Gantry frame feeding device

Abstract

The utility model belongs to the technical field of gantry production equipment, and particularly relates to a gantry frame feeding device. Comprising a conveying device and a feeding device, a feeding robot and a waste paper trolley are arranged at the feeding end of the conveying device, a fixing frame is arranged at the material taking end of the conveying device, the feeding device comprises a frame mechanical arm, a suction cup and a paper separating clamping jaw, the feeding device is fixed to the feeding robot through the frame mechanical arm, and the suction cup and the paper separating clamping jaw are installed on the frame mechanical arm. At least one three-axis linear module is installed on the fixing frame, a two-way rotating device is installed at the output end of the three-axis linear module, a frame mechanical arm is installed at the output end of the two-way rotating device, and a visual recognition device and a plurality of suction rods are arranged on the frame mechanical arm. According to the full-automatic frame feeding machine, the processes of paper taking, frame feeding, frame conveying and frame taking can be automatically completed, so that labor is saved, and the working efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the technical field of gantry production equipment, and in particular relates to a gantry frame feeding device. Background Technology

[0002] The production of gantry milling machines requires the assembly of frames. Currently, the loading and unloading of gantry frames largely relies on manual labor, resulting in a low level of automation. The current production process involves manually placing the frames onto a conveyor belt, transporting them to a designated location, and then manually removing them and placing them onto a frame gluing machine. Because manual placement on the conveyor belt is not always neat, frames frequently fall off, and there are safety risks associated with manual loading and unloading. Summary of the Invention

[0003] The purpose of this utility model is to provide a gantry frame feeding device to solve the problems existing in the prior art.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A gantry frame feeding device includes a conveying device and a feeding device. The feeding end of the conveying device is equipped with a feeding robot and a waste paper cart, and the picking end of the conveying device is equipped with a fixed frame. The feeding device includes a frame manipulator, a suction cup, and a paper separator gripper. The feeding device is fixed to the feeding robot by the frame manipulator. The suction cup and paper separator gripper are installed on the frame manipulator. At least one three-axis linear module is installed on the fixed frame. A bidirectional rotating device is installed at the output end of the three-axis linear module. The frame manipulator is installed at the output end of the bidirectional rotating device. The frame manipulator is equipped with a vision recognition device and several suction rods.

[0006] Furthermore, the conveying device consists of a feeding conveyor, a mid-section conveyor, and a picking conveyor. The feeding conveyor is the feeding end of the feeding device and is located on one side of the feeding robot. The picking conveyor is the picking end of the conveying device and is located on one side of the fixed frame. The mid-section conveyor is located between the feeding conveyor and the picking conveyor.

[0007] Furthermore, guide rods are fixed on both sides above the conveying ends of the feeding conveyor, the intermediate conveyor, and the picking conveyor. Correcting cylinders are fixed on both sides above the conveying ends of the picking conveyor. Correcting plates are fixed on the output ends of the correcting cylinders. The correcting cylinders and the correcting plates constitute the correcting mechanism.

[0008] Furthermore, the frame robot includes a base, on which a mounting bracket and a vacuum generator are fixed. Suction rods are symmetrically fixed at both ends of the base. The vacuum generator is connected to the suction rod pipes. The camera of the vision recognition device is fixed in the middle of the base. The light source of the vision recognition device is fixed at the bottom of the base. The loading robot and the three-axis linear module are all connected to the frame robot through the mounting bracket.

[0009] Furthermore, the feeding device also includes a rotary motor, which is fixed on one side of the base. A suction cup is installed at the output end of the rotary motor, and paper-separating grippers are installed on the base on the same side as the rotary motor. The suction cup is connected to the vacuum generator pipe.

[0010] Furthermore, the bidirectional rotating device includes a rotating platform, which is fixed to the output end of the three-axis linear module. A connector is fixed to the rotating end of the rotating platform, and a vertical motor is mounted on the connector. A connecting rod is fixed to the output end of the vertical motor, and the connecting rod is fixed to the mounting frame.

[0011] Furthermore, the suction rod has an air intake port and at least two suction ports, which are connected from the inside of the suction rod. The suction ports are all located on the same side of the suction rod. Two screws are threaded onto the outer wall of the suction rod, and nuts are threaded onto the screws, with retaining rings and springs passing through them.

[0012] Furthermore, the retaining ring is located on the screw between the nut and the suction rod, the spring is located on the screw between the retaining ring and the suction rod, the screw passes through the base, and the retaining ring and the nut are located on both sides of the base respectively.

[0013] This utility model has the following beneficial effects:

[0014] 1. This utility model can automatically complete the processes of paper picking, frame feeding, frame transportation, and frame picking, thereby saving labor and improving work efficiency.

[0015] 2. The paper is picked up and loaded onto the edge stack by a loading robot or loading device, thus replacing manual loading.

[0016] 3. When the straightening cylinder operates, it straightens the frame from both sides to prevent it from tilting during transportation.

[0017] 4. When the rotary motor is working, it can make the suction cup perpendicular or parallel to the base. When the suction cup is perpendicular to the base, it can pick up the paper. When the suction cup is parallel to the base, it can prevent the suction cup from obstructing the suction rod from picking up the edge.

[0018] 5. A rotating platform enables the frame robot to rotate horizontally, while a vertical motor enables it to rotate vertically, thereby adjusting the posture of the frame being picked up.

[0019] 6. The two suction sticks form a set to pick up the same frame, that is, the suction stick at one end of the base corresponds to the other suction stick at the other end of the base. The two suction sticks pick up the same frame, resulting in stronger suction and preventing the frame from falling off.

[0020] 7. The screw and spring provide cushioning, ensuring that the suction rod fits tightly against the frame, and then the frame is sucked up through the suction port. Attached Figure Description

[0021] Figure 1 This is a top view of the structure of this utility model.

[0022] Figure 2 This is a side view structural diagram of the feeding robot of this utility model.

[0023] Figure 3 This is a top view schematic diagram of the feeding conveyor of this utility model.

[0024] Figure 4 This is a top view schematic diagram of the material handling conveyor of this utility model.

[0025] Figure 5 This is a schematic diagram of the frame-mounted robotic arm structure of this utility model.

[0026] Figure 6 This is a schematic diagram of the bottom structure of the frame-mounted robotic arm of this utility model.

[0027] Figure 7 This is a utility model Figure 6 Enlarged structural diagram at point A in the middle.

[0028] Figure 8 This is a schematic diagram of the feeding device of this utility model.

[0029] Figure 9 This is a schematic diagram of the bidirectional rotating device of this utility model.

[0030] The components include: 1. Feeding device; 2. Feeding robot; 3. Waste paper cart; 4. Fixing frame; 5. Edge-mounting robot; 6. Suction cup; 7. Paper separator gripper; 8. Three-axis linear module; 9. Bidirectional rotating device; 10. Vision recognition device; 11. Suction rod; 12. Feeding conveyor; 13. Mid-section conveyor; 14. Picking conveyor; 15. Guide rod; 16. Alignment cylinder; 17. Alignment plate; 18. Base; 19. Mounting frame; 20. Vacuum generator; 21. Rotary motor; 22. Rotary platform; 23. Connector; 24. Vertical motor; 25. Connecting rod; 26. Air intake; 27. Suction port; 28. Screw; 29. ​​Spring; 30. Nut; 31. Retaining ring. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the scope of the utility model.

[0032] like Figure 1-9As shown, a gantry frame feeding device includes a conveying device and a feeding device 1. The feeding end of the conveying device is equipped with a feeding robot 2 and a waste paper cart 3, and the picking end of the conveying device is equipped with a fixed frame 4. The feeding device 1 includes a frame robot arm 5, a suction cup 6, and a paper separator gripper 7. The feeding device 1 is fixed to the feeding robot 2 by the frame robot arm 5. The suction cup 6 and the paper separator gripper 7 are installed on the frame robot arm 5. At least one three-axis linear module 8 is installed on the fixed frame 4. A bidirectional rotating device 9 is installed at the output end of the three-axis linear module 8. The frame robot arm 5 is installed at the output end of the bidirectional rotating device 9. The frame robot arm 5 is equipped with a visual recognition device 10 and several suction rods 11.

[0033] The conveying device consists of a feeding conveyor 12, a mid-section conveyor 13, and a picking conveyor 14. The feeding conveyor 12 is the feeding end of the feeding device 1 and is located on one side of the feeding robot 2. The picking conveyor 14 is the picking end of the conveying device and is located on one side of the fixed frame 4. The mid-section conveyor 13 is located between the feeding conveyor 12 and the picking conveyor 14. The feeding conveyor 12, the mid-section conveyor 13, and the picking conveyor 14 can all be started and stopped independently, thereby adjusting the transportation rhythm according to the position of the frame.

[0034] Guide rods 15 are fixed on both sides above the conveying ends of the feeding conveyor 12, the intermediate conveyor 13, and the picking conveyor 14. Alignment cylinders 16 are fixed on both sides above the conveying ends of the picking conveyor 14. Alignment plates 17 are fixed to the output ends of the alignment cylinders 16. The alignment cylinders 16 and 17 form an alignment mechanism. When the alignment cylinders 16 are activated, they align the frame from both sides to prevent skewing during transport.

[0035] The frame robot 5 includes a base 18, on which a mounting bracket 19 and a vacuum generator 20 are fixed. Suction rods 11 are symmetrically fixed at both ends of the base 18. The vacuum generator 20 is pipe-connected to the suction rods 11. The camera of the vision recognition device 10 is fixed in the middle of the base 18, and the light source of the vision recognition device 10 is fixed at the bottom of the base 18. The loading robot 2 and the three-axis linear module 8 are both connected to the frame robot 5 via the mounting bracket 19. The vision recognition device 10 is existing technology and typically includes a camera, light source, and control system. It performs visual recognition to guide the operation of the loading robot 2; its specific structure will not be described in detail here.

[0036] The feeding device 1 also includes a rotary motor 21, which is fixed to one side of the base 18. A suction cup 6 is installed at the output end of the rotary motor 21, and a paper-separating gripper 7 is installed on the base 18 on the same side as the rotary motor 21. The suction cup 6 is connected to the vacuum generator 20 via a pipe. When the rotary motor 21 is working, it can make the direction of the suction cup 6 perpendicular to or parallel to the base 18. When the suction cup 6 is perpendicular to the base 18, it can pick up the paper. When the suction cup 6 is parallel to the base 18, it prevents the suction cup 6 from obstructing the suction rod 11 from picking up the edge.

[0037] The bidirectional rotation device 9 includes a rotating platform 22, which is fixed to the output end of the three-axis linear module 8. A connector 23 is fixed to the rotating end of the rotating platform 22, and a vertical motor 24 is mounted on the connector 23. A connecting rod 25 is fixed to the output end of the vertical motor 24, and the connecting rod 25 is fixed to the mounting bracket 19. The rotating platform 22 enables the frame robot 5 to rotate horizontally, and the vertical motor 24 enables the frame robot 5 to rotate vertically, thereby adjusting the posture of the picked-up frame.

[0038] The suction rod 11 has an air intake 26 and at least two suction ports 27. The suction ports 27 and the air intake 26 are connected from the inside of the suction rod 11. All suction ports 27 are located on the same side of the suction rod 11. Two screws 28 are threaded onto the outer wall of the suction rod 11. Nuts 30 are threaded onto the screws 28 and retaining rings 31 and springs 29 are threaded through them. The two suction rods 11 form a group to suction the same frame. That is, the suction rod 11 at one end of the base 18 corresponds to the other suction rod 11 at the other end of the base 18. The two suction rods 11 suction the same frame, resulting in stronger suction and preventing the frame from falling off.

[0039] The retaining ring 31 is located on the screw 28 between the nut 30 and the suction rod 11. The spring 29 is located on the screw 28 between the retaining ring 31 and the suction rod 11. The screw 28 passes through the base 18, and the retaining ring 31 and the nut 30 are located on opposite sides of the base 18. When one side of the suction port 27 of the suction rod 11 abuts against the frame, if the frame is slightly misaligned, the screw 28 will adjust its posture according to the outer wall of the frame. The spring 29 acts as a buffer, thereby ensuring that the suction rod 11 fits tightly against the frame and then picks up the frame through the suction port 27.

[0040] The working principle of this utility model is as follows:

[0041] In use, connect the vacuum generator 20 to the suction rod 11 and suction cup 6 through the vacuum tube.

[0042] Removal of interlayer paper: The frame is transported to the vicinity of the loading robot 2. Since the frame is stacked in layers with paper between each layer to protect it, the paper needs to be placed into the waste paper cart 3 first during loading. After adjusting its posture, the loading robot 2 uses suction cup 6 to pick up the paper and moves the paper laterally so that one side protrudes outside the frame. The suction cup 6 releases the paper, and the rotary motor 21 works to rotate the suction cup 6 to a position parallel to the base 18, thereby preventing the suction cup 6 from obstructing the suction rod 11 from picking up the frame. The loading robot 2 adjusts its posture to hold the paper from the side using the paper-separating gripper 7 and moves it into the waste paper cart 3.

[0043] Frame suction and transport: After adjusting its posture, the loading robot 2 picks up the frame using suction rods 11. Two suction rods 11 are used as a group to pick up the same frame. Each action can pick up several frames at the same time. The loading robot 2 adjusts its posture again and places the frame between the guide rods 15 of the loading conveyor 12. The loading conveyor 12 is started, and the frame is transported to the picking conveyor 14 via the intermediate conveyor 13.

[0044] Frame material handling: The aligning cylinder 16 on the material handling conveyor 14 is activated to align the frame from both sides, preventing skewing during transportation. The three-axis linear module 8 is activated to move the frame robot 5 above the frame and pick it up using the suction rod 11. The rotating platform 22 enables the frame robot 5 to rotate horizontally, and the vertical motor 24 enables it to rotate vertically, thereby adjusting the frame's posture and placing it at the designated position on the frame gluing machine for subsequent processing.

[0045] When the suction rod 11 picks up the edge, the spring 29 acts as a buffer, allowing the suction rod 11 to pick up the edge better.

[0046] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention should fall within the protection scope of the present invention.

[0047] The technologies, shapes, and structures not described in detail in this utility model are all known technologies.

Claims

1. A gantry frame edge frame loading device, characterized by, The utility model provides a waste paper recycling system, which comprises a conveying device and a feeding device, the feeding end of the conveying device is provided with a feeding robot and a waste paper vehicle, the material taking end of the conveying device is provided with a fixing frame, the feeding device comprises a frame mechanical hand, a suction cup and a paper separating clamp jaw, the feeding device is fixed on the feeding robot through the frame mechanical hand, the suction cup and the paper separating clamp jaw are installed on the frame mechanical hand, at least one three-axis linear module is installed on the fixing frame, a bidirectional rotating device is installed at the output end of the three-axis linear module, the frame mechanical hand is installed at the output end of the bidirectional rotating device, and a visual recognition device and a plurality of suction rods are arranged on the frame mechanical hand.

2. The gantry frame border loading device according to claim 1, characterized in that, The conveying device is composed of a feeding conveyor, a middle section conveyor and a material taking conveyor, the feeding conveyor is the feeding end of the feeding device, is located on one side of the feeding robot, the material taking conveyor is the material taking end of the conveying device, is located on one side of the fixing frame, and the middle section conveyor is located between the feeding conveyor and the material taking conveyor.

3. The gantry frame border loading device according to claim 2, characterized in that, Two guide rods are fixed above the conveying ends of the feeding conveyor, the middle section conveyor and the material taking conveyor, two returning cylinders are fixed on the two sides above the conveying end of the material taking conveyor, a returning plate is fixed at the output end of the returning cylinder, and the returning cylinder and the returning plate constitute a returning mechanism.

4. The gantry border feed device of claim 1, wherein, The frame mechanical hand comprises a base, an installation frame and a vacuum generator are fixed on the base, the suction rods are fixed symmetrically at the two ends of the base, the vacuum generator is connected with the suction rods in a pipeline mode, a camera of the visual recognition device is fixed at the middle position of the base, a light source of the visual recognition device is fixed at the bottom of the base, the feeding robot and the three-axis linear module are connected with the frame mechanical hand through the installation frame.

5. The gantry frame edge frame loading device according to claim 4, characterized in that, The feeding device further comprises a rotary motor, the rotary motor is fixed on one side of the base, the suction cup is installed at the output end of the rotary motor, the paper separating clamp jaw is installed on the base on the same side of the rotary motor, and the suction cup is connected with the vacuum generator in a pipeline mode.

6. The gantry frame border loading device according to claim 4, characterized in that, The bidirectional rotating device comprises a rotating platform, the rotating platform is fixed at the output end of the three-axis linear module, a connecting piece is fixed at the rotating end of the rotating platform, a vertical motor is installed on the connecting piece, a connecting rod is fixed at the output end of the vertical motor, and the connecting rod is fixed on the installation frame.

7. The gantry border frame loading device of claim 4, wherein, The suction rod has an air suction port and at least two suction ports, the suction ports are communicated with the air suction port from the inside of the suction rod, the suction ports are located on the same side of the suction rod, two screw rods are screwed on the outer wall of the suction rod, nuts are screwed on the screw rods, and a stop ring and a spring are penetrated on the nuts.

8. The gantry frame edge frame loading device according to claim 7, characterized in that, The stop ring is located on the screw rod between the nut and the suction rod, the spring is located on the screw rod between the stop ring and the suction rod, the screw rod penetrates the base, and the stop ring and the nut are located on the two sides of the base.

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