A driving shaft (62) is arranged at an output end of the first motor (61); A worm (63) disposed on the driving shaft (62); A worm wheel (64) rotatably connected to the distance support (2) and meshing with the worm (63); The transmission rod (65) is arranged at the axis of the worm wheel (64), and the gear body (533) is provided with an engaging hole (534) engaged with the transmission rod (65).

5. A frame type gantry machine according to claim 4, characterized in that: The distance support (2) is provided with a distance adjustment mechanism (7) for adjusting the position of the loading frame (3), and the distance adjustment mechanism (7) comprises: A guide rail rod (71) is arranged on the distance support (2); An adjusting block (72) is disposed on the guide rail rod (71) and is fixedly connected to the loading frame (3); A second motor (73) is arranged on the distance support (2); A double-threaded lead screw (74) is arranged at the output end of the second motor (73) and is threadedly connected to the adjustment block (72).

6. A frame type gantry machine according to claim 4, characterized in that: A limiting frame (21) for supporting the transmission rod (65) is fixedly connected to the distance support (2), and the transmission rod (65) is rotatably connected to the limiting frame (21).

7. A frame type gantry machine according to claim 6, characterized in that: A reinforcing shaft seat (22) for supporting the driving shaft (62) is fixedly connected to the limiting frame (21), and the worm (63) is rotatably connected to the reinforcing shaft seat (22).

8. The frame type gantry machine according to claim 1, characterized in that: The transfer platform unit (20) comprises: A lifting frame (201) slidably connected to the equipment frame (30); A powered ground roller (202) disposed in the lifting frame (201); A hydraulic cylinder (203) is arranged at the bottom of the equipment frame (30); A transmission chain (204) is arranged between the output end of the hydraulic cylinder (203) and the lifting frame (201), and a sprocket for supporting the transmission chain (204) is provided on the equipment frame (30).

9. The frame type gantry machine according to claim 3, characterized in that: The rotating tube (532) and the gear body (533) are configured to be integrally molded and cast.

10. A method for using a frame-type gantry machine according to any one of claims 1 to 9, characterized in that: The method of use comprises the following steps: step S1, the material is transported through the feeding platform unit (40); the material is transported to the loading position of the frame-type gantry machine to prepare for subsequent processing; Step S2, start the manipulator unit (10) to grab the material; control the pneumatic suction cup (1031) and the pneumatic clamp (1032) on the Z-axis manipulator (103) to descend to an appropriate position; select to use the pneumatic suction cup (1031) for adsorption or the pneumatic clamp (1032) for clamping according to the shape and size of the material; the cutting and feeding mechanism (5) in the control device will ensure that the lifting and lowering actions of the pneumatic suction cup (1031) and the pneumatic clamp (1032) are coordinated and move in opposite directions to meet the grabbing requirements of different materials; Step S3, under the coordinated action of the X-axis mobile platform (101) and the Y-axis mobile platform (102), the Z-axis robot arm (103) carries the grasped material and moves to the top of the transfer platform unit (20); then, the pneumatic suction cup (1031) or the pneumatic gripper (1032) is controlled to release the material and place it on the transfer platform unit (20); Step S4, the height of the lifting frame (201) of the transfer platform unit (20) is adjusted as needed, and the adjustment is driven by the hydraulic cylinder (203) and the transmission chain (204) to adapt to materials of different sizes and processing requirements; after the material is placed on the lifting frame (201), the powered roller (202) is used to assist in the movement and positioning of the material; Step S5, repeating steps S2 to S4 according to processing requirements until all materials have been processed or processed accordingly; during the processing, the transfer action of the pneumatic suction cup (1031) and the pneumatic clamp (1032) is flexibly adjusted by the control device to adapt to different processing requirements and material characteristics; Step S6, after the processing is completed, the material is taken out from the transfer platform unit (20) for subsequent processing or quality inspection; at the same time, the power supply of the frame gantry machine and related equipment is turned off, and necessary cleaning and maintenance work is performed to ensure the long-term stable operation of the equipment.

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