Frame-type gantry machine and method of using the same

Abstract

The present invention discloses a frame-type gantry machine and a method for using the same, and relates to the technical field of processing equipment. The frame-type gantry machine includes a feeding platform unit, an equipment frame, a transfer platform unit, a manipulator unit, and a control device. The frame-type gantry machine improves the material fixing position at the bottom of the Z-axis manipulator arm, and adds two fixing methods, a pneumatic suction cup and a pneumatic clamp. Through the design of the control device, it is easy to control the pneumatic suction cup and the pneumatic clamp to perform lifting and lowering adjustment or function switching. Therefore, first, the Z-axis manipulator arm is rich in functions and can select a suitable fixing method according to the type of material to perform limited displacement and delivery of the material. It is suitable for a variety of usage scenarios and ensures the stability of the material transfer process. Second, the positions of the pneumatic suction cup and the pneumatic clamp are convenient and flexible to adapt to various types of material transfer and stacking, ensuring that the force points of the material are uniform and the material transfer is stable.

Description

Technical Field

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

[0002] During material processing, frame-type gantry cranes are primarily used for material transfer. This involves moving materials from one location to another for subsequent processing, handling, or storage. Frame-type gantry cranes, with their unique gantry structure and worktable mobility, efficiently accomplish this function.

[0003] At present, during the operation of the frame-type gantry crane, the material needs to be fixed by the robot arm first, and then the material is transferred by the robot arm. Depending on the material, if the surface of the material is rough and uneven and not easy 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 suction 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, only a unified clamping device can 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 equipment operation.

[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 inflexible to use and is prone to uneven force points on the materials, resulting in unstable transportation 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 response to 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 robotic arm, and adds two fixing methods, a pneumatic suction cup and a pneumatic clamp. Through the design of the control device, it is convenient to control the pneumatic suction cup and the pneumatic clamp to perform lifting and lowering adjustment or function switching. Therefore, first, the Z-axis robotic arm is rich in functions and can select a suitable fixing method according to the type of material to perform limited displacement and delivery of the material. It is suitable for a variety of usage scenarios and ensures the stability of the material transfer process; second, the positions of the pneumatic suction cup and the pneumatic clamp are convenient and flexible to adapt to various types of material transfer and stacking, ensuring that the force points of the material are uniform, ensuring stable material transfer, and reducing the risk of equipment operation failure.

[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-type 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 provided on the equipment frame;

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

[0015] A Z-axis robotic arm is provided on the Y-axis mobile platform, and a pneumatic suction cup and a pneumatic gripper are provided at the bottom of the Z-axis robotic 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 supporting bracket is provided on the Z-axis robotic arm;

[0018] A distance support is provided on the bearing bracket;

[0019] A loading rack is arranged on the distance support;

[0020] An installation base is provided on the loading frame;

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

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

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

[0024] A first movable column is slidably connected to the interior of the mounting base and supports 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] an axle seat, arranged on the mounting base;

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

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

[0032] Preferably, the driving mechanism includes:

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

[0034] A drive shaft is provided at an output end of the first motor;

[0035] a worm, disposed on the drive shaft;

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

[0037] The transmission rod is arranged at the axis of the worm gear, and the gear body is provided with an engaging hole for engaging 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 includes:

[0039] A guide rail rod is provided on the distance support;

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

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

[0042] A double-threaded lead screw is provided 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 reinforcement shaft seat for supporting the drive shaft is fixedly connected to the limiting frame, and the worm is rotatably connected to the reinforcement shaft seat.

[0045] Preferably, the transfer platform unit includes:

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

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

[0048] A hydraulic cylinder is provided 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 provided on the equipment frame.

[0050] Preferably, the rotating tube and the gear body are configured to be integrally molded and 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, material is conveyed through a feeding platform unit; the material is conveyed to a loading position of the frame-type gantry machine for subsequent processing;

[0052] Step S2: Start the robot unit to grab the material; control the pneumatic suction cup and pneumatic gripper on the Z-axis robot arm to descend to the appropriate position; choose to use the pneumatic suction cup for adsorption or the pneumatic gripper for gripping according to the shape and size of the material; the cutting and feeding mechanism in the control device ensures that the lifting and lowering movements of the pneumatic suction cup and pneumatic gripper are coordinated and move in opposite directions to meet the grabbing requirements of different materials;

[0053] In step S3, under the coordinated action of the X-axis mobile platform and the Y-axis mobile platform, the Z-axis robot arm moves the grabbed material 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 transfer platform unit's lifting frame is adjusted in height as needed, driven by a hydraulic cylinder and a transmission chain, to accommodate materials of different sizes and processing requirements. After the materials are placed on the lifting frame, powered rollers are used to assist in the movement and positioning of the materials.

[0055] Step S5: Repeat steps S2 to S4 according to processing requirements until all materials have been processed or handled 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 is turned off, and necessary cleaning and maintenance work is carried out to ensure long-term stable operation of the equipment.

[0057] The present invention discloses a frame-type gantry crane 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. The design of the control device facilitates the control of the pneumatic suction cup and pneumatic clamp for 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 delivery of materials. 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 can be easily and flexibly adjusted to adapt to various types of material transfer and stacking, ensuring that the force points of the materials are even, ensuring stable material transfer, and reducing the risk of equipment operation failure.

[0059] 2. The frame-type gantry crane has a simple overall structure of the drive mechanism. The drive 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 actions. 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 of the material.

[0060] 3. The frame-type gantry machine is designed with a spacing adjustment mechanism to facilitate the control of the loading rack adjustment position, thereby adjusting the distance between multiple sets 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, among which 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 switching process of the pneumatic suction cup and the pneumatic gripper. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0063] Figure 1 This is a first perspective diagram of the overall structure of the present invention;

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

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

[0066] Figure 4 Schematic diagram of the bottom structure of the load-bearing bracket of the present invention;

[0067] Figure 5 Schematic diagram of the structure of the spacing adjustment mechanism of the present invention;

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

[0069] Figure 7 Schematic diagram of the structure 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] Figure 9 Schematic diagram of the structure of the gear assembly of the present invention.

[0072] In the figure: 10, robot unit; 101, X-axis moving platform; 102, Y-axis moving platform; 103, Z-axis robot arm; 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 rack; 40, feeding platform unit; 1, load-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] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0074] The embodiment of the present application solves the problem that only specific clamping devices or adsorption devices can be installed on the traditional frame-type gantry machine manipulator by providing a frame-type gantry machine and a method for using the same. If the incoming materials need to be stacked in layers of different types, only a uniform clamping device can be used to clamp the materials. This causes instability in the clamping process when transferring materials with smooth surfaces, increasing the risk of failure during equipment operation. 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 with reference to the accompanying drawings and specific implementation methods.

[0076] Example 1:

[0077] The embodiment of the present invention discloses a frame type gantry machine. Figure 1 To the attached Figure 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 rack 30 and is used for material transfer and carrying; the transfer platform unit 20 includes:

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

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

[0083] The hydraulic cylinder 203 is provided 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, thereby adjusting the lifting and lowering of the materials on the lifting frame 201 and the powered roller 202.

[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 provided 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 gripper 1032 are provided at the bottom of the Z-axis robot arm 103 ;

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

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

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

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

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

[0095] The cutting and feeding mechanism 5 is provided 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;

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

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

[0100] The gear assembly 53 is provided 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, material is conveyed through the feeding platform unit 40; the material is conveyed to the loading position of the frame-type gantry machine for subsequent processing;

[0103] Step S2: Start the robot unit 10 to grab the material; control the pneumatic suction cup 1031 and the pneumatic gripper 1032 on the Z-axis robot arm 103 to descend to the appropriate position; select to use the pneumatic suction cup 1031 for adsorption or the pneumatic gripper 1032 for clamping according to the shape and size of the material; the cutting and feeding mechanism 5 in the control device ensures that the lifting and lowering movements of the pneumatic suction cup 1031 and the pneumatic gripper 1032 are coordinated and move in opposite directions to meet the grabbing requirements of different materials;

[0104] In 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] In step S4, the height of the lifting frame 201 of the transfer platform unit 20 is adjusted as needed, 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.

[0106] Step S5: Repeat steps S2 to S4 according to the processing requirements until all materials have been processed or handled accordingly. During the processing, the transfer action of the pneumatic suction cup 1031 and the pneumatic clamping jaw 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 is turned off, and necessary cleaning and maintenance work is performed to ensure long-term stable operation of the equipment.

[0108] Example 2:

[0109] The embodiment of the present invention discloses a frame type gantry machine. Figure 1 To the attached Figure 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 rack 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 provided 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 gripper 1032 are provided at the bottom of the Z-axis robot arm 103 ;

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

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

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

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

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

[0122] The cutting and feeding mechanism 5 is provided 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;

[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 facilitates, on the one hand, rapid adjustment of 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 facilitates rapid switching of the positions of the pneumatic suction cup 1031 and the pneumatic clamp 1032 to change the way the material is clamped. When the surface of the material is smooth and flat, the pneumatic suction cup 1031 is switched to adsorb and transport the material. When the surface of the material is rough and difficult to adsorb, the pneumatic clamp 1032 is switched to clamp and transport the material. Therefore, it ensures that the manipulator unit 10 has good transfer effect on various materials, the transfer process is stable, and meets the use requirements.

[0125] The cutting and feeding mechanism 5 comprises:

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

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

[0128] The gear assembly 53 is provided 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 easy operation. It adopts the method of meshing the gear assembly 53 and the rack 54, 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, it will drive the first movable column 51 and the second movable column 52 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 includes:

[0132] The shaft seat 531 is provided 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 engaged with the first movable post 51 and the second movable post 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 , thereby enabling the gear body 533 to be rotatably connected to the mounting base 4 .

[0136] The driving mechanism 6 comprises:

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

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

[0139] a worm 63 disposed on the drive shaft 62;

[0140] A worm gear 64 is rotatably connected to the distance 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 for engaging with the transmission rod 65 .

[0142] The overall structure of the driving mechanism 6 is simple. 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 movements.

[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 gear 64 to rotate, the worm gear 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 rack 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 height of the pneumatic suction cup 1031 and the pneumatic clamp 1032 are interchanged, that is, the function switching of the pneumatic suction cup 1031 and the pneumatic clamp 1032 is realized. 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 and lowering of the material.

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

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

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

[0148] The second motor 73 is provided 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 facilitates controlling the position adjustment of the loading rack 3, thereby adjusting the distance between the multiple sets of pneumatic suction cups 1031 and the pneumatic clamping jaws 1032, so that the pneumatic suction cups 1031 and the pneumatic clamping jaws 1032 can conveniently absorb or clamp materials of various sizes, ensuring that the materials are stably stressed during the transfer process and are not easily loosened or fallen 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. 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. As a result, 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, thereby achieving spacing adjustment between multiple sets of pneumatic suction cups 1031 and 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 fixed 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 molded and cast. 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 subjected to stable force when performing height adjustment or function switching.

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

[0157] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A frame type gantry machine, characterized in that: include: A feeding platform unit (40) is used to convey materials to the 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 provided 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: An X-axis moving platform (101) is disposed 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 mobile 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 provided on the Z-axis mechanical arm (103) and is used to support the pneumatic suction cup (1031) and the pneumatic gripper (1032), the control device comprising: A supporting bracket (1) is arranged on the Z-axis mechanical arm (103); A distance support (2) is provided on the bearing bracket (1); A loading rack (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 provided 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; A driving mechanism (6) is provided on the distance support (2) and is used to drive the cutting and feeding mechanism (5) to move; 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 racks (54) respectively arranged on the first movable column (51) and the second movable column (52) and meshing with the gear assembly (53); The gear assembly (53) comprises: A shaft seat (531) is provided on the mounting base (4); A rotating tube (532) is arranged inside the shaft seat (531); A gear body (533) is provided on the rotating tube (532), and the gear body (533) is respectively engaged with the first movable column (51) and the second movable column (52); The driving mechanism (6) comprises: A first motor (61) is arranged on the distance support (2); A drive shaft (62) is provided at the output end of the first motor (61); A worm (63) is provided on the drive shaft (62); a worm wheel (64) rotatably connected to the distance support (2) and meshing with the worm (63); A transmission rod (65) is arranged at the axis of the worm gear (64); the gear body (533) is provided with an engaging hole (534) for engaging with the transmission rod (65); The distance 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: A guide rail rod (71) is provided 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 screw (74) is provided at the output end of the second motor (73) and is threadedly connected to the adjustment block (72); The transfer platform unit (20) includes: A lifting frame (201) is slidably connected to the equipment frame (30); A powered roller (202) is disposed in the lifting frame (201); A hydraulic cylinder (203) is provided at the bottom of the equipment frame (30); A transmission chain (204) is provided 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).

2. A frame type gantry crane according to claim 1, 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).

3. A frame type gantry crane according to claim 2, characterized in that: A reinforcement shaft seat (22) for supporting the drive shaft (62) is fixedly connected to the limiting frame (21), and the worm (63) is rotatably connected to the reinforcement shaft seat (22).

4. A frame type gantry crane according to claim 1, characterized in that: The rotating tube (532) and the gear body (533) are configured to be integrally molded and cast.

5. The method for using a frame-type gantry crane according to any one of claims 1 to 4, 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, and is prepared for subsequent processing; Step S2, starting the manipulator unit (10) to grab the material; controlling the pneumatic suction cup (1031) and the pneumatic gripper (1032) on the Z-axis manipulator (103) to descend to an appropriate position; selecting to use the pneumatic suction cup (1031) for adsorption or the pneumatic gripper (1032) for clamping according to the shape and size of the material; the cutting and feeding mechanism (5) in the control device ensures that the lifting and lowering movements of the pneumatic suction cup (1031) and the pneumatic gripper (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 moving platform (101) and the Y-axis moving platform (102), the Z-axis robot arm (103) carries the grasped material and moves it 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 handled accordingly; during the processing, the transfer action of the pneumatic suction cup (1031) and the pneumatic clamping claw (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 carried out to ensure the long-term stable operation of the equipment.

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