CN113696168A

CN113696168A - Angle steel transferring mechanical arm and angle steel processing production line for power transmission tower

Info

Publication number: CN113696168A
Application number: CN202111067658.0A
Authority: CN
Inventors: 欧阳宇恒; 李勇; 代小东
Original assignee: Chongqing Yuhuang Electric Power Equipment Manufacturing Co ltd
Current assignee: Chongqing Yuhuang Electric Power Equipment Manufacturing Co ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2021-11-26
Anticipated expiration: 2041-09-13
Also published as: CN113696168B

Abstract

The invention discloses an angle steel transferring manipulator and a power transmission tower angle steel processing production line, wherein the angle steel transferring manipulator comprises six mechanical arms capable of moving at multiple angles, and clamping heads are arranged at the execution ends of the six mechanical arms; the clamping head comprises a mounting plate connected with the execution end of the six-axis mechanical arm, and the bottom of the mounting plate is provided with a clamping groove with a section matched with the outer side of the angle steel; both sides in the clamping groove are provided with first electromagnets. The angle steel processing production line for the power transmission iron tower comprises a cutting device, a drilling device and an angle steel transferring manipulator positioned between the cutting device and the drilling device; the angle steel transferring manipulator is used for transferring the angle steel sheared on the cutting device to the drilling device; the drilling device is provided with a centering mechanism which is used for centering and adjusting the received angle steel to be drilled so as to keep the center lines of all the angle steel to be drilled consistent. The angle steel processing device is beneficial to realizing the automation of angle steel processing, and greatly improves the angle steel processing efficiency, the processing precision and the like.

Description

Angle steel transferring mechanical arm and angle steel processing production line for power transmission tower

Technical Field

The invention belongs to the technical field of angle steel processing, and particularly relates to an angle steel transferring manipulator and a power transmission tower angle steel processing production line.

Background

A power transmission tower, i.e., a power transmission line tower, is a tower-shaped building for power transmission. The structure of the truss is characterized in that various tower types belong to space truss structures, the rod piece mainly comprises single equal angle steel or combined angle steel, and the materials generally adopt two types of Q235 and Q345. In the process of manufacturing the iron tower, a long angle steel needs to be cut into a plurality of sections of shorter angle steels according to the length, the cut angle steels can fall on the ground or other platforms in a right angle mode, and the stacking of the angle steels is messy; then, because the angle steel is connected with the angle steel through the connecting hole and the bolt, the cut angle steel needs to be drilled. In this case, the cut angle steels stacked on the ground need to be manually collected and then sequentially conveyed to the drilling table to be drilled.

However, in this type of processing, the labor intensity of workers is increased by manual handling, and the processing efficiency of the angle steel is also reduced.

Based on this, the applicant considers to design an angle steel transferring mechanical arm and a power transmission tower angle steel processing production line so as to solve the technical problems.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an angle steel transferring mechanical arm and a transmission tower angle steel processing production line, and aims to solve the technical problems that in the prior art, sheared angle steel needs to be manually collected and then manually transferred to drilling equipment in sequence for drilling, the machining efficiency of the angle steel is reduced due to the inconsistency of the cutting and drilling machining processes and manual transfer.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a manipulator is transported to angle steel, includes six arms that can multi-angle activity, and the key lies in: the execution end of the six-axis mechanical arm is provided with a clamping head;

the clamping head comprises an installation plate connected with the execution end of the six-axis mechanical arm, and the bottom of the installation plate is provided with a clamping groove with a section matched with the outer side of the angle steel; and first electromagnets are arranged on two sides in the clamping groove.

Scheme more than adopting, the opening in clamp groove is just to the lateral wall of angle steel to adsorb the angle steel under the effect of first electro-magnet, the activity of six arms can be transported the fixed angle steel of clamping head and work.

Preferably, the clamping groove is defined by two clamping plates, the tops of the two clamping plates are hinged to the mounting plate, an electric telescopic rod is arranged between the mounting plate and the corresponding clamping plate, and two ends of the electric telescopic rod are respectively hinged to the corresponding clamping plate and the corresponding mounting plate.

Scheme more than adopting, two grip blocks enclose into the clamp groove, make the contained angle between two grip blocks can adjust the change under electric telescopic handle's effect to satisfy the centre gripping of the angle steel of different angle sizes, improve the practicality.

Preferably, the hinged parts of the two clamping plates are provided with torsion springs, and two ends of each torsion spring act on the two clamping plates respectively, so that the two clamping plates are driven to rotate oppositely to be close to each other.

Scheme more than adopting, when electric telescopic handle lost the effect, two grip blocks still can receive its power of being close to of its rotation in opposite directions of drive under the effect of torsional spring, keep certain contained angle state promptly, make grip block and angle steel both sides hug closely to guarantee the normal centre gripping of double-layered groove to the angle steel, prevent to drop, improve the reliability.

Preferably, the inner side of the lower end of the clamping plate has a drop-preventing protrusion protruding in the thickness direction thereof, the drop-preventing protrusion extending in the length direction of the corresponding clamping plate.

By adopting the scheme, the thickness of the anti-falling bulge is adapted to the thickness of the side edge of the angle steel, when the angle steel is clamped by the two clamping plates, two sides of the bottom of the angle steel are just positioned on the anti-falling bulge of the corresponding side, and the stability and the reliability during clamping are further ensured.

Preferably, the top of the mounting plate is provided with a stud, and the execution end of the six-axis mechanical arm is provided with a screw hole matched with the stud.

By adopting the scheme, the whole clamping head is conveniently disassembled and assembled, maintenance or replacement is carried out, the structure is simple, and the practicability is high.

The angle steel processing production line for the power transmission iron tower comprises a cutting device, a drilling device and the angle steel transferring manipulator, wherein the angle steel transferring manipulator is positioned between the cutting device and the drilling device;

the angle steel transferring manipulator is used for transferring the angle steel sheared on the cutting device to the drilling device; the drilling device is provided with a centering mechanism which is used for centering and adjusting the received angle steel to be drilled so as to keep the center lines of all the angle steel to be drilled consistent.

By adopting the scheme, the angle steel sheared on the cutting device is quickly transferred to the drilling device for drilling through the angle steel transferring mechanical arm, and the problem of low working efficiency in manual transferring is solved; the centering mechanism on the drilling device can perform centering adjustment on the received angle steel to be drilled, so that the center lines of all the angle steels to be drilled are kept consistent, and normal work of the drilling mechanism is guaranteed.

Preferably, the end part of the drilling device is provided with a centering station, the centering mechanism comprises two push plates which are arranged on two sides of the centering station in a right-to-left mode and a centering driving structure which is used for driving the two push plates to be close to or far away from each other in a synchronous right-to-left mode, and the distances from the two push plates to the middle of the centering station are consistent;

the centering driving structure comprises two sliding blocks which are arranged on the drilling device in a sliding mode, and each sliding block is connected with a corresponding push plate; the two push plates are respectively provided with a rack, a driving motor is arranged between the two racks, and an output shaft of the driving motor is provided with a driving gear which is meshed with the two racks simultaneously;

by adopting the scheme, when the angle steel to be drilled is placed on the corresponding centering station on the drilling device, the centering mechanism starts to work, namely the driving motor works to drive the driving gear to rotate, the driving gear simultaneously drives the two racks meshed with the driving gear to move, the racks drive the sliding blocks connected with the racks respectively to move, finally, the two push plates are enabled to be close to each other in a synchronous mode, the angle steel to be drilled is pushed to move, and the central lines of all the angle steel to be drilled are kept consistent.

Preferably, a material detection sensor and a first arrival sensor for detecting the stroke of the push plate are arranged on the drilling device corresponding to the centering station; the material sensor transmitting end is vertically upward, and a first trigger piece matched with the first in-place sensor is arranged on a moving path of the corresponding push plate on the drilling device.

By adopting the scheme, the material detection sensor can judge whether the centering station receives the angle steel to be drilled transferred by the angle steel transferring manipulator; when the existence of the angle steel to be drilled is detected, the centering mechanism starts to work, and the in-place sensor is used for detecting the moving stroke of the push plate, so that the centering driving mechanism is controlled to stop or work.

Preferably, the cutting device comprises a shearing machine and a receiving cylinder which is arranged on the discharging side of the shearing machine in a rotatable mode, and the receiving cylinder is used for receiving the sheared angle steel and turning the angle steel 180 degrees; the utility model discloses a manipulator for angle steel conveying, including bearing drum, rack, conveyer belt, spacing bead, conveyer belt length direction, distance between two spacing beads and rack width, the below of accepting the drum disposes the rack, the rack below is equipped with conveyer belt, just conveyer belt is last to have the spacing bead that sets up of extending its width direction, spacing bead is along conveyer belt length direction array distribution, and distance between two spacing beads suits with the rack width, conveyer belt is used for carrying the rack that is equipped with the angle steel to the position that is close to angle steel transfer manipulator.

By adopting the scheme, the receiving cylinder receives the angle steel cut by the cutting device, and the angle steel is turned over by 180 degrees, so that the opening of the angle steel to be drilled falls down onto the placing rack and is sequentially stacked, and after the placing rack is loaded, the angle steel is conveyed to the angle steel transferring mechanical arm along the conveying belt; spacing bead on the conveyor belt can carry out spacing fixed effect to the rack, prevents its skew etc..

Preferably, the placing frame comprises a bottom plate, and at least two groups of symmetrically arranged limiting columns are arranged on two sides of the bottom plate; the cutting device is provided with a second in-place sensor under the bearing cylinder, the side wall of the placing rack is provided with a second triggering sheet matched with the placing rack, and the second triggering sheet is located in the middle of two adjacent limiting columns.

By adopting the scheme, when the second trigger piece passes through the second in-place sensor, the conveying belt stops working, the middle positions of the two adjacent limiting columns on the placing frame are just under the bearing cylinder, so that the placing frame is guaranteed to normally load the dropped angle steel to be drilled, after loading is completed, the conveying belt continues working, the next second trigger piece passes through the second in-place sensor repeatedly, and the front action is repeated.

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

through the mutual cooperation of the angle steel transferring mechanical arm, the cutting device, the drilling device, the centering mechanism and the like, the cutting, the collecting, the transferring and the drilling operation design of the angle steel are arranged on the same processing production line, the whole production flow is automatic, the processing process of the angle steel is more coherent, the processing efficiency and the processing precision of the angle steel are greatly improved, and the raw material loss is reduced.

Drawings

Fig. 1 is a schematic structural view of the angle steel transferring manipulator of the present invention.

Fig. 2 is an enlarged view of a portion a in fig. 1.

Fig. 3 is a schematic view of the overall structure of the angle steel processing production line of the invention.

Fig. 4 is an enlarged view of fig. 3 at B.

Fig. 5 is an enlarged view of fig. 3 at C.

Fig. 6 is an enlarged view of fig. 3 at D.

Fig. 7 is a schematic cross-sectional view of the receiving cylinder of the cutting device in fig. 3.

Fig. 8 is a side view of the drilling device of the present invention.

Fig. 9 is a front view of the drilling device of the present invention.

Fig. 10 is a schematic top view of the drilling device of the present invention.

Fig. 11 is a schematic view of the overall structure of the angle steel processing production line of the invention.

Fig. 12 is an enlarged view of fig. 11 at E.

Fig. 13 is an enlarged view at F in fig. 11.

Fig. 14 is a schematic view of the overall structure of the angle steel processing production line of the invention.

Fig. 15 is an enlarged view at G in fig. 14.

Fig. 16 is an enlarged view at H of fig. 14.

Fig. 17 is a front view schematically illustrating the structure of the installation box of the drilling apparatus according to the present invention.

Fig. 18 is a schematic top view of a mounting box of the drilling apparatus of the present invention.

Fig. 19 is a schematic structural view of a bushing in the drilling device of the present invention.

Fig. 20 is a schematic top view of the angle steel processing production line according to the first embodiment of the present invention.

Fig. 21 is a schematic top view of the angle steel processing production line according to the second embodiment of the present invention.

Labeled as:

1, an angle steel transferring manipulator; 101 a six-axis robotic arm; 102 mounting a plate; 103 a clamping groove; 104 a first electromagnet; 105 a clamping plate; 106, an electric telescopic rod; 107 anti-falling bulges; 108 a stud;

2, a cutting device; 201, a shearing machine; 202 receiving the cylinder; 203 a conveyor belt; 204 limit ribs; 205 hydraulic push rod; 206 a push plate; 207 a receiving groove; 208 a second electromagnet; 209 an infrared sensor; 210 a pressure sensor; 211 a control cabinet; 212 a movable cavity; 213 a movable hole; 214 a support rod; 215 supporting the wheels; 216 supporting the top plate; 217 a guide groove; 218 a toothed plate; 219 a drive gear; 220 a driven gear; 221 an intermediate gear; 222 a base plate; 223 a limit column; 224 a second in-position sensor; 225 a second trigger patch; 226 access panel;

3, drilling a hole; 301 pushing plate; 302 a slide block; 303 a rack; 304 driving a motor; 305 drive a gear; 306 a material detection sensor; 307 a first in-position sensor; 308 a first trigger patch; 309 a workbench; 310 conveying lines; 311 positioning seats; 312 installing a case; 313 drill bit; 314 a support; 315 a slide carriage; 316 a first hydraulic telescopic rod; 317 a second hydraulic telescoping rod; 318 top block; 319 a first support frame; 320, a mounting rack; 321 a mounting seat; 322 third hydraulic telescoping rod; 323 a clamping block; 324 a third electromagnet; 325 collecting rack; 326 placing a groove; 327 screw motor; 328 a main shaft; 329 operating motor; 330 driven working gear; 331 an active working gear; 332, a shaft sleeve; 333 bearing; 334 a drive shaft; 335 a coupler; 336 outer fluted disc; 337 positioning the shaft; 338 a first adjusting gear; 339 regulating the motor; 340 connecting shafts; 341 second regulating gear; 342 actively adjusting the gear; 343 intermediate adjusting gear; 344 locating blocks;

4 installing a base.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In the specific implementation:

as shown in fig. 1 to 2, an angle iron transferring manipulator 1 comprises a six-axis manipulator 101 capable of moving at multiple angles, wherein a clamping head is arranged at an execution end of the six-axis manipulator 101; the clamping head comprises a mounting plate 102 connected with the execution end of the six-axis mechanical arm 101, and the bottom of the mounting plate 102 is provided with a clamping groove 103 with a section matched with the outer side of the angle steel; the first electromagnets 104 are arranged on two sides in the clamping groove 103. The clamping groove 103 is defined by two clamping plates 105, the tops of the two clamping plates 105 are hinged to the mounting plate 102, an electric telescopic rod 106 is arranged between the mounting plate 102 and the corresponding clamping plate 105, and two ends of the electric telescopic rod 106 are respectively hinged to the corresponding clamping plate 105 and the mounting plate 102.

Therefore, the two clamping plates 105 enclose the clamping groove 103, and the included angle between the two clamping plates 105 can be adjusted and changed under the action of the electric telescopic rod 106, so that the clamping of the angle steels with different angles is met, and the practicability is improved. When needing the centre gripping to transport the angle steel, just to the lateral wall of angle steel with the opening of pressing from both sides groove 103 to adsorb the angle steel under the effect of first electro-magnet 104, the activity of six arms 101 can be transported the work to the fixed angle steel of clamping head.

In this embodiment, the hinged portion of the two clamping plates 105 is provided with a torsion spring, and two ends of the torsion spring act on the two clamping plates 105 respectively, so that the two clamping plates 105 are driven to rotate toward each other. Thus, when the electric telescopic rod 106 is out of action, the two clamping plates 105 can still be driven to rotate in opposite directions to approach each other under the action of the torsion spring, namely, a certain included angle state is kept, and the normal clamping of the angle steel by the clamping groove 103 is ensured.

Meanwhile, in the present aspect, as shown in fig. 2, the lower end inner side of the chucking plate 105 has a drop-preventing protrusion 107 protruding in the thickness direction thereof, and the drop-preventing protrusion 107 extends in the length direction of the corresponding chucking plate 105. When the two clamping plates 105 clamp the angle steel, two sides of the bottom of the angle steel are just positioned on the anti-falling bulges 107 on the corresponding sides, so that the stability during clamping is further ensured. The top of the mounting plate 102 is provided with a stud 108, and the execution end of the six-axis mechanical arm 101 is provided with a screw hole matched with the stud 108. Therefore, the whole clamping head is convenient to disassemble and assemble, maintenance or replacement is carried out, the structure is simple, and the practicability is high.

On the basis, the invention also provides a power transmission tower angle steel processing production line as shown in fig. 3 to 21, which mainly comprises a cutting device 2, a drilling device 3 and an angle steel transferring mechanical arm 1 positioned between the cutting device 2 and the drilling device 3; the angle steel transferring mechanical arm 1 is used for transferring the angle steel cut by the cutting device 2 to the drilling device 3; the drilling device 3 is provided with a centering mechanism which is used for centering and adjusting the received angle steel to be drilled so as to keep the center lines of all the angle steel to be drilled consistent.

Therefore, the angle steel sheared on the cutting device 2 is quickly transferred to the drilling device 3 for drilling through the angle steel transferring mechanical hand 1, and the problem of low working efficiency in manual transferring is solved; the centering mechanism on the drilling device 3 can perform centering adjustment on the received angle steel to be drilled, so that the center lines of all the angle steel to be drilled are kept consistent, namely, the normal work of the drilling mechanism is ensured.

During implementation, the cutting device 2, the drilling device 3 and the angle steel transferring mechanical arm 1 are all arranged on the mounting base 4, so that reasonable position arrangement among the cutting device, the drilling device and the angle steel transferring mechanical arm is facilitated.

In the scheme, as shown in fig. 3 to 7, the cutting device 2 comprises a shearing machine 201 and a receiving cylinder 202 which is rotatably arranged on the discharging side of the shearing machine, wherein the receiving cylinder 202 is used for receiving the sheared angle steel and turning the angle steel by 180 degrees; the bearing cylinder 202 is provided with at least one placing frame, a conveying belt 203 is arranged under the bearing cylinder 202, the conveying belt 203 is provided with limiting convex ridges 204 arranged along the width direction of the conveying belt 203, the limiting convex ridges 204 are distributed in an array mode along the length direction of the conveying belt 203, the distance between the two limiting convex ridges 204 is matched with the width of the placing frame, and the conveying belt 203 is used for conveying the placing frame with the angle steel to a position close to the angle steel transferring mechanical arm 1.

In this way, the receiving cylinder 202 receives the angle steel cut by the shearing machine 201, and turns over by 180 degrees, so that the opening of the angle steel to be drilled falls down onto the placing rack and is stacked in sequence, and after the placing rack is loaded, the angle steel is conveyed to the angle steel transferring mechanical arm 1 along the conveying belt 203; spacing bead 204 on conveyor belt 203 can carry out spacing fixed effect to the rack, prevents rack skew etc..

In practice, as shown in fig. 7, the receiving cylinder 202 further has an access window 226 for facilitating installation and access of the components in the installation chamber.

In implementation, as shown in fig. 3 and fig. 20, a pushing mechanism is arranged at one end of the conveying belt 203 close to the angle iron transferring manipulator 1, and is used for pushing the rack after transferring is finished away from the conveying belt 203 so as to ensure that the next rack reaches a position to be grabbed; the pushing mechanism includes a hydraulic push rod 205 provided perpendicular to the conveying direction of the conveyor belt 203, and a pushing plate 206 is provided at an end thereof. Simultaneously as preferred, as shown in fig. 21, two sets of conveyor belts 203 can be arranged on the mounting base 4 in parallel and horizontally, and simultaneously, a pushing mechanism is also arranged at one end of the second set of conveyor belts 203 far away from the angle steel transferring mechanical arm 1, and the second set of conveyor belts 203 are used for conveying the rack after the angle steel transferring mechanical arm 1 is transferred and returning to one end of the cutting device 2, so that the rack can be reused conveniently, and the rack can be recycled automatically.

In practice, as shown in fig. 3 to 7 and 14 to 16, the receiving cylinder 202 has a receiving groove 207 opened along the length direction thereof, the receiving groove 207 is opened at a side close to the shearing machine 201, the receiving cylinder 202 can rotate so that the opening end of the receiving groove 207 faces the discharge port of the shearing machine 201, and the two side walls of the receiving groove 207 have second electromagnets 208 distributed along the length direction thereof; an infrared sensor 209 for judging the length of the shearing angle steel is arranged on the inner side of the bearing groove 207, a pressure sensor 210 is arranged on the inner wall of one end, away from the shearing machine 201, of the bearing groove 207, and the horizontal distance between the infrared sensor 209 and the pressure sensor 210 is the same as the horizontal distance between the bearing groove 207 and the shearing opening of the shearing machine 201; the shearing machine 201 is provided with a control cabinet 211, and the infrared sensor 209, the pressure sensor 210, the second electromagnet 208 and the shearing machine 201 are respectively and electrically connected to the control cabinet 211.

Meanwhile, a movable cavity 212 is arranged in the receiving cylinder 202, two side walls of the receiving groove 207 are provided with movable holes 213 which are arranged along the length direction of the receiving groove, and each movable hole 213 is communicated with the movable cavity 212; each movable hole 213 is movably provided with a support rod 214, the top of the support rod is provided with a support wheel 215, and the support wheel 215 can be preferably a ball mounted through a ball seat in the practical implementation process; a first jacking mechanism for driving all the support rods 214 to move along the length direction of the corresponding movable hole 213 simultaneously is arranged in the movable cavity 212; the first jacking mechanism is electrically connected to the control cabinet 211.

The first jacking mechanism comprises supporting top plates 216 which are symmetrically arranged at two sides in the movable cavity 212 as shown in fig. 7, and each supporting top plate 216 is in sliding fit with a guide groove 217 arranged on the side wall of each end of the movable cavity 212; the top of each supporting top plate 216 is connected with the supporting rod 214 on the corresponding side, and the bottom of each supporting top plate is provided with a toothed plate 218; a driving assembly for driving the two groups of supporting top plates 216 to move simultaneously is arranged in the movable cavity 212; the driving assembly comprises a driving gear 219 for connecting the output motor, and driven gears 220 respectively engaged with the two sets of toothed plates 218; one of the driven gears 220 is directly engaged with the driving gear 219, the other driven gear 220 is engaged with the driving gear 219 through an intermediate gear 221, and the intermediate gear 221 and the driving gear 219 are the same in size.

For the working principle of the cutting device 2: when the shearing machine 201 feeds, the control cabinet 211 controls the first jacking mechanism to work, so that the supporting wheel 215 protrudes out of the movable hole 213, the angle steel to be sheared can be supported on the supporting wheel 215 in advance, and meanwhile, the supporting wheel 215 plays a role in guiding; when the infrared sensor 209 detects angle steel, the control cabinet 211 controls the device for feeding to stop feeding; then the control cabinet 211 controls the shearing machine 201 to work, after the shearing is finished; the control cabinet 211 continuously controls the feeding device to enable the sheared angle steel to continuously move along the length direction of the bearing groove 207; until the sheared angle steel is contacted with the pressure sensor 210, after the pressure sensor 210 detects the pressure, the control cabinet 211 controls the feeding device to stop feeding, and because the horizontal distance between the infrared sensor 209 and the pressure sensor 210 is the same as the horizontal distance between the receiving groove 207 and the shearing opening of the shearing machine 201, the sheared angle steel completely falls into the receiving groove 207 at this time;

at this time, the control cabinet 211 controls the first jacking mechanism to work, and the driving gear 219 rotates to drive one of the driven gears 220 directly meshed with the driving gear to rotate and drive the other driven gear 220 meshed with the driving gear through the intermediate gear 221 to rotate; since the intermediate gear 221 and the driving gear 219 are the same in size, the two driven gears 220 are respectively engaged with the tooth plates 218 of the corresponding support top plates 216, and the driven gears 220 are engaged with the corresponding tooth plates 218 and enable the corresponding support top plates 216 to simultaneously slide along the guide grooves 217; meanwhile, since all the supporting rods 214 on the same side are disposed on the supporting top plates 216 on the corresponding side, the movement of each supporting top plate 216 can make all the supporting rods 214 on the same side move along the movable holes 213.

The support wheel 215 is completely positioned in the movable hole 213, the cut angle steel falls onto the second electromagnet 208 in the receiving groove 207, and meanwhile, the control cabinet 211 controls the electromagnet to be electrified to absorb the cut angle steel; next, the control cabinet 211 controls the driving mechanism, and the receiving cylinder 202 rotates 180 degrees, so that the opening of the cut angle steel faces downward; then the switch board 211 controls the second electromagnet 208 to be powered off, and the cut angle steel directly falls onto the placing rack below.

When the receiving cylinder 202 rotates and finishes the cut angle steel collecting operation, the other receiving groove 207 on the receiving cylinder 202 is just above the receiving cylinder 202, and the control cabinet 211 does not need to control the receiving cylinder 202 to restore the original position; then, the initial operation control is repeated to prepare the material receiving operation for the second time, so that the continuity and the automation of the whole operation are realized, and the working efficiency is improved; finally, the sheared angle steel is rapidly collected and stacked in order.

In the scheme, as shown in fig. 3 and 15, the placing rack comprises a bottom plate 222, and at least two sets of symmetrically arranged limiting columns 223 are arranged on two sides of the bottom plate 222; the second in-place sensor 224 is arranged right below the bearing cylinder 202 on the cutting device 2, the side wall of the placing rack is provided with a second trigger piece 225 matched with the side wall, and the second trigger piece 225 is arranged in the middle of the two adjacent limiting columns 223.

Thus, when the second trigger piece 225 passes through the second in-place sensor 224, the conveyor belt 203 stops working, at this time, the middle positions of the two adjacent limiting columns 223 on the placing rack are just under the receiving cylinder 202, so that the placing rack can be used for normally loading the dropped angle steel to be drilled, after loading is completed, the conveyor belt 203 continues working, so that the next second trigger piece 225 repeatedly passes through the second in-place sensor 224, and the previous action is repeated.

In the scheme, as shown in fig. 3, 5 and 8 to 10, the end of the drilling device 3 is provided with a centering station, the centering mechanism comprises two push plates 301 which are arranged on two sides of the centering station in a facing manner, and a centering driving structure which is used for driving the two push plates 301 to synchronously face close to or far away from each other, and the vertical distances from the two push plates 301 to the middle of the centering station are always kept consistent; in practice, the centering driving mechanism is positioned in the mounting base 4; the centering driving structure comprises two sliding blocks 302 which are arranged on the drilling device 3 in a sliding manner, and each sliding block 302 is connected with a corresponding push plate 301; all be connected with rack 303 on two push plates 301, the rack 303 level sets up in opposite directions, and is equipped with driving motor 304 between two rack 303, is equipped with the drive gear 305 with two rack 303 meshing simultaneously on driving motor 304's the output shaft.

Therefore, when the angle steel to be drilled is placed on the corresponding centering station on the drilling device 3, the centering mechanism starts to work, namely, the driving motor 304 works to drive the driving gear 305 to rotate, the driving gear 305 simultaneously drives the two racks 303 meshed with the driving gear to move, the racks 303 drive the sliding blocks 302 connected with each other to move, and finally, the two push plates 301 are enabled to be synchronously and rightly close to each other to push the angle steel to be drilled to move, so that the central lines of all the angle steel to be drilled are kept consistent.

Meanwhile, in the scheme, as shown in fig. 5, a material detection sensor 306 and a first arrival sensor 307 for detecting the stroke of the push plate 301 are arranged on the drilling device 3 corresponding to the centering station; the transmitting end of the material sensor is vertically upward, and a first trigger piece 308 matched with the first in-place sensor 307 is arranged on the drilling device 3 corresponding to the moving path of the push plate 301.

Thus, the material detection sensor 306 can judge whether the centering station receives the angle steel to be drilled transferred by the angle steel transfer manipulator 1; when the existence of the angle steel to be drilled is detected, the centering mechanism starts to work, and the in-place sensor is used for detecting the moving stroke of the push plate 301, so that the centering driving mechanism is controlled to stop or work.

In implementation, as shown in fig. 3 and 6 to 19, the drilling device 3 includes a working table 309, two sides of the working table 309 are provided with linear conveying mechanisms arranged along the length direction thereof, each linear conveying mechanism includes a conveying line 310 and positioning seats 311 distributed along the conveying line 310, the conveying lines 310 of the two linear conveying mechanisms are arranged in a horizontally opposite manner, and the positioning seats 311 on the two conveying lines 310 are in one-to-one correspondence; one end of the workbench 309 is provided with a second jacking mechanism and a pressing mechanism which are correspondingly arranged up and down, and a drilling mechanism for drilling, wherein the second jacking mechanism and the pressing mechanism are matched to realize multi-point clamping of the angle steel to be drilled; the drilling mechanism comprises an installation box 312 and two drill bits 313 arranged on the installation box 312, the two drill bits 313 are distributed along the conveying direction of the conveying line 310 at an included angle, and the drilling mechanism can be close to or far away from the angle steel on the conveying line 310 under the action of the displacement mechanism. (the displacement mechanism may be a mechanical movable arm directly to control the movement of the mounting box 312 at any angle; in addition, as shown in fig. 3, a support 314 is arranged above the mounting box 312, the displacement mechanism includes a sliding base 315 in sliding fit with the support 314, the sliding base 315 is provided with a first hydraulic telescopic rod 316 arranged vertically downwards, the end of a piston rod of the first hydraulic telescopic rod 316 is connected with the mounting box 312, the sliding base 315 controls the mounting box 312 to move along the width direction of the workbench 309, and the first hydraulic telescopic rod 316 controls the mounting box 312 to move along the height direction of the workbench 309.)

The positioning seat 311 comprises a positioning block 344 with the same inner section as the angle steel, and the positioning block 344 is detachably mounted on the conveying line 310; therefore, the positioning block 344 is convenient to replace, and the placing and supporting of the angle steels with different angles and sizes are met; the conveying line 310 is a chain wheel conveying belt, i.e. the chain wheel is matched with a chain, and has a certain bearing capacity; meanwhile, when the chain wheel conveying belt works, synchronous operation of the two chain wheel conveying belts needs to be guaranteed, and the problem that subsequent processing is influenced due to the fact that angle steel arranged on the chain wheel conveying belt inclines and the like is avoided.

The second climbing mechanism includes at least three second hydraulic stretching pole 317 that distributes along workstation 309 width direction, and second hydraulic stretching pole 317 is vertical sets up, and each second hydraulic stretching pole 317's rod end portion has the kicking block 318 with the mode that can dismantle setting up, and kicking block 318 cross-section suits with treating the drilling angle steel inboard.

The pressing mechanism comprises a first support frame 319 fixedly arranged on the workbench 309 and a mounting frame 320 movably arranged on the first support frame 319, wherein the mounting frame 320 can slide between the two conveying lines 310 along the width direction of the workbench 309;

the mounting frame 320 is provided with mounting seats 321 which are distributed along the length direction of the mounting frame and are in sliding fit with the mounting seats, the mounting seats 321 can slide on the mounting frame 320 along the length direction of the workbench 309, each mounting seat 321 is provided with a third hydraulic telescopic rod 322 which is vertically arranged downwards, the end part of a piston rod of each third hydraulic telescopic rod 322 is provided with a clamping block 323 which is connected in a detachable mode, the cross section of each clamping block 323 is adapted to the outer side of the angle steel to be drilled, and third electromagnets 324 are distributed on two sides of the inner part of each clamping block 323.

One end of the working table 309 is provided with a collecting rack 325, the collecting rack 325 is positioned at the outer side of the end part of the conveying line 310, a placing groove 326 distributed along the length direction of the working table 309 is arranged on the collecting rack 325, one end of the mounting rack 320 extends to the upper part of the collecting rack 325, a screw rod motor 327 horizontally arranged along the length direction of the mounting rack 320 is arranged on the mounting rack 320, and a screw rod of the screw rod motor 327 is in threaded fit with each mounting seat 321.

The mounting box 312 has two main shafts 328 arranged in parallel, and a working motor 329 for driving the two main shafts 328 to rotate synchronously, and the two drill bits 313 are in one-to-one transmission connection with the two main shafts 328. Driven working gears 330 are sleeved on the two main shafts 328, and a driving working gear 331 meshed with the two driven working gears 330 is sleeved on a motor shaft of the working motor 329. The mounting box 312 is internally provided with shaft sleeves 332 which correspond to the drill bits 313 one by one and are arranged, the shaft sleeves 332 are internally and fixedly provided with bearings 333, the bearings 333 are internally and fixedly provided with transmission shafts 334, one ends of the transmission shafts 334 are connected with the corresponding main shafts 328 through shaft couplings 335, the other ends of the transmission shafts are fixedly connected with the corresponding drill bits 313, the shaft sleeves 332 are rotatably supported in the mounting box 312, and the mounting box 312 is internally provided with an adjusting mechanism for synchronously adjusting the included angle of the two drill bits 313. The outer side of the shaft sleeve 332 is provided with an outer gear plate 336 arranged along the tangential direction of the shaft sleeve 332, the outer gear plate 336 is rotatably supported on the mounting box 312 through a positioning shaft 337, the positioning shaft 337 is arranged along the width direction of the workbench 309, and the adjusting mechanism comprises a first adjusting gear 338 meshed with the outer gear plate 336 and an adjusting motor 339 used for driving the first adjusting gear 338 corresponding to the two shaft sleeves 332 to rotate; the first adjusting gear 338 is rotatably supported on the mounting box 312 through a connecting shaft 340, a second adjusting gear 341 is fixedly sleeved on the connecting shaft 340, a motor shaft of the adjusting motor 339 is fixedly sleeved with a driving adjusting gear 342, one side of the driving adjusting gear 342 is meshed with one of the second adjusting gears 341, and the other side of the driving adjusting gear 342 is in transmission with the other second adjusting gear 341 in the same ratio through a middle adjusting gear 343 meshed with the driving adjusting gear.

For the working principle of the drilling mechanism: the working motor 329 works to enable the driving working gear 331 to rotate, the driving working gear 331 rotates and simultaneously drives the two driven working gears 330 engaged with the driving working gear 331 to rotate, the driven working gears 330 drive the two main shafts 328 to rotate, each main shaft 328 drives the corresponding transmission shaft 334 to rotate through the coupler 335, and the transmission shaft 334 rotates to drive the drill 313 correspondingly connected to the transmission shaft to rotate, namely, the two drill 313 distributed at an included angle are enabled to synchronously rotate;

when the inclination angles of the two drill bits 313 need to be adjusted, the adjusting motor 339 works to drive the active adjusting gear 342 to rotate, the active adjusting gear 342 rotates to drive one of the second adjusting gears 341 directly meshed with the active adjusting gear to rotate, and meanwhile, the active adjusting gear 342 rotates to drive the other second adjusting gear 341 meshed with the active adjusting gear through the middle adjusting gear 343; thus, the two second adjusting gears 341 rotate to drive the connecting shafts 340 on which the two second adjusting gears are respectively located to rotate, and the rotating directions of the two connecting shafts 340 are opposite, that is, the first adjusting gear 338 on each connecting shaft 340 rotates, the first adjusting gear 338 rotates to drive the outer toothed disc 336 correspondingly meshed with the first adjusting gear to rotate, the outer toothed disc 336 rotates to enable the two corresponding shaft sleeves 332 to rotate oppositely or oppositely, the shaft sleeves 332 rotate to enable the transmission shafts 334 installed inside the shaft sleeves 332 to rotate angularly through the bearings 333, finally, the inclination angles of the two drill bits 313 are changed, and meanwhile, the bearings 333 ensure the normal operation of the drill bits 313.

For the working principle of the drilling device 3: the angle steel transferring mechanical arm 1 transfers the angle steel of the hole to be drilled on the placing frame and places the angle steel on the positioning seat 311 on the conveying line 310, and then the centering mechanism starts to work so that the median line of the angle steel to be drilled, which is placed on the positioning seat 311, is aligned with the median line of the linear conveying mechanism; then the conveying line 310 continues to work, so that the next positioning seat 311 continues to place the angle steel transferred by the angle steel transferring manipulator 1, and centering adjustment is performed; when the angle steel on the positioning seat 311 is conveyed to a position above the second jacking mechanism, the sliding of the mounting frame 320 and the mounting seat 321 is controlled, so that the clamping block 323 can be aligned with the jacking block 318 needing to be correspondingly lifted as much as possible, namely the jacking block 318 is close to the drilling position; then, the top block 318 rises under the action of the corresponding second hydraulic telescopic rod 317 until the outer side wall of the angle steel is in contact with the inner side wall of the clamping block 323, so that the angle steel is fixed, and meanwhile, the third electromagnet 324 works to adsorb the angle steel, so that the fixing effect is better and more stable; the second jacking mechanism and the pressing mechanism are matched to realize multi-point clamping of the angle steel to be drilled; the clamping position is closer to the drilling position, the force arm of acting force of the drilling mechanism during working is reduced, and the angle steel is prevented from being influenced; then, the drilling mechanism is close to or far away from the angle steel on the conveying line 310 under the action of the displacement mechanism, and is matched with two drill bits 313 distributed along the conveying direction of the conveying line 310 at an included angle, so that hole aligning processing on two sides of the angle steel is realized, and the hole aligning processing efficiency of wing plates on two sides of the angle steel is further improved;

after the processing is completed, the second hydraulic telescopic rod 317 retracts, the processed angle steel is adsorbed by the third electromagnet 324, the screw rod motor 327 works, the mounting seat 321 moves to the upper side of the collecting frame 325, the extension of the third hydraulic telescopic rod 322 and the work of the third electromagnet 324 are controlled, the processed angle steel can be placed in the corresponding placing groove 326, stacking is carried out sequentially from bottom to top, and subsequent rapid carrying is facilitated.

The above is only a preferred embodiment of the present invention, and it should be noted that several modifications and improvements made by those skilled in the art without departing from the technical solution should also be considered as falling within the scope of the claimed invention.

Claims

1. The utility model provides a manipulator is transported to angle steel, includes six arms that can multi-angle activity, its characterized in that: the execution end of the six-axis mechanical arm is provided with a clamping head;

the clamping head comprises a mounting plate connected with the execution end of the six-axis mechanical arm, and the bottom of the mounting plate is provided with a clamping groove with a section matched with the outer side of the angle steel; and first electromagnets are arranged on two sides in the clamping groove.

2. The angle iron transfer manipulator of claim 1, wherein: the clamping groove is defined by two clamping plates, the tops of the two clamping plates are hinged to the mounting plate, an electric telescopic rod is arranged between the mounting plate and the corresponding clamping plate, and the two ends of the electric telescopic rod are respectively hinged to the corresponding clamping plate and the mounting plate.

3. The angle iron transfer manipulator according to claim 1 or 2, characterized in that: and the hinged parts of the two clamping plates are provided with torsional springs, and two ends of each torsional spring act on the two clamping plates respectively, so that the two clamping plates are driven to rotate oppositely to be close to each other.

4. The angle iron transfer manipulator of claim 2, wherein: the lower extreme inboard of grip block has along its thickness direction outstanding anti-falling arch, anti-falling arch extends along corresponding grip block length direction.

5. The angle iron transfer manipulator of claim 1 or 4, wherein: the top of mounting panel is equipped with the double-screw bolt, have the screw with double-screw bolt complex on the execution end of six arms.

6. An angle steel processing production line of a power transmission tower, which comprises a cutting device, a drilling device and an angle steel transferring mechanical arm according to any one of claims 1-5, wherein the angle steel transferring mechanical arm is positioned between the cutting device and the drilling device;

7. The angle iron machining production line for transmission towers according to claim 6, characterized in that: the end part of the drilling device is provided with a centering station, the centering mechanism comprises two push plates which are arranged on two sides of the centering station in a right-to-left mode and a centering driving structure which is used for driving the two push plates to be close to or far away from each other in a synchronous right-to-left mode, and the distances from the two push plates to the middle of the centering station are consistent all the time;

the centering driving structure comprises two sliding blocks which are arranged on the drilling device in a sliding mode, and each sliding block is connected with a corresponding push plate; the two push plates are connected with racks, the racks are horizontally arranged in opposite directions, a driving motor is arranged between the racks, and a driving gear meshed with the two racks is arranged on an output shaft of the driving motor.

8. The angle iron machining production line for transmission towers according to claim 7, characterized in that: a material detection sensor and a first arrival sensor for detecting the stroke of the push plate are arranged on the drilling device corresponding to the centering station; the material sensor transmitting end is vertically upward, and a first trigger piece matched with the first in-place sensor is arranged on a moving path of the corresponding push plate on the drilling device.

9. The angle iron machining production line for transmission towers according to claim 6, characterized in that: the cutting device comprises a shearing machine and a receiving cylinder which is arranged on the discharging side of the shearing machine in a rotatable mode, and the receiving cylinder is used for receiving the sheared angle steel and overturning the angle steel by 180 degrees; the utility model discloses a manipulator for angle steel conveying, including bearing drum, rack, conveyer belt, spacing bead, conveyer belt length direction, distance between two spacing beads and rack width, the below of accepting the drum disposes the rack, the rack below is equipped with conveyer belt, just conveyer belt is last to have the spacing bead that sets up of extending its width direction, spacing bead is along conveyer belt length direction array distribution, and distance between two spacing beads suits with the rack width, conveyer belt is used for carrying the rack that is equipped with the angle steel to the position that is close to angle steel transfer manipulator.

10. The line for processing angle steel for transmission towers according to claim 9, wherein: the placing rack comprises a bottom plate, and at least two groups of symmetrically arranged limiting columns are arranged on two sides of the bottom plate; the cutting device is provided with a second in-place sensor under the bearing cylinder, the side wall of the placing rack is provided with a second triggering sheet matched with the placing rack, and the second triggering sheet is located in the middle of two adjacent limiting columns.