CN116253150B - Bridge stacking equipment - Google Patents
Bridge stacking equipment Download PDFInfo
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- CN116253150B CN116253150B CN202310223292.4A CN202310223292A CN116253150B CN 116253150 B CN116253150 B CN 116253150B CN 202310223292 A CN202310223292 A CN 202310223292A CN 116253150 B CN116253150 B CN 116253150B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
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Abstract
The application belongs to the technical field of stacking equipment, in particular to bridge stacking equipment which comprises a stacking robot, a stacking table and a fixing assembly, wherein the stacking robot is arranged on one side of a transmission groove, and a horizontal transmission roller is arranged at the bottom of the transmission groove; the stacking robot comprises a fixed base, a mechanical arm is arranged on the fixed base, a fixed table is arranged at the end part of the mechanical arm, and a fixed assembly is arranged on the fixed table; according to the application, the main body piece of the adsorption bridge frame is fixed relative to the adsorption fixing plate, and the bridge frame can be reversed along with the rotating fixing turntable, so that the mutually embedded stacking of the paired bridge frames is realized, the bridge frames can be stacked in order along with the synchronous movement of the moving mechanical arm onto the stacking table, the deformation of the bridge frame structure is effectively reduced, and the efficiency of stacking the bridge frames is improved.
Description
Technical Field
The application belongs to the technical field of stacking equipment, and particularly relates to bridge stacking equipment.
Background
The cable bridge is divided into a groove type cable bridge, a tray type cable bridge, a step type cable bridge, a grid bridge and other structures, and consists of a bracket, a bracket arm, an installation accessory and the like. The zinc plating treatment can be independently erected, can be laid on various building (construction) structures and pipe gallery supports, has the characteristics of simple structure, attractive appearance, flexible configuration, convenient maintenance and the like, all parts are required to be subjected to zinc plating treatment, and are installed on a bridge frame outside the building, and if the bridge frame is adjacent to the sea or belongs to a corrosion area, the material must have the physical characteristics of corrosion resistance, moisture resistance, good adhesive force and high impact strength.
In the bridge production process, rolled metal plates are bent, punched, cut and molded through a shearing plate to obtain a section of U-shaped bridge assembly, then the bridge on a production line is piled up to one side for temporary piling, after a certain number of bridge assemblies are produced, the bridge assemblies in batches are transferred, and the bridge assemblies are put into a factory for storage or directly packaged for installation to a customer site;
in the stacking process of the bridge frame assembly, the orderly stacking is beneficial to utilizing the storage area to the greatest extent, and is beneficial to keeping stability in the stacking process, so that the deformation problem of the pressed bridge frame assembly is reduced; in the existing production process, equipment such as a stacking robot is generally adopted to clamp and fix the bridge frame transported to the preset position on the production line, and the bridge frame is moved to the preset position to stack under the action of the stacking robot;
because of the special structure of the bridge, in the stacking process of the bridge, the bridge is usually stored in pairs, firstly, one bridge opening is upwards leveled, then the other bridge opening is downwards embedded into the opening of the previous bridge, every two bridge openings are embedded to form a rectangular stable structure, and thus, a pair of pairs of bridge openings are stacked in order and stability; because of the special stacking mode, the continuous bridge is placed in different postures, after the former bridge is stacked upwards in the prior factory, the former bridge is manually connected and inverted, and then the former bridge is embedded into the latter bridge, so that stacking is completed, manual stacking is assisted, labor is wasted, and the stacking efficiency of the bridge is influenced;
in addition, the existing grabbing and moving mode for the bridge frame mostly adopts a transverse clamping mode to clamp the protruding parts on two sides of the bridge frame, because the thickness of the bridge frame is thinner, the bridge frame is just bent and formed, in the clamping and extrusion process, the transverse acting force can possibly deform part parts of the bridge frame, the deformed bridge frame is difficult to normally fit with the mounting position in the subsequent mounting process, reworking treatment is possibly needed, the poor product rate is increased, and the reputation of the product is influenced.
Disclosure of Invention
In order to make up for the deficiency of the prior art, solve the above-mentioned technical problem; the application provides bridge stacking equipment which comprises a stacking robot, a stacking table and a fixing assembly, wherein the stacking robot is arranged on one side of a transmission groove, and a horizontal transmission roller is arranged at the bottom of the transmission groove;
the stacking robot comprises a fixed base, a mechanical arm is arranged on the fixed base, a fixed table is arranged at the end part of the mechanical arm, a fixed assembly is arranged on the fixed table, and the fixed assembly comprises:
the transverse fixing piece is fixedly arranged on the fixing table, and a first telescopic device is arranged at the end part of the transverse fixing piece; the longitudinal fixing piece is arranged on the telescopic end of the first telescopic device, and the second telescopic device is arranged on the vertically opposite surface of the longitudinal fixing piece;
the fixed rotary table is arranged on the telescopic end of the second telescopic device, and a rotating device is arranged at the installation position; the fixed turntable is characterized in that an adsorption fixing plate is arranged on the opposite surface of the fixed turntable, an adsorption hole is formed in the adsorption fixing plate and opposite to the surface of the main body part of the bridge, and the adsorption hole is communicated with air extraction equipment arranged inside the adsorption fixing plate.
Preferably, the adsorption hole is a conical hole, an annular air bag is arranged on the surface of the adsorption fixing plate and surrounds the adsorption hole, air outlet holes are uniformly formed in the bottom of the annular air bag, and the openings of the air outlet holes are pointed away from the adsorption hole.
Preferably, the inside of the annular air bag is communicated with the air extraction equipment through a communication air passage, a control air valve is arranged on the communication air passage, and the control air valve is controlled by an external controller.
Preferably, annular cone blocks are uniformly arranged on the lower surface of the annular air bag, and the air outlet holes are positioned at the clearance parts of the annular cone blocks.
Preferably, the bottom of the adsorption fixing plate is provided with a third telescopic device, a limiting plate is arranged at the telescopic end of the third telescopic device, and the limiting plate is located below the main body piece.
Preferably, the limiting plate is made of iron, and an electromagnet is arranged on the lower surface of the end part of the adsorption fixing plate.
Preferably, the parts of the two sides of the adsorption fixing plate, which are opposite to the side parts of the bridge frame, are provided with a fourth telescopic device, the end part of the fourth telescopic device is provided with a locating plate, and the surface of the locating plate is in contact with the surface of the inner wall of the side part.
Preferably, the locating plate is L-shaped, the horizontal part of locating plate bottom with main part surface contact, and evenly be equipped with anti-skidding piece on the locating plate lower surface, the anti-skidding piece adopts elastic material.
Preferably, the parts of the right side parts of the top of the positioning plate on one side are provided with guide grooves, and the inner walls of the guide grooves are subjected to smoothing treatment.
Preferably, a fixing rod is arranged between the opposite ends of the adsorption fixing plate, and two ends of the fixing rod are respectively connected with the ends of the adsorption fixing plate at two sides.
The beneficial effects of the application are as follows:
1. according to the bridge stacking equipment, the main body piece of the adsorption bridge is fixed relative to the adsorption fixing plate, the bridge can rotate reversely along with the rotating fixing turntable, and the mutually embedded stacking of the paired bridges is realized, so that the bridges are stacked in order along with the synchronous movement of the moving mechanical arm onto the stacking table, the deformation of a bridge structure is effectively reduced, and the bridge stacking efficiency is improved.
2. According to the bridge stacking equipment, the main body part serving as the main body part of the bridge is adsorbed and fixed, and after the main body part is adsorbed and fixed, the whole bridge can stably move onto the stacking table along with the mechanical arm smoothly; compared with the prior art, the lateral parts on two sides with smaller thickness are transversely extruded and clamped for movement, so that the main part is adsorbed and fixed in a movement mode, the lateral parts are prevented from being deformed due to transverse stress, the integrity and the structural stability of the bridge in the movement process are ensured, and the damage rate of the bridge in the stacking process is reduced.
Drawings
The application is further described below with reference to the accompanying drawings.
FIG. 1 is a perspective view of the present application;
FIG. 2 is a schematic side view of the present application;
FIG. 3 is an enlarged view of a portion of FIG. 1 at A;
FIG. 4 is a partial enlarged view at B in FIG. 2;
FIG. 5 is a perspective view of an adsorption fixing plate in the present application;
FIG. 6 is an enlarged view of a portion of FIG. 5 at C;
FIG. 7 is a partial cross-sectional view of an adsorption fixing plate in the present application;
FIG. 8 is a partial enlarged view at D in FIG. 7;
FIG. 9 is a schematic view of the application with the suction attachment plate and the limiting plate clamping the bridge;
FIG. 10 is a schematic diagram of the application when the adsorption fixing plate drives the bridge to pile up;
FIG. 11 is a schematic view of a normal paired bridge rack after being stacked in a jogged manner;
fig. 12 is a perspective view of an adsorption fixing plate provided in embodiment seven;
in the figure: the palletizing robot 1, the fixed base 11, the mechanical arm 12, the fixed table 13, the palletizing table 2, the fixed component 3, the transverse fixing member 31, the first telescopic device 311, the longitudinal fixing member 32, the second telescopic device 321, the fixed rotary table 33, the adsorption fixing plate 34, the adsorption hole 341, the air extraction device 342, the third telescopic device 343, the limiting plate 344, the electromagnet 345, the fourth telescopic device 346, the fixing rod 347, the annular air bag 35, the air outlet hole 351, the communicating air passage 352, the annular cone block 353, the positioning plate 36, the anti-skid member 361, the guide groove 362, the transmission groove 4, the horizontal transmission roller 41, the bridge 5, the main body member 51 and the side member 52.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiment one:
the bridge stacking equipment is characterized in that in the production process of a bridge 5, rolled metal plates are subjected to shearing, bending, punching, cutting and forming to obtain a section of U-shaped bridge 5 assembly, then the bridge 5 on a production line is stacked to one side for temporary stacking, after a certain number of the bridge 5 assemblies are produced, the bridge 5 assembly in batches is transported, and the bridge 5 assembly is put into a factory for storage or directly packaged for installation to a customer site;
in the stacking process of the bridge frame 5 assembly, the orderly stacking is beneficial to utilizing the storage area to the greatest extent, and is beneficial to keeping stability in the stacking process, so that the deformation problem of the pressed bridge frame 5 assembly is reduced; in the existing production process, equipment such as a stacking robot 1 is generally adopted to clamp and fix the bridge frame 5 transported to a preset position on a production line, and the bridge frame 5 is moved to the preset position to stack under the action of the stacking robot 1;
because of the special structure of the bridge frames 5, in the stacking process of the bridge frames 5, the bridge frames 5 are stored in pairs, firstly, the opening of one bridge frame 5 is horizontally arranged upwards, then the opening of the other bridge frame 5 is downwards embedded into the opening of the previous bridge frame 5, and the bridge frames are embedded in pairs to form a rectangular stable structure, so that a pair of pairs of bridge frames are stacked in order and stability; because of the special stacking mode, the continuous bridge frames 5 are placed in different postures, after the previous bridge frame 5 is stacked upwards in the prior factory, the bridge frames 5 are manually connected, inverted and embedded into the previous bridge frame 5 to finish stacking, so that the stacking is assisted by a manual mode, the labor is wasted, and the stacking efficiency of the bridge frames 5 is affected;
in addition, the existing grabbing and moving modes of the bridge 5 mostly adopt transverse clamping and taking the protruding parts on two sides of the bridge 5, because the bridge 5 is thinner and just bent and formed, in the clamping and squeezing process, the transverse acting force can possibly deform part of the bridge 5, the deformed bridge 5 is difficult to normally fit with the mounting position in the subsequent mounting process, reworking treatment is possibly needed, the poor yield is increased, and the reputation of the product is influenced;
in order to effectively solve the above problems, the application provides a bridge stacking device, which can effectively solve the above problems, as shown in fig. 1-11 in the attached drawings, and comprises a stacking robot 1, a stacking table 2 and a fixing component 3, wherein the stacking robot 1 is arranged at one side of a transmission groove 4, a horizontal transmission roller 41 is arranged at the bottom of the transmission groove 4, the horizontal transmission roller 41 can automatically rotate under a connected power device such as a motor to drive a bridge 5 above to move and transport to a preset position, the stacking robot 1 is used for grabbing the bridge 5 transmitted on the transmission groove 4 and then stacking the bridge 5 on the stacking table 2 in order, the horizontally placed bridge 5 comprises a main body part 51 at a horizontal position and vertical side parts 52 positioned at two sides of the main body part 51, and the bridge stacking device consists of several parts;
the stacking robot 1 comprises a fixed base 11, a mechanical arm 12 is arranged on the fixed base 11, a fixed table 13 is arranged at the end part of the mechanical arm 12, a driving motor is arranged between the fixed table 13 and the end part of the mechanical arm 12, and the fixed table 13 can be driven to rotate relative to the mechanical arm 12 under the external control of an intelligent control terminal or an operator, so that the posture position of a grabbing bridge frame can be conveniently adjusted; the fixed table 13 is provided with a fixed component 3, and the fixed component 3 is used for grabbing the fixed bridge 5; the action of the mechanical arm 12 on the palletizing robot 1 is automatically controlled by an intelligent control terminal arranged inside, which belongs to the prior art;
the fixing assembly 3 comprises a transverse fixing piece 31, the transverse fixing piece 31 of a plate-shaped structure is fixedly arranged on the fixing table 13, and a first telescopic device 311 is vertically arranged on the end part of the transverse fixing piece 31; the longitudinal fixing piece 32 of the plate-shaped structure is arranged on the telescopic end of the first telescopic device 311, and the second telescopic device 321 is transversely arranged on the vertical opposite surface of the longitudinal fixing piece 32; the first telescopic device 311 and the second telescopic device 321, and the third telescopic device 343 and the fourth telescopic device 346 in the subsequent embodiments can be devices capable of adjusting the length, such as an electric telescopic rod, and can be started under the external control of an intelligent control terminal or an operator to play a role;
the fixed turntable 33, the fixed turntable 33 is installed on the telescopic end of the second telescopic device 321, and a rotating device is arranged at the installation position, wherein the rotating device can be a driving motor controlled by the intelligent control terminal and used for driving the fixed turntable 33 to rotate relative to the second telescopic device 321; the fixed turntable 33 is provided with an adsorption fixing plate 34 on the opposite surface, an adsorption hole 341 is arranged on the adsorption fixing plate 34 opposite to the surface of the main body part 51 of the bridge 5, the adsorption hole 341 is communicated with an air pumping device 342 arranged inside the adsorption fixing plate 34, and the air pumping device 342 can be an air pump device;
the main body piece 51 of the bridge 5 is adsorbed by the adsorption holes 341 and fixed relative to the adsorption fixing plate 34, the bridge 5 can rotate reversely along with the rotating fixed rotary table 33, so that the mutually embedded stacking of the bridge 5 is realized, the bridge 5 moves synchronously to the stacking table 2 along with the moving mechanical arm 12 to be stacked in order, the deformation of the structure of the bridge 5 is effectively reduced, and the stacking efficiency of the bridge 5 is improved;
the specific working flow is as follows: after the opening of the produced and formed bridge 5 is upwards placed on the horizontal conveying roller 41, the bridge 5 moves in the middle position of the horizontal conveying roller 41 through the adjustment of the position in advance; when the bridge 5 moves to a preset position close to the stacking robot 1, the mechanical arm 12 of the stacking robot 1 moves under the action of the intelligent control terminal, so that the transverse fixing pieces 31 move right above the bridge 5, and the longitudinal fixing pieces 32 at two sides are acted by the first telescopic equipment 311 started to move down to two sides of the bridge 5;
the second expansion device 321 is started while the longitudinal fixing piece 32 moves downwards, and the position of the adsorption fixing plate 34 is adjusted and moved to be right above the bridge 5; thus, when the longitudinal fixing pieces 32 move down to the two sides of the bridge 5, the adsorption fixing plates 34 on the longitudinal fixing pieces 32 are contacted with the upper surface of the main body piece 51 on the bridge 5, the smooth surface of the main body piece 51 is tightly attached to the lower surface of the adsorption fixing plates 34, the internal air extraction equipment 342 is started, and the generated adsorption effect enables the air in the area between the adsorption holes 341 and the surface of the main body piece 51 to be extracted to generate negative pressure, so that the main body piece 51 is tightly adsorbed and fixed on the adsorption fixing plates 34;
the main body member 51 is used as a main body part of the bridge 5, and after being adsorbed and fixed, the whole bridge 5 moves onto the stacking table 2 along with the mechanical arm 12; in the process, compared with the prior art, the lateral parts 52 on two sides with smaller thickness are usually subjected to lateral extrusion clamping movement, so that the main part 51 is adsorbed and fixed in a moving mode, the lateral parts 52 are prevented from being deformed due to lateral stress, the integrity and the structural stability of the bridge 5 in the moving process are ensured, and the damage rate of the bridge 5 in the stacking process is reduced;
the opening of the first bridge 5 moving to the stacking table 2 is upward, then the adsorption is finished, the adsorption fixing plate 34 is separated from the bridge 5, the mechanical arm 12 returns to the transmission groove 4 to grab the second bridge 5 transported to the preset position, after the above process is repeated, the mechanical arm 12 drives the second bridge 5 to move to the stacking table 2, the rotating device between the fixed turntable 33 and the second telescopic device 321 is started, so that the fixed turntable 33 rotates 180 degrees, at the moment, the second bridge 5 is downward opened, when the mechanical arm 12 drives the second bridge 5 to move to the position right above the first bridge 5, one of the two side parts 52 of the second bridge 5 moving vertically is embedded into the opening part of the first bridge 5, and the other is positioned outside the opening part to realize mutual embedding stacking of the paired bridges 5; then the fixed turntable 33 is reset, the next pair of bridge frames 5 is piled on one side or above the upper pair in the process, and the process is repeated, so that the orderly piling of the bridge frames 5 is completed;
regarding the offset of the two bridges 5 in the horizontal direction, the thickness of the side parts 52 is reduced by adjusting the mechanical arm 12 or manually pushing the auxiliary mode, and the mutual sliding offset easily occurs in the process of mutual contact extrusion of the end parts.
Embodiment two:
on the basis of the first embodiment, as shown in fig. 1-8 in the drawings of the specification, the adsorption hole 341 is a conical hole, and the bottom opening is larger, so that the contact surface between the adsorption hole 341 and the main body piece 51 is larger, the adsorption action surface is increased, and the stability of the bridge 5 during adsorption fixation is further ensured; the surface of the adsorption fixing plate 34 is provided with an annular air bag 35 around the adsorption hole 341, the bottom of the annular air bag 35 is uniformly provided with air outlet holes 351, and the openings of the air outlet holes 351 point to the direction away from the adsorption hole 341;
the interior of the annular air bag 35 is communicated with the air extracting device 342 through a communicating air passage 352, and the air extracting device 342 can also be an air pump device which can realize the functions of air extraction, air suction and the like under the external control, and a control air valve is arranged on the communicating air passage 352 and is controlled by an external controller;
the specific working flow is as follows: on the basis of the specific working procedure in the first embodiment, during the processing of the bridge 5, the cutting processing, bending forming and punching of the sheet material on the later side member 52 are convenient for installation, and scraps are easy to generate during the processing and are adsorbed on the surface of the bridge 5 under the action of static electricity, so that when the adsorption fixing plate 34 contacts with the surface of the main body member 51 on the bridge 5, scraps at the gap of the contact surface may cause the gap of the contact surface to be increased, and the contact surface of the adsorption hole 341 and the main body member 51 is blocked by scraps and impurities, the gap is increased, negative pressure is not formed, and the adsorption fixing action on the bridge 5 is ensured;
therefore, when the adsorption fixing plate 34 is close to the upper surface of the main body member 51 downwards, the air extracting device 342 is started to reversely exhaust, the air valve is controlled to be opened, the air flow enters the annular air bag 35 through the communication air passage 352 and then flows out through the air outlet hole 351 at the bottom to impact the surface of the main body member 51 positioned below, so that the chips on the surface of the main body member 51 are far away from the adsorption hole 341 under the impact action; until the annular air bag 35 is contacted with the surface of the main body piece 51, the air flow flowing out of the air outlet 351 is further enhanced by the extrusion action, and chips between the bottom of the annular air bag 35 and the contact surface of the main body piece 51 are further cleaned, so that the tight contact between the annular air bag 35 and the main body piece 51 is ensured;
meanwhile, the air outlet hole 351 is closed after the contact part is fully contacted with the part of the main body part 51, at this time, the annular air bag 35 surrounds the adsorption hole 341, so that the area below the adsorption hole 341 is further sealed, the control air valve is closed, the communication air passage 352 is blocked, the air extraction device 342 is restarted to start the air extraction function, and the adsorption function can act on the main body part 51 through the adsorption hole 341, so that the adsorption fixing function between the adsorption fixing plate 34 and the main body part 51 is further enhanced.
Embodiment III:
on the basis of the second embodiment, as shown in fig. 1-8 in the drawings of the specification, annular cone blocks 353 are uniformly arranged on the lower surface of the annular air bag 35, and air outlet holes 351 are positioned at the clearance parts of the annular cone blocks 353;
the specific working flow is as follows: based on the specific working procedure in the second embodiment, in view of the fact that part of the bridge 5 falls on the surface of the main body member 51 and adheres to the surface during the processing, such as cutting, the part of the bridge is difficult to clean, which hinders the later adsorption and fixation; therefore, when the adsorption is unstable, the adsorption fixing plate 34 moves downwards to the end part of the annular cone block 353 to contact the surface of the main body piece 51, the second telescopic device 321 is started again, the adsorption fixing plate 34 moves transversely, the annular cone block 353 on the adsorption fixing plate moves reciprocally to scrape and polish residues adhered on the surface, the residues are separated from the surface of the main body piece 51 under the scraping action, a layer of polishing sand paper structure can be adhered on the surface of the annular cone block 353, the polishing effect on the main body piece 51 is improved, the second telescopic device 321 is started to reset the adsorption fixing plate 34, and the adsorption fixing plate 34 is controlled to move downwards, so that the annular air bag 35 is tightly contacted with the surface of the main body piece 51;
in the process, the slag is separated to the outside under the impact of the air flow of the air outlet hole 351 or accumulated in the clearance area of the annular cone block 353, and then in the downward movement deformation process of the annular air bag 35, the connection part of the annular cone block 353 is jacked and sunken into the annular air bag 35 because the texture of the annular cone block 353 is higher than the hardness of the annular air bag 35, the bulges at the two sides of the annular cone block 353 are tightly contacted with the surface of the main body member 51, when the slag is extruded into the clearance part of the annular cone block 353 under the scraping action, the damage of the slag on the tightness of the adsorption hole 341 part is reduced, and the end part of the annular cone block 353 is contacted with the surface of the main body member 51, so that the tightness of the surrounded adsorption hole 341 part is ensured, and the adsorption fixation of the bridge 5 is further ensured;
and when the residues embedded in the gaps of the annular cone blocks 353 need to be cleaned, the residues clamped in the gap positions can be effectively cleaned only by enabling the air outlet 351 to give air, so that the annular cone blocks 353 can work normally.
Embodiment four:
on the basis of the third embodiment, as shown in fig. 1-8 in the drawings of the specification, a third telescopic device 343 is arranged at the bottom of the adsorption fixing plate 34, a limiting plate 344 is arranged at the telescopic end of the third telescopic device 343, the limiting plate 344 is positioned below the main body piece 51, and the limiting plate 344 is of a thin plate structure, and the thickness of the limiting plate 344 is 2-3 times that of the main body piece 51;
the specific working flow is as follows: on the basis of the specific working flow in the third embodiment, when the adsorption fixing plate 34 moves above the main body piece 51 under the action of the second telescopic device 321, the limiting plate 344 is positioned below the main body piece 51, and then the adsorption fixing plate 34 moves downwards to be in contact with the upper surface of the main body piece 51, the third telescopic device 343 is started, so that the limiting plate 344 moves upwards to be close to the main body piece 51 until the limiting plate 344 is in contact with the lower surface of the main body piece 51, and at the moment, the adsorption fixing plate 34 is matched with the limiting plate 344, the main body piece 51 part of the stacking bridge 5 is clamped and fixed, so that when the mechanical arm 12 drives the bridge 5 to move, the lower limiting plate 344 supports the upper main body piece 51 part, the load of the adsorption fixing plate 34 is reduced, and the limiting and fixing of the bridge 5 are further ensured, so that the bridge 5 can smoothly move to the stacking table 2;
when the bridge 5 with the upward opening is stacked on the stacking table 2, the limiting plate 344 is positioned in a gap between the lower part of the main body piece 51 and the placement part of the stacking table 2, so that the limiting plate 344 is arranged as a thin plate, and the downward moving interval of the bridge 5 is reduced when the bridge 5 is transversely pulled away, so that the downward moving collision strength of the bridge 5 is reduced, and the completeness of the bridge 5 is ensured; and the upper surface and the lower surface of the limiting plate 344 are subjected to smooth treatment, and the upper surface of the limiting plate 344 is also provided with rollers, so that the friction resistance born by the limiting plate 344 during transverse extraction can be effectively reduced, and the deviation of the upper bridge frame 5 due to friction in the process can be reduced.
Fifth embodiment:
on the basis of the fourth embodiment, as shown in fig. 1-8 in the drawings of the specification, the limiting plate 344 is made of iron, and an electromagnet 345 is arranged on the lower surface of the end part of the adsorption fixing plate 34;
the specific working flow is as follows: on the basis of the specific working procedure in the fourth embodiment, when the limiting plate 344 and the adsorption fixing plate 34 are mutually matched and clamp and fix the main body member 51 positioned at the middle part, the electromagnet 345 on the adsorption fixing plate 34 is electrified, and if the bridge 5 is made of ferromagnetic metal, the electromagnet 345 can adsorb the contacted part of the main body member 51 at this time, so that the adsorption and fixation of the bridge 5 are enhanced; whether the bridge 5 is made of ferromagnetic metal or not, the magnetic attraction can act on the limiting plate 344 below through the bridge 5, so that the limiting plate 344 is attracted to further clamp the middle main body piece 51, and limiting and fixing of the suspended bridge 5 can be further guaranteed in the moving process.
Example six:
on the basis of the fifth embodiment, as shown in fig. 1-11 in the drawings of the specification, a fourth telescopic device 346 is arranged on the two sides of the adsorption fixing plate 34 opposite to the side part 52 of the bridge 5, a positioning plate 36 is arranged on the end part of the fourth telescopic device 346, and the surface of the positioning plate 36 is in contact with the inner wall surface of the side part 52;
the positioning plate 36 is L-shaped, the horizontal part of the bottom of the positioning plate 36 is contacted with the surface of the main body piece 51, the lower surface of the positioning plate 36 is uniformly provided with the anti-skid parts 361, the anti-skid parts 361 are made of elastic materials, the anti-skid parts 361 can be rubber strips with raised bottoms, and the relative friction between the positioning plate 36 and the surface of the main body piece 51 is increased, so that an anti-skid effect is achieved;
the part of the top of the positioning plate 36 on one side, which is opposite to the side part 52, is provided with a guide groove 362, and the inner wall of the guide groove 362 is subjected to smooth treatment;
the specific working flow is as follows: on the basis of the specific working procedure in the fifth embodiment, when the bridge 5 moves, the bridge 5 may deviate from the middle position, so that the position where the adsorption fixing plate 34 is clamped and fixed deviates from the middle position of the main body member 51, and in the mutual embedding of the paired bridge 5, the two bridge 5 deviate too much, the gap between the corresponding side members 52 is larger, and thus the stacked bridge 5 occupies a large area and is unstable to stack;
the positioning plate 36 is thus provided, and in the course of the suction fixing plate 34 being moved down close to the surface of the main body member 51, the downward movement is stopped when the annular tapered block 353 at the bottom of the annular air bag 35 on the suction fixing plate 34 is in contact with the surface of the main body member 51 and does not press the main body member 51; at this time, the anti-skid member 361 at the bottom of the horizontal part of the positioning plate 36 is in contact with the surface of the main body member 51, the fourth telescopic device 346 is started, the positioning plates 36 at the two sides transversely move at the same interval, the positioning plates 36 transversely move to contact with the side members 52 and push the side members 52 to move until the positioning plates 36 at the two sides are propped against the side members 52, at this time, the position of the bridge 5 in the horizontal direction is adjusted, so that the adsorption fixing plate 34 is positioned at the middle position, and then the adsorption fixing plate 34 moves downwards to tightly press the main body member 51, thereby realizing the adsorption fixing of the main body member 51; the horizontal positioning of the bridge frame 5 is completed through the action of the positioning plate 36, so that the position of the following bridge frame 5 after grabbing and moving is ensured to be determined;
in the above process, the vertical position of the positioning plate 36 is smaller than half of the side member 52, and the friction effect of the bottom anti-slip member 361 at the horizontal position of the positioning plate 36 plays an auxiliary role in pushing the bridge 5 to move horizontally, so that the lateral pushing effect is mainly concentrated at the connecting position between the side member 52 and the main body member 51 of the bridge 5, where the position is a stable and firm position on the side member 52, and the deformation of the side member 52 caused by the lateral stress effect is reduced;
further, when the downward opening bridge 5 is gripped and carried and stacked with the upward opening bridge 5, the mechanical arm 12 is controlled to shift, so that when the upward opening bridge 5 moves downward, the side member 52 contacted by the positioning plate 36 provided with the guiding groove 362 is embedded into the opening of the downward bridge 5, as shown in fig. 10, at this time, the end of the corresponding side member 52 of the upward opening bridge 5 is just embedded into the guiding groove 362, and then, while the corresponding positioning plate 36 is retracted, the end of the side member 52 is embedded into the gap between the positioning plate 36 and the side member 52 of the upward bridge 5 through the guiding groove 362, so that the corresponding side members 52 on the two bridges 5 are tightly attached to each other under the action of the guiding groove 362, and the tight embedding between the two bridges 5 is ensured, so that the stacking stability is ensured.
Embodiment seven:
on the basis of the first embodiment, in the above embodiment, the distance between the adsorption fixing plates 34 on two sides is adjustable under the action of the second telescopic device 321, so that the application can be applied to bridges 5 with different lengths, and the applicability of the application is improved; when the device is suitable for the bridge 5 with larger length and lower material strength, only the two end parts of the bridge 5 are limited and fixed, and in the moving process, because the center of gravity of the bridge 5 is at the middle part, when the center of gravity is beyond the fixed parts at the two ends, the middle part of the bridge 5 is possibly bent and deformed, and the device has larger coincidence to the adsorption fixing plate 34;
thus, as shown in fig. 1-12 of the drawings, unlike the above embodiment, in this embodiment, by uniformly arranging the fixing rods 347 between the opposite ends of the adsorption fixing plates 34, both ends of the fixing rods 347 are respectively connected to the ends of the adsorption fixing plates 34 on both sides, so that the space between the adsorption fixing plates 34 on both sides is fixed; at this time, the interval between the adsorption fixing plates 34 is not adjustable, the transverse movement can only be realized by the mode that one side of the second expansion device 321 is extended and the other side of the second expansion device 321 is shortened, the whole transverse position adjustment of the adsorption fixing plates 34 at two sides is realized, and the interval is set according to the length of the bridge 5 to be piled up, so that the device has more pertinence;
the specific working flow is as follows: when the adsorption fixing plate 34 contacts with the surface of the main body piece 51, the fixing rod 347 contacts with the upper surface of the main body piece 51, and in the process of completing adsorption fixing and moving the bridge frame 5 by the mechanical arm 12, the turntable 33 is rotated to fix whether the landing bridge frame 5 is opened upwards or downwards, so that the bridge frame 5 is opened downwards in the process of moving, at the moment, the adsorption fixing plate 34 and the fixing rod 347 in the middle position play a supporting role on the main body piece 51, and the fixing rods 347 between the adsorption fixing plates 34 at two sides effectively support the middle bridge frame 5, so that the deformation trend of the middle part of the bridge frame 5 is slowed down, and further the danger of large deformation and even fracture of the bridge frame 5 in the process of moving is effectively avoided;
further, when the bridge 5 with the upward opening is close to the stacking table 2, the fixed turntable 33 is automatically controlled, so that the bridge 5 rotates to a state with the upward opening and is placed; and the bridge 5 that falls to the ground is that the opening is decurrent when being close to pile up neatly platform 2, needs the manual work to assist to break away from bridge 5 and adsorbs fixed plate 34, places on corresponding bridge 5, compares with prior art, does not need the manual work in the process of transporting upset bridge 5, only need take off bridge 5 vertically downwards place can, has reduced manual operation flow equally, has improved bridge 5 pile up neatly efficiency.
The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made without departing from the spirit and scope of the application, which is defined in the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.
Claims (5)
1. The bridge stacking device comprises a stacking robot (1), a stacking table (2) and a fixing assembly (3), wherein the stacking robot (1) is arranged on one side of a transmission groove (4), and a horizontal transmission roller (41) is arranged at the bottom of the transmission groove (4);
the palletizing robot (1) comprises a fixed base (11), a mechanical arm (12) is arranged on the fixed base (11), a fixed table (13) is arranged at the end part of the mechanical arm (12), and a fixed assembly (3) is arranged on the fixed table (13), and the palletizing robot is characterized in that the fixed assembly (3) comprises:
a transverse fixing piece (31) and a longitudinal fixing piece (32), wherein the transverse fixing piece (31) is fixedly arranged on the fixing table (13), and a first telescopic device (311) is arranged on the end part of the transverse fixing piece (31); the longitudinal fixing piece (32) is arranged on the telescopic end of the first telescopic device (311), and the second telescopic device (321) is arranged on the vertically opposite surface of the longitudinal fixing piece (32);
a fixed turntable (33), wherein the fixed turntable (33) is arranged on the telescopic end of the second telescopic device (321), and a rotating device is arranged at the installation position; an adsorption fixing plate (34) is arranged on the opposite surface of the fixed rotary table (33), an adsorption hole (341) is formed in the part, which is opposite to the surface of the main body part (51) of the bridge (5), of the adsorption fixing plate (34), and the adsorption hole (341) is communicated with an air extraction device (342) arranged in the adsorption fixing plate (34);
the adsorption holes (341) are conical holes, annular air bags (35) are arranged on the surfaces of the adsorption fixing plates (34) and surround the adsorption holes (341), air outlet holes (351) are uniformly formed in the bottoms of the annular air bags (35), and openings of the air outlet holes (351) point to directions away from the adsorption holes (341);
the inside of the annular air bag (35) is communicated with the air extraction equipment (342) through a communication air passage (352), a control air valve is arranged on the communication air passage (352), and the control air valve is controlled by an external controller;
the lower surface of the annular air bag (35) is uniformly provided with annular cone blocks (353), and the air outlet holes (351) are positioned at the clearance parts of the annular cone blocks (353);
the bottom of the adsorption fixing plate (34) is provided with a third telescopic device (343), the telescopic end of the third telescopic device (343) is provided with a limiting plate (344), and the limiting plate (344) is positioned below the main body piece (51);
the four-number telescopic device (346) is arranged at the position, opposite to the side part (52) of the bridge frame (5), of the two sides of the adsorption fixing plate (34), the locating plate (36) is arranged on the end part of the four-number telescopic device (346), and the surface of the locating plate (36) is in contact with the inner wall surface of the side part (52).
2. Bridge palletizing apparatus according to claim 1, characterized in that: the limiting plate (344) is made of iron, and an electromagnet (345) is arranged on the lower surface of the end part of the adsorption fixing plate (34).
3. Bridge palletizing apparatus according to claim 1, characterized in that: the locating plate (36) is L-shaped, the horizontal part of the bottom of the locating plate (36) is contacted with the surface of the main body part (51), and anti-slip parts (361) are uniformly arranged on the lower surface of the locating plate (36), and the anti-slip parts (361) are made of elastic materials.
4. A bridge palletising apparatus according to claim 3, wherein: the part of the top of the positioning plate (36) on one side, which is opposite to the side part (52), is provided with a guide groove (362), and the inner wall of the guide groove (362) is subjected to smoothing treatment.
5. Bridge palletizing apparatus according to claim 1, characterized in that: a fixing rod (347) is arranged between the opposite ends of the adsorption fixing plate (34), and two ends of the fixing rod (347) are respectively connected with the ends of the adsorption fixing plate (34) on two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310223292.4A CN116253150B (en) | 2023-02-28 | 2023-02-28 | Bridge stacking equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310223292.4A CN116253150B (en) | 2023-02-28 | 2023-02-28 | Bridge stacking equipment |
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| CN116253150B true CN116253150B (en) | 2023-10-03 |
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