Truss robot for feeding and discharging of automatic machining line

Abstract

The invention discloses a truss robot for feeding and discharging of an automatic machining line, and relates to the technical field of robots, the truss robot comprises a frame body, a moving shaft system is mounted at the top of the frame body, a clamping structure is mounted at the bottom of the moving shaft system, the clamping structure comprises a clamping plate, and the truss robot further comprises a protection mechanism; the protection mechanism comprises a connecting plate, a first baffle and a second baffle which are sequentially arranged in the clamping plate in a sliding mode from top to bottom, shaft rods are fixed to the top of the first baffle and the top of the second baffle through connecting bases, and the connecting plate is rotationally connected with the first baffle through the connecting bases and the shaft rods, and the first baffle is rotationally connected with the second baffle through the connecting bases and the shaft rods. Through the trigger assembly, the protection mechanism is automatically triggered when carton cargoes between the two clamping plates slide down, so that the second baffle is popped out of the clamping plates and deflects to support and bear the cargoes, the situation that the cargoes fall off in the clamping and lifting process due to damage of a supporting structure of the cartons is effectively prevented, and the safety of cargo feeding and discharging is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a truss robot used for loading and unloading materials on an automatic processing line. Background Art

[0002] A truss robot is an industrial automation device designed based on a rectangular coordinate system. Its standard architecture comprises three core modules: a truss frame, a motion axis system, and an end effector. The truss frame utilizes a gantry-like structure with rigidly connected beams and columns, providing stable support for the device. The motion axis system coordinates and controls linear motion along the X, Y, and Z axes, enabling high-precision positioning and operation within a space. The end effector, mounted at the end of the Z axis, supports modular customization. For example, in loading and unloading scenarios, pneumatic grippers or vacuum suction cups can be used to handle materials such as sheets and cartons, adapting to the material handling needs of automated production lines.

[0003] In industrial production, cartons are subjected to long-term vertical and lateral extrusion loads during frequent loading, unloading and stacking operations, making them prone to structural deformation. Such deformation will gradually weaken the supporting performance of the corrugated structure, resulting in a decrease in the compressive strength of the cartons and the loosening and collapse of the carton body. When traditional truss robots use a clamping method to transport such deformed cartons, the uneven contact surface and uneven clamping force will significantly reduce the friction between the plywood and the carton, causing the carton to slip during transportation. Once a drop accident occurs, not only may the materials in the carton be damaged by the impact, but it is also likely to cause a chain reaction collapse of the stacked goods below, causing serious economic losses such as equipment damage and material scrap, and even endangering operational safety. Summary of the Invention

[0004] The purpose of the present invention is to propose a truss robot for loading and unloading materials on an automatic processing line in order to solve the problem that when traditional truss robots use a clamping method to transport cartons, the cartons may slide down and fall after being clamped and lifted due to their looseness, causing damage to the goods inside.

[0005] To achieve the above objectives, the present invention adopts the following technology: a truss robot for loading and unloading materials on an automatic processing line, comprising a frame, a motion axis system mounted on the top of the frame, a clamping structure mounted on the bottom of the motion axis system, the clamping structure comprising a clamping plate, and further comprising:

[0006] A protection mechanism, the protection mechanism includes a connecting plate, a first baffle, and a second baffle that are sequentially slidably arranged inside the splint from top to bottom, the tops of the first baffle and the second baffle are fixed with a shaft via a connecting seat, the connecting plate and the first baffle, and the first baffle and the second baffle are rotatably connected via the connecting seat and the shaft, a torsion spring is provided at the connection between the shaft, the connecting plate, and the first baffle, and a limiting unit and a damping unit are provided on the outside of the shaft;

[0007] trigger assembly and active control mechanism;

[0008] When the goods slide down, the trigger assembly releases the lock of the connecting plate, and the connecting plate drives the first baffle and the second baffle to pop out. After being buffered by the first baffle, the goods are supported and received by the second baffle.

[0009] As a further description of the above technical solution: the damping unit includes a shell fixed to one end of the shaft, and the interior of the shell is elastically connected to a friction block.

[0010] As a further description of the above technical solution: the limiting unit includes a stopper slidingly connected between the connecting seat and the shaft rod, an adjustment plate is fixed to one side of the stopper, the adjustment plate is rotatably connected to the connecting seat and fixed by bolts, and the bottom ends of the connecting plate and the first baffle are fixed with protrusions.

[0011] As a further description of the above technical solution: the trigger assembly includes a slider slidably connected to the inside of the splint, a tension spring is fixed between the top of the slider and the splint, two elastic pins arranged in a mirrored manner are slidably connected to the inside of the splint, a friction plate is elastically connected to one side of the slider, and a spring telescopic rod is fixed to the inside of the splint.

[0012] As a further description of the above technical solution: the active control mechanism includes a motor fixedly mounted on the top of the splint, the driving shaft of the motor is fixed with a screw rod rotatably connected to one side of the splint, the screw rod is threadedly connected to a mounting seat slidingly connected to the splint, and a connecting unit is provided inside the mounting seat.

[0013] As a further description of the above technical solution: the connecting unit includes a magnetic card block elastically connected to the inside of the mounting seat, and an electromagnet 1 is installed inside the mounting seat. When the electromagnet 1 generates a magnetic repulsive force, it pushes the magnetic card block to embed into the connecting plate.

[0014] As a further description of the above technical solution: it also includes a locking structure, which includes an electromagnet 2 fixedly installed inside the shell, a magnetic push block slidingly connected inside the shell, a reset spring provided at one end of the magnetic push block, and a locking plate elastically connected inside the shell.

[0015] As a further description of the above technical solution: a push rod is fixed to one end of the magnetic push block.

[0016] In summary, due to the use of the above technology, a truss robot for loading and unloading materials on an automatic processing line has the following beneficial effects:

[0017] First, the present application uses a trigger component to automatically trigger the protection mechanism when the carton cargo between the two clamps slides down, causing the second baffle to pop out from the clamp and deflect to support and receive the cargo, effectively preventing the carton from falling during the clamping and lifting process due to damage to its own supporting structure, thereby ensuring the safety of cargo loading and unloading. In addition, after the protection mechanism is triggered, the first baffle can also cushion the fall of the carton, thereby reducing the impact force on the carton when it is received by the second baffle, further protecting the objects in the box from damage.

[0018] Secondly, the present application can directly drive the protection mechanism to grab the goods through the active control mechanism. After grabbing, the locking structure automatically locks the second baffle so that it is supported on the bottom of the goods. This design not only significantly improves the upper limit of the handling weight of the truss robot and expands its scope of application, but also effectively reduces the clamping force of the splint on the side wall of the goods during the handling of heavy objects, thereby avoiding damage to the goods due to excessive clamping force. In addition, the active control mechanism can adjust the position and angle of the second baffle to facilitate it to shovel up the goods or adapt to the grabbing needs of cylindrical goods, and can realize the light placement of goods, thereby improving the safety of cargo unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shows an overall schematic diagram provided according to an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a splint provided according to an embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram of a friction plate provided according to an embodiment of the present invention is shown;

[0022] Figure 4 A schematic transverse cross-sectional view of a splint provided in an embodiment of the present invention is shown;

[0023] Figure 5 The embodiment of the present invention provides Figure 4 Enlarged view of point A in the middle;

[0024] Figure 6 A schematic longitudinal cross-sectional view of a splint provided in an embodiment of the present invention is shown;

[0025] Figure 7 The embodiment of the present invention provides Figure 6 Enlarged view of point B in the middle;

[0026] Figure 8 The embodiment of the present invention provides Figure 6 Enlarged view of point C in the middle;

[0027] Figure 9 A schematic diagram of a first baffle provided according to an embodiment of the present invention is shown;

[0028] Figure 10 It shows an exploded schematic diagram of a connecting socket provided according to an embodiment of the present invention;

[0029] Figure 11 A schematic diagram of an explosion of a shaft provided in an embodiment of the present invention is shown;

[0030] Figure 12 shows a cross-sectional schematic diagram of a second baffle provided according to an embodiment of the present invention;

[0031] Figure 13 shows a schematic cross-sectional view of a housing provided according to an embodiment of the present invention;

[0032] Figure 14 It shows an operating state diagram of a protection mechanism provided in an embodiment of the present invention;

[0033] Figure 15 shows a schematic diagram of a first operating state provided according to an embodiment of the present invention;

[0034] Figure 16 shows a schematic diagram of a second operating state provided according to an embodiment of the present invention;

[0035] Figure 17 A schematic diagram of a third operating state provided according to an embodiment of the present invention is shown.

[0036] Legend:

[0037] 10. Frame; 11. Motion axis system; 12. Clamping structure; 13. Clamping plate;

[0038] 20. Protective mechanism; 21. Connecting plate; 22. First baffle; 23. Second baffle; 24. Connecting seat; 25. Shaft; 26. Torsion spring; 27. Limiting unit; 271. Stop block; 272. Adjusting plate; 28. Damping unit; 281. Housing; 282. Friction block; 29. Spring telescopic rod;

[0039] 30. Trigger assembly; 31. Slider; 32. Tension spring; 33. Elastic latch; 34. Friction plate;

[0040] 40. Active control mechanism; 41. Motor; 42. Screw; 43. Mounting base; 44. Electromagnet 1; 45. Magnetic clamp;

[0041] 50. Locking structure; 51. Electromagnet 2; 52. Magnetic push block; 53. Locking plate; 54. Push rod; 55. Return spring. DETAILED DESCRIPTION

[0042] The following, combined with the accompanying drawings, provides a clear and complete description of the technology in the embodiments of the present invention, a gantry robot for loading and unloading materials on an automated processing line. Obviously, the described embodiments are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0043] like Figures 1-17 As shown, the present invention provides a truss robot for loading and unloading materials on an automatic processing line: it includes a frame 10 with a gantry structure, a motion axis system 11 is installed on the top of the frame 10, and a clamping structure 12 is installed on the bottom of the motion axis system 11. The clamping structure 12 includes two clamping plates 13, and the clamping structure 12 realizes clamping and putting down by controlling the two clamping plates 13 to move closer and farther away.

[0044] Reference Figures 9-13 In order to prevent the carton goods clamped by the two splints 13 from falling during the loading and unloading process of the truss robot, it also includes a protection mechanism 20 symmetrically arranged inside the two splints 13. The protection mechanism 20 includes a connecting plate 21, a first baffle 22 and a second baffle 23 that are slidably arranged inside the splint 13 from top to bottom. The tops of the first baffle 22 and the second baffle 23 are both fixed with a connecting seat 24, and one side of the connecting seat 24 is fixed with a shaft rod 25. The shaft rod 25 at the top of the first baffle 22 is rotatably connected to the bottom end of the connecting plate 21, and the shaft rod 25 at the top of the second baffle 23 is rotatably connected to the bottom end of the first baffle 22. Torsion springs 26 are provided at the connections between the shaft rod 25 and the connecting plate 21 and the first baffle 22. When the first baffle 22 and the second baffle 23 are vertically arranged inside the splint 13, the two torsion springs 26 are both in a compressed state.

[0045] Reference Figure 14When the connecting plate 21 slides downward inside the splint 13, it drives the first baffle 22 and the second baffle 23 connected by the shaft 25 and the connecting seat 24 to move downward. When the second baffle 23 moves out of the splint 13, the second baffle 23 loses the limit of the splint 13 and deflects ninety degrees relative to the first baffle 22 toward the direction where the goods are located under the elastic force of the torsion spring 26; when the first baffle 22 moves out of the splint 13, the first baffle 22 loses the limit of the splint 13 and deflects toward the direction where the goods are located relative to the connecting plate 21 under the elastic force of the torsion spring 26. The deflection angle Between thirty and sixty degrees, when the goods fall, they first rub against the inclined first baffle 22 and push the first baffle 22 to deflect in the opposite direction. During this process, the first baffle 22 cushions the fall of the goods with the help of the elastic force of the torsion spring 26. After the first baffle 22 is pushed by the goods to deflect back to the vertical state, the goods contact the second baffle 23 and are supported and received by the second baffle 23. This design not only prevents the carton goods from falling during the clamping and lifting process due to damage to the supporting structure of the carton goods themselves, but also reduces the impact force on the goods when they are received by the second baffle 23 through cushioning.

[0046] Reference Figure 10-12 In order to meet different usage requirements and change the deflection angle of the first baffle 22 and the second baffle 23 after extending from the splint 13, a limiting unit 27 is provided on the outside of the shaft 25. The limiting unit 27 includes a stopper 271 slidably connected between the connecting seat 24 and the shaft 25. An adjusting plate 272 is fixed to one side of the stopper 271. The adjusting plate 272 is rotatably connected to the connecting seat 24 and fixed by bolts. The bottom ends of the connecting plate 21 and the first baffle 22 are both fixed with a protrusion located on the same horizontal plane as the stopper 271. By rotating the adjusting plate 272, the stopper 271 is driven to slide between the connecting seat 24 and the shaft 25 to change the stopper 27. 1, and then use bolts to fix the adjusting plate 272 to the connecting seat 24 and the shaft 25. At this time, the stopper 271 is in a fixed state. When the first baffle 22 deflects relative to the connecting plate 21, it drives the connecting seat 24, the shaft 25, the adjusting plate 272 and the stopper 271 to deflect relative to the protrusion. The protrusion blocks the deflection of the stopper 271, thereby controlling the maximum deflection angle of the first baffle 22 relative to the connecting plate 21, thereby adjusting the buffering effect of the first baffle 22 on the cargo. For example, when buffering heavy cargo, increasing the deflection angle of the first baffle 22 can further slow down the falling speed of the cargo and further enhance the buffering effect.

[0047] Reference Figure 11 A support block is also fixed between the shaft 25 and the connecting seat 24 to prevent the first baffle 22 from deflecting away from the cargo relative to the connecting plate 21 when in a vertical state, and is used to improve the stability of the first baffle 22 and the second baffle 23 when they are extended and retracted.

[0048] Reference Figure 13A damping unit 28 is also provided on the outside of the shaft 25. The damping unit 28 includes a shell 281 fixed to one end of the shaft 25 and embedded in the connecting plate 21 and the first baffle 22 along with the shaft 25. The interior of the shell 281 is elastically connected with a friction block 282. The friction block 282 elastically abuts against the inner wall of the connection point between the connecting plate 21 and the first baffle 22 and the shaft 25, and achieves a damping effect through friction force, which is used to reduce the vibration of the first baffle 22 and the second baffle 23 when they deflect to the maximum position under the elastic action of the torsion spring 26, and to prevent the first baffle 22 from deflecting too quickly and colliding with the cargo.

[0049] Reference Figure 4-Figure 7 In order to automatically trigger the protection mechanism 20 when the cargo slides down, it also includes a trigger assembly 30. The trigger assembly 30 includes a slider 31 slidably connected to the inside of the splint 13. An inclined groove is provided at the bottom of the slider 31. A tension spring 32 is fixed between the top of the slider 31 and the splint 13 to help the slider 31 reset. The inside of the splint 13 is slidably connected to two elastic pins 33 arranged in a mirrored manner to clamp the connecting plate 21 and the splint 13. A friction plate 34 is elastically connected to one side of the slider 31, and a spring telescopic rod 29 is fixed to the inside of the splint 13.

[0050] After the clamping structure 12 clamps the carton cargo through the clamping plates 13, the friction plates 34 come into contact with both sides of the cargo and generate friction between them and the cargo under their own elastic force. When the cargo slides down, the friction plates 34 move downward, causing the friction plates 34 to drive the slider 31 to slide downward inside the clamping plates 13. The slider 31 pushes the two elastic latches 33 away through the inclined groove, so that the elastic latches 33 no longer engage the connecting plate 21, thereby releasing the lock of the connecting plate 21.

[0051] When the elastic latch 33 engages the connecting plate 21, the spring telescopic rod 29 is in a compressed state. When the elastic latch 33 releases the engaging of the connecting plate 21, the spring telescopic rod 29 drives the connecting plate 21 to move downward rapidly by extending the elastic force, so that the connecting plate 21 moves downward and drives the first baffle 22 and the second baffle 23 to extend. Through this trigger-type design, the protective mechanism 20 can automatically protect the cargo when it slides down, thereby improving safety.

[0052] A ball bearing is provided at the connection between the elastic bayonet 33 and the connecting plate 21 to reduce the friction between the elastic bayonet 33 and the connecting plate 21 when the slider 31 pushes the elastic bayonet 33 to move through the inclined groove, thereby improving the sensitivity of the trigger assembly 30.

[0053] Reference Figure 2 and Figure 6In order to reset the protection mechanism 20 after being triggered and enhance the functionality by directly controlling the protection mechanism 20, an active control mechanism 40 is also included. The active control mechanism 40 includes a motor 41 fixedly mounted on the top of the splint 13. The driving shaft of the motor 41 is fixed with a screw rod 42 rotatably connected to one side of the splint 13. The screw rod 42 is threadedly connected to a mounting seat 43 slidably connected to the splint 13. A connecting unit is provided inside the mounting seat 43. When the motor 41 is started to drive the screw rod 42 to rotate, the screw rod 42 drives the mounting seat 43 to slide up and down on one side of the splint 13, thereby driving the connecting plate 21 to rise and fall inside the splint 13 through the connecting unit, thereby realizing direct control of the protection mechanism 20. When the connecting plate 21 moves upward and resets inside the splint 13, the two elastic latches 33 are squeezed to both sides, and the spring telescopic rod 29 is compressed. When the connecting plate 21 moves to the highest point, the elastic latch 33 is reset under the elastic force to clamp the connecting plate 21.

[0054] Reference Figure 8 In order to prevent the active control mechanism 40 from interfering with the automatic triggering of the protection mechanism 20, the connecting unit includes a magnetic card block 45 elastically connected to the inside of the mounting seat 43. An electromagnet 44 is installed inside the mounting seat 43. When the electromagnet 44 generates a magnetic repulsive force, it pushes the magnetic card block 45 to embed into the connecting plate 21. At this time, when the mounting seat 43 moves up and down, the connecting plate 21 is driven to move together through the magnetic card block 45. When the electromagnet 44 is turned off, the magnetic card block 45 elastically retracts into the inside of the mounting seat 43, and the mounting seat 43 is separated from the connecting plate 21, which does not affect the automatic triggering of the protection mechanism 20.

[0055] Reference Figure 15-17 After the trigger assembly 30 releases the clamping of the connecting plate 21, the active control mechanism 40 drives the connecting plate 21 to slide downward inside the clamping plate 13, thereby driving the second baffle 23 to extend from the bottom of the clamping plate 13 through the connecting seat 24 and the shaft 25. By controlling the extension length of the clamping plate 13, the second baffle 23 can be deflected to different angles under the limit of the clamping plate 13;

[0056] One side of the second baffle 23 is tilted so that the tilted side of the second baffle 23 is in contact with the ground after deflection. At this time, the two clamping plates 13 are controlled to move closer by the clamping structure 12, so that the two second baffles 23 can scoop up the heavy goods placed on the ground. After that, the goods are clamped by the clamping plates 13 under the support of the second baffle 23, realizing the loading and unloading of heavy goods. The second baffle 23 plays a supporting role during the loading and unloading process. This design not only significantly increases the upper limit of the handling weight of the truss robot and expands its scope of application, but also effectively reduces the clamping force of the clamping plates 13 on the side walls of the goods during the handling of heavy objects, thereby avoiding damage to the goods due to excessive clamping force;

[0057] By controlling the angle between the second baffle 23 and the clamping plate 13, cylindrical materials can also be stably clamped, further improving the applicability of the truss robot;

[0058] In the process of using the active control mechanism 40 to drive the second baffle 23 to retract into the interior of the splint 13, the second baffle 23 gradually tends to be vertical under the limit of the edge of the splint 13, and the goods gradually approach the ground. Using the active control mechanism 40 to control the protection mechanism 20 can also enable the goods supported by the second baffle 23 to be gently placed after the transportation is completed, thereby ensuring the safety of the goods.

[0059] Reference Figure 12 and Figure 13 , and also includes a locking structure 50 for locking the first baffle 22 and the second baffle 23. The locking structure 50 includes an electromagnet 251 fixedly mounted inside the shell 281, and a magnetic push block 52 is slidably connected to the inside of the shell 281. A return spring 55 is provided at one end of the magnetic push block 52, and a locking plate 53 is elastically connected to the inside of the shell 281. When the electromagnet 251 generates a magnetic repulsive force to push the magnetic push block 52 to slide inside the shell 281, the magnetic push block 52 squeezes the locking plate 53 against the inner wall of the first baffle 22, so that the second baffle 23 is locked with the first baffle 22 through the connecting seat 24, the shaft 25, the shell 281 and the locking plate 53. This design is used to increase the load capacity of the second baffle 23 when the active control mechanism 40 directly controls the protection mechanism 20 to transport goods, thereby increasing the upper limit of the weight of the goods that the truss robot can transport.

[0060] The active control mechanism 40 drives the connecting plate 21 to reset, so that the first baffle 22 and the second baffle 23 are deflected and reset under the pressure of the bottom edge of the clamping plate 13. The damping unit 28 will hinder the deflection of the first baffle 22 and the second baffle 23. A push rod 54 is fixed to one end of the magnetic push block 52. The magnetic repulsion force generated by the electromagnet 51 can also drive the magnetic push block 52 and the push rod 54 to push the friction block 282 toward the inside of the shell 281, so that the friction block 282 no longer contacts the inner wall of the connecting plate 21 and the first baffle 22, thereby reducing the frequency of friction of the friction block 282 and extending the service life of the friction block 282.

[0061] Working principle: In the initial state, the magnetic block 45 is retracted inside the mounting seat 43 by elastic force, the connecting plate 21 is clamped by the elastic latch 33, and the spring telescopic rod 29 and the torsion spring 26 are in a compressed state;

[0062] After the clamping structure 12 controls the two clamping plates 13 to clamp the carton goods, the goods press the friction plate 34, causing the friction plate 34 to retract into the inside of the clamping plates 13. Under the elastic force, friction between the friction plate 34 and the goods occurs.

[0063] When clamping loose cargo, the friction between the cargo and the clamping plate 13 is reduced. At this time, the friction plate 34 contacts the cargo under the action of elastic force. When the cargo slides down, the friction force drives the friction plate 34 down. The friction plate 34 drives the slider 31 to slide down inside the clamping plate 13, thereby pushing the two elastic latches 33 away from each other through the bottom inclined groove, so that the connecting plate 21 is disengaged from the elastic latches 33.

[0064] After the connecting plate 21 loses the engagement of the elastic latch 33, it moves downward with the help of the elastic force of the spring telescopic rod 29, and drives the first baffle 22 and the second baffle 23 to extend from the bottom end of the clamping plate 13 through the connecting seat 24 and the shaft rod 25. After the first baffle 22 and the second baffle 23 lose the limit of the clamping plate 13, under the elastic force of the torsion spring 26, the first baffle 22 is deflected relative to the connecting plate 21, and the second baffle 23 is deflected ninety degrees relative to the first baffle 22. When the goods slide, they first contact the inclined first baffle 22 and push the first baffle 22 to the side. The first baffle 22 realizes the sliding buffer of the goods through the elastic force of the torsion spring 26 and the damping effect of the damping unit 28. When the first baffle 22 is pushed to a vertical state by the goods, the second baffle 23 contacts the bottom surface of the goods to support the goods.

[0065] The motor 41 is started to drive the screw rod 42 to rotate, and the mounting seat 43 is driven to slide on the clamping plate 13, so that the mounting seat 43 moves to the same height as the groove on the connecting plate 21, and the electromagnet 1 44 is turned on to generate a magnetic repulsive force to push the magnetic block 45 to fit into the groove of the connecting plate 21. At this time, the magnetic block 45 is clamped between the mounting seat 43 and the connecting plate 21, and the mounting seat 43 is driven to move upward by the motor 41 and the screw rod 42. The mounting seat 43 drives the connecting plate 21 to move upward through the magnetic block 45. When the connecting plate 21 moves to the highest point, the two elastic latches 33 are squeezed open and enter between the two elastic latches 33. The elastic latch 33 clamps the connecting plate 21 to realize the reset of the protection mechanism 20.

[0066] During the resetting process of the connecting plate 21, the first baffle 22 and the second baffle 23, the second baffle 23 is deflected relative to the first baffle 22 under the squeezing of the bottom edge of the splint 13. During this process, the second baffle 23 gradually tends to be vertical, and the goods supported by the second baffle 23 gradually approach the ground. After the goods are close to the ground, the second baffle 23 retracts into the inside of the splint 13. This design enables the goods supported by the second baffle 23 to be placed lightly, thereby ensuring the safety of the goods.

[0067] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited to this. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes to a truss robot for loading and unloading materials on an automatic processing line and its inventive concept according to the technology of the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A truss robot for loading and unloading materials on an automatic processing line, comprising a frame (10), a motion axis system (11) being installed on the top of the frame (10), a clamping structure (12) being installed on the bottom of the motion axis system (11), the clamping structure (12) comprising a clamping plate (13), characterized in that: Also includes: A protection mechanism (20), the protection mechanism (20) comprising a connecting plate (21), a first baffle (22) and a second baffle (23) which are sequentially arranged to slide inside the clamping plate (13) from top to bottom, the tops of the first baffle (22) and the second baffle (23) are fixed with a shaft (25) via a connecting seat (24), the connecting plate (21) and the first baffle (22) and the second baffle (23) are rotatably connected via the connecting seat (24) and the shaft (25), the connection between the shaft (25) and the connecting plate (21) and the first baffle (22) is provided with a torsion spring (26), and a limiting unit (27) and a damping unit (28) are provided on the outside of the shaft (25); a trigger assembly (30) and an active control mechanism (40); When the cargo slides down, the trigger assembly (30) releases the lock of the connecting plate (21), and the connecting plate (21) drives the first baffle (22) and the second baffle (23) to pop out, and the cargo is supported and received by the second baffle (23) after being buffered by the first baffle (22).

2. A truss robot for loading and unloading materials on an automatic processing line according to claim 1, characterized in that: The damping unit (28) comprises a housing (281) fixed to one end of the shaft (25), and a friction block (282) is elastically connected to the interior of the housing (281).

3. The truss robot for loading and unloading materials in an automatic processing line according to claim 1, characterized in that: The limiting unit (27) includes a stopper (271) slidably connected between the connecting seat (24) and the shaft (25); an adjustment plate (272) is fixed to one side of the stopper (271); the adjustment plate (272) is rotatably connected to the connecting seat (24) and fixed by bolts; and protrusions are fixed to the bottom ends of the connecting plate (21) and the first stopper (22).

4. The truss robot for loading and unloading materials on an automatic processing line according to claim 1, characterized in that: The trigger assembly (30) includes a slider (31) slidably connected to the inside of the splint (13), a tension spring (32) is fixed between the top of the slider (31) and the splint (13), two elastic latches (33) arranged in a mirror image are slidably connected to the inside of the splint (13), a friction plate (34) is elastically connected to one side of the slider (31), and a spring telescopic rod (29) is fixed to the inside of the splint (13).

5. The truss robot for loading and unloading materials on an automatic processing line according to claim 1, characterized in that: The active control mechanism (40) includes a motor (41) fixedly mounted on the top of the splint (13); a driving shaft of the motor (41) is fixed with a screw rod (42) rotatably connected to one side of the splint (13); a mounting seat (43) is threadedly connected to the screw rod (42) and is slidably connected to the splint (13); and a connecting unit is provided inside the mounting seat (43).

6. A truss robot for loading and unloading materials on an automatic processing line according to claim 5, characterized in that: The connecting unit includes a magnetic card block (45) elastically connected to the interior of the mounting seat (43); an electromagnet (44) is installed inside the mounting seat (43); and when the electromagnet (44) generates a magnetic repulsive force, it pushes the magnetic card block (45) to embed into the connecting plate (21).

7. The truss robot for loading and unloading materials on an automatic processing line according to claim 2, characterized in that: The invention also includes a locking structure (50), wherein the locking structure (50) includes an electromagnet (51) fixedly mounted inside the housing (281), a magnetic push block (52) is slidably connected inside the housing (281), a return spring (55) is provided at one end of the magnetic push block (52), and a locking plate (53) is elastically connected inside the housing (281).

8. The truss robot for loading and unloading materials in an automatic processing line according to claim 7, characterized in that: A push rod (54) is fixed to one end of the magnetic push block (52).

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