Truss feeding and discharging device

Abstract

The utility model provides a truss feeding and discharging device, and belongs to the technical field of truss manipulators. The problem that a mechanical arm of an existing truss girder feeding and discharging device is poor in stability when moving is solved. The truss feeding and discharging device comprises a transversely-arranged truss beam, a moving seat and a mechanical arm, guide rails are fixedly arranged on the two adjacent side walls of the mechanical arm in the length direction, the moving seat comprises a first mounting face and a second mounting face, and sliding seats in sliding fit with the two guide rails are arranged on the first mounting face and the second mounting face correspondingly; the lower end of the mechanical arm is fixedly connected with a connecting base, a rotating base is arranged on the connecting base, a first clamping mechanism and a second clamping mechanism are arranged on the rotating base, and a rotating driving part used for driving the rotating base to rotate and switching the first clamping mechanism and the second clamping mechanism is further arranged on the connecting base. The matching stability and precision between the mechanical arm and the movable base are higher, and the working efficiency of feeding and discharging is greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology and relates to a gantry loading and unloading device. Background Technology

[0002] With technological advancements and rising labor costs, automated equipment is increasingly widely used in manufacturing. Among these, gantry robots, due to their simple structure, ease of operation, and ability to accurately and efficiently grasp and transport objects, are widely applied in the loading and unloading processes of automated production lines and equipment.

[0003] For example, Chinese patent application (application number: 202411186280.X) discloses an intelligent gantry robot for material transportation, which includes square columns symmetrically distributed on both sides, two parallel X-axis beams connected between the square columns, a Y-axis beam slidably mounted on the X-axis beams, a first traveling mechanism on the Y-axis beams, and a robot arm Z-axis vertically mounted on the Y-axis beams. The robot arm Z-axis is adjusted along the Y-axis beams by a second traveling mechanism; an internal expansion mechanism for clamping workpieces is installed at the lower end of the robot arm Z-axis. To achieve vertical lifting of the robotic arm's Z-axis, a guide mechanism and a vertical drive mechanism are typically required between the Z-axis and the first traveling mechanism. However, due to the slender square column structure of the robotic arm's Z-axis, the mounting space on its side wall is extremely limited. Therefore, the size of the guide mechanism and drive mechanism must be reduced, which significantly reduces the structural strength and stability between the robotic arm's Z-axis and the first traveling mechanism. This causes the robotic arm's Z-axis to wobble when moving, affecting its movement accuracy and consequently impacting the efficiency of loading and unloading as well as the quality of the finished product. Summary of the Invention

[0004] The purpose of this utility model is to address the aforementioned problems in the existing technology by proposing a truss loading and unloading device. The technical problem to be solved by this utility model is: how to improve the stability and efficiency of the loading and unloading of the truss loading and unloading device.

[0005] The purpose of this utility model can be achieved through the following technical solution: a truss loading and unloading device, comprising a truss beam arranged laterally, a movable seat that can reciprocate along the length direction of the truss beam, and a mechanical arm that can be raised and lowered relative to the movable seat, characterized in that guide rails are fixedly provided on the adjacent side walls of the mechanical arm along the length direction, and the movable seat includes a first mounting surface and a second mounting surface, and sliding seats that slide in cooperation with the two guide rails are respectively provided on the first mounting surface and the second mounting surface.

[0006] The lower end of the robotic arm is fixedly connected to a connecting seat, and a rotating seat is provided on the connecting seat. The rotating seat is respectively provided with a first clamping mechanism for clamping a workpiece blank and a second clamping mechanism for clamping a finished workpiece. The connecting seat is also provided with a rotation drive for driving the rotating seat to rotate and switching between the first clamping mechanism and the second clamping mechanism.

[0007] This invention features two guide rails on the robotic arm that form a sliding fit with the movable seat, thereby improving the fitting accuracy between the robotic arm and the movable seat. Furthermore, the two guide rails are respectively located on two adjacent side walls of the robotic arm, thus making better use of the space on the robotic arm and allowing for the use of larger guide rails to improve their structural strength. In addition, the two guide rails can respectively limit the movement of the robotic arm on the X-axis and Y-axis, thereby further improving the fitting accuracy and stability between the robotic arm and the movable seat.

[0008] Meanwhile, since there is a large difference in shape between the workpiece blank and the finished workpiece, the robotic arm in this embodiment also adopts a dual clamping mechanism. The first clamping mechanism clamps the workpiece blank, and the second clamping mechanism clamps the finished workpiece. The first clamping mechanism and the second clamping mechanism are switched by driving the rotating seat, thereby reducing the number of times the robotic arm goes back and forth during loading and unloading, thus greatly improving the efficiency of loading and unloading.

[0009] In the above-mentioned truss loading and unloading device, the rotating seat is L-shaped, and the first mounting surface and the second mounting surface are perpendicular to each other.

[0010] In the aforementioned truss loading and unloading device, a first rack is provided along the length direction on the side wall adjacent to the first mounting surface of the robotic arm. The first mounting surface also provides gear one, gear two, and a drive motor one for driving gear one to rotate. Gear one and gear two are spaced apart and both mesh with the first rack. Gear two is used to connect to a gear sensor. Thus, when drive motor one drives the robotic arm to move up and down, displacement data is monitored by gear two and the gear sensor detector, allowing drive motor one to make adjustments based on the feedback data, thereby improving the movement accuracy of the robotic arm.

[0011] In the above-mentioned truss loading and unloading device, the first clamping mechanism includes pneumatic fingers, and each of the two clamping fingers of the pneumatic fingers is fixedly connected with a gripper.

[0012] In the aforementioned truss loading and unloading device, the second clamping mechanism is a pneumatic three-jaw chuck.

[0013] In the above-mentioned truss loading and unloading device, the rotation drive component is a motor or a rotary cylinder.

[0014] In the above-mentioned truss loading and unloading device, the side of the robotic arm is provided with an air blowing nozzle, one end of which extends downward along the length of the robotic arm.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. The robotic arm of this utility model adopts a double guide rail, and the two guide rails are set on two adjacent planes. The moving seat adopts an L-shape to cooperate with the two guide rails of the robotic arm, thereby making better use of the space on the robotic arm, making it easier to use a larger size of the guide rail to improve its structural strength and stability during movement. Moreover, the two guide rails are located on different planes, which can improve the limit of the robotic arm on the X-axis and Y-axis, and further improve the cooperation accuracy and stability with the moving seat.

[0017] 2. The robotic arm of this utility model is equipped with a dual clamping mechanism, one clamping mechanism is used to clamp the workpiece blank, and the second clamping mechanism is used to clamp the finished workpiece; by driving the rotating seat to switch between the first clamping mechanism and the second clamping mechanism, the number of times the robotic arm goes back and forth during loading and unloading is reduced, thereby greatly improving the work efficiency of loading and unloading. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the movable base and the robotic arm working together;

[0020] Figure 3 This is a schematic diagram of the structure of the truss beam and the movable seat in operation;

[0021] Figure 4 This is a schematic diagram of the robotic arm.

[0022] In the diagram, 1. Truss beam; 2. Movable seat; 21. First mounting surface; 22. Second mounting surface; 3. Robotic arm; 31. Connecting seat; 32. Rotating seat; 33. First clamping mechanism; 331. Pneumatic finger; 332. Gripper; 34. Second clamping mechanism; 35. Air nozzle; 41. Guide rail; 42. Sliding seat; 51. First rack; 52. Gear 1; 53. Gear 2; 54. Drive motor 1; 61. Second rack; 62. Gear 3; 63. Gear 4; 64. Drive motor 2; 71. Workpiece blank; 72. Finished workpiece; 8. Gear sensor. Detailed Implementation

[0023] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0024] A truss loading and unloading device is used for loading and unloading materials during the processing of composite bow main wheels, such as... Figure 1As shown, the system includes a truss beam 1, a movable seat 2, and a robotic arm 3. The truss beam 1 can be horizontally suspended above the assembly line or automated equipment. The movable seat 2 is slidably mounted on the truss beam 1. A horizontal drive mechanism is provided between the truss beam 1 and the movable seat 2, allowing the movable seat 2 to reciprocate along the length of the truss beam 1. The robotic arm 3 is vertically mounted and slidably connected to the movable seat 2. A vertical drive mechanism is provided between the robotic arm 3 and the movable seat 2, allowing the robotic arm 3 to move up and down. A robotic hand for gripping workpieces is provided at the lower end of the robotic arm 3.

[0025] Specifically, such as Figure 2 , Figure 3 As shown, in this embodiment, the robotic arm 3 is a long bar with a square cross-section. Long guide rails 41 are fixed along the length direction on both adjacent side walls of the robotic arm 3. The movable seat 2 is L-shaped and includes a first mounting surface 21 and a second mounting surface 22 that are perpendicular to each other. The first mounting surface 21 is parallel to and adjacent to the truss beam 1. Sliding seats 42 are arranged at intervals along the vertical direction on both the first mounting surface 21 and the second mounting surface 22. Each sliding seat 42 has a groove that can slide and cooperate with the guide rail 41. The guide rails 41 on both side walls of the robotic arm 3 form a sliding cooperation with the sliding seats 42 on the first mounting surface 21 and the second mounting surface 22, respectively, to improve the stability of the robotic arm 3 when it is raised and lowered. Furthermore, a first rack 51 is provided along the length direction on the side wall adjacent to the first mounting surface 21 of the robotic arm 3, and the first rack 51 is spaced apart from the guide rail 41 on the side wall; correspondingly, a gear 52 and a drive motor 54 for driving the gear 52 to rotate are also provided on the first mounting surface 21 of the movable seat 2, the gear 52 meshes with the first rack 51, so that the drive motor 54 can drive the robotic arm 3 to move up and down. Furthermore, a second gear 53 is also provided on the first mounting surface 21. The second gear 53 also meshes with the first rack 51. The number of teeth of the second gear 53 is less than the number of teeth of the first gear 52. A gear sensor 8 is connected to the rear end of the second gear 53. The gear sensor 8 can be used to monitor the stroke of the robotic arm 3 and can communicate with the control system of the drive motor 54, thereby improving the stroke accuracy of the robotic arm 3. Moreover, the moving seat 2 meshes with the first rack 51 simultaneously through the first gear 52 and the second gear 53, which improves the stability of the cooperation between the moving seat 2 and the first rack 51, making the moving seat 2 more stable when it rises and falls.

[0026] Furthermore, such as Figure 1 , Figure 3As shown, a similar drive structure is also used between the truss beam 1 and the movable seat 2. That is, two guide rails 41 are spaced apart along the length direction on the truss beam 1, and two sets of sliding seats 42 are provided on the back of the first mounting surface 21 of the movable seat 2, which are respectively slidably engaged with the two guide rails 41. A second rack 61 is also provided along the length direction on the truss beam 1. The second rack 61 is located between the two guide rails 41. Correspondingly, the movable seat 2 is also provided with gear 3 62, gear 4 63 and drive motor 2 64 for driving gear 3 62 to rotate. Gear 3 62 and gear 4 63 are spaced apart, and gear 4 63, like gear 2 53, is also connected to a gear sensor 8, thereby improving the movement accuracy and stability of the movable seat 2.

[0027] like Figure 1 , Figure 4 As shown, a connecting seat 31 is fixedly connected to the lower end of the robotic arm 3. The connecting seat 31 has an inclined surface that is inclined relative to the length direction of the robotic arm 3. A rotating seat 32 is rotatably connected to the inclined surface of the connecting seat 31. A rotation drive component for driving the rotating seat 32 to rotate is also provided on the connecting seat 31. The rotation drive component can be a cylinder or a motor. A first clamping mechanism 33 and a second clamping mechanism 34 are respectively provided on the two side walls of the rotating seat 32. The first clamping mechanism 33 includes pneumatic fingers 331. Each of the two gripping fingers of the pneumatic fingers 331 has a gripper 332 fixedly connected to it. Under the drive of the pneumatic fingers 331, the two grippers 332 can grasp the square workpiece blank 71. In this embodiment, the second clamping mechanism 34 adopts a pneumatic three-jaw chuck, which can grasp the processed finished workpiece 72. In use, the rotating drive unit can switch between the first clamping mechanism 33 and the second clamping mechanism 34, which facilitates loading through the first clamping mechanism 33 and unloading through the second clamping mechanism 34, thereby improving loading and unloading efficiency.

[0028] Furthermore, in this embodiment, the side of the robotic arm 3 is also provided with an air blowing nozzle 35, one end of which extends downward along the length of the robotic arm 3, which facilitates cleaning of the clamping station during loading and unloading.

[0029] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or adopt similar methods to substitute them, without departing from the spirit of this information or exceeding the scope defined by the appended claims.

[0030] Although this document frequently uses terms such as truss beam 1, moving seat 2, robotic arm 3, connecting seat 31, rotating seat 32, pneumatic finger 331, gripper 332, guide rail 41, and sliding seat 42, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A truss feeding and discharging device, comprising a transversely arranged truss beam (1), a moving base (2) capable of reciprocating along the length direction of the truss beam (1), and a mechanical arm (3) capable of ascending and descending relative to the moving base (2), characterized in that, Two adjacent side walls of the mechanical arm (3) are respectively provided with a guide rail (41) extending along the length direction of the mechanical arm (3), the moving base (2) comprises a first mounting surface (21) and a second mounting surface (22), and the first mounting surface (21) and the second mounting surface (22) are respectively provided with a sliding base (42) in sliding fit with the two guide rails (41); The lower end of the mechanical arm (3) is fixedly connected with a connecting base (31), the connecting base (31) is provided with a rotating base (32), the rotating base (32) is respectively provided with a first clamping mechanism (33) for clamping a workpiece blank (71) and a second clamping mechanism (34) for clamping a workpiece finished product (72), and the connecting base (31) is further provided with a rotating driving member for driving the rotating base (32) to rotate and switching the first clamping mechanism (33) and the second clamping mechanism (34).

2. The gantry loading and unloading device of claim 1, wherein, The rotating base (32) is L-shaped, and the first mounting surface (21) and the second mounting surface (22) are perpendicular to each other.

3. The gantry loading and unloading device of claim 1 or 2, wherein, The side wall adjacent to the first mounting surface (21) of the mechanical arm (3) is further provided with a first rack (51) extending along the length direction of the mechanical arm (3), the first mounting surface (21) is further provided with a gear one (52), a gear two (53) and a driving motor one (54) for driving the gear one (52) to rotate, the gear one (52) and the gear two (53) are arranged in a spaced manner and are in meshing fit with the first rack (51), and the gear two (53) is used for connecting a gear sensor (8).

4. The gantry loading and unloading device of claim 1 or 2, wherein, The first clamping mechanism (33) comprises a pneumatic finger (331), and two clamping fingers of the pneumatic finger (331) are respectively fixedly connected with a clamping jaw (332).

5. The gantry loading and unloading device of claim 4, wherein, The second clamping mechanism (34) is a pneumatic three-jaw chuck.

6. The gantry loading and unloading device of claim 5, wherein, The rotating driving member is a motor or a rotary air cylinder.

7. The gantry loading and unloading device of claim 5, wherein, The side of the mechanical arm (3) is provided with a blowing nozzle (35), one end of the blowing nozzle (35) extends downward along the length direction of the mechanical arm (3).

Images