Automatic feeding and discharging truss robot

Abstract

The utility model discloses an automatic feeding and discharging truss robot, and relates to the technical field of truss robots. The device comprises a transverse moving mechanism and a vertical moving mechanism arranged on the transverse moving mechanism, the mounting plate is mounted at the moving end of the vertical moving mechanism, and the mounting plate performs translational motion in the cross direction under the cooperation of the transverse moving mechanism and the vertical moving mechanism; the multiple clamps are distributed on the mounting plate in an annular array mode and circularly move in the single direction in the annular shape, and a feeding station and a discharging station are arranged on the mounting plate. According to the utility model, after the position of the mounting plate is adjusted by the truss structure, the workpiece transfer action between the two conveying mechanisms is completed only by virtue of the clamp on the mounting plate, and the tail end execution structure of the truss robot is improved, so that the redundant stroke is reduced, the feeding and discharging operations are continuously carried out, and the truss robot is suitable for transferring small-sized materials.

Description

TECHNICAL FIELD

[0001] The utility model relates to truss robot technical field, concretely relates to a kind of automatic feeding and discharging truss robots. BACKGROUND

[0002] Truss robot is a kind of industrial automation equipment based on truss structure design, usually by metal frame (truss), drive system, control system and end effector composition. It is completed high-precision, high repeatability task by linear motion along preset track (such as X / Y / Z axis), and is widely applied in manufacturing, logistics, warehousing and other fields.

[0003] Most of the end effector of truss robot is single clamp mechanism, realizes the transfer action of single article, is suitable for the transfer of large article, but for some small workpieces, such as bottle body structure conveyed by transport mechanism, if the bottle body structure on the transport mechanism is transferred to another transport mechanism, it needs to be clamped and transferred again by existing truss robot matched clamp, and the whole process is long in stroke and low in efficiency, in view of this, the present application provides a kind of automatic feeding and discharging truss robot. UTILIT Y MODEL CONTENT

[0004] The utility model aims at: for solving the problems raised in the above background art, the utility model provides a kind of automatic feeding and discharging truss robot.

[0005] The utility model discloses the following technical scheme in order to realize the above-mentioned purpose:

[0006] A kind of automatic feeding and discharging truss robot, including horizontal movement mechanism and the vertical movement mechanism being arranged on horizontal movement mechanism;

[0007] Mounting plate is installed on the movement end of vertical movement mechanism, and mounting plate is moved in cross direction under the cooperation of horizontal movement mechanism and vertical movement mechanism;

[0008] A plurality of clamps are arranged in annular array on mounting plate, and move in single direction circularly along annular, and the upper feeding station and the lower feeding station are configured on the mounting plate, when the clamp passes through the upper feeding station, the clamp completes the workpiece feeding action, when the clamp passes through the lower feeding station, the clamp completes the workpiece discharging action.

[0009] Further, two transmission wheels are connected to the mounting plate by pivot, transmission belt is installed between two transmission wheels, and the clamp is installed on the transmission belt.

[0010] Further, the clamp includes connecting plate, positioning frame is installed on the connecting plate, two guide sliding blocks are configured on the positioning frame, and clamping jaw is installed on the guide sliding block.

[0011] Furthermore, the mounting plate is equipped with two power components located at the loading station and the unloading station, respectively. The power components are electric push rods or cylinder push rods. The piston rod of the push rod is equipped with a pressure block. The guide slider has a first inclined surface, and the pressure block has a second inclined surface. When the second inclined surface of the pressure block contacts the first inclined surface of the guide slider, it forces the two guide sliders to move away from each other. A spring connects the guide slider and the positioning frame.

[0012] Furthermore, magnet assemblies are mounted on both of the guide sliders.

[0013] Furthermore, the lateral movement mechanism includes a mounting frame and a fixing plate. A lateral rack and a lateral guide are mounted on the mounting frame. A lateral slider that slides with the lateral guide is mounted on the fixing plate. A drive motor is mounted on the fixing plate. The output shaft of the drive motor is connected to a lateral gear that meshes with the lateral rack.

[0014] Furthermore, the vertical moving mechanism includes a fixed rod connected to a fixed plate via a guide rail pair, a mounting plate mounted on the fixed rod, a vertical rack mounted on the fixed rod, a second drive motor mounted on the fixed plate, and a vertical gear connected to the output shaft of the second drive motor, the vertical gear meshing with the vertical rack.

[0015] The beneficial effects of this utility model are as follows:

[0016] This invention only requires the truss structure to adjust the position of the mounting plate, and then relies solely on the clamps on the mounting plate to complete the workpiece transfer between the two conveying mechanisms. By improving the end effector structure of the truss robot, unnecessary strokes are reduced, and continuous loading and unloading operations are performed, making it suitable for the transfer of small materials. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a utility model Figure 1 Enlarged view of the structure at point A in the middle;

[0019] Figure 3 This is a utility model Figure 1 The right view;

[0020] Figure 4 This is a schematic diagram of the mounting plate structure of this utility model;

[0021] Figure 5 This is a schematic diagram of the fixture structure of this utility model;

[0022] Figure 6 This application Figure 5 Cross-sectional view along the BB direction;

[0023] Fig. 1 is a lateral movement mechanism; 101 is a mounting frame; 102 is a lateral rack; 103 is a fixed plate; 104 is a lateral guide; 105 is a lateral slider; 106 is a lateral gear; 107 is a driving motor one; 2 is a vertical movement mechanism; 201 is a fixed rod; 202 is a vertical rack; 203 is a driving motor two; 204 is a vertical rack; 205 is a guide rail pair; 3 is a mounting plate; 4 is a clamp; 401 is a connecting plate; 402 is a positioning frame; 403 is a guide slider; 404 is a clamping jaw; 405 is a spring; 406 is a guide rod; 407 is a magnet assembly; 5 is a power element; 6 is a transmission wheel; 7 is a transmission belt; 8 is a power motor; 9 is a pressing block. DETAILED DESCRIPTION

[0024] To make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model.

[0025] As Figures 1-6 shown, an automatic feeding and discharging truss robot provided by an embodiment of the utility model comprises a lateral movement mechanism 1 and a vertical movement mechanism 2 arranged on the lateral movement mechanism 1, the lateral movement mechanism 1 and the vertical movement mechanism 2 complete linear reciprocating movement in the horizontal direction and linear reciprocating movement in the vertical direction respectively, the truss movement of the application is in two directions, and is a cross-shaped truss;

[0026] A mounting plate 3 is mounted on the movement end of the vertical movement mechanism 2, the mounting plate 3 performs cross-direction translational movement under the cooperation of the lateral movement mechanism 1 and the vertical movement mechanism 2, the mounting plate 3 is the end of the truss robot and moves together with the displacement mechanism of the truss;

[0027] The utility model is different from prior art in that it comprises a plurality of clamps 4, the clamps 4 are arranged in a ring array on the mounting plate 3 and move in a single direction along the ring, the mounting plate 3 is provided with a feeding station and a discharging station, when the clamp 4 passes through the feeding station, the clamp 4 completes the feeding action on the workpiece, when the clamp 4 passes through the discharging station, the clamp 4 completes the discharging action on the workpiece, compared with a single clamp 4, the utility model adopts a plurality of clamps 4 which are distributed according to a certain track and move in a single direction according to the distribution track, so that the position of the clamp 4 is constantly changed, and when the clamp 4 reaches two specified stations, the feeding and discharging actions are completed respectively, so that only the truss structure needs to adjust the position of the mounting plate 3, and the clamp 4 on the mounting plate 3 completes the workpiece transfer action between the two conveying mechanisms, through the improvement of the end execution structure of the truss robot, the redundant stroke is reduced, and the feeding and discharging operations are continuously performed, so that the utility model is suitable for the transfer of small materials.

[0028] In order to realize the array distribution of the clamp 4 and the movement in a single direction, in some embodiments, two transmission wheels 6 are connected to the mounting plate 3 through a rotating shaft, a transmission belt 7 is installed between the two transmission wheels 6, and the clamp 4 is installed on the transmission belt 7. A power motor 8 connected with the rotating shaft is arranged on the mounting plate 3, the power motor 8 drives the rotating shaft to rotate, drives the transmission belt 7 to move continuously, thereby changing the position of the clamp 4 installed on the transmission belt 7, and realizing the continuous movement of the clamp 4 between the feeding station and the discharging station.

[0029] As shown in Figure 2 , Figure 5 and Figure 6 , in some embodiments, the clamp 4 comprises a connecting plate 401, a positioning frame 402 is installed on the connecting plate 401, two guide sliding blocks 403 are arranged on the positioning frame 402, and a clamping jaw 404 is installed on the guide sliding block 403. The clamping jaw 404 is fixed between the guide sliding block 403 by bolts. Different clamping jaws 404 are used for different workpieces. However, the clamp 4 proposed in the utility model is an extrusion fixing, that is, during the approach of the two guide sliding blocks 403, the clamping jaw 404 is driven to contact the workpiece and complete extrusion, thereby clamping the workpiece.

[0030] As shown in Figures 1-6 , in some embodiments, two power members 5 are arranged on the mounting plate 3 and located at the feeding station and the discharging station respectively, the power member 5 is an electric push rod or a pneumatic cylinder push rod, a pressing block 9 is installed on the push rod piston rod, an inclined surface one is formed on the guide sliding block 403, an inclined surface two is formed on the pressing block 9, when the inclined surface two of the pressing block 9 contacts the inclined surface one of the guide sliding block 403, the two guide sliding blocks 403 are forced to move away from each other, springs 405 are connected between the guide sliding block 403 and the positioning frame 402, guide rods 406 which are in sliding cooperation with the positioning frame 402 are installed on the guide sliding block 403. Under normal circumstances, under the cooperation of the two springs 405, the two guide sliding blocks 403 are in close contact with each other, at this time, the clamping jaw 404 is in a closed state. When the clamp 4 moves to the feeding station, the pressing block 9 is driven to move downward and contact the two guide sliding blocks 403, at this time, the inclined surface one and the inclined surface two are in close contact, and the two guide sliding blocks 403 are forced to move away from each other with the movement of the pressing block 9, thereby the clamping jaw 404 is forced to move away from each other, and the workpiece is provided into the area. Then the push rod drives the pressing block 9 to move upward, and the workpiece clamping is completed under the auxiliary cooperation of the spring 405. Similarly, when the clamp 4 moves to the discharging station, the above steps are repeated to complete the discharging action.

[0031] As shown in Figure 6As shown, in some embodiments, two said guide sliders 403 are mounted with magnet assemblies 407, the cooperation of the magnet assemblies 407 improves the stability of the two guide sliders 403 after being attached, and reduces the influence of the spring 405 on the stability of the guide slider 403, wherein the contact and attachment and separation actions of the pressing block 9 and the guide slider are slowly performed.

[0032] As Figures 1-6 As shown, in the truss structure, the horizontal moving mechanism 1 comprises a mounting frame 101, a horizontal rack 102 and a horizontal guide strip 104 mounted on the mounting frame 101, a fixed plate 103, a horizontal sliding block 105 mounted on the fixed plate 103 and slidingly matched with the horizontal guide strip 104, and a drive motor one 107 mounted on the fixed plate 103, wherein an output shaft of the drive motor one 107 is connected with a horizontal gear 106 matched with the horizontal rack 102, the vertical moving mechanism 2 comprises a fixed rod 201 connected with the fixed plate 103 through a guide rail pair 205, a mounting plate 3 mounted on the fixed rod 201, a vertical rack 202 mounted on the fixed rod 201, and a drive motor two 203 mounted on the fixed plate 103, wherein an output shaft of the drive motor two 203 is connected with a vertical gear 204 matched with the vertical rack 202, the horizontal moving mechanism 1 and the vertical moving mechanism 2 both adopt gear and rack structure to complete moving, and adopt motors as driving force, wherein the sliding block in the guide rail pair 205 is fixed on the fixed plate 103, and the guide rail is fixed on the fixed rod 201, that is, the guide rail moves relative to the sliding block.

[0033] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated loading and unloading gantry robot, characterized in that, It includes a lateral moving mechanism (1) and a vertical moving mechanism (2) configured on the lateral moving mechanism (1); The mounting plate (3) is installed on the moving end of the vertical moving mechanism (2). The mounting plate (3) moves in a cross direction in cooperation with the horizontal moving mechanism (1) and the vertical moving mechanism (2). Several fixtures (4) are arranged in a ring array on the mounting plate (3) and move cyclically in a single direction along the ring. The mounting plate (3) is equipped with a loading station and a unloading station. When the fixture (4) passes the loading station, the fixture (4) completes the loading action of the workpiece. When the fixture (4) passes the unloading station, the fixture (4) completes the unloading action of the workpiece.

2. The automated loading and unloading gantry robot according to claim 1, characterized in that, The mounting plate (3) is connected to two drive wheels (6) by a rotating shaft, and a drive belt (7) is installed between the two drive wheels (6). The clamp (4) is installed on the drive belt (7).

3. The automated loading and unloading gantry robot according to claim 1, characterized in that, The fixture (4) includes a connecting plate (401), on which a positioning frame (402) is mounted, and two guide sliders (403) are configured on the positioning frame (402), and grippers (404) are mounted on the guide sliders (403).

4. The automated loading and unloading gantry robot according to claim 3, characterized in that, The mounting plate (3) is equipped with two power components (5) located at the loading station and unloading station respectively. The power component (5) is an electric push rod or a cylinder push rod. The piston rod of the push rod is equipped with a pressure block (9). The guide slider (403) has a first inclined surface, and the pressure block (9) has a second inclined surface. When the second inclined surface of the pressure block (9) contacts the first inclined surface of the guide slider (403), it forces the two guide sliders (403) to move away from each other. A spring (405) connects the guide slider (403) and the positioning frame (402).

5. An automated loading and unloading gantry robot according to claim 4, characterized in that, Magnet assemblies (407) are mounted on the two guide sliders (403).

6. The automated loading and unloading gantry robot according to claim 1, characterized in that, The lateral movement mechanism (1) includes a mounting frame (101) and a fixing plate (103). A lateral rack (102) and a lateral guide bar (104) are mounted on the mounting frame (101). A lateral slider (105) that slides with the lateral guide bar (104) is mounted on the fixing plate (103). A drive motor (107) is mounted on the fixing plate (103). The output shaft of the drive motor (107) is connected to a lateral gear (106) that meshes with the lateral rack (102).

7. An automated loading and unloading gantry robot according to claim 6, characterized in that, The vertical moving mechanism (2) includes a fixed rod (201) connected to a fixed plate (103) via a guide rail pair (205), a mounting plate (3) mounted on the fixed rod (201), a vertical rack (202) mounted on the fixed rod (201), a second drive motor (203) mounted on the fixed plate (103), and a vertical gear (204) connected to the output shaft of the second drive motor (203), which meshes with the vertical rack (202).

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