CN111644545B - Positioning and clamping device and reinforcement cage processing robot - Google Patents
Positioning and clamping device and reinforcement cage processing robot Download PDFInfo
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- CN111644545B CN111644545B CN202010522812.8A CN202010522812A CN111644545B CN 111644545 B CN111644545 B CN 111644545B CN 202010522812 A CN202010522812 A CN 202010522812A CN 111644545 B CN111644545 B CN 111644545B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F27/00—Making wire network, i.e. wire nets
- B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
- B21F27/20—Making special types or portions of network by methods or means specially adapted therefor of plaster-carrying network
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F23/00—Feeding wire in wire-working machines or apparatus
- B21F23/005—Feeding discrete lengths of wire or rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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Abstract
The invention relates to a positioning and clamping device and a reinforcement cage processing robot, which comprise: the first positioning and clamping mechanism comprises a first positioning and clamping assembly and a second positioning and clamping assembly which are oppositely arranged at intervals, and the first positioning and clamping assembly and the second positioning and clamping assembly can be close to or far away from each other; and the second positioning and clamping mechanism comprises a third positioning and clamping assembly and a fourth positioning and clamping assembly which are oppositely arranged at intervals, and the third positioning and clamping assembly and the fourth positioning and clamping assembly can be close to or far away from each other. The positioning and clamping mechanism can automatically complete positioning and clamping of the longitudinal bars by means of a mechanical structure, manpower participation is not needed, the labor intensity of workers can be reduced, the production efficiency is improved, meanwhile, manual positioning errors are eliminated, the positioning precision of the longitudinal bars is guaranteed, and then the processing and forming quality of the reinforcement cage is ensured.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a positioning and clamping device and a reinforcement cage processing robot.
Background
The reinforcement cage is used as a framework of a building, has a main force bearing effect, and has huge use amount in the whole construction process, thereby providing higher requirements for the forming quality and the production efficiency of the reinforcement cage. At present, a reinforcement cage is mainly manufactured by adopting a binding or welding process, specifically, a plurality of longitudinal bars are firstly positioned to a design parameter position by a worker, then the longitudinal bars are sequentially sleeved on the stirrups, and finally, welding equipment or binding equipment is operated to connect and solidify the stirrups and the longitudinal bars into a whole. However, the operation mode for the conventional manual positioning of the longitudinal bars is high in labor intensity and low in production efficiency, and meanwhile, positioning accuracy errors caused by shaking and the like are inevitable, so that the connection accuracy of the subsequent longitudinal bars and the stirrups and the forming accuracy of the reinforcement cage are affected.
Disclosure of Invention
Based on this, it is necessary to provide a location clamping device and steel reinforcement cage processing machine people, aims at solving prior art intensity of labour is big, and production efficiency is low, and positioning error leads to the poor problem of machine-shaping quality.
In one aspect, the present application provides a positioning and clamping device, the positioning and clamping device includes:
the first positioning and clamping mechanism comprises a first positioning and clamping assembly and a second positioning and clamping assembly which are oppositely arranged at intervals, the first positioning and clamping assembly and the second positioning and clamping assembly can be close to or far away from each other, and the first positioning and clamping assembly and the second positioning and clamping assembly are used for clamping and positioning longitudinal bars in a first direction in the reinforcement cage; and
second location fixture, second location fixture includes the relative third location centre gripping subassembly and the fourth location centre gripping subassembly that sets up in interval, third location centre gripping subassembly with fourth location centre gripping subassembly can be close to each other or keep away from, just third location centre gripping subassembly with fourth location centre gripping subassembly is used for the centre gripping location be in the ascending muscle of indulging of second side in the steel reinforcement cage.
The positioning and clamping mechanism is applied to a steel reinforcement cage processing robot and is used for assisting workers in realizing semi-automatic processing of longitudinal reinforcements and stirrups, and the effects of improving quality, increasing efficiency and reducing cost are achieved. Particularly, before processing, with being in the reinforcement cage on the first direction indulge the muscle respectively through first location centre gripping subassembly and second location centre gripping subassembly centre gripping, simultaneously with being in the reinforcement cage on the second direction indulge the muscle respectively through third location centre gripping subassembly and fourth location centre gripping subassembly centre gripping, then according to reinforcement cage's design drawing parameter, control first location centre gripping subassembly, second location centre gripping subassembly, third location centre gripping subassembly and fourth location centre gripping subassembly stop after removing to the assigned position, so first location centre gripping subassembly to fourth location centre gripping subassembly can be with indulging the firm location of muscle, later alright sheathe stirrup in, it is fixed with indulging muscle ligature or welded connection with the stirrup. Compared with the traditional manual positioning operation mode, the positioning and clamping mechanism can automatically complete the positioning and clamping of the longitudinal bar by means of a mechanical structure, does not need manpower, can reduce the labor intensity of workers, improves the production efficiency, eliminates the manual positioning error, ensures the positioning precision of the longitudinal bar, and further ensures the processing and forming quality of the reinforcement cage.
The technical solution of the present application is further described below:
in one embodiment, the first direction and the second direction are perpendicular to each other, and the first positioning and clamping assembly, the second positioning and clamping assembly, the third positioning and clamping assembly and the fourth positioning and clamping assembly jointly enclose to form a tendon clamping cavity.
In one embodiment, each of the first positioning and clamping assembly and the second positioning and clamping assembly includes a first mounting plate, a first driving assembly, a first movable plate, and at least two first clamping units, the first driving assembly is disposed on the first mounting plate and is in driving connection with the first movable plate, so that the first movable plate can move back and forth along the first direction, and at least two first clamping units are movably disposed on the first movable plate.
In one embodiment, each of the third positioning and clamping assembly and the fourth positioning and clamping assembly includes a second mounting plate, a second driving assembly, a second movable plate, and at least two second clamping units, the second driving assembly is disposed on the second mounting plate and is in driving connection with the second movable plate, so that the second movable plate can reciprocate along the second direction, and at least two second clamping units are movably disposed on the second movable plate.
In one embodiment, the first driving assembly and the second driving assembly each include a first motor, a first gear, a first rack, and a first slider rail module, the first motor is disposed on the first mounting plate and the second mounting plate and connected to the first gear, the first gear is engaged with the first rack, the first rack is disposed on the first movable plate and the second movable plate, and the first slider rail module is connected between the first mounting plate and the first movable plate and between the second mounting plate and the second movable plate.
In one embodiment, each of the first positioning and clamping mechanism and the second positioning and clamping mechanism further includes a second motor, a second gear, a second rack, and a second slider rail module, the second slider rail module is connected between the first movable plate and the first clamping unit and between the second movable plate and the second clamping unit, the second rack is disposed on the first movable plate and the second movable plate, the second motor is connected with the second gear, and the second gear is engaged with the second rack; each first clamping unit and each second clamping unit can act synchronously or sequentially.
In one embodiment, each of the first clamping unit and the second clamping unit comprises a base, an air cylinder, a clamping block and a stop block, wherein the air cylinder is arranged on the base, the clamping block is connected with a piston rod of the air cylinder, and the clamping block and the stop block are oppositely arranged at intervals and are matched to form a clamping groove; and the side surface of the clamping block and/or the stop block facing the clamping groove is/are concavely provided with a centering groove.
In one embodiment, the first clamping unit and the second clamping unit further include a guide rod, the base is provided with a guide hole, the guide rod is slidably inserted into the guide hole, and one end of the guide rod is fixedly connected with the clamping block.
In one embodiment, the positioning and clamping device further comprises a rail seat, a guide wheel set and a support, the support is connected with the guide wheel set, the guide wheel set is arranged on the rail seat in a rolling manner, the rail seat is provided with a horizontal guide plate and a vertical guide plate, the horizontal guide plate and the vertical guide plate are horizontally arranged, the guide wheel set comprises a wheel seat, a horizontal guide wheel and a vertical guide wheel, the horizontal guide wheel is arranged on the wheel seat and is in rolling contact with the horizontal guide plate, and the vertical guide wheel is arranged on the wheel seat and is in rolling contact with the vertical guide plate.
In addition, this application still provides a steel reinforcement cage processing machine people, and it includes location clamping device as above.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of a positioning and clamping device according to an embodiment of the present invention;
FIG. 2 is a schematic view of an assembly structure of the first positioning and clamping mechanism and the second positioning and clamping mechanism in FIG. 1;
FIG. 3 is a schematic view of a first positioning and clamping assembly according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of the first clamping unit in fig. 3.
Description of reference numerals:
10. a first positioning and clamping mechanism; 11. a first positioning and clamping assembly; 12. a second positioning and clamping assembly; 13. a second motor; 14. a second rack; 15. a second slider rail module; 16. a second gear; 20. a second positioning and clamping mechanism; 21. a third positioning and clamping assembly; 22. a fourth positioning and clamping assembly; 30. longitudinal ribs; 40. a tendon clamping cavity; 50. a first mounting plate; 60. a first drive assembly; 61. a first motor; 62. a first gear; 63. a first slider rail module; 70. a first movable plate; 80. a first clamping unit; 81. a base; 82. a cylinder; 83. a clamping block; 84. a stopper; 85. a guide bar; 90. a second clamping unit; 100. a rail seat; 200. a guide wheel set; 300. and (4) a bracket.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
The embodiment of the application provides a steel reinforcement cage processing robot, it can be automatic or semi-automatization will indulge muscle 30 and stirrup and assemble the consolidation and form the steel reinforcement cage structure, make the steel reinforcement cage can be put into production and build to all kinds of buildings.
It should be noted that the steel reinforcement cage generally refers to a cage-shaped framework member formed by arranging a certain number of longitudinal bars 30 and stirrups according to a certain rule and then connecting and consolidating the longitudinal bars and the stirrups into a whole by means of a binding or welding process. The concrete is used as a framework of a building to be built and connected, then concrete slurry is poured inside and outside the reinforcement cage, and the building is obtained after the concrete is solidified and molded.
In the relatively common steel reinforcement cage, many indulge muscle 30 and arrange along the even interval of circumferencial direction, form the cross-section and can be columns such as square, circular, triangle-shaped, L type, then with many stirrup hoops in all the outsides of indulging muscle 30 to guarantee each stirrup and arrange according to predetermineeing the interval.
In summary, in order to support and realize the processing and preparation of the steel reinforcement cage, the steel reinforcement cage processing robot in the embodiment at least includes a stirrup feeding device, a longitudinal reinforcement supporting device, a processing and connecting device (such as a binding machine or a welding machine), and a positioning and clamping device. Wherein the longitudinal bar feeding device is used for supplying the longitudinal bars 30 into the processing station, one end of each longitudinal bar 30 is supported and fixed by the longitudinal bar supporting device, and the other end of each longitudinal bar 30 is clamped and fixed by the positioning and clamping device. The stirrup-feeding device is then used to feed the longitudinal bars 30 with the appropriate number of stirrups. Of course, the stirrup can be loaded manually by a worker. After the stirrups are arranged at preset intervals, the stirrups and the longitudinal bars 30 are fixedly connected into a whole by the processing and connecting device until a finished reinforcement cage product is formed.
It will be appreciated that the primary function of the locating clip means is to locate a specific number of longitudinal ribs 30 securely in space to a circular, triangular or square configuration.
As shown in fig. 1 and 2, a positioning and clamping device is shown for an embodiment of the present application, the positioning and clamping device includes: a first positioning and clamping mechanism 10 and a second positioning and clamping mechanism 20. The first positioning and clamping mechanism 10 comprises a first positioning and clamping assembly 11 and a second positioning and clamping assembly 12 which are oppositely arranged at intervals, the first positioning and clamping assembly 11 and the second positioning and clamping assembly 12 can be close to or far away from each other, and the first positioning and clamping assembly 11 and the second positioning and clamping assembly 12 are used for clamping and positioning the longitudinal ribs 30 in the first direction in the reinforcement cage; second location fixture 20 includes the relative third location centre gripping subassembly 21 and the fourth location centre gripping subassembly 22 that sets up in interval, third location centre gripping subassembly 21 with fourth location centre gripping subassembly 22 can be close to each other or keep away from, just third location centre gripping subassembly 21 with fourth location centre gripping subassembly 22 is used for the centre gripping location be in the ascending muscle 30 of indulging of second direction in the steel reinforcement cage.
It should be noted that, according to different structures of the reinforcement cage, the first direction and the second direction may be two directions perpendicular to each other or intersecting with each other. Preferably, in the present embodiment, the first direction is perpendicular to the second direction. Referring to fig. 2, in the present embodiment, the first direction is an X-axis direction, and the second direction is a Y-axis direction. Of course, in other embodiments, the first direction may also be the Y-axis direction, and the second direction may also be the X-axis direction; the first direction may also be two directions arranged at an acute or obtuse angle to the second direction.
The positioning and clamping mechanism is applied to a steel reinforcement cage processing robot and is used for assisting workers in realizing semi-automatic processing of longitudinal reinforcements 30 and stirrups, and the effects of improving quality, increasing efficiency and reducing cost are achieved. Particularly, before processing, with being in the reinforcement cage on the first direction indulge muscle 30 respectively through first location centre gripping subassembly 11 and the centre gripping of second location subassembly 12 centre gripping, simultaneously with being in the reinforcement cage on the second direction indulge muscle 30 respectively through third location centre gripping subassembly 21 and the centre gripping of fourth location centre gripping subassembly 22 centre gripping, then according to the design drawing parameter of reinforcement cage, control first location centre gripping subassembly 11, second location centre gripping subassembly 12, third location centre gripping subassembly 21 and fourth location centre gripping subassembly 22 remove and stop after the assigned position, so first location centre gripping subassembly 11 to fourth location centre gripping subassembly 22 can be with indulging muscle 30 firm location, later alright sheatheeing in the stirrup, it is fixed with indulging muscle 30 ligature or welded connection. Compared with the traditional manual positioning operation mode, the positioning and clamping mechanism can automatically complete the positioning and clamping of the longitudinal rib 30 by means of a mechanical structure, does not need manpower, can reduce the labor intensity of workers, improves the production efficiency, eliminates the manual positioning error, ensures the positioning precision of the longitudinal rib 30, and further ensures the processing and forming quality of the reinforcement cage.
In the above embodiment, since the first direction and the second direction are perpendicular to each other, it can be known that the reinforcement cage to be prepared is rectangular, that is, the plurality of longitudinal bars 30 constituting the reinforcement cage are distributed in a rectangular shape. In order to adapt to the positioning and clamping of the longitudinal ribs 30 distributed in a rectangular shape, the first positioning and clamping assembly 11, the second positioning and clamping assembly 12, the third positioning and clamping assembly 21 and the fourth positioning and clamping assembly 22 are arranged to jointly enclose a rib clamping cavity 40. The size of the reinforcement clamping cavity 40 is matched with the overall dimension of the stirrup, so that the longitudinal reinforcement 30 can be clamped and attached to the stirrup when the longitudinal reinforcement 30 is positioned, the fit clearance is eliminated, subsequent binding or welding processing is facilitated, and the processing quality is improved. Preferably, in this embodiment, the first positioning and clamping assembly 11, the second positioning and clamping assembly 12, the third positioning and clamping assembly 21, and the fourth positioning and clamping assembly 22 are arranged in a rectangular shape, so that the structural arrangement is more regular and compact, and the adjustment is easier.
With reference to fig. 1, further, based on the above embodiment, the positioning and clamping device further includes a rail base 100, a guiding wheel set 200 and a support 300, the support 300 is connected to the guiding wheel set 200, the guiding wheel set 200 is disposed on the rail base 100 in a rolling manner, the rail base 100 is provided with a transverse guiding plate and a vertical guiding plate, the transverse guiding plate and the vertical guiding plate are disposed in a transverse manner, the guiding wheel set 200 includes a wheel base, a transverse guiding wheel disposed on the wheel base and in rolling contact with the transverse guiding plate, and a vertical guiding wheel disposed on the wheel base and in rolling contact with the vertical guiding plate.
Because the stirrups on the longitudinal reinforcement 30 are generally evenly arranged according to the preset intervals, when the steel reinforcement cage is produced, the positioning and clamping device is also used for drawing the longitudinal reinforcement 30 to move according to the preset beat, so that different stirrups are sequentially connected onto the longitudinal reinforcement 30. For example, after the positioning and clamping device moves 50cm, stopping for 1 minute; then, the travel was further 50cm, and the process was stopped for 1 minute and followed. It can be understood that, during production, the stirrups are sent to the processing stations one by one, and the welding stations are the positions of the binding machine or the welding machine; the stirrups and the longitudinal bars 30 are tightly attached and then are fixedly connected by a binding machine or a welding machine, at the moment, the positioning and clamping device pulls the longitudinal bars 30 to move a distance (for example, 50cm in the above example) in the direction away from the processing station, and then the positioning and clamping device stops moving the longitudinal bars 30, and the distance of the movement is equal to the distance between two adjacent stirrups in the reinforcement cage. And then, the next stirrup is sent to a processing station, the stirrup and the longitudinal bar 30 are fixedly connected by a binding machine or a welding machine, and then the positioning and clamping device continues to move for a certain distance to reciprocate until all stirrups and the longitudinal bar 30 are connected and finished, so that a reinforcement cage finished product can be obtained.
The rail seat 100 is made of standard structural members, such as i-steel, channel steel, round steel, square steel, etc. Therefore, the utility model is convenient to obtain, convenient to use directly and high in structural strength. The rail seat 100 is paved on a construction site to avoid the influence of uneven terrain, ensure that the positioning and clamping device moves stably and smoothly, and improve the processing precision and the forming quality of the reinforcement cage. For example, the rail seat 100 in the present embodiment includes two square steel tubes arranged in parallel and spaced apart, and a reinforcing plate connected between the two square steel tubes. The reinforcing plate is used for improving the connection strength of the two square steel pipes, so that the positioning and clamping device can reliably support the steel reinforcement cage.
The bracket 300 is formed in an L-shaped frame structure, and the vertical portion and the horizontal portion are connected by diagonal braces at both sides to secure the overall structural strength of the bracket 300. The guide wheel set 200 comprises a left group and a right group, which are respectively arranged on the upper surfaces of the two square steel pipes, so that the positioning and clamping device can keep balance, and the moving precision is improved. And since the lateral guide pulley is in rolling contact with the lateral guide plate pre-installed on the rail seat 100, lateral vibration and lateral movement of the guide pulley block 200 can be restricted. Similarly, the vertical guide wheel is in rolling contact with the vertical guide plate preassembled on the rail seat 100, so that vertical vibration of the guide wheel set 200 can be limited, the guide wheel set is prevented from slipping off the rail seat 100, the positioning and clamping device is guaranteed to be high in moving precision, and the forming and processing quality of the steel reinforcement cage is guaranteed.
Preferably, the transverse guide plate and the vertical guide plate are both made of high-carbon steel through quenching, and are high in strength and good in wear resistance.
With reference to fig. 3, in some embodiments, each of the first positioning and clamping assembly 11 and the second positioning and clamping assembly 12 includes a first mounting plate 50, a first driving assembly 60, a first movable plate 70, and at least two first clamping units 80, the first driving assembly 60 is disposed on the first mounting plate 50 and is in driving connection with the first movable plate 70, so that the first movable plate 70 can move back and forth along the first direction, and at least two first clamping units 80 are movably disposed on the first movable plate 70.
After the two opposite first driving assemblies 60 output power synchronously or sequentially, the two opposite first movable plates 70 can drive the first clamping units 80 mounted thereon to approach or separate from each other, so as to meet the use requirements of reinforcement cages with different sizes, and improve the flexible processing capacity of the first positioning and clamping assembly 11 and the second positioning and clamping assembly 12. Then, each first clamping unit 80 moves on the first movable plate 70, so that the position of each longitudinal rib 30 in the X-axis direction can be accurately found and clamping and positioning can be completed, and flexible positioning and clamping of the longitudinal ribs 30 with different diameters can be realized.
In addition, the third positioning and clamping assembly 21 and the fourth positioning and clamping assembly 22 each include a second mounting plate, a second driving assembly, a second movable plate, and at least two second clamping units 90, the second driving assembly is disposed on the second mounting plate and is in driving connection with the second movable plate, so that the second movable plate can reciprocate along the second direction, and at least two second clamping units 90 are movably disposed on the second movable plate.
Similarly, after the two opposite second driving assemblies output power synchronously or sequentially, the two opposite second movable plates can drive the second clamping units 90 mounted thereon to approach or separate from each other, so as to be suitable for reinforcement cages with different sizes, and improve the flexible processing capacity of the third positioning and clamping assembly 21 and the fourth positioning and clamping assembly 22. Then, each first clamping unit 80 moves on the first movable plate 70, so that the position of each longitudinal rib 30 in the Y-axis direction can be accurately found and clamping and positioning can be completed, and flexible positioning and clamping of the longitudinal ribs 30 with different diameters can be realized.
It should be noted that each of the first clamping units 80 and each of the second clamping units 90 may act synchronously or sequentially. And the number of the first clamping unit 80 and the second clamping unit 90 can be flexibly selected according to the specification of a specific reinforcement cage and the number of the longitudinal bars 30. For example, in the present embodiment, eight first clamping units 80 are shown, wherein the number of the first positioning and clamping assemblies 11 is four, and the number of the second positioning and clamping assemblies 12 is four. The number of the second clamping units 90 is six, wherein the number of the third positioning and clamping assemblies 21 is three, and the number of the fourth positioning and clamping assemblies 22 is three.
Based on any of the above embodiments, please continue to refer to fig. 3, the first driving assembly 60 and the second driving assembly each include a first motor 61, a first gear 62, a first rack, and a first slider rail module 63, the first motor 61 is disposed on the first mounting plate 50 and the second mounting plate and connected to the first gear 62, the first gear 62 is engaged with the first rack, the first rack is disposed on the first movable plate 70 and the second movable plate, and the first slider rail module 63 is connected between the first mounting plate 50 and the first movable plate 70 and between the second mounting plate and the second movable plate.
Therefore, the first motor 61 drives the first gear 62 to rotate, the first gear 62 is in meshing transmission fit with the first rack, so that the first movable plate 70 can drive the first clamping unit 80 to move back and forth in the X-axis direction, and clamping requirements of reinforcement cages of different sizes can be met on the basis of realizing position and distance adjustment. And the gear driving structure has high transmission precision, and can accurately position the position of the first clamping unit 80. The first slider rail module 63 is disposed to ensure the moving accuracy and stability of the first movable plate 70.
With continued reference to fig. 3 and 4, in some embodiments, the first positioning clamping mechanism 10 and the second positioning clamping mechanism 20 further include a second motor 13, a second gear 16, a second rack 14, and a second slider rail module 15, the second slider rail module 15 is connected between the first movable plate 70 and the first clamping unit 80 and between the second movable plate and the second clamping unit 90, the second rack 14 is disposed on the first movable plate 70 and the second movable plate, the second motor 13 is connected with the second gear 16, and the second gear 16 is engaged with the second rack 14.
Therefore, the second motor 13 drives the second gear 16 to rotate, the second gear 16 is meshed with the second rack 14 for transmission matching, so that the second movable plate can drive the second clamping unit 90 to move back and forth in the Y-axis direction, and clamping requirements of reinforcement cages of different sizes can be met on the basis of realizing position and distance adjustment. And the transmission precision of this gear drive structure is high, can pinpoint the position of second clamping unit 90. The second slider guide module 15 is disposed to ensure the moving accuracy and stability of the second movable plate.
It should be noted that the motor, the gear and the rack driving mechanism are only one preferred embodiment, and the scope of protection of the present application is not limited thereto. In other embodiments, the motor may be replaced by a rotary cylinder 82 and an electric push rod, and the gear-rack structure may be replaced by a belt structure and a telescopic rod structure, which are not described herein.
With reference to fig. 4, in some embodiments, each of the first clamping unit 80 and the second clamping unit 90 includes a base 81, an air cylinder 82, a clamping block 83, and a stopper 84, the air cylinder 82 is disposed on the base 81, the clamping block 83 is connected to a piston rod of the air cylinder 82, and the clamping block 83 and the stopper 84 are disposed opposite to each other at a distance and cooperate to form a clamping groove; wherein, the side of the clamping block 83 and/or the block 84 facing the clamping groove is/are concavely provided with a centering groove.
The base 81 is connected with the second slider guide module 15, so that the first clamping unit 80 and the second clamping unit 90 can be integrally assembled and fixed. During operation, the air cylinder 82 drives the clamping blocks 83 to retract at first, so that the width of the clamping groove is expanded and enlarged, and the longitudinal ribs 30 can penetrate conveniently. After penetrating, the air cylinder 82 pushes the clamping block 83 to move towards the stop 84, and the clamping block 83 can be matched with the stop 84 to firmly clamp the longitudinal rib 30, so that the clamping and the positioning of the longitudinal rib 30 are realized.
Furthermore, as the clamping block 83 and/or the stop block 84 are/is provided with the centering grooves, the position of the longitudinal rib 30 can be corrected in the process of clamping the longitudinal rib 30, the reliable centering of the longitudinal rib 30 is ensured, and the subsequent processing quality caused by position deviation is eliminated. Preferably, the clamping blocks 83 and the stoppers 84 are provided with centering grooves on the sides facing the clamping grooves, so as to further ensure the centering capability of the longitudinal ribs 30.
Optionally, the counterweight groove is of a V-shaped structure, a U-shaped structure, or the like.
In addition, the first clamping unit 80 and the second clamping unit 90 further include a guide rod 85, the base 81 is provided with a guide hole, the guide rod 85 is slidably inserted into the guide hole, and one end of the guide rod 85 is fixedly connected with the clamping block 83. Through the sliding fit of the guide rod 85 and the guide hole, the rigidity of the clamping block 83 and the rigidity of the piston rod can be effectively improved, and the stability of the extending and retracting movement of the clamping block 83 is improved, so that the phenomenon that the piston rod is deformed to influence the service life of the air cylinder 82 due to the lateral deviation caused by the reaction force of the longitudinal rib 30 in the process of clamping the longitudinal rib 30 is avoided.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Claims (10)
1. A positioning and clamping device, characterized in that it comprises:
the first positioning and clamping mechanism comprises a first positioning and clamping assembly and a second positioning and clamping assembly which are oppositely arranged at intervals, the first positioning and clamping assembly and the second positioning and clamping assembly can be close to or far away from each other, and the first positioning and clamping assembly and the second positioning and clamping assembly are used for clamping and positioning longitudinal bars in a first direction in the reinforcement cage; and
the second positioning and clamping mechanism comprises a third positioning and clamping assembly and a fourth positioning and clamping assembly which are oppositely arranged at intervals, the third positioning and clamping assembly and the fourth positioning and clamping assembly can be close to or far away from each other, and the third positioning and clamping assembly and the fourth positioning and clamping assembly are used for clamping and positioning longitudinal bars in a second direction in the reinforcement cage; the first positioning clamping assembly and the second positioning clamping assembly respectively comprise at least two first clamping units, the third positioning clamping assembly and the fourth positioning clamping assembly respectively comprise at least two second clamping units, each first clamping unit and each second clamping unit respectively comprise a base, an air cylinder, a clamping block and a stop block, the air cylinders are arranged on the bases, the clamping blocks are connected with piston rods of the air cylinders, and the clamping blocks are oppositely arranged at intervals of the stop blocks and are matched to form clamping grooves.
2. The positioning and clamping device of claim 1, wherein the first direction is perpendicular to the second direction, and the first positioning and clamping assembly, the second positioning and clamping assembly, the third positioning and clamping assembly and the fourth positioning and clamping assembly together define a tendon clamping cavity.
3. The positioning and clamping device as claimed in claim 1, wherein each of the first positioning and clamping assembly and the second positioning and clamping assembly comprises a first mounting plate, a first driving assembly and a first movable plate, the first driving assembly is disposed on the first mounting plate and is in driving connection with the first movable plate, so that the first movable plate can move back and forth along the first direction, and at least two first clamping units are movably disposed on the first movable plate.
4. The positioning and clamping device as claimed in claim 3, wherein each of the third positioning and clamping assembly and the fourth positioning and clamping assembly comprises a second mounting plate, a second driving assembly and a second movable plate, the second driving assembly is disposed on the second mounting plate and is in driving connection with the second movable plate, so that the second movable plate can reciprocate along the second direction, and at least two of the second clamping units are movably disposed on the second movable plate.
5. The positioning and clamping device as recited in claim 4, wherein said first driving assembly and said second driving assembly each comprise a first motor, a first gear, a first rack and a first slider rail module, said first motor is disposed on said first mounting plate and said second mounting plate and connected with said first gear, said first gear is engaged with said first rack, said first rack is disposed on said first movable plate and said second movable plate, said first slider rail module is connected between said first mounting plate and said first movable plate and between said second mounting plate and said second movable plate.
6. The positioning and clamping device as claimed in claim 4, wherein each of the first positioning and clamping mechanism and the second positioning and clamping mechanism further comprises a second motor, a second gear, a second rack and a second slider rail module, the second slider rail module is connected between the first movable plate and the first clamping unit and between the second movable plate and the second clamping unit, the second rack is disposed on the first movable plate and the second movable plate, the second motor is connected with the second gear, and the second gear is engaged with the second rack; each first clamping unit and each second clamping unit can act synchronously or sequentially.
7. Positioning and clamping device according to claim 4, characterised in that the side of the clamping block and/or the stop facing the clamping groove is recessed with a centring groove.
8. The positioning and clamping device of claim 7, wherein the first clamping unit and the second clamping unit further comprise a guide rod, the base is provided with a guide hole, the guide rod is slidably inserted into the guide hole, and one end of the guide rod is fixedly connected with the clamping block.
9. The positioning and clamping device as claimed in any one of claims 1 to 8, further comprising a rail seat, a guide wheel set and a support, wherein the support is connected to the guide wheel set, the guide wheel set is rolling-disposed on the rail seat, a horizontal guide plate horizontally disposed and a vertical guide plate vertically disposed are disposed on the rail seat, and the guide wheel set comprises a wheel seat, a horizontal guide wheel disposed on the wheel seat and in rolling contact with the horizontal guide plate, and a vertical guide wheel disposed on the wheel seat and in rolling contact with the vertical guide plate.
10. A reinforcement cage processing robot, comprising the positioning and clamping device as claimed in any one of claims 1 to 9.
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| CN202010522812.8A CN111644545B (en) | 2020-06-10 | 2020-06-10 | Positioning and clamping device and reinforcement cage processing robot |
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| CN202010522812.8A CN111644545B (en) | 2020-06-10 | 2020-06-10 | Positioning and clamping device and reinforcement cage processing robot |
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| CN111644545B true CN111644545B (en) | 2022-03-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113789919B (en) * | 2021-09-28 | 2023-01-17 | 浙江交工金筑交通建设有限公司 | Construction method and operation method of top longitudinal bar positioner of beam slab |
| CN113981998B (en) * | 2021-11-16 | 2023-09-01 | 明达海洋工程有限公司 | Reinforcing bar net piece erection equipment for slope support |
| CN114147638B (en) * | 2021-11-24 | 2023-12-05 | 山西省安装集团股份有限公司 | Positioning device for connecting steel structural members |
| CN117548939B (en) * | 2024-01-11 | 2024-03-26 | 山西路桥第一工程有限公司 | Reinforcement cage welding equipment for road and bridge |
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