CN112209092B

CN112209092B - Feeding device of flange

Info

Publication number: CN112209092B
Application number: CN202011136429.5A
Authority: CN
Inventors: 苏士斌; 卢健兵; 江海燕; 蓝初广; 董永波
Original assignee: Guangzhou Wenchong Shipyard Co Ltd
Current assignee: Guangzhou Wenchong Shipyard Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2022-05-13
Anticipated expiration: 2040-10-22
Also published as: CN112209092A

Abstract

The invention relates to the technical field of ship construction, and discloses a flange feeding device which comprises a mechanical arm, a clamping mechanism arranged on the mechanical arm, a first rod body, a second rod body, a third rod body arranged between the first rod body and the second rod body, a plurality of first limiting parts arranged on the first rod body at intervals, a plurality of second limiting parts arranged on the second rod body at intervals, and a plurality of third limiting parts arranged on the third rod body at intervals. A first space is formed between every two adjacent first limiting pieces, a second space is formed between every two adjacent second limiting pieces, and a third space is formed between every two adjacent third limiting pieces; each first space, each second space and each third space are communicated with each other respectively to form an accommodating space for storing the flange. The flange in the accommodating space is clamped by the clamping mechanism, so that the flange can be conveniently clamped and transported, the investment of labor cost is reduced, and the code printing efficiency of the flange is improved.

Description

Feeding device of flange

Technical Field

The invention relates to the technical field of ship construction, in particular to a flange feeding device.

Background

Before the flange and the pipe are assembled and welded in the ship building process, the flange for ship building needs to be marked with codes so that the pipe can be identified after galvanizing at the later stage.

The flange for ship construction is a circular ring with a through hole, the circular ring has a certain thickness, and a plurality of assembling holes are annularly distributed on the end surface of the circular ring; the thickness and the via hole size of the flange of different models are all inconsistent.

Among the prior art, the mode that the manual work snatched the flange was carried the flange to coding machine department and carry out the material loading is generally taken to the material loading process of beating the sign indicating number to the flange, and this kind of mode needs many people to participate in for a long time and beats the sign indicating number process, and not only the handling efficiency is low, intensity of labour is big, and artifical labour cost is high moreover.

Nowadays, the shipbuilding requirement period is shortened, so that the shipbuilding efficiency requirement is improved, the mode of manually carrying the flange is difficult to meet the efficient ship production rhythm, and the development trend of shipbuilding cannot be adapted.

Disclosure of Invention

The purpose of the invention is: provided is a feeding device capable of efficiently conveying flanges.

In order to achieve the above object, the present invention provides a flange feeding device, including a mechanical arm, a clamping mechanism arranged on the mechanical arm and used for clamping a flange, a horizontally arranged first rod, a horizontally arranged second rod, a horizontally arranged third rod arranged between the first rod and the second rod, a plurality of first limiting members arranged on the first rod at intervals, a plurality of second limiting members arranged on the second rod at intervals, and a plurality of third limiting members arranged on the third rod at intervals; the third rod body is positioned below the plane where the first rod body and the second rod body are positioned; the plurality of first limiting parts, the plurality of second limiting parts and the plurality of third limiting parts correspond to one another one by one; a first space is formed between every two adjacent first limiting parts, a second space is formed between every two adjacent second limiting parts, and a third space is formed between every two adjacent third limiting parts; the first space, the second space and the third space are in one-to-one correspondence; each first space, each second space and each third space are communicated with one another respectively to form accommodating spaces for storing flanges; the clamping mechanism comprises a first driving mechanism, a first base, a plurality of clamping claws distributed on the end surface of the first base at intervals along a preset path, and a plurality of sliding grooves distributed on the end surface of the first base at intervals along the preset path; the sliding grooves correspond to the clamping claws one by one; the preset path is a circular path, and the extending directions of the sliding chutes are respectively perpendicular to the preset path; the first driving mechanism drives each clamping claw to move in the corresponding sliding groove.

Further, the number of the clamping claws is four.

The U-shaped frame comprises a horizontal section, a first vertical section and a second vertical section, wherein the first vertical section is opposite to the second vertical section; the first rod body is connected with the first vertical section, the second rod body is connected with the second vertical section, and the third rod body is connected with the horizontal section of the U-shaped frame.

Furthermore, a plurality of U-shaped frames are arranged and distributed at intervals along the horizontal direction; the first rod body is connected with a plurality of first vertical sections of the U-shaped frames respectively, the second rod body is connected with a plurality of second vertical sections of the U-shaped frames respectively, and the third rod body is connected with a plurality of horizontal sections of the U-shaped frames respectively.

Furthermore, a plurality of first rod bodies are arranged in the vertical direction at intervals, a plurality of second rod bodies are arranged in the vertical direction at intervals, and a plurality of third rod bodies are arranged in the vertical direction at intervals; the first rod bodies, the second rod bodies and the third rod bodies are in one-to-one correspondence.

Furthermore, the number of the first rod body, the second rod body and the third rod body is three.

Further, the robot arm has six degrees of freedom.

The mechanical arm is arranged on the second base, the second base is arranged on the sliding rail in a sliding mode, and the second driving mechanism drives the second base to move on the sliding rail.

Furthermore, the plurality of first locating parts are respectively welded with the first rod body, the plurality of second locating parts are respectively welded with the second rod body, and the plurality of third locating parts are respectively welded with the third rod body.

Compared with the prior art, the invention has the beneficial effects that:

the flange feeding device is used for feeding materials to the flange coding machine, the clamping mechanism is utilized to clamp the flange in the accommodating space, the flange can be conveniently clamped and transported, the investment of labor cost is reduced, the coding efficiency of the flange is improved, and the coding efficiency can be adapted to the efficient production of ships.

Drawings

Fig. 1 is an overall schematic view of a flange loading device according to an embodiment of the present invention.

Fig. 2 is a schematic view of an accommodating space of a feeding device for flanges according to an embodiment of the present invention.

Fig. 3 is an enlarged view of a part a in fig. 2 of a flange loading apparatus according to an embodiment of the present invention.

Fig. 4 is a schematic view of a clamping mechanism of a flange feeding device according to an embodiment of the present invention.

In the figure:

1. a flange; 2. a clamping mechanism; 21. a first base; 22. a gripper jaw; 3. a first rod body; 4. a second rod body; 5. a third rod body; 6. a first limit piece; 7. a second limiting member; 8. a third limiting member; 9. a mechanical arm; 10. a U-shaped frame; 11. a slide rail; 12. a second base.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined 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; either directly or indirectly through intervening media, either internally or in any other relationship. 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, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and 4, an embodiment of the present invention discloses a flange feeding device, including a mechanical arm 9, a clamping mechanism 2 disposed on the mechanical arm 9 and used for clamping a flange 1, a first rod 3 disposed horizontally, a second rod 4 disposed horizontally, a third rod 5 disposed horizontally and between the first rod 3 and the second rod 4, a plurality of first position-limiting members 6 disposed at intervals on the first rod 3, a plurality of second position-limiting members 7 disposed at intervals on the second rod 4, and a plurality of third position-limiting members 8 disposed at intervals on the third rod 5; the third rod body 5 is positioned below the plane where the first rod body 3 and the second rod body 4 are positioned; the plurality of first limiting parts 6, the plurality of second limiting parts 7 and the plurality of third limiting parts 8 correspond to one another one by one; a first space is formed between each two adjacent first limiting parts 6, a second space is formed between each two adjacent second limiting parts 7, and a third space is formed between each two adjacent third limiting parts 8; the first space, the second space and the third space are in one-to-one correspondence; each first space, each second space and each third space are communicated with one another to form an accommodating space for storing the flange 1. The accommodating space is formed in a plurality of numbers, and a flange 1 is placed in each accommodating space. The clamping mechanism 2 comprises a first driving mechanism, a first base 21, a plurality of clamping claws 22 which are distributed on the end surface of the first base 21 at intervals along a preset path, and a plurality of sliding chutes which are distributed on the end surface of the first base 21 at intervals along the preset path; the plurality of sliding grooves correspond to the plurality of clamping claws 22 one by one; the preset path is a circular path, and the extending directions of the sliding chutes are respectively perpendicular to the preset path; the first driving mechanism drives each clamping claw 22 to move in the corresponding sliding chute. The clamping mechanism 2 enables the radius of a circle formed by the plurality of clamping claws 22 to be enlarged by the outward sliding of the plurality of clamping claws 22 along the corresponding sliding grooves, and then the plurality of clamping claws 22 are enabled to abut against the inner wall of the through hole of the flange 1, so that the flange 1 is clamped. After the clamping mechanism 2 clamps the flange 1, the mechanical arm 9 moves the clamping mechanism 2 to the feeding position, and then the first driving mechanism drives the plurality of clamping claws 22 to contract inwards along the corresponding sliding grooves respectively so as to loosen the flange 1. Preferably, the plurality of receiving spaces in the present embodiment are used for storing the same type of flange 1.

Specifically, in one embodiment, referring to FIGS. 1-3, the number of clamping fingers 22 is four. In other embodiments, the number of the clamping claws 22 is determined according to the size of the through hole of the flange 1 to be clamped, for example, the number of the clamping claws 22 is set to six or eight.

Specifically, in one embodiment, please refer to fig. 1-3, further comprising a U-shaped frame 10 having a horizontal section, a first vertical section and a second vertical section, the first vertical section being opposite to the second vertical section; the first rod body 3 is connected with the inner side face of the first vertical section, the second rod body 4 is connected with the inner side face of the second vertical section, and the third rod body 5 is connected with the upper surface of the horizontal section of the U-shaped frame 10.

Specifically, in one embodiment, referring to fig. 1 to 3, a plurality of U-shaped frames 10 are provided, and the plurality of U-shaped frames 10 are distributed at intervals along the horizontal direction; the first rod body 3 is respectively connected with a plurality of first vertical sections of the U-shaped frames 10, the second rod body 4 is respectively connected with a plurality of second vertical sections of the U-shaped frames 10, and the third rod body 5 is respectively connected with a plurality of horizontal sections of the U-shaped frames 10. The U-shaped frames 10 are supported by the vertical columns, and the first rod 3, the second rod 4, and the third rod 5 are supported by the U-shaped frames 10.

Specifically, in one embodiment, referring to fig. 1 to 3, a plurality of first rods 3 are arranged at intervals in the vertical direction, a plurality of second rods 4 are arranged at intervals in the vertical direction, and a plurality of third rods 5 are arranged at intervals in the vertical direction; the first rod bodies 3, the second rod bodies 4 and the third rod bodies 5 correspond to one another one by one. A plurality of accommodating spaces are formed in the first rod body 3, the second rod body 4 and the third rod body 5 in one-to-one correspondence, and flanges 1 of different types are arranged in the accommodating spaces.

Specifically, in one embodiment, please refer to fig. 1 to 3, the number of the first rod 3, the second rod 4, and the third rod 5 is three, that is, three types of flanges 1 are provided at the same time, so as to conveniently code the flanges 1 of multiple types.

Specifically, in one embodiment, referring to fig. 1-3, the robotic arm 9 has six degrees of freedom to accommodate adjusting the angle and position of the gripper mechanism 2.

Specifically, in an embodiment, referring to fig. 1 to 3, the feeding device further includes a second base 12, a slide rail 11, and a second driving mechanism, the mechanical arm 9 is disposed on the second base 12, the second base 12 is slidably disposed on the slide rail 11, and the second driving mechanism drives the second base 12 to move on the slide rail 11.

Specifically, in one embodiment, referring to fig. 1 to 3, a plurality of first position-limiting members 6 are respectively welded to the first rod 3, a plurality of second position-limiting members 7 are respectively welded to the second rod 4, and a plurality of third position-limiting members 8 are respectively welded to the third rod 5.

Specifically, in one embodiment, each accommodating space has a flange; the feeding device further comprises a processor, a data storage and an alarm, wherein a first numerical value is arranged in the data storage, and the initial value of the first numerical value is equal to the number of the flanges; when the clamping mechanism clamps one flange, subtracting one from the first numerical value; when the first numerical value is zero, the processor drives the alarm to start, and the alarm gives an alarm to a user, so that the user can timely receive information that the number of the flanges is insufficient. Optionally, the initial value of the first numerical value is manually input.

When the feeding device is used, firstly, one flange 1 is respectively placed in each accommodating space, when the feeding device is used, a picking module receives position information of the flange 1 to be picked, a second driving mechanism drives the second base 12 to move to a position close to the flange 1 to be picked, and meanwhile, the mechanical arms 9 with multiple degrees of freedom rotate to drive the clamping mechanisms 2 to rotate, so that the end face of the first base 21 is right opposite to the vertically placed flange 1, and at the moment, the clamping claws 22 on the first base body extend into through holes of the flange 1 to be picked. Then, the first driving mechanism acts to drive each clamping jaw 22 to expand outwards along the corresponding slide rail 11 until each clamping jaw 22 abuts on the wall of the through hole, and simultaneously, the first driving mechanism applies force to each clamping jaw 22 to enable each clamping jaw 22 to be kept at the corresponding position so as to keep clamping the flange 1. At this time, the robot arm 9 continues to operate, and moves the gripping mechanism 2 to a position corresponding to the loading. Then, the first driving mechanism drives each clamping claw 22 to radially contract inwards along the corresponding sliding groove until a gap is formed between each clamping claw 22 and the hole wall of the through hole, and the flange 1 loses the clamping force and falls off, so that the flange is subjected to code printing by a subsequent code printing machine.

This embodiment can realize good beneficial effect: this embodiment has utilized picking up module automatic picking up flange 1, can transport flange 1 to the material loading position conveniently, has reduced human cost's input, has improved beating of flange 1 sign indicating number efficiency.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A flange feeding device is characterized by comprising a mechanical arm, a clamping mechanism, a first rod body, a second rod body, a third rod body, a plurality of first limiting parts, a plurality of second limiting parts and a plurality of third limiting parts, wherein the clamping mechanism is arranged on the mechanical arm and used for clamping a flange;

the third rod body is positioned below the plane where the first rod body and the second rod body are positioned; the plurality of first limiting parts, the plurality of second limiting parts and the plurality of third limiting parts correspond to one another one by one; a first space is formed between every two adjacent first limiting parts, a second space is formed between every two adjacent second limiting parts, and a third space is formed between every two adjacent third limiting parts; the first space, the second space and the third space are in one-to-one correspondence; each first space, each second space and each third space are communicated with one another respectively to form accommodating spaces for storing flanges;

the clamping mechanism comprises a first driving mechanism, a first base, a plurality of clamping claws distributed on the end surface of the first base at intervals along a preset path, and a plurality of sliding grooves distributed on the end surface of the first base at intervals along the preset path;

the sliding grooves correspond to the clamping claws one by one;

the preset path is a circular path, and the extending directions of the sliding chutes are respectively perpendicular to the preset path;

the first driving mechanism drives each clamping claw to move in the corresponding sliding groove;

the feeding device further comprises a U-shaped frame with a horizontal section, a first vertical section and a second vertical section, wherein the first vertical section is opposite to the second vertical section;

the first rod body is connected with the first vertical section, the second rod body is connected with the second vertical section, and the third rod body is connected with the horizontal section of the U-shaped frame;

the number of the U-shaped frames is multiple, and the U-shaped frames are distributed at intervals along the horizontal direction; the first rod body is connected with a plurality of first vertical sections of the U-shaped frames respectively, the second rod body is connected with a plurality of second vertical sections of the U-shaped frames respectively, and the third rod body is connected with a plurality of horizontal sections of the U-shaped frames respectively.

2. A loading device for flanges as claimed in claim 1, wherein said gripping claws are four in number.

3. A feeding device for a flange according to claim 1, wherein a plurality of the first rods are arranged at intervals in the vertical direction, a plurality of the second rods are arranged at intervals in the vertical direction, and a plurality of the third rods are arranged at intervals in the vertical direction;

the first rod bodies, the second rod bodies and the third rod bodies are in one-to-one correspondence.

4. A loading attachment of flange as claimed in claim 3, characterized in that the number of said first rod, second rod and third rod is three.

5. A loading attachment for a flange as claimed in claim 1 wherein said robotic arm has six degrees of freedom.

6. A feeding device for a flange according to claim 1, further comprising a second base, a slide rail and a second driving mechanism, wherein the mechanical arm is arranged on the second base, the second base is slidably arranged on the slide rail, and the second driving mechanism drives the second base to move on the slide rail.

7. The flange feeding device according to claim 1, wherein a plurality of the first position-limiting members are welded to the first rod respectively, a plurality of the second position-limiting members are welded to the second rod respectively, and a plurality of the third position-limiting members are welded to the third rod respectively.