Gantry truss type feeding and discharging integrated system

Abstract

The utility model discloses a gantry truss type feeding and discharging integrated system which comprises a roll grinder, a gantry truss, a linear module, a material taking device, a material placing frame, a laser marking machine, a finished product placing disc and a mechanical arm. The material taking device is vertically installed on the front face of the linear module and driven by the linear module to move left and right, the material placing frame is located on the right side of the roll grinder and located below the material taking device, and the laser marking machine is used for conducting laser marking on machined materials. The automatic feeding and discharging device can reduce manual intervention, improve production efficiency, reduce labor cost, improve safety and high reliability of man-machine cooperation, meet the requirement for multi-variety small-batch production, and is suitable for automatic production lines such as the automatic feeding and discharging field of grinding machines, numerical control machine tools and stamping equipment.

Description

Technical Field

[0001] This utility model relates to the field of automatic loading and unloading, specifically a gantry truss type integrated loading and unloading system. Background Technology

[0002] With the development of industrial automation, enterprises have increasingly higher requirements for the automation level of production processes. Automatic loading and unloading integrated mechanisms are important equipment in modern manufacturing. However, in the traditional production mode of grinding materials such as workpieces, production is carried out by the cooperation of loading and unloading equipment. The loading equipment usually moves the workpiece to the grinding machine, and after the grinding machine processes it, the unloading equipment transfers, marks, and places the processed workpiece on the tray. The transfer and marking process often requires human-machine cooperation and takes a long time. As a result, the traditional production mode generally suffers from low automation, low production efficiency, high labor costs, insufficient safety, and low reliability in complex environments. In order to solve the above-mentioned problems, a gantry truss type loading and unloading integrated system is proposed. Utility Model Content

[0003] The purpose of this utility model is to provide a gantry truss type integrated loading and unloading system to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A gantry-type integrated loading and unloading system includes:

[0006] A roll grinding machine, the roll grinding machine being used to grind materials;

[0007] A gantry truss, located above a roll grinding machine;

[0008] A linear module, which is horizontally mounted on the gantry truss;

[0009] The material handling device is vertically mounted on the front of the linear module and driven by the linear module to move left and right. The material handling device consists of a first material handling mechanism and a transfer material handling mechanism arranged in a mirror image.

[0010] The feeding rack is located on the right side of the roll grinding machine and below the material handling device. The feeding rack is equipped with a conveyor chain for conveying materials, and a transfer feeding fixture for receiving processed materials is placed on the conveyor chain. The front of the feeding rack is the material output direction, and a cabinet is provided on the front of the feeding rack.

[0011] A laser marking machine, located in front of the feeding rack, is used to laser mark processed materials;

[0012] The finished product tray is located on the right side of the laser marking machine and is installed on the cabinet.

[0013] The robotic arm is located on the right side of the feeding rack. The robotic arm is used to move the processed materials on the transfer feeding fixture to the finished product feeding tray for feeding and traying.

[0014] Furthermore, the gantry truss includes a first vertical plate and a second vertical plate arranged mirror images on both sides of the roll grinding machine, a lower horizontal plate placed transversely between the first and second vertical plates, and an upper horizontal plate installed transversely on the top of the first and second vertical plates. The linear module is installed along the length of the upper horizontal plate, and the front of the linear module has a vertically penetrating mounting frame. The mounting frame is driven by the linear module to move left and right. The linear module uses a ball screw motor or a linear motor. The lower horizontal plate is located directly above the roll grinding machine. Both the first material handling mechanism and the transfer material handling mechanism include a telescopic cylinder vertically placed inside the mounting frame, a guide block installed on the right side of the telescopic cylinder, a vertical guide rail passing through the guide block and installed inside the mounting frame, and a cylinder gripper installed at the bottom of the vertical guide rail. The bottom end of the piston rod of the telescopic cylinder is connected to the vertical guide rail, and the telescopic cylinder is used to drive the vertical guide rail to move up and down.

[0015] Furthermore, both the first and second vertical plates are equipped with slides at their bottoms. The bottom of the slides is slidably connected to a slide rail, and the bottom of the slide rail is provided with a support block, which is fixedly installed on the outside of the roll grinding machine.

[0016] Furthermore, a clamping mechanism for clamping the processed material is installed on the top of the front side of the feeding rack. The clamping mechanism is located at the marking position of the laser marking machine, and the clamping mechanism includes a fixed clamping block, a movable clamping block located above the feeding rack, and a first lead screw motor installed on the front side of the fixed clamping block for driving the movable clamping block to move back and forth.

[0017] Furthermore, the fixed clamping block is vertically installed on the cabinet, and the vertical height of the fixed clamping block exceeds the vertical height of the movable clamping block. Slider blocks are installed on both sides of the bottom of the movable clamping block, and guide posts are slidably connected to the front of the sliders. The front end of the guide posts is fixedly connected to the fixed clamping block.

[0018] The beneficial effects of this utility model are: This utility model has the characteristics of simple operation, convenient maintenance, stability, safety and reliability. It can reduce manual intervention, improve production efficiency, reduce labor costs, improve the safety and high reliability of human-machine collaboration, adapt to the needs of multi-variety small-batch production, and is applicable to the field of automatic loading and unloading of grinding machines, CNC machine tools, stamping equipment and other automated production lines. It solves the problems of low production efficiency, high labor costs, insufficient safety of human-machine collaboration and low reliability in complex environments that exist in the traditional production mode. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the gantry truss-type integrated loading and unloading system of this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the present invention in the combined state of the roll grinding machine and the gantry truss;

[0021] Figure 3 This utility model Figure 2 Enlarged schematic diagram of a local structure at point A;

[0022] Figure 4 This is a schematic diagram of the combined structure of the transfer material handling mechanism and the first material handling mechanism of this utility model;

[0023] Figure 5 This is a schematic diagram of the combined structure of the material feeding rack, laser marking machine and robotic arm of this utility model;

[0024] Figure 6 This utility model Figure 5 Enlarged schematic diagram of the local structure at point B.

[0025] In the diagram: 1. Laser marking machine; 2. Clamping mechanism; 21. Fixed clamping block; 22. First lead screw motor; 23. Moving clamping block; 24. Slider; 25. Guide column; 3. Roll grinding machine; 4. Linear module; 5. Finished product unloading tray; 6. Robotic arm; 7. Transfer and unloading fixture; 8. Unloading rack; 81. Conveyor chain; 9. Transfer and unloading mechanism; 10. First unloading mechanism; 101. Mounting frame; 102. Telescopic cylinder; 103. Vertical guide rail; 104. Guide block; 105. Cylinder gripper; 11. Gantry truss; 111. First upright plate; 112. Second upright plate; 1121. Slide table; 1122. Slide rail; 113. Lower horizontal plate; 114. Upper horizontal plate; 12. Cabinet; 13. Support block. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] The term "comprising" and its variations used in this utility model are open-ended, meaning "including but not limited to".

[0028] It should be noted that the concepts of "first" and "second" mentioned in this utility model are only used to distinguish the corresponding contents and are not used to limit the order or interdependence.

[0029] To better understand the embodiments of the utility model, the relevant terms are introduced below.

[0030] Roll Grinding Machine 3: This is a metal cutting machine tool, consisting of a bed, headstock, tailstock, support frame, longitudinal and transverse slides, grinding head, measuring frame, and electrical numerical control system. It is divided into five subsystems: load-bearing system, drive system, grinding system, measuring system, and control system. The workpiece is supported by the headstock, tailstock, and support frame, and is driven to rotate by the headstock. The numerical control system controls the machine tool to perform multi-axis compound motion based on the mathematical model of the generatrix of the roll surface. During the motion, the grinding wheel grinds the metal on the roll surface. The online measuring system feeds back the measurement data to the grinding machine control system in real time, and the control system performs closed-loop control of the machine tool, thereby completing the precision grinding of materials such as workpieces.

[0031] Gantry truss 11: A portal frame consisting of two columns or slabs and beams or slabs for vertical transport of materials and small components.

[0032] Laser marking machine 1: It uses a laser beam to create permanent marks on the surface of various materials. The marking effect is achieved by evaporating the surface material to expose the deeper material, thereby engraving exquisite patterns, trademarks, and text.

[0033] Transfer and feeding fixture 7: Fixtures are a broad category of tools used in woodworking, metalworking, fitter work, machinery, electrical control, and other handicrafts. They are mainly used to assist in controlling position or action, or both. Transfer and feeding fixture 7 is a tool that assists in the transfer of materials.

[0034] Robotic arm 6: refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. Robotic arm 6 consists of two parts: a modular robotic arm and a dexterous hand. Robotic arm 6 is an intelligent robot device. Its structural principle is a well-known technology in the market, so it will not be described in detail here.

[0035] Please see Figure 1-6This invention provides a technical solution: a gantry-type integrated loading and unloading system, comprising a roll grinding machine 3 for grinding materials, a gantry 11 located above the roll grinding machine 3, a linear module 4 horizontally mounted on the gantry 11, a material handling device vertically mounted on the front of the linear module 4 and driven by the linear module 4 to move left and right, a feeding rack 8 located to the right of the roll grinding machine 3 and below the feeding device, a laser marking machine 1 located in front of the feeding rack 8 for laser marking the processed materials, and a finishing device located to the right of the laser marking machine 1. The machine includes a material tray 5 and a robotic arm 6 located on the right side of the feeding rack 8 for transferring processed materials to the finished product tray 5 for feeding. The feeding rack 8 is equipped with a conveyor chain 81 for conveying materials, and a transfer feeding fixture 7 for receiving processed materials is placed on the conveyor chain 81. The front of the feeding rack 8 is the material output direction, and a cabinet 12 is provided on the front of the feeding rack 8. The finished product tray 5 is located on the right side of the laser marking machine 1 and is installed on the cabinet 12. The robotic arm 6 is used to transfer processed materials from the transfer feeding fixture 7 to the finished product tray 5 for feeding.

[0036] It should be noted that the gantry truss 11 includes a first vertical plate 111 and a second vertical plate 112 arranged mirror images on both sides of the roll grinding machine 3, a lower horizontal plate 113 transversely placed between the first vertical plate 111 and the second vertical plate 112, and an upper horizontal plate 114 transversely installed on the top of the first vertical plate 111 and the second vertical plate 112. The linear module 4 is installed along the length of the upper horizontal plate 114, and the front of the linear module 4 has a vertically penetrating mounting frame 101. The mounting frame 101 is driven by the linear module 4 to move left and right. The linear module 4 adopts, but is not limited to, a ball screw motor or a linear... The linear motor and the lower horizontal plate 113 are located directly above the roll grinding machine 3. The bottom of the first vertical plate 111 and the second vertical plate 112 are both equipped with a slide table 1121. The bottom of the slide table 1121 is slidably connected to the slide rail 1122, and the bottom of the slide rail 1122 is provided with a support block 13. The support block 13 is fixedly installed on the outside of the roll grinding machine 3. The arrangement of the slide rail 1122 and the slide table 1121 allows the gantry truss 11 to move forward or backward a certain distance, thereby changing the installation position of the gantry truss 11 on the roll grinding machine 3, so that the gantry truss 11 can adapt to different material processing operations.

[0037] The aforementioned material handling device consists of a first material handling mechanism 10 and a transfer material handling mechanism 9 arranged in a mirror image. Both the first material handling mechanism 10 and the transfer material handling mechanism 9 include a telescopic cylinder 102 vertically mounted inside the mounting frame 101, a guide block 104 mounted on the right side of the telescopic cylinder 102, a vertical guide rail 103 passing through the guide block 104 and installed inside the mounting frame 101, and a cylinder gripper 105 mounted at the bottom end of the vertical guide rail 103. The bottom end of the piston rod of the telescopic cylinder 102 is connected to the vertical guide rail. 103 connects to and the telescopic cylinder 102 is used to drive the vertical guide rail 103 to move up and down. It should be noted that when the telescopic cylinder 102 is activated, under the restriction of the mounting frame 101 and the guide block 104, the piston rod of the telescopic cylinder 102 will pull the vertical guide rail 103 up and down, so that the vertical guide rail 103 passes through the guide block 104 and moves up and down to form a lifting motion. The vertical guide rail 103 is controlled by the rise and fall of the telescopic cylinder 102, which in turn controls the material picking point of the cylinder gripper 105.

[0038] In this embodiment, a clamping mechanism 2 for clamping processed materials is installed on the top front of the aforementioned feeding rack 8. The clamping mechanism 2 is located at the marking position of the laser marking machine 1, and the clamping mechanism 2 includes a fixed clamping block 21, a movable clamping block 23 located above the feeding rack 8, and a first lead screw motor 22 installed on the front of the fixed clamping block 21 for driving the movable clamping block 23 to move back and forth. The movable clamping block 23 is located on the back of the fixed clamping block 21 and is located in the extension direction of the lead screw of the first lead screw motor 22. The moving block on the lead screw of the first lead screw motor 22 is connected to the movable clamping block 23 as a whole. The fixed clamping block 21 is vertically installed on the cabinet 12, and the vertical height of the fixed clamping block 21 exceeds the vertical height of the movable clamping block 23. Slider 2s are installed on both sides of the bottom of the movable clamping block 23. 4. A guide post 25 is slidably connected to the front of the slider 24. The front end of the guide post 25 is fixedly connected to the fixed clamping block 21. The extension direction of the guide post 25 is consistent with the arrangement direction of the lead screw of the first lead screw motor 22. When the first lead screw motor 22 is started, it will drive the moving clamping block 23 to move back and forth. When the moving clamping block 23 moves forward, that is, the distance between the moving clamping block 23 and the fixed clamping block 21 gets closer and closer, thereby generating a clamping force to clamp the material. When the moving clamping block 23 moves backward, that is, the distance between the moving clamping block 23 and the fixed clamping block 21 gets farther and farther, thereby releasing the clamped material. When the moving clamping block 23 moves, the sliders 24 on both sides of the bottom will move along the extension direction of the guide post 25, thereby improving the overall stability of the moving clamping block 23 when it moves.

[0039] When using this gantry-type integrated loading and unloading system: the material to be ground is placed on the feeding rack 8 according to production requirements, that is, the material is placed on the conveyor chain 81. The conveyor chain 81 circulates and delivers the material to the area below the picking device, which is the picking position or picking point of the material. The picking device then picks up the material. At this time, the first picking mechanism 10 descends to the picking point through the telescopic cylinder 102, and then the cylinder gripper 105 clamps the material and then the telescopic cylinder 102 rises back to the original position to complete the picking action. After the picking is completed, the linear module 4 will pick up the material. The material handling device moves to the grinding position of the roll grinding machine 3. The first material handling mechanism 10 lowers via the telescopic cylinder 102 and controls the cylinder gripper 105 to release the material, placing it in the grinding position. Then, the telescopic cylinder 102 rises to return the cylinder gripper 105 to its original position, and the roll grinding machine 3 begins processing the material. After the material processing is completed, the linear module 4 moves the material handling device to the grinding position, where the transfer material handling mechanism 9 lowers via the telescopic cylinder 102 and controls the cylinder gripper 105 to pick up the ground material. Then, the transfer material handling mechanism 9 rises back to its original position via the telescopic cylinder 102, and moves the material handling device to the transfer material handling point via the linear module 4. At this time, the transfer material handling mechanism 9 and the first material handling mechanism 10 simultaneously descend via the telescopic cylinder 102. The transfer material handling mechanism 9 places the processed material on the transfer unloading fixture 7. After completing the transfer unloading action, it rises back to its original position via the telescopic cylinder 102, and the first material handling mechanism 10 then completes the material handling action. The transfer unloading fixture 7 senses the placed material through the laser sensor built into the laser marking machine 1. After receiving the signal, the robotic arm 6 moves to the material handling position of the transfer and unloading fixture 7 and picks up the processed material onto the clamping mechanism 2. The clamping mechanism 2 then performs laser marking through the laser marking machine 1. After the laser marking is completed, the clamping mechanism 2 releases the processed material, which is now a finished product. The robotic arm 6 picks up the finished product and moves it to the finished product unloading tray 5 for unloading. By repeating all the above steps, the automated feeding and unloading of materials can be completed, and the automated grinding of materials can be achieved.

[0040] It should be noted that the structure and principle of the first lead screw motor 22, ball screw motor, linear motor, telescopic cylinder 102, and cylinder gripper 105 mentioned are all well-known technologies in the market, so they will not be described in detail here.

[0041] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be understood that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present utility model, and these all fall within the protection scope of the present utility model. In the present utility model, unless otherwise explicitly specified and limited, the terms "installation", "connection", "joining", "fixing", etc. should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components. Among them, there are various ways of detachable installation, such as by plugging and snapping, or by bolt connection, etc.

[0043] 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 gantry-type integrated loading and unloading system, characterized in that, include: A roll grinding machine, the roll grinding machine being used to grind materials; A gantry truss, located above a roll grinding machine; A linear module, which is horizontally mounted on the gantry truss; The material handling device is vertically mounted on the front of the linear module and driven by the linear module to move left and right. The material handling device consists of a first material handling mechanism and a transfer material handling mechanism arranged in a mirror image. The feeding rack is located on the right side of the roll grinding machine and below the material handling device. The feeding rack is equipped with a conveyor chain for conveying materials, and a transfer feeding fixture for receiving processed materials is placed on the conveyor chain. The front of the feeding rack is the material output direction, and a cabinet is provided on the front of the feeding rack. A laser marking machine, located in front of the feeding rack, is used to laser mark processed materials; The finished product tray is located on the right side of the laser marking machine and is installed on the cabinet. The robotic arm is located on the right side of the feeding rack. The robotic arm is used to move the processed materials on the transfer feeding fixture to the finished product feeding tray for feeding and traying.

2. The gantry-type integrated loading and unloading system according to claim 1, characterized in that: The gantry truss includes a first vertical plate and a second vertical plate arranged mirror images on both sides of the roll grinding machine, a lower horizontal plate placed transversely between the first and second vertical plates, and an upper horizontal plate installed transversely on top of the first and second vertical plates. The linear module is installed along the length of the upper horizontal plate, and the front of the linear module has a vertically connected mounting frame. The mounting frame is driven by the linear module to move left and right. The linear module uses a ball screw motor or a linear motor. The lower horizontal plate is located directly above the roll grinding machine. Both the first material handling mechanism and the transfer material handling mechanism include a telescopic cylinder vertically placed inside the mounting frame, a guide block installed on the right side of the telescopic cylinder, a vertical guide rail passing through the guide block and installed inside the mounting frame, and a cylinder gripper installed at the bottom end of the vertical guide rail. The bottom end of the piston rod of the telescopic cylinder is connected to the vertical guide rail, and the telescopic cylinder is used to drive the vertical guide rail to move up and down.

3. The gantry-type integrated loading and unloading system according to claim 2, characterized in that: Both the first and second vertical plates are equipped with slides at their bottoms. The bottom of the slides is slidably connected to a slide rail, and the bottom of the slide rail is provided with a support block, which is fixedly installed on the outside of the roll grinding machine.

4. The gantry-type integrated loading and unloading system according to claim 1, characterized in that: The top of the front of the feeding rack is equipped with a clamping mechanism for clamping the processed material. The clamping mechanism is located at the marking position of the laser marking machine. The clamping mechanism includes a fixed clamping block, a movable clamping block located above the feeding rack, and a first lead screw motor installed on the front of the fixed clamping block for driving the movable clamping block to move back and forth.

5. The gantry-truss type integrated feeding and discharging system according to claim 4, characterized in that: The fixed clamping block is vertically installed on the cabinet. The vertical height of the fixed clamping block exceeds the vertical height of the movable clamping block. Slider blocks are installed on both sides of the bottom of the movable clamping block. Guide posts are slidably connected to the front of the sliders. The front end of the guide posts is fixedly connected to the fixed clamping block.

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