CN117208550A - Rubbing mechanism and steel bar pickup device - Google Patents

Abstract

The invention provides a rubbing mechanism and a steel bar pickup device, wherein the rubbing mechanism comprises: a bracket; a guide rail; a movable plate, one side of which is fixed on the sliding block of the guide rail; a first servo motor-speed reducer combination and a second servo motor-speed reducer combination; the first gear is connected with an output shaft of the second servo motor-speed reducer combination; the second gear is connected with an output shaft of the first servo motor-speed reducer combination; the first rack is matched with the first gear; the third guide rail is arranged on the other side of the movable plate, and a rack mounting plate is arranged on a sliding block of the third guide rail; the second rack is fixed on the rack mounting plate and is matched with the second gear; the first cylinder is provided with a first cylinder rod which stretches and contracts along the height direction of the rubbing mechanism; the rubbing plate is arranged at the tail end of the first cylinder rod and used for rubbing the stacked steel bars on the receiving mechanism back and forth into single-layer arrangement. The invention has the advantages of simple structure, low cost, high efficiency and the like, and is beneficial to improving the automation degree of feeding of the device.

Description

Rubbing mechanism and steel bar pickup device

Technical Field

The invention relates to the technical field of steel bar machining, in particular to a rubbing mechanism and a steel bar pickup device.

Background

The raw materials of the reinforcing steel bars are generally whole bundles of incoming materials, the specification is phi 12-40 mm, and the length is 6-12 m, so that the reinforcing steel bars are required to be picked up according to the requirements in actual use and fed into a cutting device to be cut into the required length. When the steel bar is picked up, the steel bar is firstly placed in a raw material bin, and at present, the three following modes are mainly adopted for the steel bar pickup:

first kind: traditional manual pickup feeding mode, operating personnel sort the reinforcing bars according to the specification, then send the reinforcing bars into cutting equipment and process the reinforcing bars according to the demand, and this mode machining efficiency is low, and is with high costs, and intensity of labour is big, needs 1 ~ 2 talents to accomplish.

Second kind: as shown in fig. 1, the steel bars 3 'are horizontally placed, the magnets 2' are used to absorb a plurality of steel bars at a time, and the steel bars 3 'are lifted to a certain height, at this time, the clamping jaw 1' is used to clamp one steel bar 3 'from the horizontal direction and convey the steel bars to processing equipment, when the second steel bar 3' is clamped, a sensor is required to be additionally added or the position of the second steel bar is required to be visually judged, the clamping jaw 1 'is required to clamp the second steel bar according to the detection result, and when the clamping jaw cannot clamp the second steel bar, the magnets 2' are required to descend again to absorb the steel bars. This approach, while automated, is inefficient, and when fewer rebar is being suctioned, it is not possible to grip it.

Third kind: automatic change material loading mode uses magnet once to absorb many reinforcing bars, promotes the reinforcing bar to a take-up altitude and place on a receiving pole, uses the clamping jaw to snatch singly in proper order, and efficiency is higher, but the reinforcing bar can appear piling up when placing for the clamping jaw can't accurate clamp get, and the interval between reinforcing bar and the reinforcing bar is inconsistent, makes clamp get and need visual or additional assistance such as sensor.

For this reason, there is a need for an improved reinforcing bar pickup device to solve the above-mentioned problems.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a rubbing mechanism and a steel bar picking device.

According to one aspect of the present invention, there is provided a rubbing mechanism comprising:

a bracket;

the guide rail is fixed on the bracket and is arranged along the height direction of the rubbing mechanism;

the movable plate, one side of the said movable plate is fixed on slide block of the said guide rail;

the first servo motor-speed reducer combination and the second servo motor-speed reducer combination are both fixed on the movable plate, and the first servo motor-speed reducer combination is positioned below the second servo motor-speed reducer combination;

the first gear is connected with an output shaft of the second servo motor-speed reducer combination;

the second gear is connected with an output shaft of the first servo motor-speed reducer combination;

the first rack is arranged along the height direction of the rubbing mechanism, is fixed on the bracket and is matched with the first gear;

the third guide rail is arranged on the other side of the movable plate and is perpendicular to the guide rail, and a rack mounting plate is arranged on a sliding block of the third guide rail;

the second rack is fixed on the rack mounting plate and is perpendicular to the first rack, and the second rack is matched with the second gear;

the first cylinder is fixed on the rack mounting plate and is provided with a first cylinder rod which stretches and contracts along the height direction of the rubbing mechanism;

the rubbing plate is arranged at the tail end of the first cylinder rod and used for rubbing the steel bars stacked on the receiving mechanism back and forth into single-layer arrangement.

Optionally, the thickness direction of the rubbing plate is consistent with the axial direction of the reinforcing steel bars; the rubbing plate is used for rubbing the steel bars and keeping a preset distance from the upper surface of the steel bars, so that the steel bars are prevented from being secondarily stacked, and the steel bars positioned at the clamping position on the receiving mechanism are exposed.

Optionally, the rubbing plate comprises a rubbing part and a connecting part which are perpendicular to each other, the thickness direction of the rubbing part is consistent with the axial direction of the steel bar, the rubbing part is arranged in the middle of one side of the connecting part, and the other side of the connecting part is connected with the tail end of the first cylinder rod.

Optionally, the number of the guide rails is two, and the two guide rails are arranged in parallel.

According to another aspect of the present invention, there is provided a reinforcing bar pickup apparatus, the apparatus including:

a bracket mechanism;

the material receiving mechanism is positioned at the bottom of the bracket mechanism and comprises a material receiving rod, the material receiving rod is used for placing the steel bars absorbed by the pickup mechanism, and the material receiving rod is perpendicular to the steel bars; one end part of the receiving rod is a clamping position;

the clamping mechanism is fixed on the bracket mechanism and is positioned above the material receiving mechanism, and the clamping mechanism clamps the steel bars positioned at the clamping position on the material receiving rod and conveys the steel bars to the next working procedure;

the rubbing mechanism is positioned at one side of the material receiving mechanism and is used for rubbing the stacked steel bars on the material receiving rod back and forth into single-layer arrangement;

the positioning mechanism is positioned on one side of the receiving mechanism, the positioning mechanism is far away from the clamping position, and the positioning mechanism pushes the rubbed reinforcing steel bars to the clamping position along the axial direction of the receiving rod, so that the reinforcing steel bars are sequentially and tightly distributed from the clamping position.

Optionally, the positioning mechanism includes:

the fixed seat is fixed on the bracket mechanism;

the second air cylinder is fixed on the fixed seat and is positioned above the fixed seat, and the second air cylinder is provided with a second air cylinder rod which stretches and contracts along the axial direction perpendicular to the reinforcing steel bars;

the fourth guide rail is arranged on the lower surface of the fixed seat, and the length direction of the fourth guide rail is consistent with the expansion and contraction direction of the second cylinder rod;

one end of the positioning push plate is fixed on the sliding block of the fourth guide rail, and the other end of the positioning push plate is fixed at the tail end of the second cylinder rod;

the first positioning column is arranged at the end part, close to the clamping position, of the material receiving rod, and the positioning push plate pushes the rubbed steel bars to the clamping position to squeeze the first positioning column.

Optionally, the end portion of the material receiving rod far away from the clamping position is provided with a second positioning column, and the second positioning column limits the steel bars released on the material receiving rod.

Optionally, the receiving mechanism is provided with a detection switch, the detection switch is triggered by the steel bar contacting the first positioning column, and the positioning push plate is retracted in a direction away from the first positioning column after the detection switch is triggered.

Optionally, the device further comprises a control mechanism, and when the detection switch cannot detect the steel bar, the control mechanism controls the pick-up mechanism to feed next time.

Optionally, the receiving mechanism includes:

the tail end of a third cylinder rod of the third cylinder is connected with the middle part of the material receiving rod, and the expansion direction of the third cylinder rod is perpendicular to the axial direction of the material receiving rod;

the idler wheels are sleeved at two ends of the material receiving rod.

Compared with the prior art, the invention has at least one of the following beneficial effects:

1. according to the rubbing mechanism and the steel bar picking device, steel bars are quickly placed on the receiving rod of the receiving mechanism after being picked up, the steel bars stacked on the receiving mechanism are rubbed into a single layer through the rubbing mechanism, the magnets of the picking mechanism are not required to absorb the steel bars for many times, and the production efficiency can be effectively improved.

2. According to the rubbing mechanism and the steel bar picking device, the rubbing mechanism, the positioning mechanism and the like are arranged, and the rubbed steel bars are positioned through the positioning mechanism, so that the steel bars are sequentially and tightly distributed from the clamping position, the condition that the steel bars are clamped at the same position each time is realized, the requirement on the clamping mechanism can be reduced, and a sensor or a vision system is not required to be additionally arranged.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

fig. 1 is a schematic structural diagram of an automatic feeding device in the background art, wherein 1' is a clamping jaw, 2' is a magnet, and 3' is a reinforcing steel bar;

FIG. 2 is a schematic diagram of a rubbing mechanism according to an embodiment of the invention;

fig. 3 is a schematic structural view of a steel bar pick-up device (including steel bars) according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a steel bar pick-up device (including steel bars) according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a steel bar pick-up device (including steel bars) according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a reinforcing bar pickup apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a positioning mechanism according to an embodiment of the invention;

FIG. 8 is a schematic diagram of a receiving mechanism according to an embodiment of the present invention;

fig. 9 is a schematic view showing an initial state in which a suction bar is placed on a receiving mechanism according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a rubbing mechanism for rubbing a reinforcing steel bar according to an embodiment of the invention;

fig. 11 is a schematic view of a positioning mechanism for positioning a steel bar according to an embodiment of the invention.

In the figure: 100 is a rubbing mechanism, 200 is a positioning mechanism, 300 is a reinforcing steel bar, 400 is a detection switch, 500 is a clamping mechanism, 600 is a material receiving mechanism, 700 is a bracket mechanism, 101 is a first servo motor-speed reducer combination, 102 is a second servo motor-speed reducer combination, 103 is a bracket, 104 is a first gear, 105 is a first rack, 106 is a first guide rail, 107 is a second guide rail, 108 is a movable plate, 109 is a third guide rail, 110 is a rack mounting plate, 111 is a first cylinder, 112 is a rubbing plate, 113 is a second gear, 114 is a second rack, 201 is a positioning push plate, 202 is a cylinder fixing plate, 203 is a second cylinder, 204 is a fixing seat, 205 is a fourth guide rail, 601 is a first positioning column, 602 is a material receiving rod, 603 is a third cylinder, and 604 is a roller.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

Referring to fig. 2, a rubbing mechanism according to an embodiment of the present invention includes a support 103, a guide rail, a movable plate 108, a first servo motor-speed reducer combination 101, a second servo motor-speed reducer combination 102, a first gear 104, a first rack 105, a second gear 113, a second rack 114, a third guide rail 109, a first cylinder 111, a rubbing plate 112, etc., where the support 103 is used as a mounting base of the rubbing mechanism and provides a supporting function for the rubbing mechanism; the guide rail is fixed on the support 103 and is arranged along the height direction of the rubbing mechanism 100, namely the stacking direction of the steel bars on the material receiving mechanism; one side of the movable plate 108 is fixed on the slide block of the guide rail; the first servo motor-speed reducer combination 101 and the second servo motor-speed reducer combination 102 are both fixed on the movable plate 108, and the first servo motor-speed reducer combination 101 is positioned below the second servo motor-speed reducer combination 102; the first gear 104 is connected with the output shaft of the second servo motor-speed reducer combination 102; the second gear 113 is connected with the output shaft of the first servo motor-speed reducer combination 101; the first rack 105 is arranged along the height direction of the rubbing mechanism 100, and the first rack 105 is fixed on the bracket 103 and is matched with the first gear 104; when the servo motor of the second servo motor-speed reducer combination 102 rotates, the movable plate 108 is driven to move up and down along the first rack 105; the third guide rail 109 is arranged on the other side of the movable plate 108, the third guide rail 109 is vertical to the guide rail, and a rack mounting plate 110 is arranged on a sliding block of the third guide rail 109; the second rack 114 is fixed on the rack mounting plate 110, the second rack 114 is perpendicular to the first rack 105, the second rack 114 is matched with the second gear 113, and the rack mounting plate 110 is driven to move along the second rack 114 when the servo motor of the first servo motor-speed reducer combination 101 rotates; the first cylinder 111 is fixed on the rack mounting plate 110, the first cylinder 111 has a first cylinder rod which stretches and contracts in the height direction of the rubbing mechanism 100, the rubbing plate 112 is mounted at the end of the first cylinder rod, and the rubbing plate 112 rubs stacked reinforcing bars back and forth into a single-layer arrangement.

In some embodiments, the rubbing plate 112 includes a rubbing part and a connection part, which are perpendicular to each other, the rubbing part having a thickness direction consistent with an axial direction of the reinforcing bar, the rubbing part being provided at a middle portion of one side of the connection part, and the other side of the connection part being connected to an end of the first cylinder rod. Because the air is compressible, the rubbing plate 112 is arranged at the tail end of the first cylinder rod and can be used as buffer, so that the servo motor alarm caused by excessive instant resistance when the rubbing plate is pressed down and rubbed is prevented.

In the above embodiment, the thickness direction of the rubbing plate 112 coincides with the axial direction of the reinforcing bars; because the reinforcing steel bars are ribbed, if the rubbing plate 112 is tightly attached to the surface of the reinforcing steel bars, a scratch is easy to occur when the reinforcing steel bars are positioned and pushed, in order to prevent secondary stacking of the rubbed reinforcing steel bars, the rubbing plate 112 keeps a preset distance from the upper surface of the reinforcing steel bars after rubbing the reinforcing steel bars so as to prevent secondary stacking of the reinforcing steel bars, and the reinforcing steel bars positioned at the clamping position on the material receiving mechanism are exposed. Preferably, the preset distance is not more than half of the diameter of the steel bars, and is generally 2-3 mm, so that secondary stacking of the steel bars caused by the action of the steel bar positioning mechanism can be effectively prevented, and the second steel bar can be prevented from being driven to act when the first steel bar is clamped.

In the above embodiment, the up-down, left-right movement of the rubbing plate 112 is servo-controlled by the first and second servo motor-reducer combinations 101 and 102, so that the use of steel bars with different specifications and sizes can be satisfied.

To improve the connection stability and the movement stability of the movable plate 108, in some embodiments, the number of the guide rails is two, and the two guide rails are disposed in parallel, such as the first guide rail 106 near the first rack 105 and the second guide rail 107 at the end of the movable plate 108 in fig. 2.

By using the rubbing mechanism, the rubbing translation is as follows: the first cylinder 111 is ventilated, the first cylinder rod drives the rubbing plate 112 to extend downwards, the second servo motor-speed reducer combination 102 drives the first gear 104 to rotate, parts mounted on the movable plate 108 slide downwards along the guide rail, the rubbing plate 112 is in contact with the surface of the steel bars and has certain pressure, meanwhile, the first servo motor-speed reducer combination 101 rotates to drive the second gear 113 to rotate, the rack mounting plate 110 drives the first cylinder 111 and the rubbing plate 112 to move to a designated position, and when the rubbing starts, the servo motor of the first servo motor-speed reducer combination 101 rotates forwards and reversely to drive the rubbing plate 112 to do reciprocating motion, so that stacked steel bars are subjected to downward pressure and simultaneously subjected to reciprocating lateral extrusion force, and finally the steel bars form single-layer arrangement.

The steel bars are quickly placed on the material receiving rod of the material receiving mechanism after being picked up, the steel bars stacked on the material receiving mechanism are rubbed into a single layer by the rubbing mechanism in the embodiment of the invention, and the steel bars are not required to be picked up by the magnet of the picking mechanism for many times, so that the production efficiency can be effectively improved.

Referring to fig. 3 to 6, another embodiment of the present invention provides a reinforcement bar pickup apparatus, which includes a bracket mechanism 700, a receiving mechanism 600, a gripping mechanism 500, a positioning mechanism 200, and a rubbing mechanism 100 in the above embodiment, wherein: the bracket mechanism 700 provides a supporting function for the whole device, and the bracket mechanism 700 has a rectangular parallelepiped structure formed by a plurality of connecting rods; the material receiving mechanism 600 is positioned at the bottom of the bracket mechanism 700, the material receiving mechanism 600 comprises a material receiving rod 602, the material receiving rod 602 is used for placing the steel bar 300 absorbed by the picking mechanism, and the material receiving rod 602 is vertical to the steel bar 300; one end of the receiving rod 602 is a clamping position; the clamping mechanism 500 is fixed on the bracket mechanism 700 and is positioned above the material receiving mechanism 600, and the clamping mechanism 500 clamps the steel bars 300 positioned at the clamping position on the material receiving rod 602 and conveys the steel bars to the next process; the rubbing mechanism 100 is fixed on the bracket mechanism 700, specifically, the bracket 103 of the rubbing mechanism 100 is fixed on the bracket mechanism 700 in a threaded connection manner, the rubbing mechanism 100 is positioned at one side of the material receiving mechanism 600, the rubbing mechanism 100 is far away from the clamping position, and the rubbing mechanism 100 reciprocally rubs the stacked steel bars 300 on the material receiving rod 602 into a single-layer arrangement; the positioning mechanism 200 is fixed on the bracket mechanism 700, the positioning mechanism 200 is located at one side of the material receiving mechanism 600, the positioning mechanism 200 is far away from the clamping position, and the positioning mechanism 200 pushes the rubbed reinforcing steel bars 300 to the clamping position along the axial direction of the material receiving rod 602, so that the reinforcing steel bars 300 are sequentially and tightly arranged from the clamping position, and the reinforcing steel bars 300 sequentially comprise a first reinforcing steel bar, a second reinforcing steel bar and the like from the clamping position.

In the embodiment of the invention, after the steel bars are picked up, the steel bars are quickly placed on the material receiving rod 602 of the material receiving mechanism 600, and the steel bars 300 stacked on the material receiving mechanism 600 are rubbed and leveled into a single layer by the rubbing mechanism 100, so that on one hand, the magnet of the picking mechanism is not required to absorb the steel bars for many times, the production efficiency can be effectively improved, on the other hand, the magnet is not required to be electrified for a long time, and the safety accidents caused by sudden falling of the steel bars due to power failure of the electromagnet during sudden power failure can be effectively prevented, thereby improving the safety of steel bar processing; the positioning mechanism 200 is used for positioning the rubbed reinforcing steel bars 300, so that the reinforcing steel bars 300 are sequentially and tightly distributed from the clamping positions, the fact that the reinforcing steel bars 300 are clamped at the same position every time is realized, the requirement on the clamping mechanism 500 can be reduced, and a sensor or a vision system is not required to be additionally arranged.

Referring to fig. 8, in some embodiments, the receiving mechanism 600 further includes a third cylinder 603 and a roller 604, wherein a third cylinder rod end of the third cylinder 603 is connected to a middle part of the receiving rod 602, and a telescopic direction of the third cylinder rod is perpendicular to an axial direction of the receiving rod 602; the rollers 604 are sleeved at two ends of the receiving rod 602, so that stable and smooth movement of the receiving rod 602 can be realized.

When the magnet of the pick-up mechanism sucks the steel bar and lifts to a certain height, the third cylinder 603 of the receiving mechanism 600 acts, the receiving rod 602 stretches out, the steel bar 300 falls on the receiving rod 602, at this time, the steel bar 300 may have stacking phenomenon, and the rubbing mechanism is used for rubbing and leveling, so that the single-layer arrangement of the steel bar can be realized.

Referring to fig. 7, in some embodiments, the positioning mechanism 200 includes a fixing base 204, a second cylinder 203, a fourth guide rail 205, a positioning push plate 201, and a first positioning post 601, where the fixing base 204 is fixed on a bracket mechanism 700, preferably, the fixing base 204 is fixed on the bracket mechanism 700 by welding, and the fixing base 204 is located in front of the receiving mechanism 600; the second cylinder 203 is fixed on the fixed seat 204 through the cylinder fixing plate 202, the second cylinder 203 is positioned above the fixed seat 204, and the second cylinder 203 is provided with a second cylinder rod which stretches and contracts along the axial direction perpendicular to the steel bar 300; the fourth guide rail 205 is arranged on the lower surface of the fixed seat 204, and the length direction of the fourth guide rail 205 is consistent with the expansion and contraction direction of the second cylinder rod; one end of the positioning push plate 201 is fixed on the sliding block of the fourth guide rail 205, the other end of the positioning push plate 201 is fixed at the tail end of the second cylinder rod, and the thickness direction of the positioning push plate 201 is perpendicular to the axial direction of the steel bar 300; the first positioning column 601 is arranged at the end part of the receiving rod 602, which is close to the clamping position, and the positioning push plate 201 pushes the flattened reinforcing steel bar 300 to the clamping position to squeeze the first positioning column 601. The rubbing plate 112 of the rubbing mechanism 100 is located between the first positioning post 601 and the jaws of the gripping mechanism 500.

In some embodiments, a second positioning post is provided on the end of the receiving rod 602 away from the clamping position, and the second positioning post limits the rebar released on the receiving rod 602, thereby preventing the rebar from falling out of the receiving rod range when picking up the mechanical rebar.

In some embodiments, the material receiving mechanism 600 is provided with a detection switch 400, the detection switch 400 is triggered by the steel bar 300 contacting the first positioning column 601, and the positioning push plate 201 is retracted in a direction away from the first positioning column 601 after the detection switch 400 is triggered.

The steel bar picking device in the embodiment of the invention further comprises a control mechanism, and when the detection switch 400 cannot detect the steel bar 300, the control mechanism controls the picking mechanism to carry out next feeding.

In the above embodiment, the detection switch 400 detects whether the clamping position has the reinforcing steel bars, and no additional sensor or vision system is required, so that the structure of the device can be simplified and the cost can be reduced.

After the rubbing is completed, the steel bars need to be positioned, at this time, the second cylinder 203 acts to drive the positioning push plate 201 to slide along the fourth guide rail 205, the steel bars 300 are pressed against the first positioning column 601, and the rubbing plate 112 is above the steel bars 300, so that secondary stacking cannot occur during pressing, and after the steel bars 300 approach the first positioning column 601, the detection switch 400 can be triggered, so that the positioning push plate 201 is retracted. At this time, the clamping mechanism 500 clamps the first reinforcing steel bar and conveys the first reinforcing steel bar to the cutting mechanism. When the clamping is completed, the positioning mechanism 200 acts again to push the remaining reinforcing steel bars 300 to approach the first positioning column 601, and when the detecting switch 400 cannot detect the reinforcing steel bars, the clamping of the reinforcing steel bars 300 on the material receiving rod 602 is completed, and the magnet of the picking mechanism is required to feed next time. Preferably, a magnetic switch is arranged on the second cylinder 203, and is triggered when the second cylinder 203 drives the positioning push plate 201 to push the last steel bar on the material receiving rod, so that the feeding action and the action of clamping the last steel bar can be synchronous, the time waste can be effectively reduced, and the processing efficiency of the steel bars can be improved.

In the above embodiment, the clamping mechanism 500 adopts a clamping jaw clamping manner to clamp the steel bar, and a specific implementation manner thereof may adopt the prior art.

In the process of processing the reinforcing bars, the initial state that the reinforcing bars are detached from the magnets of the picking mechanism and dropped onto the receiving bars 602 of the receiving mechanism 600 is shown in fig. 9, and when stacking occurs by detaching the reinforcing bars 300 from the magnets and dropping onto the receiving bars 602, the stacked reinforcing bars 300 are reciprocally flattened into a single layer using the flattening mechanism 100 as shown in fig. 10 by using the reinforcing bar picking apparatus of the above embodiment of the present invention; the rubbing mechanism 100 is separated from the surface of the steel bar 300 and lifted by a certain height, and horizontally moves to expose the first steel bar 300, and then the positioning mechanism 200 is used to push the steel bar 300 to one side of the clamping position, after the gap between the steel bars is eliminated, the positioning mechanism 200 is retracted, and the clamping mechanism 500 clamps the first steel bar, as shown in fig. 11. When the second steel bar is clamped, the positioning mechanism 200 is only required to act to push the steel bars 300 to eliminate gaps between the steel bars, and the second steel bar is located at the clamped first steel bar position (namely the clamping position), so that the next clamping is convenient, and the position of the steel bar is not required to be additionally increased when the second clamping is performed. Except the first rubbing action, the whole rubbing mechanism 100 does not act, and the rubbing plate 112 is positioned on the upper surface of the steel bar 300, so that secondary stacking caused by the action of the positioning mechanism 200 can be effectively prevented, and the action of driving a second steel bar when the first steel bar is clamped can be prevented. The mode has the advantages of simple structure, high efficiency and low cost.

According to the rubbing mechanism and the steel bar picking device provided by the embodiment of the invention, after the steel bars are picked up, the steel bars are quickly placed on the material receiving rod of the material receiving mechanism, the steel bars stacked on the material receiving mechanism are rubbed into a single layer through the rubbing mechanism, the steel bars are not stacked, the magnets are not required to absorb the steel bars for many times, the production efficiency can be effectively improved, and the whole process can be unmanned; the positioning mechanism is used for positioning the rubbed reinforcing steel bars, so that the reinforcing steel bars are sequentially and tightly distributed from the clamping position, the fact that the reinforcing steel bars are clamped at the same position each time is realized, the requirement on the clamping mechanism can be reduced, a sensor or a vision system is not required to be additionally arranged, and the structure of the device can be simplified, and the cost is reduced.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention. The above-described preferred features may be used in any combination without collision.

Claims (10)

1. A rubbing mechanism, comprising:

a bracket;

the guide rail is fixed on the bracket and is arranged along the height direction of the rubbing mechanism;

the movable plate, one side of the said movable plate is fixed on slide block of the said guide rail;

the first servo motor-speed reducer combination and the second servo motor-speed reducer combination are both fixed on the movable plate, and the first servo motor-speed reducer combination is positioned below the second servo motor-speed reducer combination;

the first gear is connected with an output shaft of the second servo motor-speed reducer combination;

the second gear is connected with an output shaft of the first servo motor-speed reducer combination;

the first rack is arranged along the height direction of the rubbing mechanism, is fixed on the bracket and is matched with the first gear;

the third guide rail is arranged on the other side of the movable plate and is perpendicular to the guide rail, and a rack mounting plate is arranged on a sliding block of the third guide rail;

the second rack is fixed on the rack mounting plate and is perpendicular to the first rack, and the second rack is matched with the second gear;

the first cylinder is fixed on the rack mounting plate and is provided with a first cylinder rod which stretches and contracts along the height direction of the rubbing mechanism;

the rubbing plate is arranged at the tail end of the first cylinder rod and used for rubbing the steel bars stacked on the receiving mechanism back and forth into single-layer arrangement.

2. The rubbing mechanism according to claim 1, wherein the rubbing plate has a thickness direction in conformity with an axial direction of the reinforcing bars; the rubbing plate is used for rubbing the steel bars and keeping a preset distance from the upper surface of the steel bars, so that the steel bars are prevented from being secondarily stacked, and the steel bars positioned at the clamping position on the receiving mechanism are exposed.

3. The reinforcing bar pickup apparatus as set forth in claim 1, wherein the rubbing plate includes a rubbing part and a connection part perpendicular to each other, a thickness direction of the rubbing part is identical to an axial direction of the reinforcing bar, the rubbing part is provided at a middle portion of one side of the connection part, and the other side of the connection part is connected with an end of the first cylinder rod.

4. The reinforcing bar pickup apparatus of claim 1, wherein the number of the guide rails is two, and the two guide rails are disposed in parallel.

5. A reinforcing bar pickup apparatus, comprising:

a bracket mechanism;

the material receiving mechanism is positioned at the bottom of the bracket mechanism and comprises a material receiving rod, the material receiving rod is used for placing the steel bars absorbed by the pickup mechanism, and the material receiving rod is perpendicular to the steel bars; one end part of the receiving rod is a clamping position;

the clamping mechanism is fixed on the bracket mechanism and is positioned above the material receiving mechanism, and the clamping mechanism clamps the steel bars positioned at the clamping position on the material receiving rod and conveys the steel bars to the next working procedure;

the rubbing mechanism of any one of claims 1-4, which is positioned at one side of the material receiving mechanism and is used for rubbing the stacked steel bars on the material receiving rod back and forth into single-layer arrangement;

the positioning mechanism is positioned on one side of the receiving mechanism, the positioning mechanism is far away from the clamping position, and the positioning mechanism pushes the rubbed reinforcing steel bars to the clamping position along the axial direction of the receiving rod, so that the reinforcing steel bars are sequentially and tightly distributed from the clamping position.

6. The rebar picking device of claim 5, wherein the locating mechanism comprises:

the fixed seat is fixed on the bracket mechanism;

the second air cylinder is fixed on the fixed seat and is positioned above the fixed seat, and the second air cylinder is provided with a second air cylinder rod which stretches and contracts along the axial direction perpendicular to the reinforcing steel bars;

the fourth guide rail is arranged on the lower surface of the fixed seat, and the length direction of the fourth guide rail is consistent with the expansion and contraction direction of the second cylinder rod;

one end of the positioning push plate is fixed on the sliding block of the fourth guide rail, and the other end of the positioning push plate is fixed at the tail end of the second cylinder rod;

the first positioning column is arranged at the end part, close to the clamping position, of the material receiving rod, and the positioning push plate pushes the rubbed steel bars to the clamping position to squeeze the first positioning column.

7. The bar pickup device of claim 6, wherein the end of the receiving bar remote from the gripping location is provided with a second positioning post that positions the bar released from the receiving bar.

8. The steel bar picking device according to claim 6, wherein the receiving mechanism is provided with a detection switch, the detection switch is triggered by the steel bar contacting the first positioning column, and the positioning push plate is retracted in a direction away from the first positioning column after the detection switch is triggered.

9. The bar pickup device of claim 8, further comprising a control mechanism that controls the pickup mechanism to perform a next loading when the detection switch fails to detect a bar.

10. The rebar picking device of claim 5, wherein the stock receiving mechanism comprises:

the tail end of a third cylinder rod of the third cylinder is connected with the middle part of the material receiving rod, and the expansion direction of the third cylinder rod is perpendicular to the axial direction of the material receiving rod;

the idler wheels are sleeved at two ends of the material receiving rod.