A barrel taking and placing mechanism for a truss robot

Abstract

The application provides a barrel taking and placing mechanism for a truss manipulator, and relates to the technical field of truss manipulators.The barrel taking and placing mechanism comprises longitudinal sliding rails, truss support frames are arranged at the bottom of the two longitudinal sliding rails, and driving trolleys are slidably arranged on the two longitudinal sliding rails;an air pump is arranged at the bottom of the outer side of the positioning cover;an air guide pipe is arranged on the output end of the bottom of the air pump;the side end of the air guide pipe is connected with a gas jet pipe through the side of a fixed cover;and the side of the gas jet pipe is provided with a plurality of downwardly inclined gas jet holes.The positioning cover completes the blowing and dust removing operation during the downward movement of the barrel outside, the gas jet holes adopt a downwardly inclined opening mode, impurities attached to the outer wall of the barrel are removed, the clamping contact surface of the barrel is kept clean, the friction coefficient between the clamp and the barrel is increased, and the problems that a large output acceleration thrust is generated in the initial stage of the movement of the clamped barrel and the barrel is prone to slipping and falling during the transfer process are solved.

Description

Technical Field

[0001] This invention relates to the field of gantry robot technology, and more particularly to a barrel loading and unloading mechanism for a gantry robot. Background Technology

[0002] A gantry robot is a fully automated industrial device based on a Cartesian X, Y, Z coordinate system. It performs functions such as workstation adjustment or workpiece trajectory movement. In the barrel processing process, the gantry robot's barrel picking and placing mechanism is used to pick up and move barrels between different processes, improving the conveying efficiency of barrel processing. However, the barrel needs to be transferred between multiple processing steps. After processes such as cutting and grinding, the barrel surface may be covered with debris and other impurities. To ensure the efficiency of picking up and placing barrels between different processes, a large acceleration thrust needs to be output in the initial stage of barrel movement. However, the impurities attached to the barrel surface will reduce the frictional force between the barrel and the gripper, making it easy for the barrel to slip and fall off during the transfer process. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a barrel loading and unloading mechanism for a gantry robot, thereby solving the problems mentioned in the background section.

[0004] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to a barrel loading and unloading mechanism for a gantry robot, specifically comprising: longitudinal slide rails and an adjusting platform; a gantry support frame is mounted at the bottom of two longitudinal slide rails; a drive trolley is slidably mounted on each of the two longitudinal slide rails; a transverse slide rail is installed between the two drive trolleys; a universal table is mounted at the middle of the top of the adjusting platform, and universal tables are mounted at the bottom of both ends of the adjusting platform; a traction frame is mounted at the bottom of the universal table; a positioning cover is mounted at the bottom of the traction frame; a fixing cover is mounted at the bottom of the positioning cover; the fixing cover is a rectangular structure, and an air jet pipe is mounted on the inner side of the fixing cover; an air pump is mounted on the bottom outer side of the positioning cover; a guide pipe is mounted on the output end of the air pump; the side end of the guide pipe passes through the side of the fixing cover and connects to the air jet pipe; the side of the air jet pipe has multiple evenly distributed downward-sloping air jet holes.

[0005] Furthermore, a second drive trolley is slidably mounted on the transverse slide rail; a lifting beam is driven and mounted on the inner side of the second drive trolley.

[0006] Furthermore, the top of the universal table is connected to the bottom of the lifting beam.

[0007] Furthermore, the positioning cover has a rectangular structure, a vision sensor is installed on the inner side of the positioning cover, and a rotating threaded rod is rotatably installed at the four corners of the inner edge of the positioning cover.

[0008] Furthermore, a servo motor is installed on the top outer side of the positioning cover, and a chain assembly is installed on the output end of the servo motor. The chain assembly at the output end of the servo motor is connected to the top of the four rotating threaded rods.

[0009] Furthermore, the four sides of the rotating threaded rod have two threads in opposite directions on the outside, and two movable plates are installed on the threads on the outside of the rotating threaded rod.

[0010] Furthermore, the movable plate has a triangular structure and is slidably installed at the included angle of the inner edge of the positioning cover. Support plates are rotatably installed on the sides of the two movable plates on the same rotating threaded rod. The side ends of the two support plates are rotatably installed on the inner side of a fixed clamping plate.

[0011] Furthermore, the outer side of the fixing clamp is an arc-shaped structure, and a rubber pad is laid on the outer side of the fixing clamp, and a positioning groove is provided in the middle of the fixing clamp.

[0012] Furthermore, two rotating wheels are installed on the inner side of the positioning groove via a rotating shaft, and return springs are installed on the outer sides of both ends of the rotating shaft.

[0013] Furthermore, the outer side of the rotating wheel is provided with multiple rubber belts, and a support stop plate is installed on the outer side of the rotating wheel. The arc curvature of the side end of the support stop plate is consistent with the arc curvature of the outer side of the fixed clamping plate.

[0014] This invention provides a barrel loading and unloading mechanism for a gantry robot, which has the following advantages: In use, the positioning cover completes the dust removal operation by blowing as it moves downwards on the outside of the barrel. The air jet hole adopts a downward-sloping opening. The airflow generated by the air pump enters the air jet pipe and is ejected through the air jet hole. The airflow blows away the debris and other impurities remaining from cutting and grinding downwards, removing impurities attached to the outer wall of the barrel, ensuring the cleanliness of the barrel clamping contact surface, increasing the friction coefficient between the clamp and the barrel, improving the clamping stability during barrel transfer, reducing the problem of barrel falling and damage, and reducing equipment failure and processing safety hazards.

[0015] In addition, the position of the four fixed clamping plates can be adjusted according to different specifications of barrels to accommodate the clamping and positioning of barrels of various sizes. The servo motor and chain group synchronously drive the four rotating threaded rods, which drive multiple sets of movable plates and support plates to drive the fixed clamping plates to clamp the barrel. Different specifications of barrels can be processed and transferred without changing tooling, reducing tooling change costs and changeover time.

[0016] The fixed clamping plate, together with the rotating wheel support plate, ensures the firmness of the barrel clamping, solves the defect of workpiece slippage caused by the large thrust of the transfer start acceleration, improves the stability of the barrel throughout the transfer process, reduces workpiece falling and collision, equipment jamming failures, and improves the safety of processing operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0018] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0019] In the attached diagram: Figure 1 A schematic diagram of the overall structure of the present invention is shown; Figure 2 A cross-sectional view of the truss support frame of the present invention is shown; Figure 3 A three-dimensional structural diagram of the adjusting carrier plate of the present invention is shown; Figure 4 A three-dimensional structural diagram of the traction frame of the present invention is shown; Figure 5 A cross-sectional view of the positioning cover of the present invention is shown; Figure 6 A schematic diagram showing the distribution of the four fixing plates of the present invention is shown; Figure 7 A cross-sectional view of the fixing clamp structure of the present invention is shown; Figure 8 A three-dimensional structural diagram of the jet tube of the present invention is shown; Figure 9 A cross-sectional view of the fixed cover structure of the present invention is shown.

[0020] List of reference numerals 1. Longitudinal slide rail; 101. Truss support frame; 102. Driven trolley one; 103. Transverse slide rail; 104. Driven trolley two; 105. Lifting beam; 2. Adjustable carrier plate; 201. Universal table one; 202. Universal table two; 203. Traction frame; 204. Positioning cover; 205. Rotating threaded rod; 206. Movable plate; 207. Support plate; 208. Fixed clamping plate; 209. Positioning groove; 2010. Rotating wheel; 2011. Support stop plate; 3. Fixing cover; 301. Air pump; 302. Guide pipe; 303. Air jet pipe; 304. Air jet hole. Detailed Implementation

[0021] Please refer to Figures 1 to 9 : Example 1: This invention proposes a barrel loading and unloading mechanism for a gantry robot, comprising: a longitudinal slide rail 1 and an adjusting plate 2; a gantry support frame 101 is installed at the bottom of the two longitudinal slide rails 1; a drive trolley 102 is slidably mounted on both longitudinal slide rails 1; a transverse slide rail 103 is installed between the two drive trolleys 102; a drive trolley 2 104 is slidably mounted on the transverse slide rail 103; and a lifting beam 105 is driven and installed on the inner side of the drive trolley 2 104.

[0022] In this embodiment of the invention, two drive trolleys 102 move along two longitudinal slide rails 1 at the top of the truss support frame 101, respectively. The two drive trolleys 102 drive the transverse slide rail 103 between them to move longitudinally, while the drive trolley 104 drives the lifting beam 105 to move laterally along the transverse slide rail 103. At the same time, the drive trolley 104 can drive the lifting beam 105 to move in height, so that the lifting beam 105 drives the barrel clamped below to move in different directions. The operation is convenient and adaptable to different barrel processing procedures.

[0023] In Example 2, based on Example 1, the top of the universal table 201 is connected to the bottom of the lifting beam 105; the universal table 201 is installed at the middle position of the top of the adjusting plate 2, and universal tables 202 are installed at the bottom of both ends of the adjusting plate 2; a traction frame 203 is installed at the bottom of the universal table 202; a positioning cover 204 is installed at the bottom of the traction frame 203; the positioning cover 204 is a rectangular structure, a vision sensor is installed on the inner side of the positioning cover 204, and rotating threaded rods 205 are rotatably installed at the four corners of the inner edges of the positioning cover 204; a servo motor is installed on the top of the outer side of the positioning cover 204, a chain assembly is installed on the output end of the servo motor, and the chain assembly at the output end of the servo motor is connected to the top of the four rotating threaded rods 205; the four rotating threaded rods 205 are rotatably installed at the four corners of the positioning cover 204. Two threads in opposite directions are provided on the outer side of the rotating threaded rod 205. Two movable plates 206 are installed on the threads on the outer side of the rotating threaded rod 205. The movable plates 206 have a triangular structure and are slidably installed at the included angle of the inner edge of the positioning cover 204. Support plates 207 are rotatably installed on the sides of the two movable plates 206 on the same rotating threaded rod 205. The side ends of the two support plates 207 are rotatably installed on the inner side of a fixed clamping plate 208. The outer side of the fixed clamping plate 208 has an arc-shaped structure and is covered with a rubber pad. A positioning groove 209 is provided in the middle of the fixed clamping plate 208. Two rotating wheels 2010 are installed on the inner side of the positioning groove 209 through a rotating shaft. Return springs are installed on the outer rings at both ends of the rotating shaft.Multiple rubber belts are provided on the outer side of the rotating wheel 2010, and a support stop plate 2011 is installed on the outer side of the rotating wheel 2010. The arc curvature of the side end of the support stop plate 2011 is consistent with the arc curvature of the outer side of the fixed clamp plate 208. The position of the four fixed clamp plates 208 is adjusted according to the size of the barrel. The universal table 1 201 drives the adjusting plate 2 to adjust at different angles. The bottom ends of the adjusting plate 2 are adjusted in position through the universal table 202 and the traction frame 203, so that the traction frame 203 drives the positioning cover 204 to be on the outside of the barrel. The servo motor output end on the outside of the positioning cover 204 drives the four rotating threaded rods 205 to rotate through the chain assembly. The four rotating threaded rods 205 rotate simultaneously, each driving the two movable plates 206 installed on them to move along the inner side of the positioning cover 204. 6. Relative movement: The movable plate 206 moves the fixed clamping plate 208 to the center position via the support plate 207. The four fixed clamping plates 208 clamp and fix the barrel. Simultaneously, the rubber pads on the outer side of the fixed clamping plates 208 reduce damage to the barrel. Furthermore, the rotating wheel 2010 inside the positioning groove 209, under the action of the shaft return spring, drives the support stop plate 2011 to abut against the outer side of the barrel. When the barrel slides down between the fixed clamping plates 208, it drives the rotating wheel 2010 to rotate, causing the support stop plate 2011 to further abut against the outer side of the barrel, improving the fixing effect and ensuring the stability of the barrel during transportation. Additionally, the universal table 202 adjusts the angle of the barrel according to its position, allowing the barrel to adapt to different processing positions.

[0024] In Example 3, based on Example 1, a fixed cover 3 is installed at the bottom of the positioning cover 204; the fixed cover 3 has a rectangular structure, and an air jet pipe 303 is installed on the inner side of the fixed cover 3; an air pump 301 is installed at the bottom of the outer side of the positioning cover 204; a guide pipe 302 is installed on the output end of the bottom of the air pump 301; the side end of the guide pipe 302 passes through the side of the fixed cover 3 and connects to the air jet pipe 303; the side of the air jet pipe 303 is provided with multiple evenly distributed downward-sloping air jet holes 304. During the process of the positioning cover 204 moving downward and being placed in the barrel, the airflow generated at the output end of the bottom of the air pump 301 flows into the interior of the air jet pipe 303 through the guide pipe 302. The air jet pipe 303 is provided with multiple downward-sloping air jet holes 304, so that the airflow inside the air jet pipe 303 is sprayed out downward-slopingly through the air jet holes 304. The airflow blows the impurities on the surface of the barrel downward, ensuring the cleanliness of the barrel surface, reducing the impact of impurities on the barrel clamping, and improving the stability of the barrel during the acceleration phase of movement.

[0025] The working principle of this embodiment is as follows: Two drive trolleys 102 move along the longitudinal slide rail 1, driving the transverse slide rail 103 between them to move longitudinally. A second drive trolley 104 drives the lifting beam 105 to move laterally along the transverse slide rail 103, and simultaneously drives the lifting beam 105 to move vertically. The positions of the four fixed clamping plates 208 are adjusted according to the size of the barrel. The output of the servo motor on the outside of the positioning cover 204 drives the four rotating threaded rods 205 to rotate via a chain assembly. The four rotating threaded rods 205 drive two movable plates 206 to move along the inner side of the positioning cover 204, and the two movable plates 206 move relative to each other. The support plate 207 drives the fixing clamp 208 to move towards the center to fix the barrel. At the same time, the rotating wheel 2010 inside the positioning groove 209, under the action of the shaft return spring, drives the support stop plate 2011 to further abut against the outside of the barrel, ensuring the stability of the barrel during transportation. As the positioning cover 204 moves downward and is placed on the barrel, the airflow generated by the air pump 301 flows into the jet pipe 303 through the guide pipe 302. The jet pipe 303 is provided with multiple downward-sloping jet holes 304. The airflow inside the jet pipe 303 is sprayed out downward through the jet holes 304 to blow away impurities on the surface of the barrel, ensuring the cleanliness of the barrel surface and improving the stability of the barrel during the acceleration phase of movement.

Claims

1. A barrel loading and unloading mechanism for a gantry robot, comprising: The system comprises a longitudinal slide rail (1) and an adjusting plate (2), with a truss support frame (101) installed at the bottom of both longitudinal slide rails (1), and a drive trolley (102) slidably mounted on both longitudinal slide rails (1); a transverse slide rail (103) is installed between the two drive trolleys (102); characterized in that a universal table (201) is installed at the middle position of the top of the adjusting plate (2), and universal tables (202) are installed at the bottom of both ends of the adjusting plate (2); a traction frame (203) is installed at the bottom of the universal table (202); the traction frame (203) A positioning cover (204) is installed at the bottom of the positioning cover (204); a fixing cover (3) is installed at the bottom of the positioning cover (204); the fixing cover (3) is a rectangular structure, and an air pipe (303) is installed on the inner side of the fixing cover (3); an air pump (301) is installed at the bottom of the outer side of the positioning cover (204); a guide pipe (302) is installed on the output end of the bottom of the air pump (301); the side end of the guide pipe (302) passes through the side of the fixing cover (3) and is connected to the air pipe (303); the side of the air pipe (303) is provided with multiple evenly distributed downward inclined air holes (304).

2. The barrel loading and unloading mechanism for a gantry robot according to claim 1, characterized in that, A drive trolley two (104) is slidably mounted on the transverse slide rail (103); a lifting beam (105) is driven and mounted on the inner side of the drive trolley two (104).

3. A barrel loading and unloading mechanism for a gantry robot according to claim 2, characterized in that, The top of the universal table (201) is connected to the bottom of the lifting beam (105).

4. A barrel loading and unloading mechanism for a gantry robot according to claim 3, characterized in that, A vision sensor is installed on the inside of the positioning cover (204), and a rotating threaded rod (205) is rotatably installed at the four corners of the inner edge of the positioning cover (204).

5. A barrel loading and unloading mechanism for a gantry robot according to claim 4, characterized in that, A servo motor is installed on the top outer side of the positioning cover (204), and a chain assembly is installed on the output end of the servo motor. The chain assembly at the output end of the servo motor is connected to the top of the four rotating threaded rods (205).

6. A barrel loading and unloading mechanism for a gantry robot according to claim 5, characterized in that, The rotating threaded rod (205) described in four places has two threads in opposite directions on its outer side, and two movable plates (206) are installed on the threads on the outer side of the rotating threaded rod (205).

7. A barrel loading and unloading mechanism for a gantry robot according to claim 6, characterized in that, The movable plate (206) is slidably installed at the angle of the inner edge of the positioning cover (204), and the two movable plates (206) on the same rotating threaded rod (205) are rotatably installed with support plates (207) on their sides; the side ends of the two support plates (207) are rotatably installed on the inner side of a fixed clamping plate (208).

8. A barrel loading and unloading mechanism for a gantry robot according to claim 7, characterized in that, A rubber pad is laid on the outer side of the fixing clamp (208), and a positioning groove (209) is provided in the middle of the fixing clamp (208).

9. A barrel loading and unloading mechanism for a gantry robot according to claim 8, characterized in that, The inner side of the positioning groove (209) is equipped with two rotating wheels (2010) via a rotating shaft, wherein a return spring is installed on the outer side of both ends of the rotating shaft.

10. A barrel loading and unloading mechanism for a gantry robot according to claim 9, characterized in that, The outer side of the rotating wheel (2010) is provided with multiple rubber belts, and a support stop plate (2011) is installed on the outer side of the rotating wheel (2010). The arc curvature of the side end of the support stop plate (2011) is consistent with the arc curvature of the outer side of the fixed clamp plate (208).

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