Truss mechanical arm mechanism for material supply of production line

Abstract

The utility model relates to the technical field of truss mechanical arm mechanisms for material supply of a production line, and solves the problems that no structure is provided for cleaning the surface of an electric permanent magnetic chuck of a mechanical gripper, chippings and greasy dirt attached to the surface of the electric permanent magnetic chuck can generate a gap with the contact surface of an object, the magnetic field distribution is non-uniform, and the effective adsorption force is reduced. The truss mechanical arm mechanism comprises a mechanical arm arranged on the production line, one end of the mechanical arm is fixedly connected with an electric permanent magnetic chuck, the surface of the electric permanent magnetic chuck is fixedly connected with a mounting plate extending backwards in an axial symmetry mode, and the surface of the mounting plate is fixedly connected with an electric push rod. The side face of the electric push rod is fixedly connected with a sweeping assembly, and the bottom face of the electric push rod is fixedly connected with an air pressure assembly. The sweeping assembly comprises a frame fixedly connected to one end of the electric push rod, sliding grooves are fixedly connected to the side face of the frame in an axial symmetry mode, and sliding blocks are slidably connected into the sliding grooves.

Description

Technical Field

[0001] This utility model relates to the technical field of gantry robotic arm mechanisms for material supply in production lines, specifically a gantry robotic arm mechanism for material supply in production lines. Background Technology

[0002] The gantry robotic arm mechanism for material supply in a production line, disclosed in CN222471684U, includes a support rod. The cable chain is controlled by the power distribution cabinet to move the support and simultaneously adjust the position of the fixed plate. A slider welded to the top of the fixed plate moves the fixed plate while sliding the slider against the outer wall of the slide rail, thus limiting the position of the fixed plate and maintaining its stability. An electric telescopic rod is bolted to the bottom of the fixed plate, which drives the feeding gripper to rise and fall, and the feeding gripper clamps the material.

[0003] The above structure drives the feeding gripper to move the material, which is then delivered to the Z-axis mechanical gripper. The Z-axis mechanical gripper clamps and fixes the material, and the robotic arm controls the Z-axis mechanical gripper to bend, thus feeding the material into the lathe. This eliminates the need for manual feeding, ensuring personnel safety and improving the efficiency of the device.

[0004] The technical solution in the prior art has the effect of feeding materials without the need for manual feeding, but the defects are also more obvious. For example, the lack of structure to clean the surface of the electro-permanent magnet chuck of the mechanical gripper means that the debris and oil on its surface will cause gaps in the contact surface with the object, resulting in uneven magnetic field distribution and reduced effective adsorption force. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a gantry robotic arm mechanism for material supply in production lines. It solves the problem of lacking a structure to clean the surface of the electro-permanent magnet chuck of the mechanical gripper, where debris and oil adhering to the surface can cause gaps at the contact surface with the object, resulting in uneven magnetic field distribution and reduced effective adsorption force.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a gantry robotic arm mechanism for material supply in a production line, comprising a robotic arm installed on the production line, one end of the robotic arm being fixedly connected to an electro-permanent magnet chuck, the surface of the electro-permanent magnet chuck being fixedly connected to a rearwardly extending mounting plate in an axisymmetric manner, the surface of the mounting plate being fixedly connected to an electric push rod, the side of the electric push rod being fixedly connected to a cleaning component and its bottom surface being fixedly connected to a wind pressure component;

[0007] The cleaning assembly includes a frame fixedly connected to one end of an electric push rod. A slide groove is fixedly connected to the side of the frame in an axisymmetric manner. A slider is slidably connected inside the slide groove. A reciprocating screw is threaded inside the slider. The reciprocating screw is fixedly connected to the output end of a drive motor. The drive motor is fixedly connected to the top of the slide groove. A movable plate is fixedly connected to the side of the slider. A brush layer that adheres to the surface of the electro-permanent magnet chuck is fixedly connected to the side of the movable plate.

[0008] The wind pressure assembly includes a device plate fixedly connected to the bottom surface of the movable plate. The device plate has several air vents on its side, and a fan is fixedly connected inside each air vent. A guide groove is fixedly connected to the side of the device plate.

[0009] In one specific embodiment, the output shaft of the drive motor passes through the top wall of the slide groove and is coaxially connected to the reciprocating lead screw. The slider generates reciprocating linear motion along the slide groove through the rotation of the reciprocating lead screw.

[0010] In one specific embodiment, the opening of the flow guide groove faces the surface of the electro-permanent magnet chuck, and the cross-section of the flow guide groove has a tapered arc structure.

[0011] In one specific embodiment, the telescopic end of the electric push rod is fixedly connected to the frame, and the brush layer is made of elastic nylon fiber.

[0012] In one specific embodiment, the air vents of the device plate are arranged at equal intervals along the length of the moving plate, and the axis of the fan coincides with the center line of the guide groove.

[0013] In one specific embodiment, the moving plate's travel distance covers the entire adsorption surface of the electro-permanent magnet chuck, and the timing of the drive motor and electric push rod's actions is synchronized with the material supply rhythm of the production line.

[0014] Compared with the prior art, this utility model provides a gantry robotic arm mechanism for material supply in a production line, which has the following advantages:

[0015] In the technical solution disclosed in this utility model, the cleaning component and the wind pressure component are driven by an electric push rod to move synchronously closer to or away from the electro-permanent magnet chuck. The drive motor drives the reciprocating screw to move the slider back and forth along the slide groove, so that the elastic nylon fiber brush layer connected to the moving plate performs friction cleaning on the surface of the electro-permanent magnet chuck, effectively removing attached debris and oil stains. At the same time, the fans arranged at equal intervals on the equipment plate, together with the gradually narrowing arc guide groove, form a directional high-pressure airflow, which further blows away residual particles on the adsorption surface after the brush layer cleaning. The dual cleaning mechanism ensures that the surface of the electro-permanent magnet chuck is flat and free of pollution.

[0016] The cleaning component and the air pressure component set in this utility model, through the extension and retraction movement of the electric push rod, drive the cleaning component fixed on its side and the air pressure component at the bottom to move as a whole towards the surface of the electro-permanent magnet chuck. When the electric push rod is fully extended, the slider in the slide groove on both sides of the frame moves back and forth in a straight line along the slide groove under the action of the reciprocating screw driven by the drive motor. At this time, the moving plate fixed on the side of the slider drives the elastic nylon fiber brush layer to perform multi-stroke friction cleaning on the surface of the electro-permanent magnet chuck, effectively removing the metal debris and oil stains remaining on the adsorption surface. At the same time, the equipment plate fixed on the bottom surface of the moving plate generates high-speed airflow through equidistantly arranged fans. With the help of the gradually narrowing arc guide groove, the airflow is compressed and accelerated and then sprayed directionally onto the surface of the electro-permanent magnet chuck. After the brush layer completes the physical cleaning, it further blows away the particles attached to the surface, forming a dual cleaning mode of mechanical scraping followed by airflow flushing. During this process, the reciprocating stroke of the moving plate completely covers the adsorption surface of the electro-permanent magnet chuck, and the timing of the drive motor and electric push rod is coordinated and controlled according to the material supply rhythm of the production line, ensuring that the cleaning operation is completed efficiently during the material gripping interval of the robotic arm and avoiding interference with the normal production process. When the cleaning cycle ends, the electric push rod drives the cleaning component and the air pressure component to reset as a whole, maintaining an unobstructed state in the robotic arm's operating space. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

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

[0019] Figure 2 This is a schematic diagram of the cleaning component structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the wind pressure component structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the disassembled structure of this utility model.

[0022] In the diagram: 1. Production line; 2. Robotic arm; 3. Electro-permanent magnet chuck; 4. Mounting plate; 5. Electric push rod; 6. Cleaning assembly; 61. Frame; 62. Slide rail; 63. Slider; 64. Reciprocating lead screw; 65. Drive motor; 66. Moving plate; 67. Brush layer; 7. Air pressure assembly; 71. Equipment plate; 72. Fan; 73. Guide channel. Detailed Implementation

[0023] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0024] Figures 1-4 As an embodiment of this utility model, a gantry robotic arm mechanism for material supply in a production line includes a robotic arm 2 installed on a production line 1. One end of the robotic arm 2 is fixedly connected to an electro-permanent magnet chuck 3. The surface of the electro-permanent magnet chuck 3 is fixedly connected to a rearwardly extending mounting plate 4 in an axisymmetric manner. An electric push rod 5 is fixedly connected to the surface of the mounting plate 4. A cleaning component 6 is fixedly connected to the side of the electric push rod 5, and a wind pressure component 7 is fixedly connected to its bottom surface.

[0025] The specific problem addressed in this embodiment is to solve the issue of cleaning the surface of an electro-permanent magnetic chuck lacking a structure for mechanical grippers. Debris and oil adhering to the surface can create gaps at the contact surface with objects, leading to uneven magnetic field distribution and reduced effective adsorption force. This invention utilizes an electric push rod 5 to drive the cleaning component 6 and the air pressure component 7 to simultaneously approach or move away from the electro-permanent magnetic chuck 3. A drive motor 65 drives a reciprocating screw 64 to move a slider 63 along a groove 62, causing the elastic nylon fiber brush layer 67 connected to the moving plate 66 to rub and clean the surface of the electro-permanent magnetic chuck 3, effectively removing attached debris and oil. Simultaneously, fans 72 arranged at equal intervals on the equipment plate 71, in conjunction with a tapered arc-shaped guide groove 73, form a directional high-pressure airflow, further blowing away residual particles on the adsorption surface after the brush layer 67 has cleaned it. This dual cleaning mechanism ensures that the surface of the electro-permanent magnetic chuck 3 is flat and free of contamination.

[0026] The cleaning assembly 6 includes a frame 61 fixedly connected to one end of the electric push rod 5. A slide groove 62 is fixedly connected to the side of the frame 61 in an axisymmetric manner. A slider 63 is slidably connected inside the slide groove 62. A reciprocating screw 64 is threadedly connected inside the slider 63. The reciprocating screw 64 is fixedly connected to the output end of a drive motor 65. The drive motor 65 is fixedly connected to the top of the slide groove 62. A movable plate 66 is fixedly connected to the side of the slider 63. A brush layer 67, which adheres to the surface of the electro-permanent magnet chuck 3, is fixedly connected to the side of the movable plate 66. The wind pressure assembly 7... The device includes a device plate 71 fixedly connected to the bottom surface of the movable plate 66. The side of the device plate 71 has several air vents and a fan 72 is fixedly connected inside the air vents. The side of the device plate 71 is fixedly connected to a guide groove 73. In this specific embodiment, the output shaft of the drive motor 65 passes through the top wall of the slide groove 62 and is coaxially connected to the reciprocating lead screw 64. The slider 63 generates reciprocating linear motion along the slide groove 62 through the rotation of the reciprocating lead screw 64. The opening direction of the guide groove 73 faces the surface of the electro-permanent magnet chuck 3. The cross-section of the guide groove 73 has a gradually narrowing arc structure. The extension and retraction of the electric push rod 5 drives the cleaning component 6 fixed to its side and the wind pressure component 7 at the bottom to move towards the surface of the electro-permanent magnet chuck 3. When the electric push rod 5 is fully extended, the slider 63 in the sliding groove 62 on both sides of the frame 61 moves back and forth in a straight line along the sliding groove 62 under the rotation of the reciprocating lead screw 64 driven by the drive motor 65. At this time, the moving plate 66 fixed to the side of the slider 63 drives the elastic nylon fiber brush layer 67 to perform multi-stroke friction cleaning on the surface of the electro-permanent magnet chuck 3, effectively removing metal debris and oil stains remaining on the adsorption surface. At the same time, the equipment plate 71 fixed to the bottom of the moving plate 66 generates high-speed airflow through the equidistantly arranged fans 72. With the help of the tapered arc guide groove 73, the airflow is compressed and accelerated and then directed to the surface of the electro-permanent magnet chuck 3. After the brush layer 67 completes the physical cleaning, it further blows away the particles attached to the surface, forming a dual cleaning mode of mechanical scraping followed by airflow flushing. During this process, the reciprocating stroke of the moving plate 66 completely covers the adsorption surface of the electro-permanent magnet chuck 3, and the timing of the actions of the drive motor 65 and the electric push rod 5 is coordinated and controlled according to the material supply rhythm of the production line 1, ensuring that the cleaning operation is completed efficiently during the material gripping gap of the robotic arm 2, avoiding interference with the normal production process. When the cleaning cycle ends, the electric push rod 5 drives the cleaning component 6 and the air pressure component 7 to reset as a whole, maintaining the unobstructed state of the robotic arm 2's operating space.

[0027] In this specific embodiment, the telescopic end of the electric push rod 5 is fixedly connected to the frame 61, and the material of the brush layer 67 is elastic nylon fiber.

[0028] In the structure where the telescopic end of the electric push rod 5 is fixedly connected to the frame 61, the telescopic movement of the electric push rod 5 directly drives the frame 61 and the slide groove 62, slider 63, reciprocating screw 64, moving plate 66 and brush layer 67 connected to it to move as a whole in a direction perpendicular to the surface of the electro-permanent magnet chuck 3, realizing the switching of the storage or working position of the cleaning component 6 and the wind pressure component 7; and the brush layer 67 is made of elastic nylon fiber material, which allows it to adapt to the slight unevenness of the adsorption surface through elastic deformation when the electric push rod 5 pushes the moving plate 66 to make the brush layer 67 adhere to the surface of the electro-permanent magnet chuck 3, ensuring uniform contact pressure between the bristles and the surface, and utilizing the high wear resistance and oil resistance of nylon fiber, effectively scraping off metal debris and oil film during the process of the reciprocating screw 64 driving the moving plate 66 to move back and forth along the slide groove 62.

[0029] In this specific embodiment, the moving stroke of the moving plate 66 covers the entire adsorption surface of the electro-permanent magnet chuck 3, and the action sequence of the drive motor 65 and the electric push rod 5 is synchronized with the material supply rhythm of the production line 1.

[0030] Driven by the drive motor 65, the moving plate 66 is set to cover the entire adsorption surface of the electro-permanent magnet chuck 3 by the reciprocating stroke of the slider 63 along the slide groove 62, ensuring that the cleaning range of the brush layer 67 is free of dead corners. At the same time, the timing of the actions of the drive motor 65 and the electric push rod 5 is synchronized with the material supply rhythm of the production line 1 by the controller. For example, in the empty return stage after the robotic arm 2 completes the material placement, the electric push rod 5 automatically extends to make the brush layer 67 contact the surface of the electro-permanent magnet chuck 3. At the same time, the drive motor 65 starts to drive the brush layer 67 to complete the full stroke cleaning and the fan 72 to blow synchronously. Before the robotic arm 2 performs the gripping action, the electric push rod 5 retracts to make the cleaning component 6 and the wind pressure component 7 separate from the working area to avoid interfering with the material adsorption operation.

[0031] Working Principle: During the material gripping operation interval, the electro-permanent magnetic chuck 3 at the end of the robotic arm 2 is pushed by the electric push rod 5 on the mounting plate 4 to move the cleaning assembly 6 and the air pressure assembly 7 towards the surface of the electro-permanent magnetic chuck 3. When the electric push rod 5 is fully extended, the frame 61 of the cleaning assembly 6 moves the slide 62 closer to the electro-permanent magnetic chuck 3. At this time, the drive motor 65 starts and drives the reciprocating screw 64 to rotate, causing the threaded slider 63 to reciprocate linearly along the inner wall of the slide 62. The slider 63 drives the moving plate 66 and the elastic nylon fiber brush layer 67 to perform multi-stroke friction cleaning on the surface of the electro-permanent magnetic chuck 3, effectively removing metal debris and oil stains. Simultaneously, the equipment plate 71 on the bottom of the moving plate 66 generates a high-speed airflow through the equidistantly arranged fans 72, which is compressed and accelerated by the tapered arc-shaped guide groove 73 and then directed onto the surface of the electro-permanent magnetic chuck 3, thoroughly blowing away the residual particles cleaned by the brush layer 67. The reciprocating stroke of the moving plate 66, through the length design of the slide groove 62, completely covers the adsorption surface of the electro-permanent magnet chuck 3. The drive motor 65 and the electric push rod 5 are coordinated by the control system according to the material supply rhythm of the production line 1, and automatically execute the cleaning program during the idle period after the robotic arm 2 completes the material release. After the cleaning operation is completed, the electric push rod 5 retracts, driving the cleaning component 6 and the air pressure component 7 to reset as a whole, avoiding interference with subsequent material gripping actions, and ensuring the uniformity of the magnetic field distribution and the reliability of adsorption of the electro-permanent magnet chuck 3.

[0032] The control method of this utility model is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Since this utility model is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail.

[0033] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A truss robot mechanism for production line material supply, comprising a robot (2) arranged on a production line (1), characterized in that: One end of the robotic arm (2) is fixedly connected to an electro-permanent magnet chuck (3). The surface of the electro-permanent magnet chuck (3) is fixedly connected to a rearwardly extending mounting plate (4) in an axisymmetric manner. The surface of the mounting plate (4) is fixedly connected to an electric push rod (5). The side of the electric push rod (5) is fixedly connected to a cleaning component (6) and its bottom surface is fixedly connected to a wind pressure component (7). The cleaning assembly (6) includes a frame (61) fixedly connected to one end of an electric push rod (5). A slide groove (62) is fixedly connected to the side of the frame (61) in an axisymmetric manner. A slider (63) is slidably connected inside the slide groove (62). A reciprocating screw (64) is threaded inside the slider (63). The reciprocating screw (64) is fixedly connected to the output end of a drive motor (65). The drive motor (65) is fixedly connected to the top of the slide groove (62). A moving plate (66) is fixedly connected to the side of the slider (63). A brush layer (67) that adheres to the surface of the electro-permanent magnet chuck (3) is fixedly connected to the side of the moving plate (66). The wind pressure assembly (7) includes an equipment plate (71) fixedly connected to the bottom surface of the movable plate (66). The equipment plate (71) has several air vents on its side and a fan (72) fixedly connected inside the air vents. The equipment plate (71) also has a guide groove (73) fixedly connected to its side.

2. A truss robot mechanism for material supply of a production line according to claim 1, characterized in that: The output shaft of the drive motor (65) passes through the top wall of the slide groove (62) and is coaxially connected to the reciprocating screw (64). The slider (63) generates reciprocating linear motion along the slide groove (62) by the rotation of the reciprocating screw (64).

3. A truss robot mechanism for material supply of a production line according to claim 1, characterized in that: The opening of the guide groove (73) faces the surface of the electro-permanent magnet chuck (3), and the cross-section of the guide groove (73) has a gradually narrowing arc structure.

4. A truss robot mechanism for material supply of a production line according to claim 1, characterized in that: The telescopic end of the electric push rod (5) is fixedly connected to the frame (61), and the brush layer (67) is made of elastic nylon fiber.

5. A truss robot mechanism for material supply of a production line according to claim 1, characterized in that: The air vents of the equipment plate (71) are arranged at equal intervals along the length of the moving plate (66), and the axis of the fan (72) coincides with the center line of the guide groove (73).

6. A truss robot mechanism for material supply of a production line according to claim 1, characterized in that: The moving stroke of the moving plate (66) covers the entire adsorption surface of the electro-permanent magnet chuck (3), and the timing of the operation of the drive motor (65) and the electric push rod (5) is synchronized with the material supply rhythm of the production line (1).

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