Truss chemical material mechanical arm grabbing mechanism for dye conveying

Abstract

The utility model relates to a trussed material mechanical arm grabbing mechanism for dye conveying, which belongs to the technical field of manufacturing of automatic dye conveying machines in printing and dyeing workshops and comprises a conveying truss, a dye material barrel bin frame is arranged on one side or two sides of the conveying truss, and an X-axis walking trolley is arranged on the conveying truss. The X-axis walking trolley is provided with a clamping jaw rotating arm for clamping the dye barrel bin frame, a Y-axis lifter is arranged between the clamping jaw rotating arm and the X-axis walking trolley, and a Z-axis left-right displacement driver is arranged between the X-axis walking trolley and the Y-axis lifter. The clamping jaw rotating arm comprises an air cylinder clamping jaw, and a rotating arm is arranged between the air cylinder clamping jaw and the Y-axis lifter. Based on a right-angle X, Y and Z three-coordinate-axis system, the position and track of the workpiece can be accurately adjusted, manual intervention is reduced through automatic grabbing and conveying, and the production efficiency is improved. Compared with traditional manual operation, grabbing of the mechanical arm is more accurate, the problems of mistaken throwing and the like are avoided, and meanwhile the labor cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of manufacturing technology of automatic dye conveying machinery in printing and dyeing workshops, specifically to a truss chemical handling robot gripping mechanism for dye conveying. Background Technology

[0002] The truss-type chemical processing robot gripping mechanism has wide applications in the dye delivery field:

[0003] (1) Printing and dyeing industry: In the printing and dyeing process, the robotic arm automatically grabs the dye barrel and sends it to the chemical device. After dissolution, it is transported to the dye vat, which significantly improves the chemical efficiency and reduces manual operation.

[0004] (2) Coating production: By precisely adjusting different dyes, the coating can be accurately mixed to improve product quality.

[0005] (3) Other fields: Gantry robots can also be applied to scenarios that require high-precision handling, such as machine tool loading and unloading, and automotive parts processing.

[0006] In the field of mechanical manufacturing for automated dye delivery in dyeing and printing workshops, the structural design of chemical processing robots significantly impacts equipment performance, operational efficiency, and production continuity. Currently, while chemical processing robots in the industry can meet basic functions, there is room for optimization in practical applications in the following areas:

[0007] 1. Structural complexity and reliability: Traditional chemical processing robots have many parts and complicated connections, resulting in high assembly precision requirements. During long-term operation, they are prone to failure due to wear and loosening of parts, which reduces the reliability and service life of the equipment and indirectly affects the stability of printing and dyeing production.

[0008] 2. Operation and maintenance costs and efficiency: The complex structure increases the difficulty of maintenance, the troubleshooting takes a long time, and some key components need to be disassembled and repaired, which not only increases the operation and maintenance costs, but also prolongs the equipment downtime, thus restricting the production efficiency and capacity release of the printing and dyeing workshop.

[0009] 3. Adapting to Automation Needs: With the upgrading of automation in the printing and dyeing industry, higher requirements are placed on the gripping accuracy, operating efficiency and maintenance convenience of robotic arms. Traditional structures are difficult to fully match the high-efficiency operation needs of the new generation of production lines in terms of flexibility and maintainability. Summary of the Invention

[0010] This invention addresses the shortcomings of existing technologies by providing a truss-type chemical handling robot for dye delivery. Based on a Cartesian X, Y, and Z three-axis system, it can precisely adjust the position and trajectory of the workpiece. Through automated gripping and delivery, it reduces manual intervention and improves production efficiency. Compared to traditional manual operation, the robot grips more accurately, avoiding problems such as mis-dispensing, while also reducing labor costs.

[0011] The above-mentioned technical problems of this utility model are mainly solved by the following technical solutions:

[0012] A truss-type chemical handling robot for dye conveying includes a conveying truss. Dye barrel racks are located on one or both sides of the conveying truss. An X-axis traveling trolley is mounted on the conveying truss. A gripper rotating arm on the X-axis traveling trolley grips the dye barrel racks. A Y-axis lifter is located between the gripper rotating arm and the X-axis traveling trolley. A Z-axis left-right displacement driver is located between the X-axis traveling trolley and the Y-axis lifter. The gripper rotating arm includes a cylinder gripper, and a rotating arm is located between the cylinder gripper and the Y-axis lifter.

[0013] The X-axis traveling carriage uses a roller structure to reduce friction and a synchronous belt drive structure, driven by a Huichuan SV630N servo motor and equipped with an absolute encoder to achieve high-precision positioning of ±0.05 mm in the horizontal direction. The synchronous belt design is suitable for long-stroke requirements (such as the span in a dyeing factory workshop), and a tensioning mechanism ensures transmission stability.

[0014] The Y-axis lifting device uses chain drive combined with linear guide rail guidance, and is driven by a servo motor through a reducer. It has a load capacity of 50kg, a lifting stroke of 0-2m, and is equipped with a dust cover on the outside.

[0015] The Z-axis left and right displacement driver uses chain drive combined with linear guide rail guidance, and dual-track support ensures lateral movement stability. A mechanical limit device is provided at the end.

[0016] The cylinder gripper uses a three-jaw cylinder gripping unit. Each gripper integrates a magnetic switch sensor (to detect the cylinder stroke) and a metal proximity sensor (to detect the presence of the material bucket) to prevent gripping failure or detachment.

[0017] Preferably, the X-axis traveling trolley includes a left and right lateral moving frame, with traveling roller seats provided on both sides of the left and right lateral moving frame and between the lateral moving frame and the conveying truss, and an X-axis traveling motor on the left and right lateral moving frame for driving the traveling roller seats to travel along the conveying truss.

[0018] Preferably, the front and rear ends of the traveling roller seat on one side of the left and right transverse frame are provided with left and right limiting guide wheel seats that are snap-fitted and rolled to the conveying truss.

[0019] Preferably, the Z-axis left and right displacement driver includes a Z-axis drive motor, which drives the Y-axis lifter and the gripper rotating arm to move along the left and right transverse frame via chain transmission.

[0020] Preferably, the Y-axis lifter includes a lifting track frame, on which a rotary drive box for driving the rotating arm to rotate is provided, and at the upper end of the lifting track frame is a lifting motor that is chain-driven with the rotary drive box.

[0021] Preferably, the four corners at both ends of the conveying truss along its length are provided with stop plates to limit the travel of the X-axis traveling trolley.

[0022] This invention can achieve the following effects:

[0023] This utility model provides a truss chemical handling robot gripping mechanism for dye delivery. Compared with the existing technology, it breaks through the traditional technical bottlenecks in terms of reliability, operation and maintenance efficiency, and performance adaptability. It provides a more efficient, stable, and easy-to-maintain dye delivery robot gripping solution for printing and dyeing workshops, helping the industry to upgrade automation and improve production efficiency. It has significant technical value and application prospects.

[0024] Chemical handling robots are used in the dyeing workshop of the printing and dyeing industry for automated dye delivery. The stability and ease of operation of the robot that grips the dye container are crucial. Other manufacturers use six-axis articulated robots, which are difficult for employees to operate. Dyeing factory workers generally have low levels of knowledge, and if the robot malfunctions and stops, it poses a significant challenge for employees to resume operation.

[0025] Structural simplification and integration: A truss architecture is adopted to reduce redundant components and optimize mechanical connections, making the gripping mechanism more compact and simple. For example, through an integrated truss design, power transmission, gripping execution, and other functional modules are integrated, reducing the complexity of component coordination, minimizing potential causes of failure, and improving equipment operational stability.

[0026] Improved ease of operation and maintenance: The compact layout makes it easier to locate fault points, and maintenance does not require large-scale disassembly, thus shortening maintenance time; at the same time, the modular design of the truss structure supports rapid component replacement, reducing operation and maintenance costs and ensuring the continuity of printing and dyeing production.

[0027] Performance optimization and adaptation: The rigidity and lightweight characteristics of the truss structure can improve the gripping accuracy and operating speed of the robot, better adapting to the high-speed and high-precision requirements of dye delivery in the printing and dyeing workshop; in addition, the simplified structure also reduces equipment energy consumption, which is in line with the concept of green manufacturing. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of this utility model.

[0029] Figure 2 This is a front view structural diagram of this utility model.

[0030] Figure 3This is a side view of the structure of this utility model.

[0031] Figure 4 This is a top view of the structure of this utility model.

[0032] In the diagram: 1. Conveying truss; 2. X-axis traveling trolley; 3. Z-axis left and right displacement driver; 4. Y-axis lifter; 5. Dye barrel hopper frame; 6. Stop plate; 7. Gripper rotating arm; 8. Left and right limit guide wheel seat; 9. X-axis traveling motor; 10. Z-axis drive motor; 11. Left and right transverse trolley frame; 12. Lifting motor; 13. Traveling roller seat; 14. Rotary drive box; 15. Rotating arm; 16. Lifting rail frame; 17. Cylinder gripper. Detailed Implementation

[0033] The technical solution of this utility model will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0034] Example: Figure 1-4 As shown, a truss-type chemical handling robot for dye conveying includes a conveying truss 1, with dye barrel racks 5 on one or both sides of the conveying truss 1. An X-axis traveling trolley 2 is mounted on the conveying truss 1, and stop plates 6 at each of the four corners at both ends of the conveying truss 1 along its length limit the travel of the X-axis traveling trolley 2. The X-axis traveling trolley 2 includes a left-right lateral frame 11, with traveling roller seats 13 on both sides of the left-right lateral frame 11 between it and the conveying truss 1. An X-axis traveling motor 9 is mounted on the left-right lateral frame 11 to drive the traveling roller seats 13 along the conveying truss 1. Left and right limit guide wheel seats 8, which are interlocked and rolledly connected to the conveying truss 1, are located at the front and rear ends of the traveling roller seats 13 on one side of the left-right lateral frame 11. The X-axis traveling trolley 2 is equipped with a gripper rotating arm 7 for gripping the dye barrel racks 5. The gripper rotating arm 7 includes a cylinder gripper 17, and a rotating arm 15 is located between the cylinder gripper 17 and the Y-axis lifter 4. A Y-axis lifter 4 is provided between the gripper rotating arm 7 and the X-axis traveling trolley 2. The Y-axis lifter 4 includes a lifting rail frame 16, on which a rotary drive box 14 is provided to drive the rotating arm 15 to rotate. A lifting motor 12, which is chain-driven to the rotary drive box 14, is provided at the upper end of the lifting rail frame 16. A Z-axis left-right displacement driver 3 is provided between the X-axis traveling trolley 2 and the Y-axis lifter 4. The Z-axis left-right displacement driver 3 includes a Z-axis drive motor 10, which drives the Y-axis lifter 4 and the gripper rotating arm 7 to move along the left-right transverse frame 11 via chain drive.

[0035] The drive and control system of the X-axis travel motor 9, Z-axis drive motor 10, lifting motor 12 and rotary drive box 14 adopts Huichuan AM401 PLC for multi-axis collaborative control. It synchronously controls the four axes X / Y / Z / A through EtherCAT bus to realize spatial coordinate interpolation calculation and support linear / circular trajectory planning.

[0036] Each axis uses an absolute encoder, so there is no need to return to the origin after power failure. The position can be manually calibrated through the origin switch (metal sensor), with a positioning repeatability of ±1 mm.

[0037] Simultaneously, it realizes human-machine interaction and logic control. The HMI interface: the touch screen integrates task queue management function, which can display material hopper inventory, call priority, equipment status and fault alarm information in real time.

[0038] Cache library management algorithm: Automatically plans the optimal retrieval and placement path based on the demand for dyes and chemicals, and supports dynamic priority adjustment (such as queuing for urgent orders).

[0039] In summary, this truss-type chemical handling robot for dye delivery, based on a Cartesian X, Y, and Z three-axis system, can precisely adjust the position and trajectory of the workpiece. Through automated gripping and conveying, it reduces manual intervention and improves production efficiency. Compared to traditional manual operation, the robot gripping is more precise, avoiding problems such as mis-dispensing, while also reducing labor costs.

[0040] It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0041] In summary, the above description is only a specific embodiment of the present utility model, but the structural features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A trussing machine gripper mechanism for dye delivery, characterised in that: The system includes a conveying truss (1), on one or both sides of which a dye barrel rack (5) is provided. An X-axis traveling trolley (2) is provided on the conveying truss (1). A gripper rotating arm (7) is provided on the X-axis traveling trolley (2) to grip the dye barrel rack (5). A Y-axis lifter (4) is provided between the gripper rotating arm (7) and the X-axis traveling trolley (2). A Z-axis left and right displacement driver (3) is provided between the X-axis traveling trolley (2) and the Y-axis lifter (4). The gripper rotating arm (7) includes a cylinder gripper (17). A rotating arm (15) is provided between the cylinder gripper (17) and the Y-axis lifter (4).

2. A gantry material handling robot gripping mechanism for dye delivery according to claim 1, characterized in that: The X-axis traveling trolley (2) includes a left and right lateral moving frame (11), and a traveling roller seat (13) is provided between the left and right lateral moving frame (11) and the conveying truss (1) on both sides. An X-axis traveling motor (9) is provided on the left and right lateral moving frame (11) to drive the traveling roller seat (13) to travel along the conveying truss (1).

3. A gantry material handling robot gripping mechanism for dye delivery according to claim 2, wherein: The left and right lateral moving frame (11) has a traveling roller seat (13) on one side with left and right limit guide wheel seats (8) that are connected to the conveying truss (1) in a snap-fit ​​rolling manner at the front and rear ends.

4. A gantry material handling robot gripping mechanism for dye delivery according to claim 2, wherein: The Z-axis left and right displacement driver (3) includes a Z-axis drive motor (10), which drives the Y-axis lifter (4) and the gripper rotating arm (7) to move along the left and right transverse frame (11) via chain transmission.

5. A gantry material handling robot gripping mechanism for dye delivery according to claim 1 or 4, characterized in that: The Y-axis lifter (4) includes a lifting track frame (16), on which a rotary drive box (14) is provided to drive the rotating arm (15) to rotate, and a lifting motor (12) is provided at the upper end of the lifting track frame (16) to drive the rotary drive box (14) via a chain.

6. A gantry material handling robot gripping mechanism for dye delivery according to claim 1, wherein: The conveying truss (1) is provided with stop plates (6) at both ends of the four corners along its length to limit the travel of the X-axis traveling trolley (2).

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