Feeding and discharging system of truss robot

Abstract

The invention relates to the technical field of plate feeding and discharging, in particular to a feeding and discharging system of a truss robot, which comprises a truss and a gripper, the truss comprises a transverse driving device, a longitudinal driving device is arranged at the top of the transverse driving device, and a vertical driving device is arranged at one end of the longitudinal driving device. The bottom of the vertical driving device is connected with the gripper; the gripper comprises a square block, the square block is connected with the bottom of the vertical driving device, electric driving rods are arranged on the periphery of the square block, and side plates are arranged at the ends of the four sets of electric driving rods respectively. Before a plate is grabbed, the positions of an upper sliding rod and a lower sliding rod are adjusted and controlled through four sets of electric driving rods in advance according to the size of the plate, the suction cup assemblies located at the four corners correspond to the four corners of the plate, and after adjustment and control, all the suction cup assemblies can be evenly distributed on the surface of the plate; and therefore, the plate grabbing stability of the suction cup assembly is improved.

Description

Technical Field

[0001] The invention relates to the technical field of plate loading and unloading, and in particular to a loading and unloading system of a truss robot. Background Art

[0002] With the rapid development of automation technology and industrial robot applications, truss robots, as a type of efficient and flexible handling and assembly equipment, play an increasingly important role in modern manufacturing. Especially in large-scale production and processing industries, such as automobile manufacturing, electronic assembly, and building material processing, truss robots are widely used in processes such as sheet material handling, loading and unloading, etc., to improve production efficiency and product quality.

[0003] The patent with application number CN202221700295.X discloses a truss robot aluminum plate loading and unloading device, including a lifting frame, a driving assembly, a vacuum pump, a vertical truss, a material suction assembly, a material table, a movable guide rail assembly and a transverse truss. The vertical truss is fixedly connected to the transverse truss by bolts, a vacuum pump is provided on the left upper surface of the transverse truss, and a movable guide rail assembly is provided on the right side of the vacuum pump. The rack in the movable guide rail assembly is connected to the driving shaft of the translation motor in the driving assembly through meshing gears. The shell in the driving assembly is slidably connected to the lifting frame, and the lower end of the lifting frame is fixedly connected to the connecting frame in the material suction assembly. The lower end of the material suction assembly is provided with a corresponding material table, and the suction cup in the material suction assembly is connected to the vacuum pump through a connecting pipeline.

[0004] When the above patent is in use, the spacing between the bottom suction cups is equidistant. Since the spacing between the suction cups cannot be adjusted, when it is necessary to process plates of different sizes or shapes, the suction cup arrangement cannot be changed according to the shape of the plate to ensure the best gripping effect; and if the type of plate is changed, manual intervention is required to reset or replace the entire gripper assembly, which increases processing time and reduces production efficiency. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a loading and unloading system of a truss robot to solve the problem that the existing loading and unloading system of a truss robot cannot change the arrangement of suction cups according to the shape of the plate to ensure the best grasping effect.

[0006] Based on the above purpose, the present invention provides a loading and unloading system of a truss robot, comprising a truss and a gripper, wherein the truss comprises a transverse driving device, a longitudinal driving device is arranged on the top of the transverse driving device, a vertical driving device is arranged at one end of the longitudinal driving device, and the bottom of the vertical driving device is connected to the gripper;

[0007] The gripper comprises a square block, which is connected to the bottom of the vertical drive device; the square block is provided with electric drive rods around it, and the ends of four groups of electric drive rods are respectively provided with side plates; the bottoms of the side plates located on the front and rear sides of the square block are connected with upper sliding rods, and the bottoms of the two groups of upper sliding rods are slidably provided with at least three groups of lower sliding rods; the bottoms of the side plates located on the left and right sides of the square block are respectively connected with the lower sliding rods at both ends of the multiple groups of lower sliding rods; the bottoms of the lower sliding rods are slidably provided with at least three groups of suction cup assemblies, and the upper sliding rods can drive the suction cup assemblies to move along the bottom of the lower sliding rods;

[0008] The upper sliding rod is a hollow rod, a first sliding hole is opened at the bottom of which, a first sliding block corresponding to the lower sliding rod is slidably arranged inside the rod, and a first spring is connected between adjacent first sliding blocks; the lower sliding rod is a hollow rod, an upper sliding hole is opened at the top of which, a lower sliding hole is opened at the bottom of which, a second sliding block corresponding to the suction cup assembly is slidably arranged inside the rod, the suction cup assembly is connected to the second sliding block, a second spring is connected between adjacent second sliding blocks, and the second sliding blocks located at both ends are connected to the corresponding first sliding blocks through a vertical rod that passes through the upper sliding hole and the first sliding block.

[0009] Furthermore, an electric telescopic rod is provided on the top of the square block, and the top of the electric telescopic rod is connected to the bottom of the vertical driving device; supporting parts are symmetrically provided on both sides of the fixed end of the electric telescopic rod, and a clamping assembly is provided at the bottom of the supporting part, and a transmission part for driving two groups of clamping assemblies to move is provided on the supporting part to clamp both sides of the grasped plate.

[0010] Furthermore, the support part includes a fixed collar, which is fixedly sleeved on the outer periphery of the fixed end of the electric telescopic rod, and driving rods are symmetrically arranged on the left and right sides of the fixed collar, and a sliding block is slidably arranged on the driving rod, and a connecting rod is arranged at the bottom of the sliding block, and the bottom of the connecting rod is connected to the clamping assembly, and the transmission part is arranged on the connecting rod; a slide plate is also arranged on the connecting rod, and the slide plate is slidably connected to the connecting rod, and a screw is arranged in the slide plate, and the screw is connected to its corresponding side plate; the electric drive rod adjusts the position of the upper slide bar and the lower slide bar, and the screw and the slide plate drive the sliding block to slide synchronously on the driving rod, so that the clamping assembly follows the lower slide bar for synchronous adjustment.

[0011] Furthermore, the transmission part includes a first driving wheel, which is rotatably arranged on one side of the sliding block, and a second driving wheel is rotatably arranged on one side of the sliding plate, and the second driving wheel is fixedly connected to the end of the screw rod, and the same set of transmission belts is sleeved between the first driving wheel and the second driving wheel, and a tensioning part for always tensioning the transmission belt is arranged on one side of the connecting rod; a screw hole is opened on the side plate corresponding to the screw rod, and the screw rod passes through the side plate through the screw hole and is screwed with the screw hole; a transmission component for driving the first driving wheel to rotate is arranged on the driving rod.

[0012] Furthermore, the transmission assembly includes a ring, which is fixedly mounted on the driving rod, and a gear is fixedly mounted on the ring. A tooth groove is opened on the outer periphery of the driving rod, and the first driving wheel is mounted on the outer periphery of the driving rod, and the inner wall of the first driving wheel is provided with a tooth block matching the tooth groove; the top of the square block is provided with a tooth plate matching the gear.

[0013] Furthermore, the tooth plate is divided into a smooth surface and a toothed surface. The upper part of the tooth plate is the smooth surface, and the lower part of the tooth plate is the toothed surface. The toothed surface is provided with teeth adapted to the gear. A positioning rod is connected to the top of the tooth plate, and a positioning groove adapted to the positioning rod is provided on the outer periphery of the fixed end of the electric telescopic rod.

[0014] Furthermore, the tensioning part includes a side rod, a side rod is fixedly provided on one side of the connecting rod, a tensioning block is slidably provided on the side rod, a through hole is opened on the side rod, a connecting block slides in the through hole, and the connecting block is connected to the tensioning block; a tensioning spring is provided in the through hole, one end of the tensioning spring is connected to the connecting block, and the other end is connected to the end of the through hole; a third driving wheel is rotatably connected to the tensioning block, and the transmission belt is wound around the third driving wheel.

[0015] Furthermore, the clamping assembly includes a fixed clamping plate, a movable rod is provided on one side of the fixed clamping plate close to the lower sliding rod, the movable rod passes through the fixed clamping plate, and the end of the movable rod close to the lower sliding rod is fixedly connected to the movable clamping plate, and a clamping spring is connected between the movable clamping plate and the fixed clamping plate.

[0016] Furthermore, a limiting hole is provided on the connecting rod, a limiting block is slidably arranged in the limiting hole, and the limiting block is connected to the fixed clamping plate.

[0017] Furthermore, the transverse driving device includes a base, an electric slide is provided on the base, a support plate is provided on the electric slide, and the electric slide drives the support plate to move in the transverse direction; the longitudinal driving device is specifically a hydraulic cylinder, the bottom of which is fixedly provided at the fixed end on the support plate; the vertical driving device includes a linear slide and a vertical transport rod, the linear slide drives the vertical transport rod to move vertically, and the linear slide is fixedly connected to the piston end of the hydraulic cylinder.

[0018] The beneficial effects of the present invention are as follows: before grabbing the plate, the positions of the upper sliding rod and the lower sliding rod are adjusted in advance according to the size of the plate by four sets of electric drive rods, so that the suction cup assemblies located at the four corners correspond to the four corners of the plate; after the adjustment, all the suction cup assemblies can be evenly distributed on the surface of the plate, thereby improving the stability of the suction cup assembly in grabbing the plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or 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 in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the first viewing angle of an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the gripper from a first viewing angle according to an embodiment of the present invention;

[0022] Figure 3 For the embodiment of the present invention Figure 2 A is a schematic diagram of the enlarged structure of the middle part;

[0023] Figure 4 For the embodiment of the present invention Figure 2 Schematic diagram of the enlarged structure of B;

[0024] Figure 5 For the embodiment of the present invention Figure 2 Schematic diagram of the enlarged structure of C;

[0025] Figure 6 This is a schematic structural diagram of the clamping assembly according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the second viewing angle structure of the gripper in an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the internal structure of the lower sliding rod according to an embodiment of the present invention;

[0028] Fig. 9 This is a schematic diagram of the internal structure of the upper sliding bar according to an embodiment of the present invention;

[0029] Fig.10 2 is a schematic diagram of the second viewing angle structure of an embodiment of the present invention.

[0030] The markings in the figure are:

[0031] 1. Horizontal drive device; 101. Base; 102. Electric slide rail; 103. Support plate; 2. Longitudinal drive device; 3. Vertical drive device; 301. Linear slide; 302. Vertical transport rod; 4. Grip; 5. Electric telescopic rod; 501. Fixed collar; 6. Square block; 7. Electric drive rod; 701. Side plate; 8. Upper slide rod; 801. First slide hole; 802. First slider; 803. First spring; 9. Lower slide rod; 901. Upper slide hole; 902. Lower slide hole; 903. Second slider; 904. Second spring; 10. Suction cup assembly; 11. Drive rod ;1101, ring;1102, gear;12, tooth plate;1201, positioning rod;1202, positioning groove;13, sliding block;1301, first driving wheel;14, connecting rod;1401, limiting hole;15, clamping assembly;1501, fixed clamping plate;1502, movable clamping plate;1503, clamping spring;1504, movable rod;16, slide plate;1601, second driving wheel;17, screw rod;18, side rod;19, tensioning block;1901, connecting block;1902, tensioning spring;1903, third driving wheel;20, transmission belt;21, limiting block. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0033] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10As shown, a loading and unloading system of a truss robot includes a truss and a gripper 4, the truss includes a transverse driving device 1, a longitudinal driving device 2 is arranged on the top of the transverse driving device 1, a vertical driving device 3 is arranged at one end of the longitudinal driving device 2, and the bottom of the vertical driving device 3 is connected to the gripper 4;

[0035] The gripper 4 includes a square block 6, which is connected to the bottom of the vertical drive device 3. Electric drive rods 7 are arranged around the square block 6, and side panels 701 are respectively arranged at the ends of four groups of electric drive rods 7; the bottom of the side panels 701 located on the front and rear sides of the square block 6 are connected to upper slide bars 8, and at least three groups of lower slide bars 9 are slidably arranged at the bottom of the two groups of upper slide bars 8; the bottom of the side panels 701 located on the left and right sides of the square block 6 are respectively connected to the lower slide bars 9 at both ends of the multiple groups of lower slide bars 9; at least three groups of suction cup assemblies 10 are slidably arranged at the bottom of the lower slide bar 9, and the suction cup assemblies 10 are vacuum suction cups, and each group of suction cup assemblies 10 is connected to an external vacuum pump, and the upper slide bar 8 can drive the suction cup assembly 10 to move along the bottom of the lower slide bar 9;

[0036] The upper slide bar 8 is a hollow rod, and a first slide hole 801 is provided at the bottom thereof, and a first slide block 802 corresponding to the lower slide bar 9 is slidably arranged inside the rod, and a first spring 803 is connected between adjacent first slide blocks 802; the lower slide bar 9 is a hollow rod, and an upper slide hole 901 is provided at the top thereof, and a lower slide hole 902 is provided at the bottom thereof, and a second slide block 903 corresponding to the suction cup assembly 10 is slidably arranged inside the rod, and the suction cup assembly 10 is connected to the second slide block 903, and a second spring 904 is connected between adjacent second slide blocks 903, and the second slide blocks 903 located at both ends are connected to the corresponding first slide blocks 802 by a vertical rod passing through the upper slide hole 901 and the first slide block 802.

[0037] In this embodiment, the transverse drive device 1 can drive the gripper 4 to move transversely, the longitudinal drive device 2 drives the gripper 4 to move longitudinally, and the vertical drive device 3 drives the gripper 4 to move in the vertical direction; when in use, the transverse drive device 1, the longitudinal drive device 2 and the vertical drive device 3 are respectively connected to an external control system to accurately control the position of the gripper 4 to load and unload the plate;

[0038] Before grabbing the plate, the positions of the upper slide bar 8 and the lower slide bar 9 are adjusted by the four sets of electric drive rods 7 according to the size of the plate, so that all the suction cup assemblies 10 are evenly distributed according to the size of the plate, thereby improving the stability and efficiency of the suction cup assembly 10 in grabbing the plate;

[0039] Specifically, by controlling the electric drive rods 7 located at the front and rear sides of the direction block to drive the two groups of upper sliding rods 8 to move in a mirror image, the first sliders 802 in the two groups of upper sliding rods will drive the second sliders 903 at both ends of the lower sliding rod 9 to move closer to or farther from each other, thereby driving the multiple groups of suction cup assemblies 10 to move closer to or farther from each other; and, by means of the second springs 904, no matter how the second sliders 903 at both ends move, the distances between the multiple groups of second sliders 903 will be equal, thereby making the multiple groups of suction cup assemblies 10 arranged equidistantly in the front-to-back direction;

[0040] Similarly, by controlling the electric drive rods 7 located on the left and right sides of the direction block to drive the lower slide bars 9 at both ends of the multiple groups of lower slide bars 9 to move in a mirror image, the lower slide bars 9 at both ends will drive the first slide bars 802 at both ends of the upper slide bar 8 to move closer to or away from each other, and by the first springs 803, no matter how the first slide bars 802 at both ends move, the distances between the multiple groups of first slide bars 802 will be equal, so that the multiple groups of lower slide bars 9 are arranged equidistantly, and further the multiple groups of suction cup assemblies 10 are arranged equidistantly in the left and right directions;

[0041] Therefore, before grabbing the plate, the position of the suction cup assembly 10 is adjusted in advance according to the size of the plate through four sets of electric drive rods 7, so that the suction cup assemblies 10 located at the four corners correspond to the four corners of the plate; after the adjustment, all the suction cup assemblies 10 can be evenly distributed on the surface of the plate, thereby improving the stability of the suction cup assembly 10 in grabbing the plate.

[0042] Preferably, an electric telescopic rod 5 is further provided on the top of the square block 6, and the top of the electric telescopic rod 5 is connected to the bottom of the vertical driving device 3; support parts are symmetrically provided on the two side surfaces of the fixed end of the electric telescopic rod 5, and a clamping assembly 15 is provided at the bottom of the support part, and a transmission part for driving the two groups of clamping assemblies 15 to move is provided on the support part to clamp the two sides of the grasped plate;

[0043] After the plate is grasped by the suction cup assembly 10, the electric telescopic rod 5 is started to drive the suction cup assembly 10 to move upward, and the suction cup assembly 10 drives the grasped plate to move upward between the two groups of clamping assemblies 15. During this process, the transmission part will adjust the clamping assemblies 15 on both sides to clamp on both sides of the grasped plate; then the horizontal drive device 1, the longitudinal drive device 2 and the vertical drive device 3 are started to load and unload the grasped plate; the clamping assemblies 15 are clamped on both sides of the grasped plate to prevent the plate from shaking during the loading and unloading process, thereby further improving the stability of the suction cup assembly 10 in grasping the plate.

[0044] Preferably, the support portion includes a fixed collar 501, which is fixedly sleeved on the outer periphery of the fixed end of the electric telescopic rod 5, and a driving rod 11 is symmetrically arranged on the left and right sides of the fixed collar 501, and a sliding block 13 is slidably arranged on the driving rod 11, and a connecting rod 14 is arranged at the bottom of the sliding block 13, and the bottom of the connecting rod 14 is connected to the clamping assembly 15, and the transmission portion is arranged on the connecting rod 14; a slide plate 16 is also arranged on the connecting rod 14, and the slide plate 16 is slidably connected to the connecting rod 14, and a screw 17 is arranged in the slide plate 16, and the screw 17 is connected to the corresponding side plate 701; the electric drive rod 7 adjusts the position of the upper slide bar 8 and the lower slide bar 9, and the screw 17 and the slide plate 16 drive the sliding block 13 to slide synchronously on the driving rod 11, so that the clamping assembly 15 follows the lower slide bar 9 and adjusts synchronously;

[0045] Before grabbing the plate, the positions of the upper slide bar 8 and the lower slide bar 9 are adjusted in advance according to the size of the plate through the four sets of electric drive rods 7, so that all the suction cup assemblies 10 are evenly distributed according to the size of the plate; when the lower slide bar 9 is adjusted, the side plate 701 will drive the connecting rod 14 and the sliding block 13 to slide on the driving rod 11 through the screw 17 and the slide plate 16, so that the clamping assembly 15 can be adjusted synchronously with the movement of the lower slide bar 9, and automatically adapt to the clamping requirements of plates of different sizes.

[0046] Preferably, the transmission part includes a first driving wheel 1301, which is rotatably arranged on one side of the sliding block 13, and a second driving wheel 1601 is rotatably arranged on one side of the sliding plate 16, and the second driving wheel 1601 is fixedly connected to the end of the screw 17, and the same group of transmission belts 20 are sleeved between the first driving wheel 1301 and the second driving wheel 1601, and a tensioning part for always tensioning the transmission belt 20 is arranged on one side of the connecting rod 14; a screw hole is opened on the side plate 701 corresponding to the screw 17, and the screw 17 passes through the side plate 701 through the screw hole and is screwed to the screw hole; a transmission component for driving the first driving wheel 1301 to rotate is arranged on the driving rod 11;

[0047] The transmission assembly drives the first driving wheel 1301 to rotate, and the first driving wheel 1301 drives the second driving wheel 1601 to rotate synchronously through the transmission belt 20. The rotating second driving wheel 1601 drives the screw 17 to rotate. Since the screw 17 is screwed to the screw hole on the side plate 701, the rotating screw 17 drives the connecting rod 14 and the sliding plate to move as a whole along the driving rod 11 through the slide plate 16, thereby driving the clamping assembly 15 to move to clamp the grasped plate.

[0048] Preferably, the transmission assembly includes a ferrule 1101, which is fixedly sleeved on the driving rod 11, and a gear 1102 is fixedly sleeved on the ferrule 1101, and a tooth groove is provided on the outer periphery of the driving rod 11, and a first driving wheel 1301 is sleeved on the outer periphery of the driving rod 11, and a tooth block matching the tooth groove is provided on the inner wall of the first driving wheel 1301; a tooth plate 12 matching the gear 1102 is provided on the top of the square block 6;

[0049] After the plate is grabbed by the suction cup assembly 10, the electric telescopic rod 5 is started to drive the suction cup assembly 10 to move up. At this time, the square block 6 will drive the tooth plate 12 to move up. Since the tooth plate 12 is meshed with the gear 1102, the upward movement of the tooth plate 12 will drive the driving rod 11 to rotate through the gear 1102 and the ring 1101. The driving rod 11 uses the tooth grooves opened on its periphery to cooperate with the tooth blocks on the inner wall of the first driving wheel 1301 to drive the first driving wheel 1301 to rotate. The first driving wheel 1301 drives the second driving wheel 1601 to rotate synchronously through the transmission belt 20. The rotating second driving wheel 1601 will drive the screw 17 to rotate. The rotating screw 17 will drive the connecting rod 14 and the sliding plate to move along the driving rod 11 as a whole through the slide plate 16, thereby driving the clamping assembly 15 to move, so as to clamp the two sides of the plate driven by the electric telescopic rod 5 to move up, which can prevent the plate from shaking during the loading and unloading process, and further improve the stability of the suction cup assembly 10 in grabbing the plate.

[0050] Preferably, the tooth plate 12 is divided into a smooth surface and a tooth surface, the upper half of the tooth plate 12 is the smooth surface, and the lower half of the tooth plate 12 is the tooth surface, and the tooth surface is provided with teeth adapted to the gear 1102; a positioning rod 1201 is connected to the top of the tooth plate 12, and a positioning groove 1202 adapted to the positioning rod 1201 is provided on the outer periphery of the fixed end of the electric telescopic rod 5;

[0051] When the electric telescopic rod 5 drives the plate grasped by the suction cup assembly 10 to move upward, the smooth surface of the tooth plate 12 contacts the gear 1102, and the gear 1102 cannot be driven to rotate, and then the clamping assemblies 15 on both sides do not move, avoiding the clamping assemblies 15 from interfering with the lower sliding bar 9; when the electric telescopic rod 5 drives the lower sliding bar 9 to move upward to the upper side of the clamping assembly 15, the tooth surface contacts the gear 1102 and drives the gear 1102 to rotate, and the clamping assemblies 15 on both sides begin to approach each other to clamp the two ends of the plate that is moving upward.

[0052] Preferably, the tensioning part includes a side rod 18, a side rod 18 is fixedly provided on one side of the connecting rod 14, a tensioning block 19 is slidably provided on the side rod 18, a through hole is opened on the side rod 18, a connecting block 1901 is slidably provided in the through hole, and the connecting block 1901 is connected to the tensioning block 19; a tensioning spring 1902 is provided in the through hole, one end of the tensioning spring 1902 is connected to the connecting block 1901, and the other end is connected to the end of the through hole; a third driving wheel 1903 is rotatably connected to the tensioning block 19, and the transmission belt 20 is wound around the third driving wheel 1903;

[0053] When the electric telescopic rod 5 drives the grabbed plate to move upward, the side plate 701 will drive the slide plate 16 to slide upward on the connecting rod 14 through the screw 17, and the distance between the first drive wheel 1301 and the second drive wheel 1601 is close to each other; at this time, the energy release of the tensioning spring 1902 will drive the third drive wheel 1903 away from the connecting rod 14 through the connecting block 1901 and the tensioning block 19, thereby making the transmission belt 20 always tensioned, so that the first drive wheel 1301 and the second drive wheel 1601 always keep driving.

[0054] Preferably, the clamping assembly 15 includes a fixed clamping plate 1501, a movable rod 1504 is provided on one side of the fixed clamping plate 1501 close to the lower slide bar 9, the movable rod 1504 passes through the fixed clamping plate 1501, and the end of the movable rod 1504 close to the lower slide bar 9 is fixedly connected with a movable clamping plate 1502, and a clamping spring 1503 is connected between the movable clamping plate 1502 and the fixed clamping plate 1501;

[0055] By providing the movable rod 1504 and the clamping spring 1503, the movable clamping plate 1502 can be in elastic contact with the plate material to avoid deformation or damage of the plate material.

[0056] Preferably, a limiting hole 1401 is provided on the connecting rod 14, a limiting block 21 is slidably disposed in the limiting hole 1401, and the limiting block 21 is connected to the fixed clamping plate 1501;

[0057] After the sheet is grabbed by the suction cup assembly 10, the electric telescopic rod 5 is started to drive the suction cup assembly 10 to move up, and the suction cup assembly 10 drives the grabbed sheet to move up between the two groups of clamping assemblies 15. During this process, the transmission part will adjust the clamping assemblies 15 on both sides to clamp the two sides of the grabbed sheet, and by using the sliding cooperation between the limit hole 1401 on the connecting rod 14 and the limit block 21, the movable clamping plate 1502 can move up with the sheet after contacting the sheet but before completely clamping the sheet, so as to avoid the movable clamping plate 1502 being unable to move and exerting a downward thrust on the sheet, causing the sheet to fall off the suction cup assembly 10; similarly, when the sheet moves to the unloading area, the electric telescopic rod 5 drives the suction cup assembly 10 and the grabbed sheet to move down, and during the downward movement of the sheet, the movable clamping plate 1502 moves down synchronously with the sheet until the movable clamping plate 1502 is completely detached from the surface of the sheet; when the sheet is placed in the unloading area, the vacuum state in the suction cup assembly 10 is released at this time, and the sheet can be unloaded.

[0058] Preferably, the transverse drive device 1 includes a base 101, on which an electric slide rail 102 is provided, on which a support plate 103 is provided, and the electric slide rail 102 drives the support plate 103 to move in the transverse direction; the longitudinal drive device 2 is specifically a hydraulic cylinder, and the bottom of the fixed end of which is fixedly provided on the support plate 103; the vertical drive device 3 includes a linear slide 301 and a vertical transport rod 302, and the linear slide 301 drives the vertical transport rod 302 to move vertically, and the linear slide 301 is fixedly connected to the piston end of the hydraulic cylinder; driving the electric slide rail 102 to operate can drive the gripper 4 to move in the transverse direction, driving the hydraulic cylinder can drive the gripper 4 to move in the longitudinal direction, and driving the linear slide can drive the vertical transport rod 302 to move vertically, thereby driving the gripper 4 to move vertically, so as to meet the movement requirements of the gripper 4 for loading and unloading the plate.

[0059] When in use, by controlling the electric drive rods 7 located on the front and rear sides of the direction block to drive the two groups of upper sliding bars 8 to move in a mirror image, the first sliders 802 in the two groups of upper sliding bars will drive the second sliders 903 at both ends of the lower sliding bar 9 to move closer to or away from each other, thereby driving the suction cup assemblies 10 to move closer to or away from each other; and, by the provided second springs 904, no matter how the second sliders 903 at both ends move, the distances between the multiple groups of second sliders 903 will be equal, thereby making the suction cup assemblies 10 arranged equidistantly in the front and rear directions; by controlling the electric drive rods 7 located on the left and right sides of the direction block to drive the lower sliding bars 9 at both ends of the multiple groups of lower sliding bars 9 to move in a mirror image, the lower sliding bars 9 at both ends will drive the first sliders 802 at both ends of the upper sliding bar 8 to move closer to or away from each other, and, by the provided first springs 803, no matter how the first sliders 802 at both ends move, the multiple groups of first sliders 802 The distances between them are equal, so that multiple groups of lower sliding rods 9 are arranged equidistantly, and then the suction cup assemblies 10 are arranged equidistantly in the left and right directions; then the suction cup assembly 10 is driven to move down and fit on the plate, and the vacuum pump is started to evacuate the suction cup assembly 10 so that the suction cup assembly 10 is adsorbed on the plate to complete the grabbing of the plate; after the plate is grabbed by the suction cup assembly 10, the electric telescopic rod 5 is started to drive the suction cup assembly 10 to move up, and the suction cup assembly 10 drives the grabbed plate to move up between the two groups of clamping assemblies 15. During this process, the transmission part will adjust the clamping assemblies 15 on both sides to clamp on both sides of the grabbed plate; then the horizontal drive device 1, the longitudinal drive device 2 and the vertical drive device 3 are started to load and unload the grabbed plate; the clamping assemblies 15 are clamped on both sides of the grabbed plate to prevent the plate from shaking during the loading and unloading process, and further improve the stability of the suction cup assembly 10 in grabbing the plate.

[0060] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0061] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A loading and unloading system of a truss robot, comprising a truss and a gripper (4), characterized in that: The truss comprises a transverse driving device (1), a longitudinal driving device (2) is arranged on the top of the transverse driving device (1), a vertical driving device (3) is arranged at one end of the longitudinal driving device (2), and the bottom of the vertical driving device (3) is connected to a gripper (4); The gripper (4) comprises a square block (6), wherein the square block (6) is connected to the bottom of the vertical drive device (3), and electric drive rods (7) are arranged around the square block (6), and the ends of four groups of electric drive rods (7) are respectively provided with side plates (701); the bottoms of the side plates (701) located on the front and rear sides of the square block (6) are connected to upper sliding rods (8), and at least three groups of lower sliding rods (9) are slidably arranged at the bottoms of the two groups of upper sliding rods (8); the bottoms of the side plates (701) located on the left and right sides of the square block (6) are respectively connected to the lower sliding rods (9) at both ends of the multiple groups of lower sliding rods (9); the bottoms of the lower sliding rods (9) are slidably arranged with at least three groups of suction cup assemblies (10), and the upper sliding rods (8) can drive the suction cup assemblies (10) to move along the bottom of the lower sliding rods (9); The upper slide bar (8) is a hollow bar, a first slide hole (801) is provided at the bottom thereof, a first slide block (802) corresponding to the lower slide bar (9) is slidably arranged inside the upper slide bar (8), and a first spring (803) is connected between adjacent first slide blocks (802); the lower slide bar (9) is a hollow bar, an upper slide hole (901) is provided at the top thereof, a lower slide hole (902) is provided at the bottom thereof, a second slide block (903) corresponding to the suction cup assembly (10) is slidably arranged inside the lower slide bar (9), the suction cup assembly (10) is connected to the second slide block (903), a second spring (904) is connected between adjacent second slide blocks (903), and the second slide blocks (903) at both ends are connected to the corresponding first slide blocks (802) through a vertical rod penetrating the upper slide hole (901) and the first slide block (802).

2. The loading and unloading system of the truss robot according to claim 1, characterized in that: The top of the square block (6) is also provided with an electric telescopic rod (5), the top of which is connected to the bottom of the vertical drive device (3); support parts are symmetrically provided on the two side surfaces of the fixed end of the electric telescopic rod (5), a clamping assembly (15) is provided at the bottom of the support part, and a transmission part for driving the two groups of clamping assemblies (15) to move is provided on the support part, so as to clamp the two sides of the grasped plate.

3. The loading and unloading system of the truss robot according to claim 2, characterized in that: The support portion comprises a fixing collar (501), the fixing collar (501) being fixedly sleeved on the outer periphery of the fixing end of the electric telescopic rod (5), a driving rod (11) being symmetrically arranged on the left and right sides of the fixing collar (501), a sliding block (13) being slidably arranged on the driving rod (11), a connecting rod (14) being arranged at the bottom of the sliding block (13), the bottom of the connecting rod (14) being connected to the clamping assembly (15), and the transmission portion being arranged on the connecting rod (14); The connecting rod (14) is also provided with a slide plate (16), the slide plate (16) is slidably connected to the connecting rod (14), a screw rod (17) is provided inside the slide plate (16), and the screw rod (17) is connected to its corresponding side plate (701); the electric drive rod (7) adjusts the position of the upper slide rod (8) and the lower slide rod (9), and the screw rod (17) and the slide plate (16) drive the sliding block (13) to slide synchronously on the driving rod (11), so that the clamping assembly (15) follows the lower slide rod (9) and is adjusted synchronously.

4. The loading and unloading system of the truss robot according to claim 3, characterized in that: The transmission part comprises a first driving wheel (1301), the first driving wheel (1301) is rotatably arranged on one side of the sliding block (13), a second driving wheel (1601) is rotatably arranged on one side of the sliding plate (16), the second driving wheel (1601) is fixedly connected to the end of the screw rod (17), a same set of transmission belts (20) are sleeved between the first driving wheel (1301) and the second driving wheel (1601), and a tensioning part for always tensioning the transmission belt (20) is arranged on one side of the connecting rod (14); a screw hole is opened on the side plate (701) corresponding to the screw rod (17), the screw rod (17) passes through the side plate (701) through the screw hole and is screwed to the screw hole; and a transmission component for driving the first driving wheel (1301) to rotate is arranged on the driving rod (11).

5. The loading and unloading system of the truss robot according to claim 4, characterized in that: The transmission assembly comprises a ring (1101), wherein the ring (1101) is fixedly sleeved on the driving rod (11), a gear (1102) is fixedly sleeved on the ring (1101), a tooth groove is provided on the outer periphery of the driving rod (11), the first driving wheel (1301) is sleeved on the outer periphery of the driving rod (11), and a tooth block matching the tooth groove is provided on the inner wall of the first driving wheel (1301); and a tooth plate (12) matching the gear (1102) is provided on the top of the square block (6).

6. The loading and unloading system of the truss robot according to claim 5, characterized in that: The tooth plate (12) is divided into a smooth surface and a tooth surface. The upper part of the tooth plate (12) is the smooth surface, and the lower part of the tooth plate (12) is the tooth surface. The tooth surface is provided with teeth adapted to the gear (1102). The top of the tooth plate (12) is connected to a positioning rod (1201), and the outer periphery of the fixed end of the electric telescopic rod (5) is provided with a positioning groove (1202) adapted to the positioning rod (1201).

7. The loading and unloading system of the truss robot according to claim 4, characterized in that: The tensioning part comprises a side rod (18), a side rod (18) is fixedly arranged on one side of the connecting rod (14), a tensioning block (19) is slidably arranged on the side rod (18), a through hole is opened on the side rod (18), a connecting block (1901) is slidably arranged in the through hole, and the connecting block (1901) is connected to the tensioning block (19); a tensioning spring (1902) is arranged in the through hole, one end of the tensioning spring (1902) is connected to the connecting block (1901), and the other end is connected to the end of the through hole; a third driving wheel (1903) is rotatably connected to the tensioning block (19), and the transmission belt (20) is wound around the third driving wheel (1903).

8. The loading and unloading system of the truss robot according to claim 7, characterized in that: The clamping assembly (15) includes a fixed clamping plate (1501), a movable rod (1504) is arranged on one side of the fixed clamping plate (1501) close to the lower sliding rod (9), the movable rod (1504) passes through the fixed clamping plate (1501), and the end of the movable rod (1504) close to the lower sliding rod (9) is fixedly connected to a movable clamping plate (1502), and a clamping spring (1503) is connected between the movable clamping plate (1502) and the fixed clamping plate (1501).

9. The loading and unloading system of the truss robot according to claim 8, characterized in that: A limiting hole (1401) is provided on the connecting rod (14), a limiting block (21) is slidably arranged in the limiting hole (1401), and the limiting block (21) is connected to the fixed clamping plate (1501).

10. The loading and unloading system of the truss robot according to claim 1, characterized in that: The transverse drive device (1) comprises a base (101), an electric slide rail (102) is arranged on the base (101), a support plate (103) is arranged on the electric slide rail (102), and the electric slide rail (102) drives the support plate (103) to move in the transverse direction; the longitudinal drive device (2) is specifically a hydraulic cylinder, and the bottom of the fixed end is fixedly arranged on the support plate (103); the vertical drive device (3) comprises a linear slide (301) and a vertical transport rod (302), the linear slide (301) drives the vertical transport rod (302) to move vertically, and the linear slide (301) is fixedly connected to the piston end of the hydraulic cylinder.

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