Truss handling device

Abstract

The utility model discloses a truss handling device, include: synchronous unit, truss subassembly and positioning assembly, the truss subassembly includes: first truss mechanism and second truss mechanism, be equipped with interference area between first truss mechanism and second truss mechanism, the interference area is the material discharging station of first truss mechanism, the material taking station of second truss mechanism, be equipped with positioning assembly in the interference area, the positioning assembly is used for positioning material, the synchronous unit is used for controlling first truss mechanism and second truss mechanism synchronous movement, make first truss mechanism and second truss mechanism's output end simultaneously be in material taking station or material discharging station. The utility model can prevent first truss mechanism and second truss mechanism from colliding, avoid appearing long time waiting condition, improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of truss technology, and in particular to a truss handling device. Background Technology

[0002] In a production line, multiple gantry robots typically work simultaneously. Adjacent gantry robots share a common working area, which serves as the unloading position for the front gantry and the unloading position for the rear gantry. When working simultaneously, this area becomes an interference zone between the front and rear gantry robots, posing a risk of collision. To avoid collisions, the rear gantry is usually made to wait for the front gantry to finish its work in the interference zone before entering the interference zone. While this method can prevent collisions, it affects the handling efficiency of the gantry robots. Summary of the Invention

[0003] According to an embodiment of the present invention, a truss handling device is provided, comprising: a synchronization unit, a truss assembly, and a positioning assembly; The truss assembly includes: a first truss mechanism and a second truss mechanism; An interference zone is provided between the first truss mechanism and the second truss mechanism. The interference zone is the material feeding station of the first truss mechanism and the material picking station of the second truss mechanism. A positioning component is provided in the interference zone. The positioning component is used to position the material. The synchronization unit is used to control the first truss mechanism and the second truss mechanism to move synchronously, so that the output ends of the first truss mechanism and the second truss mechanism are simultaneously in the material picking station or the material feeding station.

[0004] Furthermore, both the first truss mechanism and the second truss mechanism include: a truss body, a linear mechanism, and a robotic arm mechanism; The linear mechanism is mounted on the truss body and is used to drive the robotic arm mechanism to move between the material picking station and the material unloading station. The robotic arm mechanism is used to grab materials.

[0005] Furthermore, the linear mechanism includes: a linear motor, a linear guide rail, and a linear slider; The linear guide rail is mounted on the truss body, and a linear slider is slidably mounted on the linear guide rail. The linear motor is used to drive the linear slider to slide on the linear guide rail, and the linear slider is connected to the robot arm mechanism.

[0006] Furthermore, the robotic arm mechanism includes: a movable frame, a movable guide rail, a movable slider, a movable motor, and a robotic arm; The movable frame is fixed on the linear slider, the movable guide rail is provided on the movable frame, the movable slider is slidably provided on the movable guide rail, the movable motor is used to drive the movable slider to move on the movable guide rail, and the robot arm is fixed on the movable slider.

[0007] Furthermore, the synchronization unit includes: a virtual axis and an electronic cam; The virtual axis serves as the main axis of the electronic cam, which is configured to correspond to the first truss mechanism and the second truss mechanism. The virtual axis controls the synchronous movement of the first truss mechanism and the second truss mechanism through the electronic cam.

[0008] Furthermore, the positioning assembly includes: a base plate and a positioning workpiece; The positioning workpiece is placed on the base plate, and positioning grooves are provided on both sides of the positioning workpiece. A material clamping groove is provided on the base plate corresponding to the positioning groove. The material is positioned corresponding to the positioning groove and one end is clamped in the material clamping groove.

[0009] Furthermore, the truss assembly includes at least two truss mechanisms.

[0010] According to an embodiment of the present invention, a truss handling device controls the first truss mechanism and the second truss mechanism to move synchronously through a synchronization unit, so that the output ends of the first truss mechanism and the second truss mechanism are simultaneously in the material picking station or the material unloading station, thereby avoiding the output ends of the first truss mechanism and the second truss mechanism from appearing in the interference zone at the same time, preventing the first truss mechanism and the second truss mechanism from colliding, avoiding long waiting times, and improving production efficiency.

[0011] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0012] Figure 1 This is a structural diagram of a truss handling device according to an embodiment of the present utility model; Figure 2 This is a top view of a truss handling device according to an embodiment of the present utility model; Figure 3 This is a front view of a truss handling device according to an embodiment of the present utility model.

[0013] In the figure, the following labels are used: 1 is the first truss mechanism, 11 is the truss body, 12 is the linear guide rail, 13 is the linear motor, 14 is the moving frame, 15 is the moving guide rail, 16 is the robot arm, 2 is the second truss mechanism, 3 is the positioning component, 31 is the base plate, and 32 is the positioning workpiece. Detailed Implementation

[0014] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0015] First, combine Figures 1-3 This invention describes a truss handling device according to an embodiment of the present invention, used for handling materials.

[0016] like Figures 1-3 As shown, a truss handling device according to an embodiment of the present invention includes: a synchronization unit, a truss assembly, and a positioning assembly 3; The truss assembly includes: a first truss mechanism 1 and a second truss mechanism 2; An interference zone is provided between the first truss mechanism 1 and the second truss mechanism 2. The interference zone is the material feeding station of the first truss mechanism 1 and the material picking station of the second truss mechanism 2. A positioning component 3 is provided in the interference zone. The positioning component 3 is used to position the material. The synchronization unit is used to control the first truss mechanism 1 and the second truss mechanism 2 to move synchronously, so that the output ends of the first truss mechanism 1 and the second truss mechanism 2 are simultaneously in the material picking station or the material feeding station.

[0017] This application controls the first truss mechanism 1 and the second truss mechanism 2 to move synchronously through a synchronization unit, so that the output ends of the first truss mechanism 1 and the second truss mechanism 2 are simultaneously in the material picking station or the material unloading station, avoiding the output ends of the first truss mechanism 1 and the second truss mechanism 2 from appearing in the interference zone at the same time, preventing the first truss mechanism 1 and the second truss mechanism 2 from colliding, avoiding long waiting times, and improving production efficiency.

[0018] like Figures 1-3 As shown, the truss assembly includes at least two truss mechanisms.

[0019] The first truss mechanism 1 and the second truss mechanism 2 both include: a truss body 11, a linear mechanism, and a robot arm 16 mechanism; The linear mechanism is mounted on the truss body 11. The linear mechanism is used to drive the robot arm 16 mechanism to move between the material picking station and the material unloading station. The robot arm 16 mechanism is used to grab materials.

[0020] The linear mechanism includes: a linear motor 13, a linear guide rail 12, and a linear slider; The linear guide rail 12 is mounted on the truss body 11, and a linear slider is slidably mounted on the linear guide rail 12. The linear motor 13 is used to drive the linear slider to slide on the linear guide rail 12, and the linear slider is connected to the robot arm 16 mechanism.

[0021] The robotic arm 16 mechanism includes: a movable frame 14, a movable guide rail 15, a movable slider, a movable motor, and a robotic arm 16; The movable frame 14 is fixed on the linear slider, the movable guide rail 15 is disposed on the movable frame 14, the movable slider is slidably disposed on the movable guide rail 15, the movable motor is used to drive the movable slider to move on the movable guide rail 15, and the robotic arm 16 is fixed on the movable slider.

[0022] This embodiment features four truss mechanisms, with positioning components 3 positioned between adjacent truss mechanisms. A linear motor 13 drives a robotic arm 16 to move between the material handling and unloading stations. When the robotic arm 16 is at the material handling or unloading station, a moving motor drives the robotic arm 16 to move to the material handling or unloading position. This design ensures a sufficiently large gap between the two truss mechanisms, preventing collisions between the moving frames 14 on the two truss mechanisms.

[0023] In other implementations, multiple robotic arms 16 are fixedly mounted on the mobile frame 14, enabling the truss mechanism to grab multiple materials at once.

[0024] like Figures 1-3 As shown, the synchronization unit includes: a virtual axis and an electronic cam; The virtual axis serves as the main axis of the electronic cam, which is set to correspond to the first truss mechanism 1 and the second truss mechanism 2. The virtual axis controls the synchronous movement of the first truss mechanism 1 and the second truss mechanism 2 through the electronic cam.

[0025] In this embodiment, multiple truss mechanisms move synchronously through virtual axis control. When one of the truss mechanisms malfunctions, the virtual axis will stop urgently, putting the equipment in a shutdown state and issuing an alarm signal.

[0026] like Figures 1-3 As shown, the positioning component 3 includes: a base plate 31 and a positioning workpiece 32; The positioning workpiece 32 is disposed on the base plate 31. Positioning grooves are provided on both sides of the positioning workpiece 32. A material clamping groove is provided on the base plate 31 corresponding to the positioning groove. The material is disposed in the positioning groove and one end is clamped in the material clamping groove.

[0027] The robotic arm 16 places the material into the corresponding positioning groove, clamps the material into the clamping slot, and positions the material through the positioning groove.

[0028] Above, refer to Figures 1-3 This application describes a truss handling device according to an embodiment of the present invention. The device controls the first truss mechanism 1 and the second truss mechanism 2 to move synchronously through a synchronization unit, so that the output ends of the first truss mechanism 1 and the second truss mechanism 2 are simultaneously in the material picking station or the material unloading station. This avoids the output ends of the first truss mechanism 1 and the second truss mechanism 2 from appearing in the interference zone at the same time, prevents the first truss mechanism 1 and the second truss mechanism 2 from colliding, avoids long waiting times, and improves production efficiency.

[0029] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a 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 a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0030] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A truss handling device, characterized in that, include: Synchronization unit, truss assembly, and positioning assembly; The truss assembly includes: a first truss mechanism and a second truss mechanism; An interference zone is provided between the first truss mechanism and the second truss mechanism. The interference zone is the material feeding station of the first truss mechanism and the material picking station of the second truss mechanism. A positioning component is provided in the interference zone. The positioning component is used to position the material. The synchronization unit is used to control the first truss mechanism and the second truss mechanism to move synchronously, so that the output ends of the first truss mechanism and the second truss mechanism are simultaneously in the material picking station or the material feeding station.

2. The truss handling device as described in claim 1, characterized in that, Both the first truss mechanism and the second truss mechanism include: a truss body, a linear mechanism, and a robotic arm mechanism; The linear mechanism is mounted on the truss body and is used to drive the robotic arm mechanism to move between the material picking station and the material unloading station. The robotic arm mechanism is used to grab materials.

3. The truss handling device as described in claim 2, characterized in that, The linear mechanism includes: a linear motor, a linear guide rail, and a linear slider; The linear guide rail is mounted on the truss body, and a linear slider is slidably mounted on the linear guide rail. The linear motor is used to drive the linear slider to slide on the linear guide rail, and the linear slider is connected to the robot arm mechanism.

4. The truss handling device as described in claim 3, characterized in that, The robotic arm mechanism includes: a moving frame, a moving guide rail, a moving slider, a moving motor, and a robotic arm; The movable frame is fixed on the linear slider, the movable guide rail is provided on the movable frame, the movable slider is slidably provided on the movable guide rail, the movable motor is used to drive the movable slider to move on the movable guide rail, and the robot arm is fixed on the movable slider.

5. The truss handling device as described in claim 1, characterized in that, The synchronization unit includes: a virtual axis and an electronic cam; The virtual axis serves as the main axis of the electronic cam, which is configured to correspond to the first truss mechanism and the second truss mechanism. The virtual axis controls the synchronous movement of the first truss mechanism and the second truss mechanism through the electronic cam.

6. The truss handling device as described in claim 1, characterized in that, The positioning assembly includes: a base plate and a positioning workpiece; The positioning workpiece is placed on the base plate, and positioning grooves are provided on both sides of the positioning workpiece. A material clamping groove is provided on the base plate corresponding to the positioning groove. The material is positioned corresponding to the positioning groove and one end is clamped in the material clamping groove.

7. The truss handling device as described in claim 1, characterized in that, The truss assembly includes at least two truss mechanisms.

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