A feeding and discharging system of a truss robot

Abstract

The present application relates to plate feeding and discharging technical field, specifically to a truss robot feeding and discharging system, including truss and gripper, the truss includes horizontal drive device, the top of horizontal drive device is provided with longitudinal drive device, one end of longitudinal drive device is provided with vertical drive device, the bottom of vertical drive device is connected with gripper;The gripper includes square block, the square block is connected with the bottom of vertical drive device, the periphery of square block is provided with electric drive rod, and the end of four groups of electric drive rods is provided with side plate respectively.The present application can control the position of upper slide rod and lower slide rod according to the size of plate before grabbing, so that the suction cup assembly located in four corners corresponds to the four corners of the plate, and after the control, all suction cup assemblies can be evenly distributed on the surface of the plate, thereby improving the stability of the suction cup assembly on the plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plate feeding and discharging, and particularly relates to a feeding and discharging system of a truss robot. BACKGROUND

[0002] With the rapid development of automation technology and industrial robot application, as a kind of efficient and flexible carrying and assembling equipment, the truss robot plays 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, the truss robot is widely used in plate carrying, feeding and discharging and other processes to improve production efficiency and product quality.

[0003] The patent with the application number CN202221700295.X discloses an aluminum plate feeding and discharging device of a truss robot, which comprises a lifting frame, a driving assembly, a vacuum pump, a vertical truss, a suction assembly, a material table, a moving guide rail assembly and a horizontal truss. The vertical truss is fixedly connected with the horizontal truss through bolts. The left upper surface of the horizontal truss is provided with the vacuum pump. The right side of the vacuum pump is provided with the moving guide rail assembly. The rack in the moving guide rail assembly is connected with the driving shaft of the translation motor in the driving assembly through the meshing gears. The shell in the driving assembly is in sliding connection with the lifting frame. The lower end of the lifting frame is fixedly connected with the connecting frame in the suction assembly. The lower end of the suction assembly is provided with the corresponding material table. The suction disc in the suction assembly is connected with the vacuum pump through the connecting pipeline.

[0004] When the above-mentioned patent is used, the spacing between the bottom suction discs is equal. Since the spacing between the suction discs cannot be adjusted, when different sizes or shapes of plates need to be processed, the suction disc arrangement cannot be changed according to the plate shape to ensure the best grabbing effect. Moreover, if the plate type is changed, manual intervention is needed to reset or replace the entire gripper assembly, which increases the processing time and reduces the production efficiency. SUMMARY

[0005] In view of the above, the purpose of the present application is to provide a feeding and discharging system of a truss robot to solve the problem that the existing feeding and discharging system of a truss robot cannot change the suction disc arrangement according to the plate shape to ensure the best grabbing effect.

[0006] Based on the above purpose, the present application provides a feeding and discharging system of a truss robot, which comprises a truss and a gripper. The truss comprises a horizontal driving device. The top of the horizontal driving device is provided with a vertical driving device. One end of the vertical driving device is provided with a vertical driving device. The bottom of the vertical driving device is connected with the gripper.

[0007] The gripper comprises a square block connected with the bottom of the vertical driving device, the square block is provided with electric driving rods around, the ends of the four groups of electric driving rods are provided with side plates respectively; the bottom of the side plates located on the front and back sides of the square block is connected with upper slide rods, the bottom of the two groups of upper slide rods is slidingly provided with at least three groups of lower slide rods; the bottom of the side plates located on the left and right sides of the square block is connected with the lower slide rods at both ends of the groups of lower slide rods respectively; the bottom of the lower slide rods is slidingly provided with at least three groups of suction disc assemblies, the upper slide rods can drive the suction disc assemblies to move along the bottom of the lower slide rods;

[0008] The upper slide rod is a hollow rod, the bottom of the upper slide rod is provided with a first sliding hole, the inside of the upper slide rod is slidingly provided with first sliding blocks corresponding to the lower slide rods, and first springs are connected between adjacent first sliding blocks; the lower slide rod is a hollow rod, the top of the lower slide rod is provided with an upper slide hole, the bottom of the lower slide rod is provided with a lower slide hole, the inside of the lower slide rod is slidingly provided with second sliding blocks corresponding to the suction disc assemblies, the suction disc assemblies are connected with the second sliding blocks, second springs are connected between adjacent second sliding blocks, and the second sliding blocks at both ends are connected with the corresponding first sliding blocks through vertical rods penetrating the upper slide hole and the first sliding block.

[0009] Further, the top of the square block is further provided with an electric telescopic rod, the top end of the electric telescopic rod is connected with the bottom of the vertical driving device; the two sides of the fixed end of the electric telescopic rod are symmetrically provided with support parts, the bottom of the support part is provided with a clamping assembly, and the support part is provided with a transmission part for driving the two groups of clamping assemblies to move, so as to clamp the two sides of the grabbed plate.

[0010] Further, the support part comprises a fixed sleeve ring, the fixed sleeve ring is fixedly sleeved on the outer periphery of the fixed end of the electric telescopic rod, the left and right sides of the fixed sleeve ring are symmetrically provided with driving rods, the driving rods are slidingly provided with sliding blocks, the bottom of the sliding block is provided with a connecting rod, the bottom of the connecting rod is connected with the clamping assembly, and the transmission part is arranged on the connecting rod; the connecting rod is further provided with a sliding plate, the sliding plate is slidingly connected with the connecting rod, the sliding plate is provided with a screw rod, and the screw rod is connected with the corresponding side plate; the electric driving rod adjusts the positions of the upper slide rod and the lower slide rod, the screw rod and the sliding plate drive the sliding blocks to synchronously slide on the driving rods, so that the clamping assembly is synchronously adjusted with the lower slide rod.

[0011] Further, the transmission part comprises a first driving wheel, the first driving wheel is rotatably arranged on one side of the sliding block, one side of the sliding plate is rotatably provided with a second driving wheel, the second driving wheel is fixedly connected with the end of the screw rod, the same group of transmission belts is sleeved between the first driving wheel and the second driving wheel, one side of the connecting rod is provided with a tensioning part for always tensioning the transmission belt; a screw hole is formed in the side plate corresponding to the screw rod, the screw rod penetrates the side plate through the screw hole and is screwed with the screw hole; the driving rod is provided with a transmission assembly for driving the first driving wheel to rotate.

[0012] Further, the transmission assembly comprises a sleeve ring, the sleeve ring is fixedly sleeved on the driving rod, a gear is fixedly sleeved on the sleeve ring, a tooth groove is formed on the outer periphery of the driving rod, the first driving wheel is sleeved on the outer periphery of the driving rod, and the inner wall of the first driving wheel is provided with a tooth block matched with the tooth groove; the top of the square block is provided with a toothed plate matched with the gear.

[0013] Further, the toothed plate is divided into a smooth surface and a tooth surface, the upper half of the toothed plate is a smooth surface, the lower half of the toothed plate is a tooth surface, and the tooth surface is provided with teeth matched with the gear; the top of the toothed plate is connected with a positioning rod, and the outer periphery of the fixed end of the electric telescopic rod is provided with a positioning groove matched with the positioning rod.

[0014] Further, the tensioning part comprises a side rod, one side of the connecting rod is fixedly provided with a side rod, a tensioning block is slidably arranged on the side rod, a through hole is formed in the side rod, a connecting block is slidably arranged in the through hole, and the connecting block is connected with the tensioning block; a tensioning spring is arranged in the through hole, one end of the tensioning spring is connected with the connecting block, and the other end of the tensioning spring is connected with the end portion of the through hole; a third driving wheel is rotatably connected to the tensioning block, and the transmission belt passes through the third driving wheel.

[0015] Further, the clamping assembly comprises a fixed clamping plate, the fixed clamping plate is provided with a movable rod near one side of the lower slide rod, the movable rod penetrates the fixed clamping plate, and the end portion of the movable rod near the lower slide rod is fixedly connected with a movable clamping plate, and a clamping spring is connected between the movable clamping plate and the fixed clamping plate.

[0016] Further, a limiting hole is formed in the connecting rod, and a limiting block is slidably arranged in the limiting hole and connected with the fixed clamping plate.

[0017] Further, the horizontal driving device comprises a base, the base is provided with an electric slide rail, the electric slide rail is provided with a supporting plate, and the electric slide rail drives the supporting plate to move horizontally; the vertical driving device is a hydraulic cylinder, and the fixed end of the hydraulic cylinder is fixedly arranged on the supporting plate; the vertical driving device comprises a linear slide and a vertical conveying rod, the linear slide drives the vertical conveying rod to move vertically, and the linear slide is fixedly connected to the piston end of the hydraulic cylinder.

[0018] The present application has the following advantages: before the plate is grabbed, the position of the upper slide rod and the lower slide rod is adjusted according to the size of the plate through four groups of electric driving rods, so that the suction cup assemblies located at the four corners correspond to the four corners of the plate, and 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 assemblies in grabbing the plate. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only a part of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0020] Figure 1 The first perspective view of the embodiment of the present application;

[0021] Figure 2 The first perspective view of the embodiment of the present application;

[0022] Figure 3 The first perspective view of the embodiment of the present application; Figure 2 The enlarged view of A in the embodiment of the present application;

[0023] Figure 4 The first perspective view of the embodiment of the present application; Figure 2 The enlarged view of B in the embodiment of the present application;

[0024] Figure 5 The first perspective view of the embodiment of the present application; Figure 2 The enlarged view of C in the embodiment of the present application;

[0025] Figure 6 The first perspective view of the embodiment of the present application;

[0026] Figure 7 The second perspective view of the embodiment of the present application;

[0027] Figure 8 The first perspective view of the embodiment of the present application;

[0028] Figure 9 The first perspective view of the embodiment of the present application;

[0029] Figure 10 The second perspective view of the embodiment of the present application.

[0030] The figures are marked as:

[0031] 1, transverse 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, gripper; 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 sliding block; 803, first spring; 9, lower slide rod; 901, upper slide hole; 902, lower slide hole; 903, second sliding block; 904, second spring; 10, suction cup assembly; 11, drive rod; 1101, collar; 1102, gear; 12, toothed plate; 1201, positioning rod; 1202, positioning groove; 13, sliding block; 1301, first drive 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 drive wheel; 17, screw rod; 18, side rod; 19, tension block; 1901, connecting block; 1902, tension spring; 1903, third drive wheel; 20, transmission belt; 21, limiting block. DETAILED DESCRIPTION

[0032] To make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with specific embodiments.

[0033] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present application should be the commonly understood meanings by those skilled in the art. The terms "first", "second" and similar terms used in the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the components or objects before the terms cover the components or objects listed after the terms and their equivalents, without excluding other components or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships can also change accordingly.

[0034] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10As shown, a feeding and discharging system of a truss robot comprises a truss and a gripper 4, the truss comprises a transverse driving device 1, the top of the transverse driving device 1 is provided with a longitudinal driving device 2, one end of the longitudinal driving device 2 is provided with a vertical driving device 3, and the bottom of the vertical driving device 3 is connected with the gripper 4;

[0035] The gripper 4 comprises a square block 6 connected with the bottom of the vertical driving device 3, the square block 6 is provided with electric driving rods 7 around, the ends of the four groups of electric driving rods 7 are respectively provided with side plates 701, the bottom of the side plates 701 located at the front and back of the square block 6 is connected with upper sliding rods 8, the bottom of the two groups of upper sliding rods 8 is slidingly provided with at least three groups of lower sliding rods 9, the bottom of the side plates 701 located at the left and right of the square block 6 is respectively connected with the lower sliding rods 9 at both ends of the groups of lower sliding rods 9, the bottom of the lower sliding rods 9 is slidingly provided with at least three groups of suction disc assemblies 10, the suction disc assemblies 10 are vacuum suction discs, each group of suction disc assemblies 10 is communicated with an external vacuum pump, and the upper sliding rods 8 can drive the suction disc assemblies 10 to move along the bottom of the lower sliding rods 9;

[0036] The upper sliding rods 8 are hollow rods, the bottom of the upper sliding rods 8 is provided with a first sliding hole 801, the inside of the upper sliding rods 8 is slidingly provided with first sliding blocks 802 corresponding to the lower sliding rods 9, and the adjacent first sliding blocks 802 are connected with first springs 803; the lower sliding rods 9 are hollow rods, the top of the lower sliding rods 9 is provided with an upper sliding hole 901, the bottom of the lower sliding rods 9 is provided with a lower sliding hole 902, the inside of the lower sliding rods 9 is slidingly provided with second sliding blocks 903 corresponding to the suction disc assemblies 10, the suction disc assemblies 10 are connected with the second sliding blocks 903, the adjacent second sliding blocks 903 are connected with second springs 904, and the second sliding blocks 903 at both ends are connected with the corresponding first sliding blocks 802 through vertical rods penetrating the upper sliding hole 901 and the first sliding block 802.

[0037] In the embodiment, the transverse driving device 1 can drive the gripper 4 to move transversely, the longitudinal driving device 2 can drive the gripper 4 to move longitudinally, and the vertical driving device 3 can drive the gripper 4 to move vertically; in use, the transverse driving device 1, the longitudinal driving device 2 and the vertical driving device 3 are respectively connected with an external control system, so as to accurately control the position of the gripper 4 to feed and discharge the plate;

[0038] Before the plate is gripped, the positions of the upper sliding rods 8 and the lower sliding rods 9 are controlled by the four groups of electric driving rods 7 according to the size of the plate, so that all the suction disc assemblies 10 are uniformly distributed according to the size of the plate, thereby improving the stability and efficiency of the suction disc assemblies 10 in gripping the plate;

[0039] Specifically, by controlling the electric drive rods 7 located on the front and back sides of the direction block to drive the two groups of upper sliding rods 8 to move in mirror image, the first sliding blocks 802 in the two groups of upper sliding rods will drive the second sliding blocks 903 at both ends of the lower sliding rods 9 to move closer to or away from each other, thereby driving the multiple groups of suction cup assemblies 10 to move closer to or away from each other; and by setting the second springs 904, no matter how the second sliding blocks 903 at both ends move, the distance between the multiple groups of second sliding blocks 903 will be equal, thereby enabling the multiple groups of suction cup assemblies 10 to be arranged equidistantly in the front-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 sliding rods 9 at both ends of the multiple groups of lower sliding rods 9 to move in mirror image, the lower sliding rods 9 at both ends will drive the first sliding blocks 802 at both ends of the upper sliding rods 8 to move closer to or away from each other, and by setting the first springs 803, no matter how the first sliding blocks 802 at both ends move, the distance between the multiple groups of first sliding blocks 802 will be equal, thereby enabling the multiple groups of lower sliding rods 9 to be arranged equidistantly, and further enabling the multiple groups of suction cup assemblies 10 to be arranged equidistantly in the left-right direction.

[0041] Therefore, before the plate is grabbed, the positions of the suction cup assemblies 10 are adjusted by the four groups of electric drive rods 7 according to the size of the plate, 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 assemblies 10 in grabbing the plate.

[0042] Preferably, the top of the square block 6 is further provided with an electric telescopic rod 5, the top end of the electric telescopic rod 5 is connected with the bottom of the vertical driving device 3; the two sides of the fixed end of the electric telescopic rod 5 are symmetrically provided with supporting parts, the bottom of the supporting part is provided with a clamping assembly 15, and the supporting part is provided with a transmission part for driving the two groups of clamping assemblies 15 to move, so as to clamp the two sides of the grabbed plate.

[0043] After the plate is grabbed by the suction cup assemblies 10, the electric telescopic rod 5 is started to drive the suction cup assemblies 10 to move upward, the suction cup assemblies 10 drive the grabbed plate to move upward between the two groups of clamping assemblies 15, and in this process, the transmission part adjusts the clamping assemblies 15 on both sides to clamp the two sides of the grabbed plate; then the horizontal driving device 1, the vertical driving device 2 and the vertical driving device 3 are started to feed the grabbed plate; the clamping assemblies 15 clamping the two sides of the grabbed plate can avoid the plate from shaking during the feeding process, further improving the stability of the suction cup assemblies 10 in grabbing the plate.

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

[0045] Before the plate is grabbed, the positions of the upper sliding rod 8 and the lower sliding rod 9 are adjusted by the four electric drive rods 7 according to the size of the plate, so that all the sucker assemblies 10 are uniformly distributed according to the size of the plate; when the lower sliding rod 9 is adjusted, the side plate 701 drives the connecting rod 14 and the sliding block 13 to slide on the driving rod 11 through the screw rod 17 and the sliding plate 16, so that the clamping assembly 15 can be synchronously adjusted when the lower sliding rod 9 moves, and automatically adapt to the clamping requirements of plates of different sizes.

[0046] Preferably, the transmission part comprises a first driving wheel 1301 rotatably arranged on one side of the sliding block 13, a second driving wheel 1601 rotatably arranged on one side of the sliding plate 16 and fixedly connected with the end of the screw rod 17, a same set of transmission belts 20 sleeved between the first driving wheel 1301 and the second driving wheel 1601, and a tensioning part arranged on one side of the connecting rod 14 and used for always tensioning the transmission belts 20; a screw hole is formed in 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 with the screw hole; the driving rod 11 is provided with a transmission assembly used for driving the first driving wheel 1301 to rotate;

[0047] The transmission assembly drives the first driving wheel 1301 to rotate, the first driving wheel 1301 drives the second driving wheel 1601 to synchronously rotate through the transmission belt 20, the rotating second driving wheel 1601 drives the screw rod 17 to rotate, the rotating screw rod 17 drives the connecting rod 14 and the sliding plate to move along the driving rod 11 through the sliding plate 16, and further drives the clamping assembly 15 to move, so as to clamp the grabbed plate.

[0048] Preferably, the transmission assembly comprises a sleeve 1101 fixedly sleeved on the driving rod 11, a gear 1102 fixedly sleeved on the sleeve 1101, a tooth groove formed in the outer periphery of the driving rod 11, and a first driving wheel 1301 sleeved on the outer periphery of the driving rod 11 and provided with a tooth block on the inner wall thereof matched with the tooth groove; the top of the square block 6 is provided with a toothed plate 12 matched with the gear 1102;

[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 upwards, at this time the square block 6 drives the toothed plate 12 to move upwards, since the toothed plate 12 is engaged with the gear 1102, the upward movement of the toothed plate 12 drives the driving rod 11 to rotate through the gear 1102 and the sleeve 1101, the driving rod 11 drives the first driving wheel 1301 to rotate through the cooperation of the tooth groove formed in the outer periphery thereof and the tooth block on the inner wall of the first driving wheel 1301, 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, the rotating screw 17 drives the connecting rod 14 and the sliding plate to move along the driving rod 11 as a whole through the sliding plate 16, thereby driving the clamping assembly 15 to move, so as to clamp the two sides of the plate driven to move upwards by the electric telescopic rod 5, which can avoid the plate from shaking during the feeding and discharging process, and further improve the stability of the suction cup assembly 10 in grabbing the plate.

[0050] Preferably, the toothed plate 12 is divided into a smooth surface and a toothed surface, the upper half of the toothed plate 12 is a smooth surface, the lower half of the toothed plate 12 is a toothed surface, and the toothed surface is provided with teeth matched with the gear 1102; the top of the toothed plate 12 is connected with 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 matched with the positioning rod 1201;

[0051] When the electric telescopic rod 5 drives the plate grabbed by the suction cup assembly 10 to move upwards, at this time the smooth surface of the toothed plate 12 is in contact with the gear 1102 and cannot drive the gear 1102 to rotate, thereby the clamping assemblies 15 on both sides do not move at this time, avoiding the interference of the clamping assemblies 15 on the lower sliding rod 9; when the electric telescopic rod 5 drives the lower sliding rod 9 to move upwards to the upper side of the clamping assembly 15, at this time the toothed surface is in contact with the gear 1102 and drives the gear 1102 to rotate, and the clamping assemblies 15 on both sides begin to move close to each other to clamp the two ends of the plate being moved upwards.

[0052] Preferably, the tensioning part comprises a side rod 18, the 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 formed in the side rod 18, a connecting block 1901 is slidably arranged in the through hole, the connecting block 1901 is connected with the tensioning block 19; a tensioning spring 1902 is arranged in the through hole, one end of the tensioning spring 1902 is connected with the connecting block 1901, and the other end is connected with an end of the through hole; a third driving wheel 1903 is rotatably connected to the tensioning block 19, and the transmission belt 20 passes through the third driving wheel 1903;

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

[0054] Preferably, the clamping assembly 15 comprises a fixed clamping plate 1501, the fixed clamping plate 1501 is provided with a movable rod 1504 on the side close to the lower sliding rod 9, the movable rod 1504 penetrates the fixed clamping plate 1501, and the end of the movable rod 1504 close to the lower sliding rod 9 is fixedly connected with a movable clamping plate 1502, and the movable clamping plate 1502 is connected with the fixed clamping plate 1501 through a clamping spring 1503;

[0055] Through the movable rod 1504 and the clamping spring 1503, the movable clamping plate 1502 can be in elastic contact with the plate material, so that the plate material is prevented from being deformed or damaged.

[0056] Preferably, a limiting hole 1401 is formed in the connecting rod 14, and a limiting block 21 is slidably arranged in the limiting hole 1401, and the limiting block 21 is connected with the fixed clamping plate 1501;

[0057] 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 upwards, and the suction cup assembly 10 drives the grabbed plate to move upwards to between the two sets of clamping assemblies 15. In this process, the transmission part will regulate the clamping assemblies 15 on both sides to be clamped on both sides of the grabbed plate. By the sliding cooperation of the limiting hole 1401 on the connecting rod 14 and the limiting block 21, when the movable clamping plate 1502 contacts the plate and does not completely clamp the plate, the movable clamping plate 1502 can move upwards with the plate to avoid that the movable clamping plate 1502 cannot move and generates a downward thrust on the plate to cause the plate to fall off the suction cup assembly 10. Similarly, when the plate moves to the unloading area, the electric telescopic rod 5 drives the suction cup assembly 10 and the grabbed plate to move downwards. In the process of moving downwards, the movable clamping plate 1502 moves downwards synchronously with the plate until the movable clamping plate 1502 completely separates from the surface of the plate. When the plate is placed in the unloading area, the vacuum state in the suction cup assembly 10 is released, and the plate can be unloaded.

[0058] Preferably, the transverse driving device 1 comprises a base 101, the base 101 is provided with an electric sliding rail 102, the electric sliding rail 102 is provided with a support plate 103, and the electric sliding rail 102 drives the support plate 103 to move in the transverse direction; the longitudinal driving device 2 is a hydraulic cylinder, and the bottom of the fixed end of the hydraulic cylinder is fixedly arranged on the support plate 103; the vertical driving device 3 comprises a linear sliding table 301 and a vertical conveying rod 302, the linear sliding table 301 drives the vertical conveying rod 302 to move vertically, and the linear sliding table 301 is fixedly connected to the piston end of the hydraulic cylinder; driving the electric sliding 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, driving the linear sliding table can drive the vertical conveying rod 302 to move vertically, and then drive the gripper 4 to move vertically, so as to meet the movement requirements of the gripper 4 for the plate.

[0059] When in use, the two groups of upper sliding rods 8 are driven to move in mirror image by controlling the electric drive rods 7 located on the front and back of the direction block, and the first sliding blocks 802 in the two groups of upper sliding rods 8 drive the second sliding blocks 903 at the two ends of the lower sliding rods 9 to move close to or away from each other, so as to drive the suction disc assemblies 10 to move close to or away from each other; and the second spring 904 is arranged, no matter how the two ends of the second sliding blocks 903 move, the distance between the multiple second sliding blocks 903 is equal, so that the suction disc assemblies 10 are arranged at equal distances in the front and back directions; the two ends of the lower sliding rods 9 are driven to move in mirror image by controlling the electric drive rods 7 located on the left and right of the direction block, and the two ends of the lower sliding rods 9 drive the first sliding blocks 802 at the two ends of the upper sliding rods 8 to move close to or away from each other, and the first spring 803 is arranged, no matter how the two ends of the first sliding blocks 802 move, the distance between the multiple first sliding blocks 802 is equal, so that the multiple lower sliding rods 9 are arranged at equal distances, and then the suction disc assemblies 10 are arranged at equal distances in the left and right directions; then the suction disc assemblies 10 are driven to move downward and are attached to the plate, and the vacuum pump is started to vacuumize the suction disc assemblies 10, so that the suction disc assemblies 10 are adsorbed on the plate to complete the grabbing of the plate; after the plate is grabbed by the suction disc assemblies 10, the electric telescopic rod 5 is started to drive the suction disc assemblies 10 to move upward, the suction disc assemblies 10 drive the grabbed plate to move upward between the two groups of clamping assemblies 15, and in this process, the transmission part controls the clamping assemblies 15 on the two sides to clamp the grabbed plate; then the horizontal driving device 1, the vertical driving device 2 and the vertical driving device 3 are started to feed and discharge the grabbed plate; the clamping assemblies 15 clamping the grabbed plate on the two sides can avoid the plate from shaking in the feeding and discharging process, and further improve the stability of the suction disc assemblies 10 in grabbing the plate.

[0060] Those skilled in the art will understand that the above discussion of any embodiment is only exemplary and is not intended to limit the scope of the present application (including claims) to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for the sake of brevity.

[0061] The present application is intended to cover all such alternatives, modifications, and variations as fall within the broad scope of the appended claims. Accordingly, any and all such alternatives, modifications, variations, and the like are intended to be encompassed by the present application.

Claims

1. A feeding and discharging system of a truss robot, comprising a truss and a gripper (4), characterized in that, The truss comprises a transverse driving device (1), the top of the transverse driving device (1) is provided with a longitudinal driving device (2), one end of the longitudinal driving device (2) is provided with a vertical driving device (3), the bottom of the vertical driving device (3) is connected with a gripper (4); The gripper (4) comprises a square block (6), the square block (6) is connected with the bottom of the vertical driving device (3), the square block (6) is provided with an electric driving rod (7) around, the ends of four groups of electric driving rods (7) are provided with side plates (701) respectively; the bottom of the side plates (701) located on the front and back sides of the square block (6) is connected with upper slide rods (8), the bottom of two groups of upper slide rods (8) is slidably provided with at least three groups of lower slide rods (9); the bottom of the side plates (701) located on the left and right sides of the square block (6) is connected with the lower slide rods (9) at both ends of a plurality of groups of lower slide rods (9) respectively; the bottom of the lower slide rod (9) is slidably provided with at least three groups of suction disc assemblies (10), the upper slide rod (8) can drive the suction disc assembly (10) to move along the bottom of the lower slide rod (9); The upper slide rod (8) is a hollow rod, the bottom of the upper slide rod (8) is provided with a first sliding hole (801), the inside of the upper slide rod (8) is slidably provided with a first sliding block (802) corresponding to the lower slide rod (9), the first sliding blocks (802) adjacent to each other are connected with a first spring (803); the lower slide rod (9) is a hollow rod, the top of the lower slide rod (9) is provided with an upper slide hole (901), the bottom of the lower slide rod (9) is provided with a lower slide hole (902), the inside of the lower slide rod (9) is slidably provided with a second sliding block (903) corresponding to the suction disc assembly (10), the suction disc assembly (10) is connected with the second sliding block (903), the second sliding blocks (903) adjacent to each other are connected with a second spring (904), the second sliding blocks (903) at both ends are connected with the corresponding first sliding blocks (802) through vertical rods penetrating the upper slide hole (901) and the first sliding block (802); The top of the square block (6) is further provided with an electric telescopic rod (5), the top end of the electric telescopic rod (5) is connected with the bottom of the vertical driving device (3); the two sides of the fixed end of the electric telescopic rod (5) are symmetrically provided with support portions, the bottom of the support portion is provided with a clamping assembly (15), the support portion is provided with a transmission portion for driving two groups of clamping assemblies (15) to move, so as to clamp the two sides of the grabbed plate material; The support part comprises a fixing collar (501) fixedly sleeved on the outer periphery of the fixed end of the electric telescopic rod (5), and driving rods (11) are symmetrically arranged on the left and right sides of the fixing collar (501), a sliding block (13) is slidably arranged on the driving rod (11), a connecting rod (14) is arranged at the bottom of the sliding block (13), the bottom of the connecting rod (14) is connected with a clamping assembly (15), and the transmission part is arranged on the connecting rod (14); a sliding plate (16) is further arranged on the connecting rod (14), the sliding plate (16) is slidably connected with the connecting rod (14), a screw rod (17) is arranged in the sliding plate (16), and the screw rod (17) is connected with a corresponding side plate (701); the electric drive rod (7) adjusts the positions of the upper sliding rod (8) and the lower sliding rod (9), the screw rod (17) and the sliding plate (16) drive the sliding block (13) to synchronously slide on the driving rod (11), so that the clamping assembly (15) is adjusted synchronously with the lower sliding rod (9). The transmission part comprises a first driving wheel (1301) rotatably arranged on one side of the sliding block (13), a second driving wheel (1601) rotatably arranged on one side of the sliding plate (16), and a same set of transmission belts (20) sleeved between the first driving wheel (1301) and the second driving wheel (1601), wherein the end of the screw rod (17) is fixedly connected with the second driving wheel (1601), and one side of the connecting rod (14) is provided with a tensioning part for always tensioning the transmission belts (20); a screw hole is formed in 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 with the screw hole; and the driving rod (11) is provided with a transmission assembly for driving the first driving wheel (1301) to rotate.

2. The feeding and discharging system of the truss robot according to claim 1, characterized in that, The transmission assembly comprises a sleeve ring (1101) fixedly sleeved on the driving rod (11), a gear (1102) fixedly sleeved on the sleeve ring (1101), a tooth groove formed in the outer periphery of the driving rod (11), and a first driving wheel (1301) sleeved on the outer periphery of the driving rod (11) and provided with a tooth block matched with the tooth groove on the inner wall thereof; and a tooth plate (12) matched with the gear (1102) is arranged on the top of the square block (6).

3. The feeding and discharging system of the truss robot according to claim 2, characterized in that, 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, the lower half of the tooth plate (12) is the tooth surface, and teeth matched with the gear (1102) are arranged on the tooth surface; a positioning rod (1201) is connected to the top of the tooth plate (12), and a positioning groove (1202) matched with the positioning rod (1201) is formed in the outer periphery of the fixed end of the electric telescopic rod (5).

4. The loading and unloading system of the truss robot according to claim 1, characterized in that, The tensioning part comprises a side rod (18), one side of the connecting rod (14) is provided with the side rod (18), a tensioning block (19) is slidably arranged on the side rod (18), a through hole is formed in the side rod (18), a connecting block (1901) is slidably arranged in the through hole, and the connecting block (1901) is connected with the tensioning block (19); a tensioning spring (1902) is arranged in the through hole, one end of the tensioning spring (1902) is connected with the connecting block (1901), and the other end is connected with the end of the through hole; the tensioning block (19) is rotatably connected with a third driving wheel (1903), and a transmission belt (20) is wound around the third driving wheel (1903).

5. The loading and unloading system of the truss robot according to claim 4, characterized in that, The clamping assembly (15) comprises a fixed clamping plate (1501), the fixed clamping plate (1501) is provided with a movable rod (1504) near one side of the lower slide rod (9), the movable rod (1504) is arranged through the fixed clamping plate (1501), and the end of the movable rod (1504) near the lower slide rod (9) is fixedly connected with a movable clamping plate (1502), the movable clamping plate (1502) and the fixed clamping plate (1501) are connected with a clamping spring (1503).

6. The loading and unloading system of the truss robot according to claim 5, characterized in that, The connecting rod (14) is provided with a limiting hole (1401), and a limiting block (21) is slidably arranged in the limiting hole (1401), the limiting block (21) is connected with the fixed clamping plate (1501).

7. The loading and unloading system of the truss robot according to claim 1, wherein, The transverse driving device (1) comprises a base (101), and the base (101) is provided with an electric slide rail (102); the electric slide rail (102) is provided with a supporting plate (103), and the electric slide rail (102) drives the supporting plate (103) to move in the transverse direction; the longitudinal driving device (2) is a hydraulic cylinder, and the bottom of the fixed end of the hydraulic cylinder is fixedly arranged on the supporting plate (103); the vertical driving device (3) comprises a linear slide (301) and a vertical conveying rod (302), the linear slide (301) drives the vertical conveying 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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