Truss type feeding structure and lifting feeding method for numerical control machine tool

Abstract

The application discloses a truss type feeding structure and a lifting feeding method for a numerical control machine tool, and particularly relates to the field of truss type feeding structures. The truss type feeding structure comprises a Z-axis driving mechanism, the output end of the Z-axis driving mechanism is provided with an X-axis driving mechanism, the output end of the X-axis driving mechanism is provided with a Y-axis driving mechanism, the bottom end of the Y-axis driving mechanism is provided with an angle adjusting mechanism, the bottom end of the angle adjusting mechanism is rotationally connected with a mounting flange, and the mounting flange is provided with a clamping jaw mechanism. The angle adjusting mechanism comprises an upper adjusting seat, the bottom of the upper adjusting seat is provided with a lower adjusting seat, a transmission assembly is arranged between the upper adjusting seat and the lower adjusting seat, and the transmission assembly is used for adjusting the angle between the upper adjusting seat and the lower adjusting seat. A first rotary driver is arranged on the Y-axis driving mechanism. Through the arrangement of the angle adjusting mechanism, the clamping jaw mechanism can be used to rotate and adjust the inclination of a workpiece, and the feeding structure is suitable for feeding scenes of multiple machining surfaces or multiple assembly surfaces of the workpiece.

Description

Technical Field

[0001] This invention relates to the field of truss-type feeding structure technology, and more specifically, to a truss-type feeding structure and a lifting and feeding method for CNC machine tools. Background Technology

[0002] The truss-type feeding structure achieves fully automatic gripping, transportation, and precise positioning of CNC machine tool workpieces through the linkage of X, Y, and Z axes. It is a key technology and equipment in the field of intelligent manufacturing. Its core advantages are: high rigidity structure to ensure positioning accuracy, servo drive to achieve high-speed and precise control, and full automation to greatly improve production efficiency.

[0003] The existing technology uses lifting and feeding as its core function. Through precise control of the X, Y, and Z axes, it can achieve efficient transfer of workpieces between different height planes. However, when the workpiece has multiple processing surfaces or multiple assembly surfaces, it cannot meet the needs of the robot's gripper to rotate and tilt, thus limiting the feeding scenarios. Summary of the Invention

[0004] The present invention provides a truss-type feeding structure and a lifting feeding method for CNC machine tools. The problem to be solved is that the existing truss-type feeding structure cannot meet the needs of the robot's gripper to rotate and tilt when the workpiece has multiple machining surfaces or multiple assembly surfaces.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a truss-type feeding structure, including a Z-axis drive mechanism, an X-axis drive mechanism mounted at the output end of the Z-axis drive mechanism, a Y-axis drive mechanism mounted at the output end of the X-axis drive mechanism, an angle adjustment mechanism mounted at the bottom end of the Y-axis drive mechanism, a mounting flange rotatably connected to the bottom end of the angle adjustment mechanism, and a gripper mechanism mounted on the mounting flange; the angle adjustment mechanism includes an upper adjustment seat, a lower adjustment seat at the bottom of the upper adjustment seat, and a transmission assembly between the upper and lower adjustment seats, the transmission assembly being used to adjust the angle between the upper and lower adjustment seats; a first rotary driver is mounted on the Y-axis drive mechanism, a double universal joint assembly is connected between the upper and lower adjustment seats, the first rotary driver driving the mounting flange to rotate through the double universal joint assembly; the transmission assembly includes a drive gear, which is rotatably mounted on one side of the upper adjustment seat, a driven gear meshing at the bottom of the drive gear, and the driven gear rotatably mounted on one side of the lower adjustment seat.

[0006] In a preferred embodiment, the dual universal joint assembly includes a telescopic column with universal joints connected to both ends. A first rotary actuator is connected to the top of the telescopic column via an input shaft, which passes through the interior of the Y-axis drive mechanism and the upper adjustment seat. The bottom of the telescopic column is connected to the mounting flange via an output shaft.

[0007] In a preferred embodiment, the gripper mechanism includes a connecting seat, on which grippers are rotatably mounted, and two sets of grippers are arranged opposite each other. Each set of grippers is equipped with an adsorption block, and a gasket is provided on the opposite side of each set of grippers.

[0008] In a preferred embodiment, a gasket installation and removal mechanism is installed on the connecting seat, and the gasket installation and removal mechanism is provided with two sets of grippers corresponding to the two sets of grippers. When the two sets of grippers are far apart to the maximum opening angle, the gasket is installed on the gripping surface of the grippers by the gasket installation and removal mechanism. The gasket installation and removal mechanism includes a patching mechanism, and a pick-up mechanism is provided on one side of the patching mechanism. Both the patching mechanism and the pick-up mechanism include a support block. An installation block is fixedly provided at one end of the support block, and a suction cup assembly is slidably installed inside the installation block.

[0009] In a preferred embodiment, a first linear driver is installed inside the mounting block, a second rotary driver is installed at the output end of the first linear driver, a bearing is installed at one end of the mounting block, the output end of the second rotary driver cooperates with the bearing, and the suction cup assembly is located outside one end of the mounting block.

[0010] In a preferred embodiment, a feeding seat is installed above the mounting block of the patching mechanism. The feeding seat has a storage cavity inside. One side of the storage cavity is connected to a drive cavity, and the side of the storage cavity away from the drive cavity is connected to a discharge cavity. Several sets of pads are stacked vertically along the inside of the storage cavity. A pushing component is slidably installed inside the drive cavity. A discharge port is opened at the bottom of the discharge cavity. A set of pads inside the storage cavity is pushed into the discharge cavity by the pushing component. A suction cup component picks up the pads inside the discharge cavity through the discharge port.

[0011] In a preferred embodiment, a guide post is installed on one side of the storage cavity, a pressure block is movably provided inside the storage cavity, an L-shaped post is fixedly provided at one end of the pressure block, a guide groove is provided on the surface of the guide post, and one end of the L-shaped post slides vertically along the guide groove.

[0012] In a preferred embodiment, a bottom plate is installed at the bottom of the storage cavity, and an outlet block is connected to the end of the bottom plate near the discharge cavity. Inner lining plates are installed on the inner wall of the storage cavity and one side of the guide column, and an abutment block is installed inside the end of the discharge cavity away from the storage cavity.

[0013] In a preferred embodiment, a second linear actuator is installed on the drive cavity, and the pushing assembly includes a moving block. A guide block is fixedly provided at one end of the moving block, an upper guide block is provided at the top of the moving block, and a roller is rotatably installed at the bottom of the moving block. A T-shaped groove is opened at the end of the moving block away from the guide block, and a T-shaped block is slidably installed inside the T-shaped groove. The output end of the second linear actuator is fixedly connected to the T-shaped block.

[0014] The present invention also provides a lifting and feeding method for a CNC machine tool with a truss-type feeding structure, comprising the following steps:

[0015] S1: The first rotary driver drives the input shaft to rotate, and then the telescopic column drives the output shaft and mounting flange to rotate, so as to realize the gripper mechanism to hold the workpiece to rotate.

[0016] S2: Driven by the servo motor of the active gear, the active gear drives the passive gear to rotate, changing the angle between the upper and lower adjustment seats, so as to tilt the workpiece clamped by the gripper mechanism.

[0017] S3: The first linear driver drives the suction cup assembly to extend, so that the suction cup assembly can adsorb the pad on the initial station. The suction cup assembly carries the pad to the clamping surface of the gripper, and the pad is adsorbed by negative pressure through the adsorption block.

[0018] S4: The second linear drive pushes the feeding assembly to move into the storage cavity, moves the pad horizontally to the discharge port, and retracts the moving block so that the pad falls accurately from the discharge port onto the suction cup of the suction cup assembly.

[0019] The beneficial effects of this invention are as follows:

[0020] This invention, by setting an angle adjustment mechanism, enables the gripper mechanism to rotate and tilt the workpiece, making it suitable for feeding scenarios where the workpiece has multiple machined or assembled surfaces.

[0021] This invention automatically adds pads to the clamping surface of the grippers to prevent contamination when the grippers hold workpieces with oily surfaces, thus effectively ensuring the clamping stability of the grippers.

[0022] This invention, by setting a feeding seat, can automatically replenish pads on the suction cup assembly, eliminating the need to move the gripper mechanism to the initial position and place pads after each feeding, thereby improving work efficiency. Attached Figure Description

[0023] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a three-dimensional schematic diagram of the Y-axis drive mechanism of the present invention.

[0025] Figure 3 This is a three-dimensional schematic diagram of the angle adjustment mechanism of the present invention.

[0026] Figure 4 This is a cross-sectional schematic diagram of the angle adjustment mechanism of the present invention.

[0027] Figure 5 This is a three-dimensional structural diagram of the gripper mechanism of the present invention.

[0028] Figure 6 This is a front view of the gripper mechanism of the present invention.

[0029] Figure 7 This is a three-dimensional structural diagram of the patch mechanism of the present invention.

[0030] Figure 8 This is a schematic cross-sectional view of the mounting block of the present invention.

[0031] Figure 9 This is a schematic cross-sectional view of the feeding seat of the present invention.

[0032] Figure 10 This is a schematic diagram of the feeding assembly structure of the present invention.

[0033] Figure 11 This is a schematic diagram of the lifting and feeding method of the present invention.

[0034] The attached figures are labeled as follows: 1. Z-axis drive mechanism; 2. X-axis drive mechanism; 3. Y-axis drive mechanism; 31. First rotary actuator; 4. Angle adjustment mechanism; 41. Upper adjustment seat; 42. Lower adjustment seat; 43. Transmission assembly; 431. Drive gear; 432. Driven gear; 44. Double universal joint assembly; 441. Telescopic column; 442. Universal joint; 443. Input shaft; 444. Output shaft; 5. Mounting flange; 6. Grip mechanism; 61. Connecting seat; 62. Grip; 63. Adsorption block; 64. Gasket; 7. Patching mechanism; 71. Support block; 72. Mounting block; 721. 722. First linear actuator; 723. Rotary actuator; 724. Bearing; 73. Suction cup assembly; 8. Sheet picking mechanism; 9. Loading seat; 91. Storage cavity; 911. Guide column; 912. Base plate; 913. Pressing block; 914. L-shaped column; 915. Guide groove; 916. Inner liner plate; 917. Outlet block; 92. Drive cavity; 921. Second linear actuator; 93. Discharge cavity; 931. Discharge port; 94. Pushing assembly; 941. Moving block; 942. Front guide block; 943. Upper guide block; 944. Roller; 945. T-groove; 946. T-block; 95. Abutment block. Detailed Implementation

[0035] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0036] Refer to the instruction manual appendix Figures 1 to 4A truss-type feeding structure includes a Z-axis drive mechanism 1, an X-axis drive mechanism 2 mounted at the output end of the Z-axis drive mechanism 1, a Y-axis drive mechanism 3 mounted at the output end of the X-axis drive mechanism 2, an angle adjustment mechanism 4 mounted at the bottom end of the Y-axis drive mechanism 3, a mounting flange 5 rotatably connected to the bottom end of the angle adjustment mechanism 4, and a gripper mechanism 6 mounted on the mounting flange 5; the angle adjustment mechanism 4 includes an upper adjustment seat 41, a lower adjustment seat 42 at the bottom of the upper adjustment seat 41, and a transmission assembly 43 between the upper adjustment seat 41 and the lower adjustment seat 42. 43 is used to adjust the angle between the upper adjusting seat 41 and the lower adjusting seat 42; a first rotary driver 31 is installed on the Y-axis drive mechanism 3, and a double universal joint assembly 44 is connected between the upper adjusting seat 41 and the lower adjusting seat 42. The first rotary driver 31 drives the mounting flange 5 to rotate through the double universal joint assembly 44; the transmission assembly 43 includes a drive gear 431, and the drive gear 431 is rotatably installed on one side of the upper adjusting seat 41. The bottom of the drive gear 431 meshes with a driven gear 432, and the driven gear 432 is rotatably installed on one side of the lower adjusting seat 42.

[0037] It should be noted that the Z-axis drive mechanism 1, X-axis drive mechanism 2 and Y-axis drive mechanism 3 are all existing three-axis drive technologies. The drive end of the Y-axis drive mechanism 3 is installed on the output end of the X-axis drive mechanism 2, so that the guide rail assembly of the Y-axis drive mechanism 3 moves vertically. The gripper mechanism 6 adopts the existing double-jaw component. The upper adjustment seat 41 and the lower adjustment seat 42 adopt a joint connection method. The active gear 431 is driven by a servo motor, and the servo motor is installed on the upper adjustment seat 41.

[0038] Refer to the instruction manual appendix Figure 3 and Figure 4 The double universal joint assembly 44 includes a telescopic column 441, with universal joints 442 connected to both ends of the telescopic column 441. The first rotary drive 31 is connected to the top of the telescopic column 441 via an input shaft 443, which passes through the interior of the Y-axis drive mechanism 3 and the upper adjustment seat 41. The bottom of the telescopic column 441 is connected to the mounting flange 5 via an output shaft 444.

[0039] It should be noted that the telescopic column 441 is a double-section telescopic column. The secondary column is axially telescopically positioned inside the main column. A limiting port is provided on the axial direction of the main column, and a protruding piece is fixed on the outer periphery of the secondary column. The protruding piece cooperates with the limiting port to prevent rotation between the main column and the secondary column. The main column is connected to the universal joint 442 corresponding to the input shaft 443, and the secondary column is connected to the universal joint 442 corresponding to the output shaft 444.

[0040] In this embodiment, the specific implementation scenario is as follows: During use, the Z-axis drive mechanism 1 causes the X-axis drive mechanism 2 to move in the Z-axis direction, the X-axis drive mechanism 2 causes the Y-axis drive mechanism 3 to move in the X-axis direction, the guide rail of the Y-axis drive mechanism 3 drives the angle adjustment mechanism 4 to move in the Y-axis direction, and the workpiece is clamped by the gripper mechanism 6. When the workpiece needs to be rotated by the gripper mechanism 6, the first rotary driver 31 drives the input shaft 443 to rotate, and then the telescopic column 441 drives the output shaft 444 and the mounting flange 5 to rotate. The gripper mechanism 6 currently holds the workpiece in rotation. When the gripper mechanism 6 needs to hold the workpiece in an inclined position, the servo motor drives the active gear 431 to rotate the passive gear 432, changing the angle between the upper adjusting seat 41 and the lower adjusting seat 42. Through the axial extension and retraction of the telescopic column 441 and the connection of the universal joints 442 at both ends, the gripper mechanism 6 can hold the workpiece in an inclined position. By setting the angle adjustment mechanism 4, the gripper mechanism 6 can be used to adjust the rotation and inclination of the workpiece, which is suitable for feeding scenarios with multiple machining surfaces or multiple assembly surfaces of the workpiece.

[0041] Refer to the instruction manual appendix Figures 3 to 6 When the gripper 62 clamps a workpiece with oil stains on its surface, oil stains will remain on the clamping surface of the gripper 62, causing contamination. After repeated use, the amount of oil stains on the clamping surface of the gripper 62 increases, which reduces the clamping friction and thus affects the clamping stability of the gripper 62.

[0042] To solve this problem, the following technical solution is provided: The gripper mechanism 6 includes a connecting seat 61, on which grippers 62 are rotatably mounted, and two sets of grippers 62 are arranged opposite each other. Adsorption blocks 63 are installed on both sets of grippers 62, and gaskets 64 are provided on the opposite side of both sets of grippers 62.

[0043] It should be noted that the adsorption block 63 is set on the opposite side of the two sets of grippers 62. The adsorption block 63 is a negative pressure cylinder component. The negative pressure cylinder is connected to a negative pressure pump through a pipe. The negative pressure pump can be installed on the connecting seat 61. Adsorption holes are opened on the clamping surface of the grippers 62. The negative pressure pump provides negative pressure to the negative pressure cylinder. The negative pressure cylinder positions the gasket 64 on the clamping surface of the grippers 62 through the adsorption holes.

[0044] Refer to the instruction manual appendix Figure 5 and Figure 6 A gasket installation and removal mechanism is installed on the connecting seat 61, and the gasket installation and removal mechanism is provided with two sets of grippers 62 corresponding to the two sets of grippers 62. When the two sets of grippers 62 are far apart to the maximum opening angle, the gasket 64 is installed on the clamping surface of the grippers 62 by the gasket installation and removal mechanism. The gasket installation and removal mechanism includes a pad-attaching mechanism 7, and a pad-removing mechanism 8 is provided on one side of the pad-attaching mechanism 7. Both the pad-attaching mechanism 7 and the pad-removing mechanism 8 include a support block 71. An installation block 72 is fixedly provided at one end of the support block 71, and a suction cup assembly 73 is slidably installed inside the installation block 72.

[0045] It should be noted that the position of the gasket installation and removal mechanism corresponds to the position of the two sets of grippers 62 when they are open to their maximum angle, so as to avoid affecting the gripping operation of the grippers 62. When the grippers 62 are open to their maximum angle, the suction cup assembly 73 extends out and faces the gripping surface of the grippers 62. The suction cup assembly 73 adopts existing suction cup technology, including a suction cup and a negative pressure pump assembly.

[0046] Refer to the instruction manual appendix Figure 7 and Figure 8 The mounting block 72 has a first linear driver 721 installed inside, and a second rotary driver 722 is installed at the output end of the first linear driver 721. A bearing 723 is installed at one end of the mounting block 72, and the output end of the second rotary driver 722 cooperates with the bearing 723. The suction cup assembly 73 is located outside one end of the mounting block 72.

[0047] It should be noted that the second rotary driver 722 can drive the suction cup assembly 73 to rotate via the output shaft, and the first linear driver 721 can drive the second rotary driver 722 to move along the axial direction of the mounting block 72, so that the suction cup assembly 73 extends towards the gripper 62.

[0048] In this embodiment, the specific implementation scenario is as follows: Before material handling, the gripper mechanism 6 is moved to the initial station by the Z-axis drive mechanism 1, X-axis drive mechanism 2, and Y-axis drive mechanism 3. A pad 64 is placed at the initial station. The suction cup assembly 73 is extended by the first linear driver 721 and rotated by the second rotary driver 722, causing the suction cup assembly 73 to adsorb the pad 64 at the initial station. Then, the suction cup assembly 73 is retracted, and the two sets of grippers 62 are opened to their maximum angle. The component 73, carrying the pad 64, extends again to the clamping surface of the jaw 62. The two sets of jaws 62 retract slightly, allowing the pad 64 to adhere to the clamping surface of the jaws 62. The suction block 63 applies negative pressure to absorb the pad 64. The two sets of jaws 62 then open to their maximum angle. After the suction cup component 73 is retracted, the jaws 62 can clamp the workpiece. By automatically adding the pad 64 to the clamping surface of the jaws 62, contamination is avoided when the jaws 62 clamp workpieces with oily surfaces, effectively ensuring the clamping stability of the jaws 62.

[0049] Refer to the instruction manual appendix Figures 7 to 10 After each feeding, the gripper mechanism 6 needs to be moved to the initial position to place the pad 64, which affects work efficiency.

[0050] To solve this problem, the following technical solution is also provided: A feeding seat 9 is installed above the mounting block 72 of the patching mechanism 7. The feeding seat 9 has a storage cavity 91 inside. One side of the storage cavity 91 is connected to the driving cavity 92, and the side of the storage cavity 91 away from the driving cavity 92 is connected to the discharge cavity 93. Several sets of pads 64 are stacked vertically inside the storage cavity 91. A pushing component 94 is slidably provided inside the driving cavity 92. A discharge port 931 is opened at the bottom of the discharge cavity 93. A set of pads 64 inside the storage cavity 91 is pushed into the discharge cavity 93 by the pushing component 94. The suction cup component 73 picks up the pads 64 inside the discharge cavity 93 through the discharge port 931.

[0051] It should be noted that the pusher assembly 94 pushes the gasket 64 located at the bottom of the storage chamber 91 into the discharge chamber 93.

[0052] For reference, see the instruction manual appendix. Figure 8 and Figure 9 A guide post 911 is installed on one side of the storage cavity 91. A pressure block 913 is movably installed inside the storage cavity 91. An L-shaped post 914 is fixed at one end of the pressure block 913. A guide groove 915 is opened on the surface of the guide post 911. One end of the L-shaped post 914 slides vertically along the guide groove 915.

[0053] It should be noted that the pressure block 913 is positioned above the uppermost gasket 64, the top of the guide groove 915 is open, the L-shaped column 914 can slide in or out from the open top of the guide groove 915, and the top of the storage cavity 91 is provided with a removable cover plate.

[0054] Refer to the instruction manual appendix Figure 9 and Figure 10 A bottom plate 912 is installed at the bottom of the storage cavity 91. A guide block 917 is connected to one end of the bottom plate 912 near the discharge cavity 93. An inner lining plate 916 is installed on the inner wall of the storage cavity 91 and one side of the guide column 911. An abutment block 95 is installed inside the discharge cavity 93 at the end away from the storage cavity 91.

[0055] It should be noted that the top of the discharge block 917 has an arc-shaped protrusion, and the abutment block 95 includes an air pump and an elastic air bladder. The air pump inflates the elastic air bladder to make it expand and extend. When the gasket 64 moves into the discharge chamber 93, the abutment block 95 plays a limiting role from one side.

[0056] Refer to the instruction manual appendix Figure 9 and Figure 10A second linear actuator 921 is installed on the drive cavity 92. The pusher assembly 94 includes a moving block 941. A guide block 942 is fixedly provided at one end of the moving block 941. An upper guide block 943 is provided at the top of the moving block 941. A roller 944 is rotatably installed at the bottom of the moving block 941. A T-shaped groove 945 is opened at the end of the moving block 941 away from the guide block 942. A T-shaped block 946 is slidably installed inside the T-shaped groove 945. The output end of the second linear actuator 921 is fixedly connected to the T-shaped block 946.

[0057] It should be noted that the moving block 941 moves on the base plate 912 via the roller 944, the leading block 942 is an arc-shaped component, both ends of the upper guide block 943 are provided with arc-shaped surfaces, and the T-shaped block 946 can slide vertically along the inside of the T-shaped groove 945.

[0058] In this embodiment, the specific implementation scenario is as follows: When the pad 64 is placed on the suction cup assembly 73, the suction cup adsorption surface of the suction cup assembly 73 is first rotated to face upwards. The second linear actuator 921 pushes the pusher assembly 94 to move into the storage cavity 91. The leading block 942 at the front end of the moving block 941 abuts against the side of the first pad 64 inside the storage cavity 91. During movement, the arc-shaped surface at one end of the upper guide block 943 abuts against the second pad 64 above the first pad 64. Under the blocking and limiting effect of the inner liner plate 916, the second pad 64 will not be pushed. The first pad 64 is pushed onto the guide block 917. The T-shaped block 946 can slide downwards along the T-shaped groove 945, and the elastic airbag of the abutment block 95 inflates and extends, thus... When the contact limit is reached, the first pad 64 continues to be pushed from above the guide block 917 into the discharge chamber 93. During this process, the air bladder of the contact block 95 is depressurized and retracted until the first pad 64 moves horizontally to the discharge port 931. The moving block 941 is then withdrawn so that the first pad 64 falls accurately from the discharge port 931 onto the suction cup of the suction cup assembly 73. Then, the two sets of grippers 62 are opened to their maximum angle, and the suction cup assembly 73 extends with the first pad 64 and places it in the manner of the previous embodiment. By setting the loading seat 9, the pad 64 can be automatically replenished on the suction cup assembly 73. It is not necessary to move the gripper mechanism 6 to the initial position and place the pad 64 after each feeding, thereby improving work efficiency.

[0059] Working principle:

[0060] 1. The first rotary driver 31 drives the input shaft 443 to rotate, and then the telescopic column 441 drives the output shaft 444 and the mounting flange 5 to rotate, so as to realize the gripper mechanism 6 to clamp the workpiece and rotate.

[0061] Second, the servo motor drives the active gear 431 to rotate the passive gear 432, changing the angle between the upper adjusting seat 41 and the lower adjusting seat 42. Through the axial extension and retraction of the telescopic column 441 and the connection of the universal joints 442 at both ends, the clamping mechanism 6 can tilt the workpiece.

[0062] Third, the first linear driver 721 drives the suction cup assembly 73 to extend, and the second rotary driver 722 drives the suction cup assembly 73 to rotate, so that the suction cup assembly 73 adsorbs the pad 64 on the initial work position. Then the suction cup assembly 73 is retracted, and the two sets of grippers 62 are opened to the maximum angle. The suction cup assembly 73 carrying the pad 64 extends again to the gripping surface of the grippers 62. The two sets of grippers 62 merge and retract a small section, so that the pad 64 is attached to the gripping surface of the grippers 62. The suction block 63 uses negative pressure to adsorb the pad 64.

[0063] Fourth, by first rotating the suction cup adsorption surface of the suction cup assembly 73 to face upward, the second linear driver 921 pushes the pusher assembly 94 to move into the storage cavity 91, moves the pad 64 horizontally to the discharge port 931, and retracts the moving block 941 so that the pad 64 falls accurately from the discharge port 931 onto the suction cup of the suction cup assembly 73.

[0064] The present invention also provides a soldering method for a lifting and feeding method for a CNC machine tool with a truss-type feeding structure, comprising the following steps:

[0065] S1: The first rotary driver 31 drives the input shaft 443 to rotate, and then the telescopic column 441 drives the output shaft 444 and the mounting flange 5 to rotate, so as to realize the gripper mechanism 6 to clamp the workpiece to rotate.

[0066] S2: Driven by the servo motor of the active gear 431, the active gear 431 drives the passive gear 432 to rotate, changing the included angle between the upper adjusting seat 41 and the lower adjusting seat 42, so as to achieve the tilting of the workpiece by the gripper mechanism 6.

[0067] S3: The first linear driver 721 drives the suction cup assembly 73 to extend, so that the suction cup assembly 73 adsorbs the pad 64 on the initial station. The suction cup assembly 73 carries the pad 64 to the clamping surface of the gripper 62, and the suction block 63 performs negative pressure to adsorb the pad 64.

[0068] S4: The second linear driver 921 pushes the pusher assembly 94 to move into the storage cavity 91, moves the pad 64 horizontally to the discharge port 931, and retracts the moving block 941 so that the pad 64 falls accurately from the discharge port 931 onto the suction cup of the suction cup assembly 73.

[0069] The above embodiments are merely illustrative of several implementation methods of the present invention, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A truss type feeding structure, comprising a Z-axis driving mechanism (1), an output end of the Z-axis driving mechanism (1) is mounted with an X-axis driving mechanism (2), an output end of the X-axis driving mechanism (2) is mounted with a Y-axis driving mechanism (3), characterized in that: An angle adjustment mechanism (4) is installed at the bottom end of the Y-axis drive mechanism (3), and a mounting flange (5) is rotatably connected to the bottom end of the angle adjustment mechanism (4). A gripper mechanism (6) is installed on the mounting flange (5). The gripper mechanism (6) includes a connecting seat (61), on which grippers (62) are rotatably mounted, and two sets of grippers (62) are arranged opposite each other. Adsorption blocks (63) are installed on both sets of grippers (62), and gaskets (64) are provided on the opposite side of both sets of grippers (62). A gasket installation and removal mechanism is installed on the connecting seat (61), and the gasket installation and removal mechanism is provided with two sets of grippers (62) corresponding to the two sets of grippers (62). When the two sets of grippers (62) are far apart from each other to the maximum opening angle, the gasket (64) is installed on the clamping surface of the grippers (62) by the gasket installation and removal mechanism. The gasket installation and removal mechanism includes a patching mechanism (7). A pick-up mechanism (8) is provided on one side of the patching mechanism (7). Both the patching mechanism (7) and the pick-up mechanism (8) include a support block (71). An installation block (72) is fixedly provided at one end of the support block (71). A suction cup assembly (73) is slidably installed inside the installation block (72). The angle adjustment mechanism (4) includes an upper adjustment seat (41), and a lower adjustment seat (42) is provided at the bottom of the upper adjustment seat (41). A transmission component (43) is provided between the upper adjustment seat (41) and the lower adjustment seat (42), and the transmission component (43) is used to adjust the angle between the upper adjustment seat (41) and the lower adjustment seat (42). The Y-axis drive mechanism (3) is equipped with a first rotary driver (31), and a double universal joint assembly (44) is connected between the upper adjustment seat (41) and the lower adjustment seat (42). The first rotary driver (31) drives the mounting flange (5) to rotate through the double universal joint assembly (44). The transmission assembly (43) includes a drive gear (431), which is rotatably mounted on one side of the upper adjustment seat (41). The bottom of the drive gear (431) is meshed with a driven gear (432), which is rotatably mounted on one side of the lower adjustment seat (42).

2. A gantry feed structure according to claim 1, wherein: The double universal joint assembly (44) includes a telescopic column (441), with universal joints (442) connected to both ends of the telescopic column (441). The first rotary driver (31) is connected to the top of the telescopic column (441) via an input shaft (443), which passes through the interior of the Y-axis drive mechanism (3) and the upper adjustment seat (41). The bottom end of the telescopic column (441) is connected to the mounting flange (5) via an output shaft (444).

3. The truss-type feeding structure according to claim 2, characterized in that: The mounting block (72) is equipped with a first linear driver (721) inside, and a second rotary driver (722) is installed at the output end of the first linear driver (721). A bearing (723) is installed at one end of the mounting block (72), and the output end of the second rotary driver (722) cooperates with the bearing (723). The suction cup assembly (73) is located outside one end of the mounting block (72).

4. The truss-type feeding structure according to claim 3, characterized in that: A feeding seat (9) is installed above the mounting block (72) of the patching mechanism (7). The feeding seat (9) has a storage cavity (91) inside. One side of the storage cavity (91) is connected to the driving cavity (92). The side of the storage cavity (91) away from the driving cavity (92) is connected to the discharge cavity (93). Several sets of pads (64) are stacked vertically along the inside of the storage cavity (91). A pushing assembly (94) is slidably provided inside the driving cavity (92). A discharge port (931) is opened at the bottom of the discharge cavity (93). A set of pads (64) inside the storage cavity (91) is pushed into the discharge cavity (93) by the pushing assembly (94). The suction cup assembly (73) picks up the pads (64) inside the discharge cavity (93) through the discharge port (931).

5. The truss-type feeding structure according to claim 4, characterized in that: A guide post (911) is installed on one side of the storage cavity (91). A pressure block (913) is movably provided inside the storage cavity (91). An L-shaped post (914) is fixed at one end of the pressure block (913). A guide groove (915) is opened on the surface of the guide post (911). One end of the L-shaped post (914) slides vertically along the guide groove (915).

6. The truss-type feeding structure according to claim 5, characterized in that: A bottom plate (912) is installed at the bottom of the storage cavity (91). A guide block (917) is connected to one end of the bottom plate (912) near the discharge cavity (93). A liner plate (916) is installed on the inner wall of the storage cavity (91) and one side of the guide column (911). An abutment block (95) is installed inside the end of the discharge cavity (93) away from the storage cavity (91).

7. A truss-type feeding structure according to claim 6, characterized in that: A second linear actuator (921) is installed on the drive cavity (92). The pusher assembly (94) includes a moving block (941). A guide block (942) is fixedly provided at one end of the moving block (941). An upper guide block (943) is provided at the top of the moving block (941). A roller (944) is rotatably installed at the bottom of the moving block (941). A T-shaped groove (945) is opened at one end of the moving block (941) away from the guide block (942). A T-shaped block (946) is slidably installed inside the T-shaped groove (945). The output end of the second linear actuator (921) is fixedly connected to the T-shaped block (946).

8. A lifting and feeding method for a CNC machine tool with a truss-type feeding structure as described in claim 7, characterized in that, Includes the following steps: S1: The input shaft (443) is driven to rotate by the first rotary driver (31), and the output shaft (444) and mounting flange (5) are driven to rotate by the telescopic column (441), so that the gripper mechanism (6) can clamp the workpiece to rotate. S2: Driven by the servo motor of the active gear (431), the active gear (431) drives the passive gear (432) to rotate, changing the angle between the upper adjustment seat (41) and the lower adjustment seat (42), so that the gripper mechanism (6) can clamp the workpiece at an inclination. S3: The first linear actuator (721) drives the suction cup assembly (73) to extend, so that the suction cup assembly (73) adsorbs the pad (64) on the initial work station. The suction cup assembly (73) carries the pad (64) to the clamping surface of the gripper (62) and uses the suction block (63) to perform negative pressure adsorption of the pad (64). S4: The second linear actuator (921) pushes the pusher assembly (94) to move into the storage cavity (91), moves the pad (64) horizontally to the discharge port (931), and retracts the moving block (941) so that the pad (64) falls accurately from the discharge port (931) onto the suction cup of the suction cup assembly (73).

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