High-speed truss type feeding and discharging manipulator

Abstract

The utility model discloses a high-speed truss type loading and unloading manipulator, which relates to the technical field of manipulators and comprises a track frame mechanism, a truss type loading and unloading mechanism is arranged above the track frame mechanism, and an automatic partition vacuum chuck mechanism is arranged below the truss type loading and unloading mechanism. A vacuum energy storage tank is arranged on the left side of the top of the truss type feeding and discharging mechanism, an operation table and a vacuum pump are arranged in front of the left side of the track frame mechanism, the operation table is located on the front side of the vacuum pump, the track frame mechanism comprises two cross beam frames, and track frame beams are fixedly installed on the left sides and the right sides of the two cross beam frames. And linear guide rails are fixedly mounted at the tops of the two rail frame beams. The track frame mechanism and the truss type feeding and discharging mechanism are matched with each other, so that cold-rolled plates can be stably and quickly fed, discharged and conveyed, and the feeding and discharging efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a high-speed gantry-type loading and unloading robotic arm. Background Technology

[0002] Cold rolling mill loading and unloading refers to the process of feeding materials into or removing materials from the rolling mill on a steel rolling production line or other related production lines. This process is crucial because improper loading and unloading can not only affect the mill's production efficiency but also potentially lead to equipment damage and safety accidents. The existing technology has the following problems:

[0003] Because existing cold rolling mills can only load and unload sheet metal manually or via conveyor belt, the loading and unloading efficiency is slow. In addition, when loading and unloading sheet metal that is large and thin, the loading and unloading process may cause the sheet metal to bend and deform, making it impossible to ensure stable horizontal loading and unloading. Utility Model Content

[0004] This invention provides a high-speed gantry-type loading and unloading robot to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] A high-speed truss-type loading and unloading robot includes a track frame mechanism. A truss-type loading and unloading mechanism is arranged above the track frame mechanism, and an automatic partitioning vacuum suction cup mechanism is arranged below the truss-type loading and unloading mechanism. A vacuum energy storage tank is arranged on the top left side of the truss-type loading and unloading mechanism. An operating table and a vacuum pump are arranged at the front left side of the track frame mechanism, with the operating table located in front of the vacuum pump. The track frame mechanism includes two crossbeams, with track frame beams fixedly installed on both sides of the two crossbeams. Linear guide rails are fixedly installed on the top of the two track frame beams, and several bolt-connected support legs are evenly arranged at the bottom of the two track frame beams. The truss-type loading and unloading mechanism includes a movable crossbeam, with movable plates fixedly installed on both sides of the movable crossbeam. The two movable plates are slidably connected to the two linear guide rails respectively. Lifting and running rails are arranged on both the front left and right sides of the movable crossbeam, with a servo motor arranged on the rear side of the lifting and running rails, and mounting plates are arranged at the bottom of the two lifting and running rails.

[0007] A further improvement of this utility model is that the automatic partitioning vacuum suction cup mechanism includes two horizontal suspension rods, which are respectively fixedly installed on the bottom of two mounting plates. Several vertical suspension rods are evenly fixedly installed on the bottom of the two horizontal suspension rods, and several vacuum suction cups are evenly fixedly installed on the bottom of the several vertical suspension rods. Cold-rolled sheet metal is fixedly adsorbed on the bottom of the several vacuum suction cups.

[0008] A further improvement of this utility model is that the operating table and the vacuum pump are both fixedly installed on the front left end of the left track frame beam.

[0009] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:

[0010] 1. This utility model provides a high-speed truss-type loading and unloading robot. Through the cooperation between the track frame mechanism and the truss-type loading and unloading mechanism, cold-rolled sheets can be stably and quickly loaded and unloaded, thereby improving loading and unloading efficiency.

[0011] 2. This utility model provides a high-speed truss-type loading and unloading robot. Through the cooperation between several rectangularly distributed vacuum suction cups included in the automatic partitioning vacuum suction cup mechanism, even thinner plates can be horizontally loaded and unloaded, preventing deformation of the plates during the loading and unloading process. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the track frame mechanism of this utility model.

[0014] Figure 3 This is a schematic diagram of the truss-type loading and unloading mechanism of this utility model.

[0015] Figure 4 This is a schematic diagram of the automatic partitioning vacuum suction cup mechanism of this utility model.

[0016] In the diagram: 1. Track frame mechanism; 11. Crossbeam frame; 12. Track frame beam; 13. Linear guide rail; 14. Support leg; 2. Truss-type loading and unloading mechanism; 21. Moving cross plate; 22. Moving plate; 23. Lifting and running track; 24. Servo motor; 25. Mounting plate; 3. Vacuum storage tank; 4. Automatic partitioned vacuum suction cup mechanism; 41. Horizontal suspension rod; 42. Vertical suspension rod; 43. Vacuum suction cup; 44. Cold-rolled sheet metal; 5. Operating table; 6. Vacuum pump. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0018] like Figure 1 , Figure 2 , Figure 3 As shown, this utility model provides a high-speed truss-type loading and unloading robot, including a track frame mechanism 1, a truss-type loading and unloading mechanism 2 above the track frame mechanism 1, an automatic partitioning vacuum suction cup mechanism 4 below the truss-type loading and unloading mechanism 2, a vacuum energy storage tank 3 on the top left side of the truss-type loading and unloading mechanism 2, an operating platform 5 and a vacuum pump 6 on the left front of the track frame mechanism 1, the operating platform 5 being located in front of the vacuum pump 6, the track frame mechanism 1 including two crossbeams 11, track frame beams 12 fixedly installed on both the left and right sides of the two crossbeams 11, and the tops of the two track frame beams 12 being fixedly installed. The truss loading and unloading mechanism 2 includes a movable horizontal plate 21, with movable plates 22 fixedly installed on both the left and right sides of the movable horizontal plate 21. The two movable plates 22 are slidably connected to the two linear guide rails 13 respectively. Lifting and running rails 23 are provided on both the left and right sides of the front end of the movable horizontal plate 21. A servo motor 24 is provided on the rear side of the lifting and running rails 23. Mounting plates 25 are provided at the bottom of the two lifting and running rails 23. The operating table 5 and the vacuum pump 6 are fixedly installed on the front left end of the left side of the left track frame beam 12.

[0019] The track frame beam 12 and the crossbeam frame 11 are made of Q345B steel and are integrally welded and then subjected to vibration stress relief treatment. They are processed by a large CNC gantry milling machine. The main frame and the support legs 14 are connected by adjusting bolts to facilitate the adjustment of the overall level of the truss-type loading and unloading mechanism 2. The truss-type loading and unloading mechanism 2 adopts a rectangular coordinate position control system. Due to its high operating speed, its main frame is made of Q345B steel and is integrally welded and then subjected to vibration stress relief treatment. The lifting and running track 23 adopts SMG or Airtac linear guide rails and is synchronously driven by a high-power servo motor 24 through a precision reducer. The loading translation stroke is 2550mm, the unloading translation stroke is 2550mm, the running speed is 100M / min, the total stroke of the lifting shaft is 740mm, and the elevation from the ground is 695-1435mm. The operating speed is 60 m / min, the repeatability is ±1 mm, and the cycle time for a single loading or unloading operation is <10 seconds. The control panel 5 uses fan cooling; when the fan is not working, the components can operate normally within the allowable operating temperature range. The cabinet has sufficient space to avoid any possibility of electric shock during normal operation and maintenance. The cabinet shell should have cable entry and exit holes as required, and terminals and partitions should be appropriately arranged to provide sufficient wiring space. Cold-pressed terminals and U-shaped plugs should be used for wiring inside the cabinet. Only one wire is allowed to be crimped at each joint. Cable trays should not exceed 70% of their capacity. A grounding busbar with a certain number of grounding bolts and screw holes should be installed inside the cabinet. The grounding busbar should be firmly connected to the cabinet to ensure effective connection of the entire cabinet. The grounding busbar can connect at least one 6 mm² grounding cable. The control panel 5 is equipped with a 10-inch touchscreen with a Chinese interface and a USB data interface. The human-machine interface (HMI) uses a password-based login system, requiring a password to modify parameters. The control panel 5 features an "emergency stop" function with an emergency stop button; pressing the button immediately stops the loading / unloading robot. The overall electrical control system for the robot uses a Siemens S7-1513 PLC and a 10-inch touchscreen, with teach-and-memory programming. It can switch between automatic and manual modes to suit different working conditions. The system has comprehensive detection, fault self-diagnosis, interlocking, alarm, and protection functions. Other functions such as debugging, setting, and manual operation are integrated into the touchscreen, making it intuitive and simple. The PLC has at least 20% more reserved input / output points than the total number of points; if less than 3 points, at least 3 points are required. The control system is equipped with a raw material platform AGV arrival signal source, which is uploaded from the robot control system to the central control system to provide AGV arrival information. The robot control system also provides the gantry robot's operating status information, facilitating the display of loading / unloading status animations by the central control system.

[0020] like Figure 4As shown, the automatic partitioning vacuum suction cup mechanism 4 includes two horizontal hangers 41, which are respectively fixedly installed on the bottom of two mounting plates 25. Several vertical hangers 42 are evenly fixedly installed on the bottom of the two horizontal hangers 41, and several vacuum suction cups 43 are evenly fixedly installed on the bottom of the several vertical hangers 42. Cold-rolled sheet metal 44 is fixedly adsorbed on the bottom of the several vacuum suction cups 43.

[0021] The automatic partitioned vacuum suction cup mechanism 4 is equipped with no less than 24 sets of swingable vacuum suction cups 43. The lip diameter of the vacuum suction cup 43 is φ125, the suction force of a single vacuum suction cup is >35kg, the temperature resistance is >160℃, the suction cup hardware buffer stroke is 100mm, and the suction cup can swing along the ball head of the hardware connection to ensure that it does not affect the flatness requirements of the plate. The horizontal hanger 41 and the vertical hanger 42 are both made of aluminum alloy, and the spacing can be adjusted in the horizontal and vertical directions. Through the CNC valve group, it can automatically realize five partition control of 500mm*1200mm, 900mm*1000mm, 1000mm*3600mm, 800mm*2400mm, and 1150mm*3000mm. The vacuum suction cups are provided with a vacuum source by a German BECKER vacuum pump 6 with a vacuum pressure regulating valve. It is equipped with a vacuum energy storage tank 3 and a vacuum check valve. The vacuum pressure is controlled by a vacuum controller to stabilize the vacuum pressure. When the vacuum pressure is too low, an alarm signal is output. The vacuum is controlled by a pneumatic vacuum valve.

[0022] The working principle of this high-speed gantry-type loading and unloading robot will be explained in detail below.

[0023] like Figure 1-4 As shown, the start and stop of the overall robotic arm can be controlled by the operating console 5. The two moving plates 22 included in the overall truss loading and unloading mechanism 2 can move back and forth stably on the linear guide rail 13 at the top of the track frame beam 12. At the same time, the stability of the two track frame beams 12 can be improved by the two crossbeams 11. The servo motor 24 on the front side of the moving crossbeam 21 can cooperate with the reducer to control the lifting operation of the mounting plate 25 at the bottom of the lifting track 23. At the same time, the vacuum pump 6 and the vacuum storage tank 3 can generate suction force at the bottom of several vertical hanging rods 42 at the bottom of the horizontal hanging rod 41. With the help of the lowered mounting plate 25, the vacuum suction cups 43 can be driven to approach the cold-rolled sheet 44 and be adsorbed. Then, the mounting plate 25 is lifted to raise the cold-rolled sheet 44. By moving the moving plate 22 back and forth above the linear guide rail 13, the stable loading and unloading of the cold-rolled sheet 44 can be completed.

[0024] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A high-speed gantry type loading and unloading robot comprising a track frame mechanism (1), characterized in that: The upper part of the track frame mechanism (1) is provided with a truss type feeding and discharging mechanism (2), the lower part of the truss type feeding and discharging mechanism (2) is provided with an automatic partition vacuum chuck mechanism (4), the top left side of the truss type feeding and discharging mechanism (2) is provided with a vacuum energy storage tank (3), the left front of the track frame mechanism (1) is provided with an operation table (5) and a vacuum pump (6), the operation table (5) is located on the front side of the vacuum pump (6), the track frame mechanism (1) comprises two beam frames (11), the left and right sides of the two beam frames (11) are fixedly installed with track frame beams (12), the top of the two track frame beams (12) is fixedly installed with linear guides (13), the bottom of the two track frame beams (12) is uniformly provided with a plurality of bolted supporting legs (14), the truss type feeding and discharging mechanism (2) comprises a moving cross plate (21), the left and right sides of the moving cross plate (21) are fixedly installed with moving plates (22), the two moving plates (22) are respectively connected with the two linear guides (13) in a sliding mode, the left and right sides of the front end of the moving cross plate (21) are provided with lifting running tracks (23), the rear side of the lifting running track (23) is provided with a servo motor (24), and the bottom of the two lifting running tracks (23) is provided with mounting plates (25).

2. The high-speed truss type loading and unloading robot according to claim 1, characterized in that: The automatic partition vacuum chuck mechanism (4) comprises two transverse hangers (41), the two transverse hangers (41) are respectively fixedly installed at the bottom of the two mounting plates (25), the bottom of the two transverse hangers (41) is uniformly fixedly installed with a plurality of vertical hangers (42), the bottom of the plurality of vertical hangers (42) is uniformly fixedly installed with a plurality of vacuum chucks (43), and the bottom of the plurality of vacuum chucks (43) is fixedly adsorbed with cold-rolled plates (44).

3. The high-speed truss type loading and unloading robot according to claim 1, characterized in that: The operation table (5) and the vacuum pump (6) are fixedly installed on the left end of the left track frame beam (12).

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