CN114131411A - Steel plate moving device and moving method - Google Patents
Steel plate moving device and moving method Download PDFInfo
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- CN114131411A CN114131411A CN202111586388.4A CN202111586388A CN114131411A CN 114131411 A CN114131411 A CN 114131411A CN 202111586388 A CN202111586388 A CN 202111586388A CN 114131411 A CN114131411 A CN 114131411A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 176
- 239000010959 steel Substances 0.000 title claims abstract description 176
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 282
- 239000000872 buffer Substances 0.000 claims abstract description 57
- 230000003139 buffering effect Effects 0.000 claims abstract description 12
- 238000004519 manufacturing process Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 abstract 1
- 230000006378 damage Effects 0.000 abstract 1
- 208000014674 injury Diseases 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000005097 cold rolling Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005098 hot rolling Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of machinery, and discloses a steel plate moving device and a moving method, which are applied to a steel plate truss production line and comprise the following steps: the gripping mechanism is used for gripping the steel plate in the vertical direction; the adjusting mechanism is connected with at least one gripper mechanism and is used for adjusting the position of the at least one gripper mechanism; the moving mechanism is connected with the adjusting mechanism and used for moving the gripper mechanism in the horizontal direction; the buffer mechanism is connected with the moving mechanism and is used for buffering the moving mechanism; and the supporting frame is connected with the buffer mechanism and the moving mechanism and used for fixing the buffer mechanism and the moving mechanism. The automatic steel plate conveying device has the advantages that the application range is expanded, the technical effect of automatically conveying steel plates is realized, the steel plate conveying efficiency is improved, the risk of injury of workers is eliminated, and the stability and the safety of steel plate conveying work are ensured.
Description
Technical Field
The invention relates to the field of machinery, in particular to a steel plate moving device and a steel plate moving method.
Background
The steel plate truss is generally manufactured by using steel plates, wherein the steel plates are flat steel plates which are formed by pouring molten steel, cooling and pressing, are flat and rectangular, and can be directly rolled or cut by wide steel strips. The steel plates are divided according to the thickness, the thin steel plate is less than 4 mm (the thinnest is 0.2 mm), the medium steel plate is 4-60 mm, and the extra-thick steel plate is 60-115 mm. The steel plate is divided into hot rolling and cold rolling according to rolling, and the truss is a structure formed by connecting rod pieces at two ends by hinges. The truss is a plane or space structure which is generally provided with triangular units and consists of straight rods, and the truss rod piece mainly bears axial tension or pressure, so that the strength of materials can be fully utilized, the material can be saved compared with a solid web beam when the span is large, the self weight is reduced, and the rigidity is increased.
However, the inventor found that in the current production line of the steel plate truss, the steel plate is transported by manual transportation, which not only has low transportation efficiency, but also is easy to be impacted by the steel plate due to too close distance between workers and the transported steel plate, and thus the workers are injured.
Disclosure of Invention
The invention aims to provide a steel plate moving device and a steel plate moving method, which are used for solving the problems that in the prior art, the transfer efficiency is low due to manual steel plate transfer, and workers are easy to be injured due to steel plate collision.
In order to achieve the above object, the present invention provides a steel plate moving device, which is applied to a steel plate truss production line, and comprises:
the gripping mechanism is used for gripping the steel plate in the vertical direction;
the adjusting mechanism is connected with at least one gripper mechanism and is used for adjusting the position of the at least one gripper mechanism;
the moving mechanism is connected with the adjusting mechanism and used for moving the gripper mechanism in the horizontal direction;
the buffer mechanism is connected with the moving mechanism and is used for buffering the moving mechanism;
and the supporting frame is connected with the buffer mechanism and the moving mechanism and used for fixing the buffer mechanism and the moving mechanism.
In the above-mentioned scheme, tongs mechanism includes:
the pneumatic gripper is used for gripping the steel plate;
and the lifting piece is connected with the pneumatic gripper and used for adjusting the position of the gripper mechanism.
In the above aspect, the adjusting mechanism includes:
connecting the kit: connecting with the mobile device;
the adjusting rod penetrates through the connecting sleeve to enable the connecting sleeve to be capable of sliding on the adjusting rod;
and the adjusting bolt is used for being inserted into the connecting sleeve and the adjusting rod to enable the connecting sleeve to be fixed on the adjusting rod.
In the above aspect, the moving mechanism includes:
a slide bar having a roller, wherein the roller rolls on the slide bar in an axial direction of the slide bar;
and the speed reducing motor is fixed on the adjusting mechanism, is connected with the roller and is used for outputting power for rolling on the sliding rod to the roller.
In the above aspect, the buffer mechanism includes:
a proximity sensor for contacting the moving mechanism and for sending a shutdown signal to the moving mechanism;
and the piston assembly is provided with an elastic structure and is connected with the contact sensor for providing buffering for a moving mechanism which is in contact with the contact sensor.
In order to achieve the above object, the present invention provides a steel plate moving method, which is applied to a steel plate truss production line, and comprises:
arranging a support frame and a moving mechanism to enable a steel plate to be positioned below the moving mechanism, and arranging a moving destination of the steel plate at one end of the support frame;
adjusting the position of at least one gripper mechanism on the adjusting mechanism to enable the position of the gripper mechanism to be matched with the size of the steel plate;
moving the gripper mechanism to the position above the steel plate through the moving mechanism;
connecting the gripper mechanism with the steel plate;
moving the steel plate to the moving destination by the moving mechanism;
when the moving mechanism is in contact with the buffer mechanism, the moving mechanism is controlled to stop, and the buffer mechanism is used for buffering the moving mechanism so as to eliminate the impact force when the steel plate moves to the moving destination.
In the above-mentioned scheme, adjust the position of at least one tongs mechanism on the guiding mechanism, make the position and the steel sheet size matching of tongs mechanism include:
moving a connecting sleeve in the adjusting mechanism on the adjusting rod to move the gripper mechanism to a specified position, wherein the specified position is determined according to the size of the steel plate;
and inserting an adjusting bolt of an adjusting mechanism into the connecting sleeve and the adjusting rod to fix the connecting sleeve on the adjusting rod.
In the above scheme, the connecting the gripper mechanism with the steel plate includes:
adjusting a lifting piece of the gripper mechanism to enable a pneumatic clamping jaw of the gripper mechanism to move downwards in the vertical direction;
when the pneumatic clamping jaw is contacted with the steel plate, controlling the pneumatic clamping jaw to grab the steel plate to enable the grabbing mechanism to be connected with the steel plate;
the pneumatic clamping jaws are moved upwards in the vertical direction through the lifting piece, and the steel plate is moved upwards and suspended in the air.
In the above aspect, the moving the steel plate to the destination by the moving mechanism includes:
acquiring one end of the support frame corresponding to the moving destination;
and starting a speed reducing motor in the moving mechanism to provide power for a roller of the moving mechanism so as to enable the roller to move on a sliding rod of the moving mechanism, wherein the movement of the roller drives the adjusting mechanism, the gripper mechanism and a steel plate connected with the gripper mechanism to move towards the moving destination.
In the foregoing aspect, when the moving mechanism contacts the buffer mechanism, the controlling the moving mechanism to stop and providing buffer to the moving mechanism through the buffer mechanism to counteract the impact force when the steel plate moves to the moving destination includes:
monitoring whether a contact sensor of the buffer mechanism sends a contact signal;
if so, judging that the steel plate is moved to the moving destination by the gripper mechanism, and sending a stop signal to a speed reduction motor of the moving mechanism to close the speed reduction motor;
and the piston assembly of the buffer mechanism buffers inertia generated by the roller of the moving mechanism during moving so as to realize stable stop of the steel plate.
According to the steel plate moving device and the moving method, the position of at least one gripper mechanism on the adjusting mechanism is adjusted, so that the position of the gripper mechanism is matched with the size of a steel plate, the technical effect of carrying steel plates with different sizes is achieved, and the application range is expanded;
moving the gripper mechanism to the position above the steel plate through the moving mechanism; the gripping mechanism is connected with the steel plate, and the steel plate is moved to the moving destination through the moving mechanism, so that the technical effect of automatically carrying the steel plate is realized, the steel plate transferring efficiency is improved, and the risk that workers are injured due to the fact that the workers are impacted by the steel plate due to the fact that the steel plate is too close to the steel plate in carrying is eliminated;
when the moving mechanism is in contact with the buffer mechanism, the moving mechanism is controlled to stop, the buffer mechanism is used for buffering the moving mechanism, the impact force generated when the steel plate moves to the moving destination is eliminated, the steel plate is prevented from being braked suddenly when being carried to the moving destination at present, the device or the steel plate is prevented from being impacted by strong force, and the stability and the safety of the steel plate carrying work are ensured.
Drawings
FIG. 1 is a schematic perspective view of a steel plate moving device according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view illustrating a buffering mechanism in an embodiment of a steel plate moving apparatus according to the present invention;
FIG. 3 is a flowchart illustrating a method for moving a steel plate according to an embodiment of the present invention.
Reference numerals:
1. tongs mechanism 2, guiding mechanism 3, moving mechanism 4, buffer gear 5, support frame
11. Pneumatic gripper 12, lifting piece 121, lifting cylinder 122 and lifting rod
21. Connecting sleeve 22, adjusting rod 23, adjusting bolt 211, sleeve groove 221 and adjusting hole
31. Roller 32, sliding rod 33, speed reducing motor 321, sliding groove 331 and output shaft
41. Proximity sensor 42, resilient structure 43, piston assembly 431, opening
432. Fixed cylinder 433, piston cavity 434 and piston 435 piston rod
4331. Elastic cavity 4332, connecting cavity 51 and upright post
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following examples are now provided:
the first embodiment is as follows:
referring to fig. 1-2, a steel plate moving apparatus of the present embodiment is applied to a steel plate truss production line, and includes:
a gripper mechanism 1 for gripping a steel plate (not shown in the figure) in a vertical direction;
the adjusting mechanism 2 is connected with at least one gripper mechanism 1 and is used for adjusting the position of the at least one gripper mechanism 1;
the moving mechanism 3 is connected with the adjusting mechanism 2 and used for moving the gripper mechanism 1 in the horizontal direction;
and a buffer mechanism 4 connected to the moving mechanism 3 for buffering the moving mechanism 3.
And the support frame 5 is connected with the buffer mechanism 4 and the moving mechanism 3 and is used for fixing the buffer mechanism 4 and the moving mechanism 3.
The working principle of the technical scheme is as follows: arranging a support frame 5 and a moving mechanism 3 so that a steel plate is positioned below the moving mechanism 3, and arranging a moving destination of the steel plate at one end of the support frame 5; adjusting the position of at least one gripper mechanism 1 on the adjusting mechanism 2 to enable the position of the gripper mechanism 1 to be matched with the size of the steel plate; the gripper mechanism 1 is moved to the upper part of the steel plate through the moving mechanism 3; connecting the gripper mechanism 1 with the steel plate; moving the steel plate to the moving destination by the moving mechanism 3; when the moving mechanism 3 is in contact with the buffer mechanism 4, the moving mechanism 3 is controlled to stop, and the buffer mechanism 4 is used for providing buffer for the moving mechanism 3 so as to absorb the impact force when the steel plate moves to the moving destination.
Therefore, the technical effect of automatically carrying the steel plates with different sizes is achieved, the steel plate carrying efficiency is improved, the carrying application range is expanded, the risk that workers are injured due to the fact that the workers are impacted by the steel plates due to the fact that the steel plates are too close to each other in carrying is eliminated, inertia generated when the steel plates are carried is eliminated through the buffer mechanism 4, the steel plates are prevented from being braked suddenly when being carried to a moving destination at present, the device or the steel plates are subjected to strong impact, and stability and safety of steel plate carrying work are guaranteed.
Preferably, the gripper mechanism 1 includes:
a pneumatic gripper 11 for gripping the steel plate;
and the lifting piece 12 is connected with the pneumatic gripper 11 and is used for adjusting the position of the gripper mechanism 1.
Specifically, the gripping mechanism 1 is provided with at least one, and at least one gripping mechanism 1 grips the steel plate so as to ensure the gripping force and stability for gripping the steel plate;
the lifting piece 12 comprises a lifting cylinder 121, a lifting rod 122 is arranged at the output end of the lifting cylinder 121 downwards, and a pneumatic gripper 11 is arranged at the bottom end of the lifting rod 122.
Preferably, the adjusting mechanism 2 includes:
connection kit 21: connecting with the mobile device;
an adjusting rod 22 passing through the connecting sleeve 21 so that the connecting sleeve 21 can slide on the adjusting rod 22;
and an adjusting bolt 23 for inserting the connecting sleeve 21 and the adjusting rod 22 to fix the connecting sleeve 21 on the adjusting rod 22.
Specifically, a sleeve groove 211 is arranged on the inner side of the connecting sleeve 21, and the connecting sleeve 21 is slidably sleeved on the outer side of the adjusting rod 22 through the sleeve groove 211, so that the connecting sleeve 21 can slide on the adjusting rod 22; the lifting cylinder 121 is fixedly connected to the bottom end of the connecting sleeve 21;
a plurality of groups of adjusting holes 221 which are uniformly distributed are formed in the adjusting rod 22, and the adjusting holes 221 penetrate through two opposite side faces of the adjusting rod 22; the connecting sleeve 21 is provided with a positioning bolt matched with the adjusting hole 221, and the connecting sleeve 21 is inserted into the adjusting hole 221 through the positioning bolt, so that the connecting sleeve 21 is detachably connected to the adjusting rod 22.
Preferably, the moving mechanism 3 includes:
a slide bar 32 having a roller 31, wherein the roller 31 rolls on the slide bar 32 in an axial direction of the slide bar 32;
a reduction motor 33 fixed to the adjustment mechanism 2, connected to the roller 31, and configured to output power for rolling on the slide bar 32 to the roller 31;
specifically, two ends of the sliding rod 32 are respectively connected with the front side and the rear side of the support frame 5, the sliding rod 32 is provided with a sliding groove 321 parallel to the axis of the sliding rod 32, and the roller 31 is slidably connected in the sliding groove 321; the two sliding rods 32 are arranged on the left side and the right side of the supporting frame 5 in parallel;
the two speed reducing motors 33 are respectively connected to two ends of the adjusting rod 22, and an output shaft 331 of the speed reducing motor 33 is connected to the roller 31 for providing the roller 31 with power to move in the sliding slot 321.
Preferably, the buffer mechanism 4 includes:
a proximity sensor 41 for contacting the moving mechanism 3 and for sending a stop signal to the moving mechanism 3;
a piston assembly 43 having a resilient structure 42 connected to the contact sensor for providing cushioning to the moving mechanism 3 in contact with the contact sensor;
specifically, the two buffer mechanisms 4 are respectively arranged at two ends of the sliding rod 32 of the moving mechanism 3, and the buffer mechanisms 4 are fixed on the supporting frame 5 and are used for providing supporting force for the buffer mechanisms 4.
The piston assembly 43 includes:
a fixed cylinder 432 with an opening 431 at one end, wherein the end of the fixed cylinder 432 facing away from the opening 431 is fixed on the support frame 5, and the opening 431 faces the slide bar 32 of the moving mechanism 3; the fixed cylinder 432 is provided with a piston cavity 433, and the opening 431 is communicated with the interior of the piston cavity 433;
a piston 434, slidably connected to the inner side wall of the piston cavity 433, and dividing the piston cavity 433 into a flexible cavity 4331 and a connection cavity 4332, wherein the flexible cavity 4331 is located on a side of the piston 434 facing away from the opening 431, and the connection cavity 4332 is located on a side of the piston 434 facing toward the opening 431; wherein, the piston 434 and the piston cavity 433 are in over fit;
a resilient structure 42 disposed in the resilient chamber 4331, wherein the resilient structure 42 is connected to or in contact with a side of the piston 434 facing away from the opening 431;
a piston rod 435, one end of which is connected to a side of the piston 434 facing the opening 431, and the other end of which is connected to the proximity sensor 41.
In the present embodiment, the elastic structure 42 may be a spring, latex, rubber, or other elastic material with a small elastic modulus. Meanwhile, by arranging the elastic cavity 4331, the elastic structure 42 can be accommodated, and when the piston 434 is compressed by an external force, the compressed air generated by the elastic cavity 4331 is compressed, so that the roller 31 can be buffered, and the buffering effect is further improved.
The proximity sensor 41 is a generic name of a sensor for detecting without touching a detection object, instead of a contact detection method such as a limit switch. The movement information and the presence information of the detection object can be converted into an electric signal. The detection method for converting to the electric signal includes a method of using an eddy current generated in a metal object to be detected by electromagnetic induction, a method of changing the capacity of the electric signal by the approach of a detection object, and a method of using a limstone or a guide switch, and includes a capacitive proximity sensor 41, an inductive proximity sensor 41, a photoelectric proximity sensor 41, and the like.
Preferably, the support frame 5 comprises: the buffer mechanism 4 is fixed at the top end of the upright post 51, and the sliding rod 32 of the moving mechanism 3 is connected with the top end of the upright post 51;
the four pillars 51 are arranged in a matrix form, wherein the matrix has two pillars 51 in the row direction and two pillars 51 in the column direction;
two ends of the sliding rod 32 of the moving mechanism 3 are respectively connected with two upright posts 51 positioned in the same row direction, and the two sliding rods 32 are arranged in parallel in the column direction;
the two opposite side surfaces of the two columns 51 in the same row direction are respectively fixed with the buffer mechanisms 4, and the proximity sensors 41 of the two buffer mechanisms 4 are oppositely arranged.
Example two:
referring to fig. 1 to 3, a steel plate moving method of the present embodiment includes:
s1: arranging a support frame 5 and a moving mechanism 3 so that a steel plate is positioned below the moving mechanism 3, and arranging a moving destination of the steel plate at one end of the support frame 5;
s2: adjusting the position of at least one gripper mechanism 1 on the adjusting mechanism 2 to enable the position of the gripper mechanism 1 to be matched with the size of the steel plate;
s3: the gripper mechanism 1 is moved to the upper part of the steel plate through the moving mechanism 3;
s4: connecting the gripper mechanism 1 with the steel plate;
s5: moving the steel plate to the moving destination by the moving mechanism 3;
s6: when the moving mechanism 3 is in contact with the buffer mechanism 4, the moving mechanism 3 is controlled to stop, and the buffer mechanism 4 is used for providing buffer for the moving mechanism 3 so as to absorb the impact force when the steel plate moves to the moving destination.
In a preferred embodiment, the arranging the support frame 5 and the moving mechanism 3 such that the steel plate is located below the moving mechanism 3 and the moving destination of the steel plate is provided at one end of the support frame 5 includes:
s11: placing the support frame 5 above a steel plate;
in this step, the support frame 5 is moved by a preset transfer machine so as to be positioned above the steel plate.
S12: one end of the support frame 5 is adjusted so that the end of the moving mechanism 3 having the buffer mechanism 4 is positioned above the destination.
In this step, the position of the support frame 5 is adjusted by the transfer machine, so that one end of the support frame 5 is positioned above the destination of movement.
S13: and with the moving destination as a fixed point, adjusting the support frame 5 to enable the part of the steel plate, which is used for being connected with the gripper mechanism 1, to be positioned between the two sliding rods 32 of the moving mechanism 3.
In a preferred embodiment, the adjusting of the position of at least one gripper mechanism 1 on the adjusting mechanism 2 to match the position of the gripper mechanism 1 with the size of the steel plate comprises:
s21: moving the connecting sleeve 21 in the adjusting mechanism 2 on the adjusting rod 22 to move the gripper mechanism 1 to a specified position, wherein the specified position is determined according to the size of the steel plate;
in this step, since the positions at which the gripper mechanisms 1 grip the steel plate are different, and the extraction force for the steel plate is different according to the positions at which the gripper mechanisms 1 grip the steel plate, in order to ensure that the gripper mechanisms 1 can provide a sufficiently strong extraction force for the steel plate, the position with the strongest gripping firmness is determined according to the size of the steel plate, and the position is used as the designated position; meanwhile, the gripper mechanism 1 is moved to the designated position through the connecting sleeve 21, so that the technical effect of providing enough extracting force for steel plates with different sizes is achieved, and the application range of the steel plate moving device and the moving method is expanded.
S22: the adjusting bolt 23 of the adjusting mechanism 2 is inserted into the connecting sleeve 21 and the adjusting rod 22, so that the connecting sleeve 21 is fixed on the adjusting rod 22.
In this step, the connecting sleeve 21 and the adjusting rod 22 are fixed by the adjusting bolt 23, so that the gripper mechanism 1 and the adjusting rod 22 are fixed to each other, and when the steel plate is moved, the gripper mechanism 1 cannot vibrate or even move on the adjusting rod 22, thereby ensuring the connection strength between the gripper mechanism 1 and the steel plate.
In a preferred embodiment, the moving the gripper mechanism 1 above the steel plate by the moving mechanism 3 includes:
s31: starting a speed reducing motor 33 in the moving mechanism 3 to provide power for a roller 31 of the moving mechanism 3, so that the roller 31 moves on a sliding rod 32 of the moving mechanism 3; the movement of the roller 31 will drive the adjusting mechanism 2 and the gripper mechanism 1 to move along the axial direction of the sliding rod 32.
In this step, according to the position relationship between the gripper mechanism 1 and the steel plate, the direction in which the speed reduction motor 33 provides power to the roller 31 is determined, and a starting signal is sent to the speed reduction motor 33 through a preset PLC circuit, so that the speed reduction motor 33 drives the roller 31 to move on the slide bar 32.
S32: when the gripper mechanism 1 moves above the steel plate, the speed reducing motor 33 is turned off to stop the roller 31 on the slide rod 32, so that the gripper mechanism 1 stops above the steel plate.
In this step, when the gripper mechanism 1 moves above the steel plate, a stop signal is sent to the speed reduction motor 33 through a preset PLC circuit, so that the roller 31 stops, and at this time, the gripper mechanism 1 stops at a position above the steel plate.
In a preferred embodiment, the connecting the gripper mechanism 1 with the steel plate includes:
s41: and adjusting the lifting piece 12 of the gripper mechanism 1 to enable the pneumatic clamping jaw of the gripper mechanism 1 to move downwards in the vertical direction.
In this step, the lifting rod 122 of the lifting member 12 is adjusted to move the lifting rod 122 away from the lifting cylinder 121 of the lifting member 12, so that the lifting rod 122 drives the gripper mechanism 1 to move downward in the vertical direction.
S42: when the pneumatic clamping jaw is contacted with the steel plate, controlling the pneumatic clamping jaw to grab the steel plate, and connecting the gripper mechanism 1 with the steel plate;
in the step, the pneumatic clamping jaw is controlled to grab the steel plate, so that the steel plate and the pneumatic clamping jaw are connected with each other.
S43: the pneumatic clamping jaws are moved upwards in the vertical direction by the lifting member 12, and the steel plate is moved upwards and suspended in the air.
In this step, the lifting rod 122 of the lifting member 12 is adjusted to move the lifting rod 122 toward the lifting cylinder 121 of the lifting member 12, so that the lifting rod 122 drives the gripper mechanism 1 to drive the steel plate to move upward in the vertical direction, and the steel plate is suspended in the air by the pneumatic gripper.
In a preferred embodiment, the moving the steel plate to the moving destination by the moving mechanism 3 includes:
s51: acquiring one end of the support frame 5 corresponding to the moving destination;
in this step, a buffer mechanism 4 is disposed at an end of the support frame 5 corresponding to the destination of the movement, and is used for buffering the mixing wheel.
S52: and starting a speed reducing motor 33 in the moving mechanism 3 to provide power for a roller 31 of the moving mechanism 3, so that the roller 31 moves on a sliding rod 32 of the moving mechanism 3, and the movement of the roller 31 drives the adjusting mechanism 2, the gripper mechanism 1 and the steel plate connected with the gripper mechanism 1 to move towards the moving destination.
In this step, according to the position relationship between the gripper mechanism 1 and the steel plate, the direction in which the speed reduction motor 33 provides power to the roller 31 is determined, and a start signal is sent to the speed reduction motor 33 through a preset PLC circuit, so that the speed reduction motor 33 drives the roller 31 to move on the slide bar 32 toward the moving destination.
In a preferred embodiment, the controlling the moving mechanism 3 to stop when the moving mechanism 3 is in contact with the buffer mechanism 4, and providing the buffer for the moving mechanism 3 through the buffer mechanism 4 to absorb the impact force when the steel plate moves to the moving destination includes:
s61: monitoring whether a contact sensor of the buffer mechanism 4 sends a contact signal;
in this step, the PLC circuit is connected to the contact sensor to monitor whether a contact signal is received or not.
S62: if yes, the gripper mechanism 1 is judged to move the steel plate to the moving destination, and a stop signal is sent to a speed reducing motor 33 of the moving mechanism 3, so that the speed reducing motor 33 is turned off;
in this step, when the PLC circuit monitors the contact signal, it indicates that the gripper 1 has moved the steel plate to the movement destination, and at this time, a stop signal may be generated and sent to the reduction motor 33 to stop the operation of the reduction motor 33.
S63: the piston assembly 43 of the buffer mechanism 4 buffers the inertia generated by the roller 31 of the moving mechanism 3 during moving, so as to realize the smooth stop of the steel plate.
Since the steel plate is connected to the gripping device, the moving mechanism 3, the adjusting mechanism 2, the gripper mechanism 1 and the steel plate continue to move forward due to inertia even if the speed reducing motor 33 is stopped; this step provides a buffer resistance to the roller 31 through the piston assembly 43 of the buffer mechanism 4 and the elastic structure 42 located inside the piston assembly 43, so as to counteract the inertia, and achieve the technical effect that the steel plate is stably stopped at the moving destination.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a steel sheet mobile device, uses on the steel sheet truss production line, its characterized in that includes:
the gripping mechanism is used for gripping the steel plate in the vertical direction;
the adjusting mechanism is connected with at least one gripper mechanism and is used for adjusting the position of the at least one gripper mechanism;
the moving mechanism is connected with the adjusting mechanism and used for moving the gripper mechanism in the horizontal direction;
the buffer mechanism is connected with the moving mechanism and is used for buffering the moving mechanism;
and the supporting frame is connected with the buffer mechanism and the moving mechanism and used for fixing the buffer mechanism and the moving mechanism.
2. The steel sheet moving apparatus according to claim 1, wherein the gripper mechanism comprises:
the pneumatic gripper is used for gripping the steel plate;
and the lifting piece is connected with the pneumatic gripper and used for adjusting the position of the gripper mechanism.
3. The steel sheet moving apparatus according to claim 1, wherein the adjusting mechanism comprises:
connecting the kit: connecting with the mobile device;
the adjusting rod penetrates through the connecting sleeve to enable the connecting sleeve to be capable of sliding on the adjusting rod;
and the adjusting bolt is used for being inserted into the connecting sleeve and the adjusting rod to enable the connecting sleeve to be fixed on the adjusting rod.
4. The steel sheet moving apparatus according to claim 1, wherein the moving mechanism comprises:
a slide bar having a roller, wherein the roller rolls on the slide bar in an axial direction of the slide bar;
and the speed reducing motor is fixed on the adjusting mechanism, is connected with the roller and is used for outputting power for rolling on the sliding rod to the roller.
5. The steel sheet moving apparatus according to claim 1, wherein the buffer mechanism comprises:
a proximity sensor for contacting the moving mechanism and for sending a shutdown signal to the moving mechanism;
and the piston assembly is provided with an elastic structure and is connected with the contact sensor for providing buffering for a moving mechanism which is in contact with the contact sensor.
6. A steel plate moving method is applied to a steel plate truss production line and is characterized by comprising the following steps:
arranging a support frame and a moving mechanism to enable a steel plate to be positioned below the moving mechanism, and arranging a moving destination of the steel plate at one end of the support frame;
adjusting the position of at least one gripper mechanism on the adjusting mechanism to enable the position of the gripper mechanism to be matched with the size of the steel plate;
moving the gripper mechanism to the position above the steel plate through the moving mechanism;
connecting the gripper mechanism with the steel plate;
moving the steel plate to the moving destination by the moving mechanism;
when the moving mechanism is in contact with the buffer mechanism, the moving mechanism is controlled to stop, and the buffer mechanism is used for buffering the moving mechanism so as to eliminate the impact force when the steel plate moves to the moving destination.
7. The method of moving a steel plate according to claim 6, wherein adjusting the position of at least one gripper mechanism on the adjustment mechanism to match the position of the gripper mechanism to the size of the steel plate comprises:
moving a connecting sleeve in the adjusting mechanism on the adjusting rod to move the gripper mechanism to a specified position, wherein the specified position is determined according to the size of the steel plate;
and inserting an adjusting bolt of an adjusting mechanism into the connecting sleeve and the adjusting rod to fix the connecting sleeve on the adjusting rod.
8. The method of moving a steel plate as claimed in claim 6 wherein said coupling the gripper mechanism to the steel plate comprises:
adjusting a lifting piece of the gripper mechanism to enable a pneumatic clamping jaw of the gripper mechanism to move downwards in the vertical direction;
when the pneumatic clamping jaw is contacted with the steel plate, controlling the pneumatic clamping jaw to grab the steel plate to enable the grabbing mechanism to be connected with the steel plate;
the pneumatic clamping jaws are moved upwards in the vertical direction through the lifting piece, and the steel plate is moved upwards and suspended in the air.
9. The steel plate moving method according to claim 6, wherein the moving the steel plate to the moving destination by the moving mechanism includes:
acquiring one end of the support frame corresponding to the moving destination;
and starting a speed reducing motor in the moving mechanism to provide power for a roller of the moving mechanism so as to enable the roller to move on a sliding rod of the moving mechanism, wherein the movement of the roller drives the adjusting mechanism, the gripper mechanism and a steel plate connected with the gripper mechanism to move towards the moving destination.
10. The steel plate moving method according to claim 6, wherein the controlling the moving mechanism to stop when the moving mechanism is in contact with the buffer mechanism and providing the buffer to the moving mechanism through the buffer mechanism to absorb the impact force when the steel plate moves to the moving destination comprises:
monitoring whether a contact sensor of the buffer mechanism sends a contact signal;
if so, judging that the steel plate is moved to the moving destination by the gripper mechanism, and sending a stop signal to a speed reduction motor of the moving mechanism to close the speed reduction motor;
and the piston assembly of the buffer mechanism buffers inertia generated by the roller of the moving mechanism during moving so as to realize stable stop of the steel plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111586388.4A CN114131411A (en) | 2021-12-23 | 2021-12-23 | Steel plate moving device and moving method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111586388.4A CN114131411A (en) | 2021-12-23 | 2021-12-23 | Steel plate moving device and moving method |
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