CN117208568A - Accurate pickup device of many specifications reinforcing bar - Google Patents

Accurate pickup device of many specifications reinforcing bar Download PDF

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Publication number
CN117208568A
CN117208568A CN202311190672.9A CN202311190672A CN117208568A CN 117208568 A CN117208568 A CN 117208568A CN 202311190672 A CN202311190672 A CN 202311190672A CN 117208568 A CN117208568 A CN 117208568A
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cylinder
steel bars
rod
fixed
material receiving
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史攀峰
张晓军
杨泓斌
梁衍学
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Shanghai Weijian Technology Co ltd
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Shanghai Weijian Technology Co ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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Abstract

本发明提供一种多规格钢筋精准拾取装置,包括:移动料仓和拾取输送机构,移动料仓包括多个仓位,每个仓位放置相同规格的钢筋;拾取输送机构包括:框架;拾取机构,用于自移动料仓拾取目标规格的钢筋;接料机构,用于缓存拾取机构拾取的钢筋,接料机构的一端为夹取位置;搓平机构,将接料机构上堆叠的钢筋往复搓平为单层排布;定位机构,沿垂直钢筋轴向的方向将搓平后的钢筋向夹取位置推动,使得钢筋自夹取位置依次紧密排布;夹取机构,夹取接料机构上位于夹取位置的钢筋;滚送机构,将夹取机构夹取的钢筋输送至加工设备。本发明能够实现对不同规格钢筋拾取加工的随时切换,实现多规格钢筋的精准拾取。

The invention provides a device for accurately picking up multi-specification steel bars, which includes: a mobile silo and a picking and conveying mechanism. The movable silo includes multiple positions, and each position places steel bars of the same specifications; the picking and conveying mechanism includes: a frame; and a picking mechanism. It picks up steel bars of target specifications from the mobile silo; the material receiving mechanism is used to cache the steel bars picked up by the picking mechanism, and one end of the material receiving mechanism is the clamping position; the flattening mechanism reciprocates and flattens the steel bars stacked on the material receiving mechanism. Arranged in a single layer; the positioning mechanism pushes the flattened steel bars toward the clamping position in the direction perpendicular to the axial direction of the steel bars, so that the steel bars are closely arranged from the clamping position; the clamping mechanism is located on the clamping and receiving mechanism Pick up the steel bars at the position; the rolling mechanism transports the steel bars picked up by the clamping mechanism to the processing equipment. The invention can realize the switching of the picking processing of steel bars of different specifications at any time and realize the accurate picking of steel bars of multiple specifications.

Description

一种多规格钢筋精准拾取装置A multi-specification steel bar precise picking device

技术领域Technical field

本发明涉及钢筋加工技术领域,具体地,涉及一种多规格钢筋精准拾取装置。The present invention relates to the technical field of steel bar processing, and specifically to a device for accurately picking up multi-specification steel bars.

背景技术Background technique

钢筋原料一般为整捆来料,规格为Φ12~40mm,6~12m长,在实际使用时需要将钢筋按照需求进行拾取,并送入切割设备切断为需要的长度。钢筋拾取时,先将钢筋放在原料仓内,目前有三种方式进行钢筋拾取:Steel bar raw materials are generally supplied in whole bundles, with specifications of Φ12~40mm and 6~12m long. In actual use, the steel bars need to be picked up as required and sent to cutting equipment to be cut to the required length. When picking up steel bars, first place the steel bars in the raw material bin. There are currently three ways to pick up steel bars:

第一种:传统人工拾取上料方式,操作人员将钢筋按照规格进行分拣,然后根据需求将钢筋送入切割设备并对钢筋进行加工,此方式加工效率低,成本高,劳动强度大,需要1~2人才可以完成。The first one: the traditional manual picking and loading method. The operator sorts the steel bars according to specifications, and then sends the steel bars to the cutting equipment and processes the steel bars according to needs. This method has low processing efficiency, high cost, high labor intensity, and requires It takes 1 to 2 people to complete.

第二种:现有钢筋拾取机构或设备大多采用横向单根拾取模式,当需要对钢筋进行加工时,先将同一规格的钢筋放置在料仓上,料仓与加工设备有一定的高低差,上料机构会将钢筋一根一根从料仓上滑落至加工设备的滚送机构处,滚送机构将钢筋送至加工设备,可参考申请号为201720577393.1,发明名称为“钢筋弯曲机的钢筋上料装置”的中国发明专利,此方式上料效率较高,但加工钢筋的规格不能随时切换,只能将同一规格的钢筋加工完成后才可以切换其他规格的钢筋,即不同规格钢筋的加工需要按顺序、按批量进行。The second type: Most existing steel bar picking mechanisms or equipment adopt a horizontal single-bar picking mode. When the steel bars need to be processed, steel bars of the same specification are first placed on the silo. There is a certain height difference between the silo and the processing equipment. The loading mechanism will slide the steel bars one by one from the silo to the rolling mechanism of the processing equipment. The rolling mechanism will send the steel bars to the processing equipment. Please refer to the application number 201720577393.1, and the invention name is "Steel Bars of Steel Bar Bending Machine" The Chinese invention patent of "Loading Device". This method of loading has high efficiency, but the specifications of processed steel bars cannot be switched at any time. Rebars of other specifications can only be switched after the processing of steel bars of the same specification is completed, that is, the processing of steel bars of different specifications It needs to be done in sequence and in batches.

第三类:现有技术中也有一些针对不同规格钢筋进行加工的设备,且针对不同规格的钢筋加工可随时切换。如图1所示,在一次生产中,对钢筋3’进行拾取时需要用磁铁2’将钢筋提升至一定高度,利用夹爪1’从侧面夹取或磁铁吸取一根钢筋送入设备,当拾取第二根钢筋时,电磁铁需要重新从料仓中吸取钢筋,重复以上动作,可参考申请号为201210517918.4,发明名称为“钢筋加工生产线中的自动提升钢筋上料装置及其工艺”的中国发明专利,此专利中将图1的夹爪1’设置为卸料机构。这种拾取方式的好处是可以随时切换钢筋的规格,但当同一规格钢筋需要批量加工时,这种方式的综合工作效率较低。Category 3: There are also some equipments for processing steel bars of different specifications in the existing technology, and the processing of steel bars of different specifications can be switched at any time. As shown in Figure 1, in a production, when picking up the steel bar 3', the magnet 2' needs to be used to lift the steel bar to a certain height, and the clamping claw 1' is used to clamp a steel bar from the side or the magnet is sucked into the equipment. When picking up the second steel bar, the electromagnet needs to pick up the steel bar from the silo again and repeat the above action. Please refer to the application number 201210517918.4, the invention name is "Automatic lifting steel bar feeding device and its process in steel bar processing production line" in China Invention patent, in this patent, the clamping jaw 1' in Figure 1 is set as a discharge mechanism. The advantage of this picking method is that the specifications of the steel bars can be switched at any time, but when the steel bars of the same specification need to be processed in batches, the overall work efficiency of this method is low.

实际生产中,需要加工的钢筋规格和数量是不确定的,既需要实现对不同规格钢筋加工可随时切换,也需要对同一规格钢筋高效加工,为此,有必要对现有的钢筋拾取装置进行改进,以解决上述问题。In actual production, the specifications and quantity of steel bars that need to be processed are uncertain. It is necessary to switch the processing of steel bars of different specifications at any time, and to process steel bars of the same specification efficiently. For this reason, it is necessary to improve the existing steel bar picking device. Improvements to resolve the above issues.

发明内容Contents of the invention

针对现有技术中的缺陷,本发明的目的是提供一种多规格钢筋精准拾取装置。In view of the deficiencies in the prior art, the purpose of the present invention is to provide a device for accurately picking up multiple specifications of steel bars.

根据本发明的一个方面,提供一种多规格钢筋精准拾取装置,包括移动料仓和拾取输送机构,所述移动料仓包括多个仓位,每个所述仓位放置相同规格的钢筋;所述拾取输送机构包括:According to one aspect of the present invention, a device for accurately picking up multiple specifications of steel bars is provided, which includes a mobile bin and a picking and conveying mechanism. The mobile bin includes multiple bins, and each bin places steel bars of the same specification; the picking device Conveying mechanism includes:

框架,所述框架为所述拾取输送机构提供支撑;A frame that provides support for the pick-up and conveyor mechanism;

拾取机构,固定在所述框架顶部,所述拾取机构用于自所述移动料仓拾取目标规格的钢筋;A pick-up mechanism is fixed on the top of the frame, and the pick-up mechanism is used to pick up steel bars of target specifications from the mobile silo;

接料机构,位于所述拾取机构下方,所述接料机构用于缓存所述拾取机构拾取的钢筋,所述接料机构的一端为夹取位置;A material receiving mechanism is located below the pickup mechanism. The material receiving mechanism is used to cache the steel bars picked up by the pickup mechanism. One end of the material receiving mechanism is a clamping position;

搓平机构,位于所述接料机构的一侧,所述搓平机构将所述接料机构上堆叠的钢筋往复搓平为单层排布;A flattening mechanism is located on one side of the material receiving mechanism. The flattening mechanism reciprocally flattens the steel bars stacked on the material receiving mechanism into a single layer arrangement;

定位机构,位于所述接料机构的一侧且远离所述夹取位置,所述定位机构沿垂直钢筋轴向的方向将搓平后的钢筋向所述夹取位置推动,使得钢筋自所述夹取位置依次紧密排布;The positioning mechanism is located on one side of the material receiving mechanism and away from the clamping position. The positioning mechanism pushes the flattened steel bar toward the clamping position in the direction perpendicular to the axial direction of the steel bar, so that the steel bar moves from the The clamping positions are arranged closely in sequence;

夹取机构,固定在所述框架上且位于所述接料机构的上方,所述夹取机构夹取所述接料机构上位于所述夹取位置的钢筋;A clamping mechanism is fixed on the frame and located above the material receiving mechanism, and the clamping mechanism clamps the steel bar on the material receiving mechanism at the clamping position;

滚送机构,固定在所述框架上,所述滚送机构用于将所述夹取机构夹取的钢筋输送至加工设备。A rolling mechanism is fixed on the frame. The rolling mechanism is used to transport the steel bars clamped by the clamping mechanism to the processing equipment.

可选的,所述移动料仓还包括:Optionally, the mobile silo also includes:

支撑架,设于多个所述仓位下方,所述支撑架用于支撑多个所述仓位;A support frame is provided below a plurality of the warehouse positions, and the support frame is used to support a plurality of the warehouse positions;

料仓导轨,固定于所述支撑架上且位于所述移动料仓的底部,所述料仓导轨沿垂直于所述仓位的长度方向设置;Bin guide rails, fixed on the support frame and located at the bottom of the mobile bin, are arranged along the length direction perpendicular to the bin position;

驱动装置,设于所述移动料仓的底部,所述驱动装置驱动所述仓位沿所述料仓导轨移动。A driving device is provided at the bottom of the mobile silo, and the driving device drives the silo to move along the silo guide rail.

可选的,所述拾取机构包括:Optionally, the pickup mechanism includes:

第一气缸固定板,固定在所述框架上;The first cylinder fixing plate is fixed on the frame;

第一气缸,固定在所述第一气缸固定板上,所述第一气缸的第一气缸杆向下伸出;The first cylinder is fixed on the first cylinder fixing plate, and the first cylinder rod of the first cylinder extends downward;

限位杆,其下端穿过所述第一气缸固定板,上端连接有连接板,所述连接板固定于所述框架上,所述限位杆上设有限位环,所述限位环用于调节所述第一气缸的行程;The lower end of the limit rod passes through the first cylinder fixed plate, and the upper end is connected to a connecting plate. The connecting plate is fixed on the frame. The limit rod is provided with a limit ring. The limit ring is To adjust the stroke of the first cylinder;

第二缓冲垫,套设于所述限位杆上,所述第二缓冲垫靠近所述第一气缸固定板的上表面;A second buffer pad is set on the limiting rod, and the second buffer pad is close to the upper surface of the first cylinder fixed plate;

导杆固定板,连接于所述第一气缸杆的末端,所述限位杆的下端固定于所述导杆固定板上;A guide rod fixing plate is connected to the end of the first cylinder rod, and the lower end of the limit rod is fixed on the guide rod fixing plate;

导杆,其上端与所述导杆固定板连接,所述导杆固定板能够沿所述导杆滑动;The upper end of the guide rod is connected to the guide rod fixed plate, and the guide rod fixed plate can slide along the guide rod;

电磁铁,设于所述导杆的下端,所述电磁铁用于吸取钢筋。An electromagnet is provided at the lower end of the guide rod, and the electromagnet is used to absorb steel bars.

可选的,所述导杆的下端连接电磁铁支撑板,所述电磁铁通过铰接座与所述电磁铁支撑板连接,所述铰接座包括x方向的旋转轴和y方向的旋转轴,所述铰接座具有x方向和y方向的旋转自由度。Optionally, the lower end of the guide rod is connected to the electromagnet support plate, and the electromagnet is connected to the electromagnet support plate through a hinge seat. The hinge seat includes a rotation axis in the x direction and a rotation axis in the y direction, so The hinge base has rotational freedom in the x-direction and the y-direction.

可选的,所述接料机构包括:Optionally, the material receiving mechanism includes:

接料杆,所述夹取位置位于所述接料杆的其中一端,钢筋垂直于所述接料杆的轴向放置;Material receiving rod, the clamping position is located at one end of the material receiving rod, and the steel bar is placed perpendicular to the axial direction of the material receiving rod;

第二气缸,固定在所述框架上,所述第二气缸的第二气缸杆末端与所述接料杆的中部连接,所述第二气缸杆的伸缩方向与所述接料杆的轴向垂直;The second cylinder is fixed on the frame. The end of the second cylinder rod of the second cylinder is connected to the middle part of the material receiving rod. The expansion and contraction direction of the second cylinder rod is consistent with the axial direction of the material receiving rod. vertical;

滚轮,套设于所述接料杆的两端部。Rollers are sleeved on both ends of the material receiving rod.

可选的,所述搓平机构包括:Optionally, the flattening mechanism includes:

支架,固定在所述框架上;Bracket, fixed on the frame;

导轨,固定在所述支架上,所述导轨沿所述搓平机构的高度方向设置;Guide rails are fixed on the bracket, and the guide rails are arranged along the height direction of the flattening mechanism;

活动板,所述活动板的一侧固定在所述导轨的滑块上;A movable plate, one side of which is fixed on the slider of the guide rail;

第一伺服电机-减速机组合和第二伺服电机-减速机组合,均固定在所述活动板上,所述第一伺服电机-减速机组合位于所述第二伺服电机-减速机组合的下方;The first servo motor-reducer combination and the second servo motor-reducer combination are both fixed on the movable plate, and the first servo motor-reducer combination is located below the second servo motor-reducer combination. ;

第一齿轮,所述第一齿轮与所述第二伺服电机-减速机组合的输出轴连接;A first gear, the first gear is connected to the output shaft of the second servo motor-reducer combination;

第二齿轮,所述第二齿轮与所述第一伺服电机-减速机组合的输出轴连接;a second gear connected to the output shaft of the first servo motor-reducer combination;

第一齿条,沿所述搓平机构的高度方向设置,所述第一齿条固定在所述支架上并与所述第一齿轮相互配合;A first rack is arranged along the height direction of the flattening mechanism, the first rack is fixed on the bracket and cooperates with the first gear;

第三导轨,设于所述活动板的另一侧,所述第三导轨与所述导轨垂直,所述第三导轨的滑块上设有齿条安装板;A third guide rail is provided on the other side of the movable plate, the third guide rail is perpendicular to the guide rail, and a rack mounting plate is provided on the slider of the third guide rail;

第二齿条,固定在所述齿条安装板上,所述第二齿条与所述第一齿条垂直,所述第二齿条与所述第二齿轮相互配合;A second rack is fixed on the rack mounting plate, the second rack is perpendicular to the first rack, and the second rack cooperates with the second gear;

第三气缸,固定在所述齿条安装板上,所述第三气缸具有沿所述搓平机构的高度方向伸缩的第三气缸杆;A third cylinder, fixed on the rack mounting plate, having a third cylinder rod that telescopes along the height direction of the flattening mechanism;

搓平板,安装在所述第三气缸杆的末端。A rubbing plate is installed at the end of the third cylinder rod.

可选的,所述接料杆上靠近所述夹取位置的端部设有定位柱,所述定位柱用于定位位于所述夹取位置的钢筋;所述定位机构包括:Optionally, the end of the material receiving rod close to the clamping position is provided with a positioning column, and the positioning column is used to position the steel bar at the clamping position; the positioning mechanism includes:

固定座,固定在所述框架上;A fixed base, fixed on the frame;

第四气缸,固定在所述固定座上,所述第四气缸位于所述固定座的上方,所述第四气缸具有沿垂直于所述钢筋的轴向伸缩的第四气缸杆;A fourth cylinder is fixed on the fixed base, the fourth cylinder is located above the fixed base, and the fourth cylinder has a fourth cylinder rod that telescopes in an axial direction perpendicular to the steel bar;

第六导轨,设于所述固定座的下表面,所述第六导轨的长度方向与所述第四气缸杆的伸缩方向一致;A sixth guide rail is provided on the lower surface of the fixed seat, and the length direction of the sixth guide rail is consistent with the expansion and contraction direction of the fourth cylinder rod;

定位推板,其一端固定于所述第六导轨的滑块上,另一端固定于所述第四气缸杆末端;所述定位推板将搓平后的钢筋向所述夹取位置推动至挤压所述定位柱。The positioning push plate has one end fixed on the slide block of the sixth guide rail and the other end fixed on the end of the fourth cylinder rod; the positioning push plate pushes the flattened steel bar to the clamping position until it is squeezed. Press the positioning post.

可选的,所述滚送机构包括:Optionally, the rolling mechanism includes:

电机-减速机组合,安装于所述框架上;A motor-reducer combination is installed on the frame;

链轮,连接于所述电机-减速机组合的输出轴上;A sprocket connected to the output shaft of the motor-reducer combination;

主动输送轮,通过链条与所述链轮连接;The active conveying wheel is connected to the sprocket through a chain;

两组第一导向轮,分别布置在所述滚动机构上钢筋移动方向的两端,每组第一导向轮包括分别位于所述主动输送轮两侧的两个第一导向轮;每组的两个所述第一导向轮之间形成用于放置钢筋的空间,并对钢筋输送起导向作用;Two sets of first guide wheels are respectively arranged at both ends of the rolling mechanism in the direction of movement of the steel bars. Each set of first guide wheels includes two first guide wheels respectively located on both sides of the active conveyor wheel; A space for placing steel bars is formed between the first guide wheels and plays a guiding role in conveying steel bars;

输送通道,所述主动输送轮旋转将钢筋导入所述输送通道。Conveying channel, the active conveying wheel rotates to guide the steel bars into the conveying channel.

可选的,所述拾取输送机构还包括下压机构,所述下压机构位于所述滚动机构的上方,所述下压机构包括:Optionally, the picking and conveying mechanism also includes a pressing mechanism, which is located above the rolling mechanism. The pressing mechanism includes:

第五气缸,安装于所述框架上,所述第五气缸具有向下伸出的第五气缸杆;a fifth cylinder installed on the frame, the fifth cylinder having a fifth cylinder rod extending downward;

滚轮支座,设于所述第五气缸杆末端;A roller support is located at the end of the fifth cylinder rod;

第二导轨,设于所述框架上,所述第二导轨沿所述框架的高度方向设置,所述滚轮支座在所述第五气缸的带动下沿所述第二导轨移动;A second guide rail is provided on the frame, the second guide rail is provided along the height direction of the frame, and the roller support moves along the second guide rail driven by the fifth cylinder;

从动滚送轮,设于所述滚轮支座内,所述滚轮支座下降后所述从动滚送轮压住钢筋,并与所述主动输送轮配合将钢筋夹紧输送;The driven rolling wheel is located in the roller support. After the roller support is lowered, the driven rolling wheel presses the steel bar and cooperates with the active conveying wheel to clamp and transport the steel bar;

第二导向轮,设于所述滚轮支座内,所述第二导向轮对钢筋的纵向输送起导向作用。The second guide wheel is provided in the roller support, and the second guide wheel plays a guiding role in the longitudinal transportation of steel bars.

可选的,所述拾取输送机构还包括设于所述接料机构上方的挡料机构,所述挡料机构包括:Optionally, the picking and conveying mechanism also includes a material blocking mechanism located above the material receiving mechanism, and the material blocking mechanism includes:

第六气缸,固定于所述框架上,所述第六气缸具有向下伸出的第六气缸杆;a sixth cylinder, fixed on the frame, the sixth cylinder having a downwardly extending sixth cylinder rod;

挡板,连接于所述第六气缸杆的末端,所述挡板挡住所述接料机构上未被夹取的钢筋的端部。The baffle is connected to the end of the sixth cylinder rod, and the baffle blocks the end of the steel bar that is not clamped on the material receiving mechanism.

与现有技术相比,本发明具有如下至少之一的有益效果:Compared with the prior art, the present invention has at least one of the following beneficial effects:

1、本发明提供的多规格钢筋精准拾取装置,移动料仓包括多个仓位以放置不同规格的钢筋原料,在加工钢筋的过程中需要切换不同规格钢筋时,接料机构上剩余的钢筋掉落在原规格钢筋对应的仓位内,移动移动料仓,使目标规格钢筋对应的仓位移动至拾取机构下方进行拾取,从而实现对不同规格钢筋拾取加工的随时切换。1. The multi-specification steel bar precise picking device provided by the present invention. The mobile silo includes multiple bins to place steel bar raw materials of different specifications. When the steel bars of different specifications need to be switched during the processing of steel bars, the remaining steel bars on the receiving mechanism will fall off. In the bin corresponding to the original specification of steel bars, move the silo so that the bin corresponding to the target specification of steel bars moves to the bottom of the picking mechanism for picking, thereby realizing the switching of picking and processing of different specifications of steel bars at any time.

2、本发明提供的多规格钢筋精准拾取装置,通过移动料仓、接料机构、搓平机构、定位机构、夹取机构、滚送机构等之间的相互配合作用,能够实现对同一规格钢筋进行批量高效加工,并实现多规格钢筋的精准拾取。2. The multi-specification steel bar precise picking device provided by the present invention can achieve the same specification of steel bars through the interaction between the moving silo, material receiving mechanism, rolling mechanism, positioning mechanism, clamping mechanism, rolling mechanism, etc. Carry out efficient batch processing and achieve accurate picking of steel bars of multiple specifications.

附图说明Description of the drawings

通过阅读参照以下附图对非限制性实施例所作的详细描述,本发明的其它特征、目的和优点将会变得更明显:Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

图1为背景技术中自动化上料装置的结构示意图,图中,1’为夹爪,2’为磁铁,3’为钢筋;Figure 1 is a schematic structural diagram of an automated feeding device in the background technology. In the figure, 1’ is a clamp, 2’ is a magnet, and 3’ is a steel bar;

图2为本发明一实施例中多规格钢筋精准拾取装置的结构示意图;Figure 2 is a schematic structural diagram of a device for accurately picking up multiple specifications of steel bars in an embodiment of the present invention;

图3为本发明一实施例中拾取输送机构的结构示意图;Figure 3 is a schematic structural diagram of the pick-up and transport mechanism in an embodiment of the present invention;

图4为本发明一实施例中移动料仓的结构示意图;Figure 4 is a schematic structural diagram of a mobile silo in an embodiment of the present invention;

图5为本发明一实施例中移动料仓的结构示意图;Figure 5 is a schematic structural diagram of a mobile silo in an embodiment of the present invention;

图6为本发明一实施例中拾取机构的结构示意图;Figure 6 is a schematic structural diagram of the pickup mechanism in an embodiment of the present invention;

图7为本发明一实施例中铰接座的结构示意图;Figure 7 is a schematic structural diagram of the hinge seat in one embodiment of the present invention;

图8为本发明一实施例中接料机构的结构示意图;Figure 8 is a schematic structural diagram of the material receiving mechanism in one embodiment of the present invention;

图9为本发明一实施例中搓平机构的结构示意图;Figure 9 is a schematic structural diagram of the flattening mechanism in an embodiment of the present invention;

图10为本发明一实施例中定位机构的结构示意图;Figure 10 is a schematic structural diagram of the positioning mechanism in an embodiment of the present invention;

图11为本发明一实施例中夹取机构的结构示意图;Figure 11 is a schematic structural diagram of the clamping mechanism in one embodiment of the present invention;

图12为本发明一实施例中滚送机构的结构示意图;Figure 12 is a schematic structural diagram of the rolling mechanism in one embodiment of the present invention;

图13为本发明一实施例中下压机构的结构示意图;Figure 13 is a schematic structural diagram of the pressing mechanism in an embodiment of the present invention;

图14为本发明一实施例中挡料机构的布置位置示意图;Figure 14 is a schematic diagram of the layout of the blocking mechanism in an embodiment of the present invention;

图15为本发明一实施例中挡料机构的结构示意图;Figure 15 is a schematic structural diagram of the material blocking mechanism in one embodiment of the present invention;

图16为本发明一实施例中钢筋拾取的过程示意图;Figure 16 is a schematic diagram of the process of picking up steel bars in an embodiment of the present invention;

图中:100-移动料仓,101-仓位,102-驱动装置,103-料仓导轨;200-拾取输送机构;300-钢筋;In the picture: 100-mobile silo, 101-silo, 102-driving device, 103-silo guide rail; 200-picking and conveying mechanism; 300-rebar;

201-定位机构,20101-定位推板,20102-第四气缸固定板,20103-第四气缸,20104-固定座,20105-第六导轨;201-Positioning mechanism, 20101-Positioning push plate, 20102-Fourth cylinder fixed plate, 20103-Fourth cylinder, 20104-Fixed seat, 20105-Sixth guide rail;

202-搓平机构,20201-第一伺服电机-减速机组合,20202-第二伺服电机-减速机组合,20203-支架,20204-第一齿轮,20205-第一齿条,20206-第四导轨,20207-第五导轨,20208-活动板,20209-第三导轨,20210-齿条安装板,20211-第三气缸,20212-搓平板,20213-第二齿轮,20214-第二齿条;202-Rolling mechanism, 20201-First servo motor-reducer combination, 20202-Second servo motor-reducer combination, 20203-Bracket, 20204-First gear, 20205-First rack, 20206-Fourth guide rail , 20207-fifth guide rail, 20208-movable plate, 20209-third guide rail, 20210-rack mounting plate, 20211-third cylinder, 20212-wash plate, 20213-second gear, 20214-second rack;

203-夹取机构,20301-直线模组,20302-电缸,20303-电缸连接板,20304-电缸垫板,20305-电缸过顶拉锁,20306-第一缓冲垫,20307-夹爪组件;203-Clamping mechanism, 20301-Linear module, 20302-Electric cylinder, 20303-Electric cylinder connection plate, 20304-Electric cylinder pad, 20305-Electric cylinder overhead zipper, 20306-First buffer pad, 20307-Clamp components;

204-拾取机构,20401-连接板,20402-限位环,20403-第一气缸,20404-第二缓冲垫,20405-直线轴承,20406-侧拉气缸浮动接头,20407-侧拉气缸,20408-第一气缸浮动接头,20409-导杆固定板,20410-导杆,20411-电磁铁支撑板,20412-铰接座,20413-电磁铁,20414-第一气缸固定板,20415-限位杆;204-picking mechanism, 20401-connecting plate, 20402-limiting ring, 20403-first cylinder, 20404-second buffer pad, 20405-linear bearing, 20406-side pull cylinder floating joint, 20407-side pull cylinder, 20408- The first cylinder floating joint, 20409-guide rod fixed plate, 20410-guide rod, 20411-electromagnet support plate, 20412-articulated seat, 20413-electromagnet, 20414-first cylinder fixed plate, 20415-limit rod;

205-下压机构,20501-第五气缸,20502-滚轮支座,20503-销轴,20504-限位板,20505-第二导向轮,20506-从动滚送轮;205-pressing mechanism, 20501-fifth cylinder, 20502-roller support, 20503-pin, 20504-limiting plate, 20505-second guide wheel, 20506-driven rolling wheel;

206-第一导轨;206-First guide rail;

207-第二导轨;207-Second guide rail;

208-滚送机构,20801-电机-减速机组合,20802-链条,20803-链轮,20804-第一导向轮,20805-主动输送轮,20806-输送通道,20807-滚送轮;208-Rolling mechanism, 20801-Motor-reducer combination, 20802-Chain, 20803-Sprocket, 20804-First guide wheel, 20805-Active conveyor wheel, 20806-Conveyor channel, 20807-Rolling wheel;

209-接料机构,20901-定位柱,20902-接料杆,20903-第二气缸固定板,20904-第二气缸,20905-滚轮;209-material receiving mechanism, 20901-positioning column, 20902-material receiving rod, 20903-second cylinder fixed plate, 20904-second cylinder, 20905-roller;

210-挡料机构,21001-挡板,21002-第六气缸;210-Blocking mechanism, 21001-Baffle, 21002-Sixth cylinder;

211-框架。211-framework.

具体实施方式Detailed ways

下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明,但不以任何形式限制本发明。应当指出的是,对本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进。这些都属于本发明的保护范围。The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

需要说明的是,术语“第一”、“第二”等仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含的包括一个或者更多个该特征。而且,术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本申请实施例能够以除了在这里图示或描述以外的顺序实施。It should be noted that the terms “first”, “second”, etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of these features. Furthermore, the terms "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in other sequences than illustrated or described herein.

此外,术语“钢筋”指的是钢筋原料,即待加工的钢筋。Furthermore, the term "steel bar" refers to the steel bar raw material, i.e. the steel bar to be processed.

参照图2-图4,本发明实施例提供一种多规格钢筋精准拾取装置,该装置包括移动料仓100和拾取输送机构200,移动料仓100包括多个仓位101,每个仓位101放置相同规格的钢筋300;拾取输送机构200包括框架211、拾取机构204、接料机构209、搓平机构202、定位机构201、夹取机构203和滚送机构208,其中:框架211为拾取输送机构200提供支撑;拾取机构204固定在框架211顶部,拾取机构204用于自移动料仓100拾取目标规格的钢筋300;接料机构209位于拾取机构204下方,接料机构209用于缓存拾取机构204拾取的钢筋300,接料机构209的一端为夹取位置;搓平机构202位于接料机构209的一侧,搓平机构202将接料机构209上堆叠的钢筋300往复搓平为单层排布;定位机构201位于接料机构209的一侧且远离夹取位置,定位机构201沿垂直钢筋轴向的方向将搓平后的钢筋300向夹取位置推动,使得钢筋300自夹取位置依次紧密排布;夹取机构203固定在框架211上且位于接料机构209的上方,夹取机构203夹取接料机构209上位于夹取位置的钢筋300;滚送机构208固定在框架211上,滚送机构208用于将夹取机构203夹取的钢筋300输送至加工设备。Referring to Figures 2 to 4, an embodiment of the present invention provides a device for accurately picking up multi-specification steel bars. The device includes a mobile bin 100 and a picking and conveying mechanism 200. The mobile bin 100 includes multiple bins 101, and each bin 101 is placed in the same position. Specifications of steel bars 300; the pick-up and conveyor mechanism 200 includes a frame 211, a pick-up mechanism 204, a material receiving mechanism 209, a rubbing mechanism 202, a positioning mechanism 201, a clamping mechanism 203 and a rolling mechanism 208, where: the frame 211 is the pick-up and conveyor mechanism 200 Provide support; the pick-up mechanism 204 is fixed on the top of the frame 211, and the pick-up mechanism 204 is used to pick up the steel bars 300 of the target specifications from the mobile silo 100; the material-receiving mechanism 209 is located below the picking-up mechanism 204, and the material-receiving mechanism 209 is used to cache the picking-up mechanism 204. of steel bars 300, one end of the material receiving mechanism 209 is the clamping position; the smoothing mechanism 202 is located on one side of the material receiving mechanism 209, and the smoothing mechanism 202 reciprocally smooths the stacked steel bars 300 on the material receiving mechanism 209 into a single layer arrangement ; The positioning mechanism 201 is located on one side of the material receiving mechanism 209 and away from the clamping position. The positioning mechanism 201 pushes the flattened steel bar 300 toward the clamping position in the direction perpendicular to the axial direction of the steel bar, so that the steel bars 300 are closely aligned from the clamping position. Arrangement; the clamping mechanism 203 is fixed on the frame 211 and is located above the material receiving mechanism 209. The clamping mechanism 203 clamps the steel bar 300 in the clamping position on the material receiving mechanism 209; the rolling mechanism 208 is fixed on the frame 211, The rolling mechanism 208 is used to transport the steel bars 300 clamped by the clamping mechanism 203 to the processing equipment.

本发明实施例中,移动料仓100包括多个仓位101以放置不同规格的钢筋原料,在加工钢筋的过程中需要切换不同规格钢筋时,接料机构209上剩余的钢筋300掉落在原规格钢筋对应的仓位101内,移动移动料仓100,使目标规格钢筋对应的仓位101移动至拾取机构204下方进行拾取,从而实现对不同规格钢筋拾取加工的随时切换。通过移动料仓100、接料机构209、搓平机构202、定位机构201、夹取机构203、滚送机构208等之间的相互配合作用,能够实现对同一规格钢筋进行批量高效加工,并实现多规格钢筋的精准拾取。In the embodiment of the present invention, the mobile bin 100 includes a plurality of bins 101 to place steel bar raw materials of different specifications. When the steel bars of different specifications need to be switched during the processing of steel bars, the remaining steel bars 300 on the material receiving mechanism 209 fall onto the original specifications of the steel bars. In the corresponding bin 101, the bin 100 is moved so that the bin 101 corresponding to the steel bar of the target specification is moved below the picking mechanism 204 for picking, thereby realizing the switching of picking and processing of steel bars of different specifications at any time. Through the interaction between the mobile silo 100, the material receiving mechanism 209, the rolling mechanism 202, the positioning mechanism 201, the clamping mechanism 203, the rolling mechanism 208, etc., batch efficient processing of steel bars of the same specification can be achieved, and Accurate picking of steel bars of multiple specifications.

钢筋规格一般为:长6~12米,直径Ф12~Ф40mm,为同时放置待加工的不同规格钢筋,移动料仓100具有多个平行的仓位101,每个仓位101可以放置相同规格的钢筋原料,如图4中移动料仓100包括6个仓位101,不同仓位101可以放置相同或不同规格的钢筋原料。参照图4和图5,移动料仓100还包括支撑架、料仓导轨103和驱动装置102,支撑架设于多个仓位101下方,支撑架用于支撑多个仓位101,支撑架被构造为能够在驱动机构的带动下沿预设轨道移动;料仓导轨103固定于支撑架上且位于移动料仓100的底部,料仓导轨103沿垂直于仓位101的长度方向设置;驱动装置102设于移动料仓100的底部,驱动装置102驱动仓位101沿料仓导轨103移动。The steel bar specifications are generally: 6 to 12 meters in length, Ф12 to Ф40mm in diameter. In order to place steel bars of different specifications to be processed at the same time, the mobile silo 100 has multiple parallel bins 101. Each bin 101 can place steel bar raw materials of the same specification. As shown in Figure 4, the mobile bin 100 includes six bins 101, and different bins 101 can place steel bar raw materials of the same or different specifications. Referring to Figures 4 and 5, the mobile silo 100 also includes a support frame, a silo guide rail 103 and a driving device 102. The support frame is installed below the multiple warehouse positions 101. The support frame is used to support the multiple warehouse positions 101. The support frame is configured to be able to Driven by the driving mechanism, it moves along the preset track; the bin guide rail 103 is fixed on the support frame and is located at the bottom of the mobile bin 100. The bin guide rail 103 is arranged along the length direction perpendicular to the bin 101; the driving device 102 is located on the mobile bin. At the bottom of the bin 100, the driving device 102 drives the bin 101 to move along the bin guide rails 103.

参照图6,拾取机构204包括第一气缸固定板20414、第一气缸20403、限位杆20415、第二缓冲垫20404、导杆固定板20409、导杆20410和电磁铁20413等,第一气缸固定板20414固定在框架211上,具体地,框架211的横梁下表面设有第一导轨206,第一气缸固定板20414安装在第一导轨206上;第一气缸20403固定在第一气缸固定板20414上,第一气缸20403的第一气缸杆向下伸出;限位杆20415的下端穿过第一气缸固定板20414,上端连接有连接板20401,连接板20401固定于框架211上,限位杆20415上设有限位环20402,限位环20402用于调节第一气缸20403的行程;第二缓冲垫20404套设于限位杆20415上,第二缓冲垫20404靠近第一气缸固定板20414的上表面,第一气缸固定板20414上设有直线轴承20405,限位杆20415穿过直线轴承20405,直线轴承20405对限位杆20415的运动起导向作用,第二缓冲垫20404可以防止限位环20402撞击直线轴承20405;导杆固定板20409通过第一气缸浮动接头20408连接于第一气缸杆的末端,第一气缸杆向下运动时推动导杆固定板20409向下运动,限位杆20415的下端固定于导杆固定板20409上;导杆20410的上端与导杆固定板20409连接,导杆固定板20409能够沿导杆20410上下移动;为提高连接可靠性并保证移动的平稳顺畅,优选地,限位杆20415和导杆20410的数量均为两根,两根限位杆20415在第一气缸20403的两侧对称设置,两根导杆20410对称设于导杆固定板20409上;电磁铁20413设于导杆20410的下端,电磁铁20413用于吸取钢筋300。Referring to Figure 6, the pickup mechanism 204 includes a first cylinder fixed plate 20414, a first cylinder 20403, a limit rod 20415, a second buffer pad 20404, a guide rod fixed plate 20409, a guide rod 20410, an electromagnet 20413, etc., and the first cylinder is fixed The plate 20414 is fixed on the frame 211. Specifically, the first guide rail 206 is provided on the lower surface of the crossbeam of the frame 211, and the first cylinder fixing plate 20414 is installed on the first guide rail 206; the first cylinder 20403 is fixed on the first cylinder fixing plate 20414 on the top, the first cylinder rod of the first cylinder 20403 extends downward; the lower end of the limit rod 20415 passes through the first cylinder fixed plate 20414, and the upper end is connected to a connecting plate 20401. The connecting plate 20401 is fixed on the frame 211, and the limit rod 20415 is provided with a limit ring 20402, which is used to adjust the stroke of the first cylinder 20403; the second buffer pad 20404 is set on the limit rod 20415, and the second buffer pad 20404 is close to the upper surface of the first cylinder fixed plate 20414 On the surface, the first cylinder fixed plate 20414 is provided with a linear bearing 20405, the limit rod 20415 passes through the linear bearing 20405, the linear bearing 20405 guides the movement of the limit rod 20415, and the second buffer pad 20404 can prevent the limit ring 20402 Impact linear bearing 20405; guide rod fixed plate 20409 is connected to the end of the first cylinder rod through the first cylinder floating joint 20408. When the first cylinder rod moves downward, it pushes the guide rod fixed plate 20409 to move downward, and the lower end of the limit rod 20415 Fixed on the guide rod fixed plate 20409; the upper end of the guide rod 20410 is connected to the guide rod fixed plate 20409, and the guide rod fixed plate 20409 can move up and down along the guide rod 20410; in order to improve the connection reliability and ensure smooth and smooth movement, preferably, There are two limit rods 20415 and two guide rods 20410. The two limit rods 20415 are symmetrically arranged on both sides of the first cylinder 20403. The two guide rods 20410 are symmetrically arranged on the guide rod fixing plate 20409; the electromagnet 20413 Located at the lower end of the guide rod 20410, the electromagnet 20413 is used to absorb the steel bar 300.

上述实施例中,气缸固定板的侧面设有侧拉气缸20407,侧拉气缸20407通过侧拉气缸浮动接头20406固定于气缸固定板上,从而将侧拉气缸20407固定在框架211上,通过侧拉气缸20407的侧拉气缸杆推动拾取机构204沿着第一导轨206移动,可以避免夹取机构203夹取钢筋300时,钢筋300与拾取机构204干涉。第一气缸20403的第一气缸杆向下运动时会带动限位杆20415一起运动,当限位环20402与第二缓冲垫20404接触时,第一气缸杆停止运动,通过限位环20402在限位杆20415上的不同位置,可以调节第一气缸杆向下伸出推动的行程,从而调节电磁铁20413到移动料仓100的初始位置,导杆20410穿过导杆20410固定板20409且导杆固定板20409可沿导杆20410滑动,当移动料仓100的仓位101满料时,拾取机构204的第一气缸20403向下运动使得电磁铁20413与最上层钢筋300接触,但此时第一气缸20403不会停止,依然会继续推动导杆固定板20409向下运动,此时电磁铁20413与导杆20410都不会再往下运动,导杆固定板20409会沿着导杆20410继续向下运动。当运动到限位环20402与第二缓冲垫20404接触时停止运动,当移动料仓100仅剩最后一层钢筋300时,第一气缸20403会一直运动到限位环20402与第二缓冲垫20404接触,此时电磁铁20413仍然可以接触到钢筋300表面并吸住钢筋300。In the above embodiment, a side-pull cylinder 20407 is provided on the side of the cylinder fixed plate. The side-pull cylinder 20407 is fixed to the cylinder fixed plate through the side-pull cylinder floating joint 20406, thereby fixing the side-pull cylinder 20407 to the frame 211. The side-pull cylinder rod of the cylinder 20407 pushes the picking mechanism 204 to move along the first guide rail 206, which can avoid interference between the steel bar 300 and the picking mechanism 204 when the clamping mechanism 203 clamps the steel bar 300. When the first cylinder rod of the first cylinder 20403 moves downward, it will drive the limit rod 20415 to move together. When the limit ring 20402 contacts the second buffer pad 20404, the first cylinder rod stops moving and is limited by the limit ring 20402. Different positions on the position rod 20415 can adjust the downward pushing stroke of the first cylinder rod, thereby adjusting the electromagnet 20413 to the initial position of the mobile silo 100. The guide rod 20410 passes through the guide rod 20410 fixed plate 20409 and the guide rod The fixed plate 20409 can slide along the guide rod 20410. When the position 101 of the mobile silo 100 is full of materials, the first cylinder 20403 of the pickup mechanism 204 moves downward so that the electromagnet 20413 contacts the uppermost steel bar 300, but at this time the first cylinder 20403 will not stop and will continue to push the guide rod fixed plate 20409 downward. At this time, neither the electromagnet 20413 nor the guide rod 20410 will move downward anymore, and the guide rod fixed plate 20409 will continue to move downward along the guide rod 20410. . The movement stops when the limit ring 20402 contacts the second buffer pad 20404. When there is only the last layer of steel bars 300 left in the mobile silo 100, the first cylinder 20403 will continue to move until the limit ring 20402 contacts the second buffer pad 20404. At this time, the electromagnet 20413 can still contact the surface of the steel bar 300 and attract the steel bar 300.

在一些实施方式中,导杆20410的下端连接电磁铁支撑板20411,电磁铁20413通过铰接座20412与电磁铁支撑板20411连接,如图7所示。铰接座20412包括x方向的旋转轴和y方向的旋转轴,从而铰接座20412具有x方向和y方向2个旋转自由度,使得电磁铁20413始终可保持与钢筋300的有效接触。In some embodiments, the lower end of the guide rod 20410 is connected to the electromagnet support plate 20411, and the electromagnet 20413 is connected to the electromagnet support plate 20411 through the hinge seat 20412, as shown in Figure 7 . The hinge seat 20412 includes a rotation axis in the x direction and a rotation axis in the y direction, so that the hinge seat 20412 has two rotational degrees of freedom in the x direction and the y direction, so that the electromagnet 20413 can always maintain effective contact with the steel bar 300 .

上述实施例中,在进行钢筋拾取时,根据加工钢筋规格的需求,移动料仓100移动至目标位置,使得目标规格钢筋对应的仓位101处于拾取机构204下方,定位方式可以为但不限于移动料仓伺服定位、吸取机构视觉定位等。除了上述的电磁铁吸取的拾取方式,在其他一些实施方式中,还可以采用夹爪夹取的拾取方式,本发明实施例对此不作具体限定。In the above embodiment, when picking up steel bars, the mobile bin 100 is moved to the target position according to the requirements of processing steel bar specifications, so that the bin 101 corresponding to the steel bars of the target specifications is below the picking mechanism 204. The positioning method may be but is not limited to the moving material bin. Warehouse servo positioning, visual positioning of the suction mechanism, etc. In addition to the above-mentioned pickup method of electromagnet pickup, in some other embodiments, a pickup method of clamping claws can also be used, which is not specifically limited in the embodiment of the present invention.

参照图8,接料机构209包括接料杆20902、第二气缸20904和滚轮20905,夹取位置位于接料杆20902的其中一端,钢筋300垂直于接料杆20902的轴向放置;第二气缸20904通过第二气缸固定板20903固定在框架211上,第二气缸20904的第二气缸杆末端与接料杆20902的中部连接,第二气缸杆的伸缩方向与接料杆20902的轴向垂直;整个接料机构209通过第二气缸固定板20903固定在框架211上,滚轮20905套设于接料杆20902的两端部,滚轮20905在框架211上可滚动或滑动,由此,可以实现接料杆20902的稳定顺畅移动。需要说明的是,在接料机构209两端设置滑块或导套等,同样可以实现接料杆20902的稳定顺畅移动。Referring to Figure 8, the material receiving mechanism 209 includes a material receiving rod 20902, a second cylinder 20904 and a roller 20905. The clamping position is located at one end of the material receiving rod 20902. The steel bar 300 is placed perpendicular to the axial direction of the material receiving rod 20902; the second cylinder 20904 is fixed on the frame 211 through the second cylinder fixing plate 20903. The end of the second cylinder rod of the second cylinder 20904 is connected to the middle part of the material receiving rod 20902. The expansion and contraction direction of the second cylinder rod is perpendicular to the axial direction of the material receiving rod 20902; The entire material receiving mechanism 209 is fixed on the frame 211 through the second cylinder fixing plate 20903. The rollers 20905 are sleeved on both ends of the material receiving rod 20902. The rollers 20905 can roll or slide on the frame 211. Thus, material receiving can be realized. Stable and smooth movement of rod 20902. It should be noted that by providing sliders or guide bushes at both ends of the material receiving mechanism 209, stable and smooth movement of the material receiving rod 20902 can also be achieved.

在拾取机构204拾取钢筋时,钢筋300被拾取机构204的电磁铁20413吸起来并提升一定的高度,此时第二气缸20904的气缸杆伸出推动接料杆20902运动至目标位置,此时电磁铁20413断电,钢筋300掉落在接料杆20902上。When the pick-up mechanism 204 picks up the steel bar, the steel bar 300 is sucked up by the electromagnet 20413 of the pick-up mechanism 204 and lifted to a certain height. At this time, the cylinder rod of the second cylinder 20904 extends to push the receiving rod 20902 to move to the target position. At this time, the electromagnet Iron 20413 is powered off, and steel bar 300 falls on the receiving rod 20902.

当在加工钢筋的过程中需要切换不同规格钢筋时,移动目标规格钢筋的仓位101至拾取机构204下方,对钢筋300进行拾取。若接料杆20902上当前规格的钢筋还有多根,又需要更换其他规格钢筋时,接料机构209的第二气缸20904带动接料杆20902缩回,使得剩余的钢筋300掉落在原规格钢筋对应的仓位101内,再次移动移动料仓100,使目标规格钢筋对应的仓位101移动至拾取机构204下方再进行拾取,从而实现对不同规格钢筋拾取加工的随时切换。When it is necessary to switch to steel bars of different specifications during the processing of steel bars, move the bin 101 of the steel bars of the target specification to below the picking mechanism 204 to pick up the steel bars 300. If there are still multiple steel bars of the current specification on the material receiving rod 20902, and steel bars of other specifications need to be replaced, the second cylinder 20904 of the material receiving mechanism 209 drives the material receiving rod 20902 to retract, so that the remaining steel bars 300 fall onto the original specification steel bars. In the corresponding bin 101, move the bin 100 again, so that the bin 101 corresponding to the steel bar of the target specification moves to the bottom of the picking mechanism 204 and then picks up, thereby realizing the switching of picking and processing of steel bars of different specifications at any time.

上述实施例中,当钢筋300掉落在接料杆20902上出现堆叠现象时,需要通过搓平机构202进行搓平处理。参照图9,搓平机构202包括支架20203、导轨、活动板20208、第一伺服电机-减速机组合20201、第二伺服电机-减速机组合20202、第一齿轮20204、第二齿轮20213、第一齿条20205、第三导轨20209、第二齿条20214、第三气缸20211和搓平板20212等,支架20203固定在框架211上;导轨固定在支架20203上,导轨沿搓平机构202的高度方向设置;活动板20208的一侧固定在导轨的滑块上;为提高活动板20208的连接稳固性以及移动平稳性,优选地,导轨的数量为两条,两条导轨平行设置,如图9中靠近第一齿条20205的第四导轨20206和位于活动板20208端部的第五导轨20207;第一伺服电机-减速机组合20201和第二伺服电机-减速机组合20202均固定在活动板20208上,第一伺服电机-减速机组合20201位于第二伺服电机-减速机组合20202的下方;第一齿轮20204与第二伺服电机-减速机组合20202的输出轴连接;第二齿轮20213与第一伺服电机-减速机组合20201的输出轴连接;第一齿条20205沿搓平机构202的高度方向设置,第一齿条20205固定在支架20203上并与第一齿轮20204相互配合;第三导轨20209设于活动板20208的另一侧,第三导轨20209与导轨垂直,第三导轨20209的滑块上设有齿条安装板20210;第二齿条20214固定在齿条安装板20210上,第二齿条20214与第一齿条20205垂直,第二齿条20214与第二齿轮20213相互配合;第三气缸20211固定在齿条安装板20210上,第三气缸20211具有沿搓平机构202的高度方向伸缩的第三气缸杆;搓平板20212安装在第三气缸杆的末端,搓平板20212将堆叠的钢筋300往复搓平为单层排布。In the above embodiment, when the steel bars 300 fall on the material receiving rod 20902 and are stacked, they need to be smoothed by the smoothing mechanism 202 . Referring to Figure 9, the flattening mechanism 202 includes a bracket 20203, a guide rail, a movable plate 20208, a first servo motor-reducer combination 20201, a second servo motor-reducer combination 20202, a first gear 20204, a second gear 20213, a first The rack 20205, the third guide rail 20209, the second rack 20214, the third cylinder 20211 and the rubbing plate 20212, etc., the bracket 20203 is fixed on the frame 211; the guide rail is fixed on the bracket 20203, and the guide rail is set along the height direction of the rubbing mechanism 202 ; One side of the movable plate 20208 is fixed on the slider of the guide rail; In order to improve the connection stability and smooth movement of the movable plate 20208, preferably, the number of guide rails is two, and the two guide rails are arranged in parallel, as shown in Figure 9 The fourth guide rail 20206 of the first rack 20205 and the fifth guide rail 20207 located at the end of the movable plate 20208; the first servo motor-reducer combination 20201 and the second servo motor-reducer combination 20202 are both fixed on the movable plate 20208. The first servo motor-reducer combination 20201 is located below the second servo motor-reducer combination 20202; the first gear 20204 is connected to the output shaft of the second servo motor-reducer combination 20202; the second gear 20213 is connected to the first servo motor -The output shaft connection of the reducer assembly 20201; the first rack 20205 is set along the height direction of the flattening mechanism 202, the first rack 20205 is fixed on the bracket 20203 and cooperates with the first gear 20204; the third guide rail 20209 is set on On the other side of the movable plate 20208, the third guide rail 20209 is perpendicular to the guide rail. The slider of the third guide rail 20209 is provided with a rack mounting plate 20210; the second rack 20214 is fixed on the rack mounting plate 20210. 20214 is perpendicular to the first rack 20205, and the second rack 20214 and the second gear 20213 cooperate with each other; the third cylinder 20211 is fixed on the rack mounting plate 20210, and the third cylinder 20211 has a telescopic mechanism along the height direction of the rubbing mechanism 202 The third cylinder rod; the rubbing plate 20212 is installed at the end of the third cylinder rod, and the rubbing plate 20212 rubs the stacked steel bars 300 back and forth into a single-layer arrangement.

在一些实施方式中,搓平板20212包括相互垂直的搓平部和连接部,搓平部的厚度方向与钢筋300的轴向一致,搓平部设于连接部一侧的中部,连接部的另一侧与第三气缸20211的末端连接。因空气可压缩,搓平板20212安装在第三气缸杆末端可作为缓冲,防止下压搓平时瞬间阻力过大导致伺服电机报警。In some embodiments, the rubbing plate 20212 includes a flattening portion and a connecting portion that are perpendicular to each other. The thickness direction of the flattening portion is consistent with the axial direction of the steel bar 300. The flattening portion is located in the middle of one side of the connecting portion, and the other side of the connecting portion. One side is connected to the end of the third cylinder 20211. Because the air is compressible, the rubbing plate 20212 is installed at the end of the third cylinder rod and can be used as a buffer to prevent the servo motor from alarming due to excessive instantaneous resistance when pressing down and rubbing.

上述实施例中,搓平板20212的厚度方向与钢筋的轴向一致;因为钢筋有肋,如果搓平板20212与钢筋表面紧贴,在定位推动钢筋的时候容易出现剐蹭,为防止搓平后的钢筋二次堆叠,搓平板20212搓平钢筋后与钢筋上表面保持预设距离,以防止钢筋二次堆叠,且露出接料机构209上位于夹取位置的钢筋。优选地,预设距离不超过钢筋直径的一半,一般为2~3mm,从而可以有效防止钢筋定位机构动作时造成的钢筋二次堆叠,也可防止夹取第一根钢筋时带动第二根钢筋动作。In the above embodiment, the thickness direction of the rubbing plate 20212 is consistent with the axial direction of the steel bars; because the steel bars have ribs, if the rubbing plate 20212 is close to the surface of the steel bars, scratches may easily occur when the steel bars are positioned and pushed. In order to prevent the flattened steel bars from For secondary stacking, the rubbing plate 20212 flattens the steel bars and maintains a preset distance from the upper surface of the steel bars to prevent the steel bars from being stacked twice and expose the steel bars at the clamping position on the material receiving mechanism 209. Preferably, the preset distance does not exceed half the diameter of the steel bar, generally 2 to 3 mm, which can effectively prevent the steel bar from being stacked twice when the steel bar positioning mechanism is in action, and can also prevent the second steel bar from being driven when the first steel bar is clamped. action.

上述实施例中,通过第一伺服电机-减速机组合20201、第二伺服电机-减速机组合20202,搓平板20212的上下左右运动均为伺服控制,从而能够满足不同规格尺寸的钢筋使用。In the above embodiment, through the first servo motor-reducer combination 20201 and the second servo motor-reducer combination 20202, the up, down, left and right movements of the rubbing plate 20212 are all controlled by servo, thereby meeting the use of steel bars of different specifications and sizes.

利用上述搓平机构,搓平动作如下:第三气缸20211通气后第三气缸杆带动搓平板20212向下伸出,第二伺服电机-减速机组合20202带动第一齿轮20204转动,使得安装在活动板20208上的零部件沿着导轨向下滑动,从而使得搓平板20212与钢筋300表面接触并带有一定的压力,与此同时,第一伺服电机-减速机组合20201转动带动第二齿轮20213转动,驱动齿条安装板20210带着第三气缸20211和搓平板20212移动至指定位置,当开始搓平时第一伺服电机-减速机组合20201的伺服电机正反转带动搓平板20212做往复运动从而使得堆叠的钢筋300受到向下压的力的同时也受到往复侧向挤压的力,最终使得钢筋形成单层排列。Using the above-mentioned rubbing mechanism, the rubbing action is as follows: after the third cylinder 20211 is ventilated, the third cylinder rod drives the rubbing plate 20212 to extend downward, and the second servo motor-reducer combination 20202 drives the first gear 20204 to rotate, so that it is installed on the movable The components on the plate 20208 slide down along the guide rail, so that the washing plate 20212 is in contact with the surface of the steel bar 300 with a certain pressure. At the same time, the first servo motor-reducer combination 20201 rotates to drive the second gear 20213 to rotate. , the drive rack mounting plate 20210 moves to the designated position with the third cylinder 20211 and the washing plate 20212. When the rubbing begins, the servo motor of the first servo motor-reducer combination 20201 drives the washing plate 20212 to reciprocate in forward and reverse directions, thereby making The stacked steel bars 300 are subjected to a downward pressing force and a reciprocating lateral extrusion force, ultimately causing the steel bars to form a single-layer arrangement.

本发明实施例中,搓平机构202可以通过往复左右挫平、多次垂直下压、捶打等方式,将接料机构209上堆叠的钢筋300调整为单层,方便夹取机构203夹取,在其他一些实施例中,还可以采用通过震动方式搓平的搓平机构。In the embodiment of the present invention, the flattening mechanism 202 can adjust the steel bars 300 stacked on the material receiving mechanism 209 into a single layer by reciprocating left and right flattening, multiple vertical presses, beating, etc., to facilitate the clamping mechanism 203 to clamp. In some other embodiments, a flattening mechanism that uses vibration to flatten can also be used.

继续参照图8,接料杆20902上靠近夹取位置的端部设有定位柱20901,定位柱20901用于定位位于夹取位置的钢筋300,定位柱20901可以采用螺纹连接或焊接等方式固定于接料杆20902上;参照图10,定位机构201包括固定座20104、第四气缸20103、第六导轨20105、定位推板20101等,固定座20104固定在框架211上;第四气缸20103通过第四气缸固定板20102固定在固定座20104上,第四气缸20103位于固定座20104的上方,第四气缸20103具有沿垂直于钢筋300的轴向伸缩的第四气缸杆;第六导轨20105设于固定座20104的下表面,第六导轨20105的长度方向与第四气缸杆的伸缩方向一致;定位推板20101的一端固定于第六导轨20105的滑块上,另一端固定于第四气缸杆末端;定位推板20101将搓平后的钢筋300向夹取位置推动至挤压定位柱20901。Continuing to refer to Figure 8, the end of the receiving rod 20902 close to the clamping position is provided with a positioning column 20901. The positioning column 20901 is used to position the steel bar 300 at the clamping position. The positioning column 20901 can be fixed to the clamping position by threading or welding. On the material receiving rod 20902; referring to Figure 10, the positioning mechanism 201 includes a fixed base 20104, a fourth cylinder 20103, a sixth guide rail 20105, a positioning push plate 20101, etc. The fixed base 20104 is fixed on the frame 211; the fourth cylinder 20103 passes through the fourth The cylinder fixed plate 20102 is fixed on the fixed base 20104, and the fourth cylinder 20103 is located above the fixed base 20104. The fourth cylinder 20103 has a fourth cylinder rod that telescopes along the axial direction perpendicular to the steel bar 300; the sixth guide rail 20105 is located on the fixed base. 20104, the length direction of the sixth guide rail 20105 is consistent with the telescopic direction of the fourth cylinder rod; one end of the positioning push plate 20101 is fixed on the slider of the sixth guide rail 20105, and the other end is fixed on the end of the fourth cylinder rod; positioning The push plate 20101 pushes the flattened steel bar 300 to the clamping position to the extrusion positioning column 20901.

本发明实施例中,通过定位机构201将钢筋300推至目标夹取位置,定位机构201与搓平机构202配合,可以有效防止钢筋300在定位过程中出现二次堆叠。In the embodiment of the present invention, the steel bars 300 are pushed to the target clamping position through the positioning mechanism 201, and the positioning mechanism 201 cooperates with the smoothing mechanism 202 to effectively prevent the steel bars 300 from being stacked twice during the positioning process.

参照图11,夹取机构203通过直线模组20301固定在框架211上,直线模组20301沿垂直于接料机构209上放置的钢筋300的轴向设置,在一些实施方式中,夹取机构203包括电缸20302、电缸连接板20303、电缸垫板20304、电缸过顶拉锁20305、第一缓冲垫20306和夹爪组件20307,电缸20302通过电缸连接板20303连接于直线模组20301上,电缸垫板20304设于电缸20302与电缸连接板20303之间,电缸20302的电缸杆向下伸出,夹爪组件20307位于电缸杆的末端,电缸过顶拉锁20305和第一缓冲垫20306设于电缸杆上。通过夹取机构203可以实现对目标钢筋的夹取,并将钢筋300放置在滚送区域。具体地,当钢筋300定位结束后,夹取机构203上的夹爪组件20307移动到目标位置,将钢筋300夹取并送至滚送位置。因定位后的钢筋300都靠近接料杆20902的定位柱20901,因此夹取位置相对固定,夹取机构203运动距离最短。Referring to Figure 11, the clamping mechanism 203 is fixed on the frame 211 through a linear module 20301. The linear module 20301 is arranged along the axial direction perpendicular to the steel bar 300 placed on the material receiving mechanism 209. In some embodiments, the clamping mechanism 203 It includes an electric cylinder 20302, an electric cylinder connecting plate 20303, an electric cylinder pad 20304, an electric cylinder overhead zipper 20305, a first buffer pad 20306 and a clamping jaw assembly 20307. The electric cylinder 20302 is connected to the linear module 20301 through the electric cylinder connecting plate 20303. On the top, the electric cylinder backing plate 20304 is located between the electric cylinder 20302 and the electric cylinder connecting plate 20303. The electric cylinder rod of the electric cylinder 20302 extends downward. The clamping jaw assembly 20307 is located at the end of the electric cylinder rod. The electric cylinder overhead zipper 20305 and the first buffer pad 20306 is provided on the electric cylinder rod. The target steel bar can be clamped by the clamping mechanism 203, and the steel bar 300 can be placed in the rolling area. Specifically, after the positioning of the steel bar 300 is completed, the clamping jaw assembly 20307 on the clamping mechanism 203 moves to the target position, and the steel bar 300 is clamped and sent to the rolling position. Since the positioned steel bars 300 are close to the positioning column 20901 of the material receiving rod 20902, the clamping position is relatively fixed, and the movement distance of the clamping mechanism 203 is the shortest.

参照图12,滚送机构208包括两组第一导向轮20804、电机-减速机组合20801、链轮20803、主动输送轮20805和输送通道20806等,电机-减速机组合20801安装于框架211上;链轮20803连接于电机-减速机组合20801的输出轴上;主动输送轮20805通过链条20802与链轮20803连接;主动输送轮20805旋转将钢筋300导入输送通道20806,输送通道20806连通加工设备,输送通道20806通过滚送轮20807的转动将钢筋输送至加工设备。两组第一导向轮20804分别布置在滚动机构上钢筋300移动方向的两端,每组第一导向轮20804包括分别位于主动输送轮20805两侧的两个第一导向轮20804;每组的两个第一导向轮20804之间形成用于放置夹取机构203夹取的钢筋300的空间,第一导向轮20804限制钢筋300的运动在一定的区域,防止钢筋300脱离主动输送轮20805,对钢筋输送起导向作用。Referring to Figure 12, the rolling mechanism 208 includes two sets of first guide wheels 20804, a motor-reducer combination 20801, a sprocket 20803, an active conveyor wheel 20805, a conveyor channel 20806, etc. The motor-reducer combination 20801 is installed on the frame 211; The sprocket 20803 is connected to the output shaft of the motor-reducer combination 20801; the active conveyor wheel 20805 is connected to the sprocket 20803 through the chain 20802; the active conveyor wheel 20805 rotates to introduce the steel bar 300 into the conveyor channel 20806, which is connected to the processing equipment for transportation The channel 20806 transports the steel bars to the processing equipment through the rotation of the roller 20807. Two sets of first guide wheels 20804 are respectively arranged at both ends of the rolling mechanism in the moving direction of the steel bar 300. Each set of first guide wheels 20804 includes two first guide wheels 20804 respectively located on both sides of the active conveyor wheel 20805; A space is formed between the first guide wheels 20804 for placing the steel bars 300 clamped by the clamping mechanism 203. The first guide wheels 20804 limit the movement of the steel bars 300 in a certain area, preventing the steel bars 300 from breaking away from the active conveying wheels 20805, and affecting the steel bars. Conveying plays a guiding role.

本发明实施例中,钢筋300被夹取后放置在滚送机构208的两个第一导向轮20804之间,滚送机构208的电机-减速机组合20801带动链轮20803从而带动主动输送轮20805将钢筋300送至输送通道20806中进入加工设备。第一导向轮20804设置为可旋转,通过调节每组第一导向轮20804之间的距离,可将钢筋300准确地导入输送通道20806,具体地,两个第一导向轮20804之间的距离小于主动输送轮20805的宽度,且第一导向轮20804的下表面低于主动输送轮20805的表面,从而可以防止钢筋300卡入其他区域导致无法输送。此外,两个第一导向轮20804之间距离小于输送通道20806的宽度,从而实现将钢筋300准确送入输送通道20806。In the embodiment of the present invention, the steel bar 300 is clamped and placed between the two first guide wheels 20804 of the rolling mechanism 208. The motor-reducer combination 20801 of the rolling mechanism 208 drives the sprocket 20803 to drive the active conveyor wheel 20805. The steel bars 300 are sent to the conveying channel 20806 and entered into the processing equipment. The first guide wheels 20804 are set to be rotatable. By adjusting the distance between each set of first guide wheels 20804, the steel bar 300 can be accurately introduced into the conveying channel 20806. Specifically, the distance between the two first guide wheels 20804 is less than The width of the active conveyor wheel 20805, and the lower surface of the first guide wheel 20804 is lower than the surface of the active conveyor wheel 20805, thereby preventing the steel bar 300 from getting stuck in other areas and causing failure to convey. In addition, the distance between the two first guide wheels 20804 is smaller than the width of the conveying channel 20806, so that the steel bar 300 can be accurately fed into the conveying channel 20806.

在一些实施方式中,拾取输送机构200还包括下压机构205,下压机构205位于滚动机构的上方,参照图13,下压机构205包括第五气缸20501、滚轮支座20502、第二导轨207、从动滚送轮20506、第二导向轮20505等,第五气缸20501安装于框架211上,第五气缸20501具有向下伸出的第五气缸杆;滚轮支座20502设于第五气缸杆末端;第二导轨207设于框架211上,第二导轨207沿框架211的高度方向设置,滚轮支座20502连接在两根第二导轨207上,滚轮支座20502在第五气缸20501的带动下沿第二导轨207移动,使得下压机构205沿第二导轨207移动;从动滚送轮20506设于滚轮支座20502内,第二导向轮20505和从动滚动轮均通过销轴20503连接于滚轮支座20502上,销轴20503的端部设有用于限制销轴20503沿其轴向移动的限位板20504,滚轮支座20502下降后从动滚送轮20506压住钢筋300,并与主动输送轮20805配合将钢筋300夹紧输送;第二导向轮20505设于滚轮支座20502内,对钢筋300的纵向输送起到导向作用。In some embodiments, the picking and conveying mechanism 200 also includes a pressing mechanism 205 located above the rolling mechanism. Referring to Figure 13 , the pressing mechanism 205 includes a fifth cylinder 20501, a roller support 20502, and a second guide rail 207 , driven rolling wheel 20506, second guide wheel 20505, etc., the fifth cylinder 20501 is installed on the frame 211, the fifth cylinder 20501 has a fifth cylinder rod extending downward; the roller support 20502 is located on the fifth cylinder rod End; the second guide rail 207 is provided on the frame 211. The second guide rail 207 is provided along the height direction of the frame 211. The roller support 20502 is connected to the two second guide rails 207. The roller support 20502 is driven by the fifth cylinder 20501. Move along the second guide rail 207 so that the pressing mechanism 205 moves along the second guide rail 207; the driven rolling wheel 20506 is located in the roller support 20502, and the second guide wheel 20505 and the driven rolling wheel are both connected to the roller through the pin 20503. On the roller support 20502, the end of the pin 20503 is provided with a limit plate 20504 for restricting the movement of the pin 20503 along its axial direction. After the roller support 20502 descends, the driven rolling wheel 20506 presses the steel bar 300 and interacts with the active roller. The conveyor wheel 20805 cooperates to clamp and convey the steel bar 300; the second guide wheel 20505 is located in the roller support 20502 and plays a guiding role in the longitudinal conveyance of the steel bar 300.

本发明实施例中,下压机构205位于滚送位置的上方,钢筋300被夹取后放置在滚送机构208的每组的两个第一导向轮20804之间,下压机构205压紧钢筋300,具体地,钢筋300被夹取并送至下压机构205下方时,下压机构205的第五气缸20501动作,从动滚送轮20506会压住钢筋300并与主动输送轮20805配合将钢筋300夹紧输送,主动输送轮20805安装在框架211上,在主动输送轮20805的带动下一起将钢筋300输送至下一工位或加工设备。In the embodiment of the present invention, the pressing mechanism 205 is located above the rolling position. The steel bars 300 are clamped and placed between the two first guide wheels 20804 of each group of the rolling mechanism 208. The pressing mechanism 205 compresses the steel bars. 300. Specifically, when the steel bar 300 is clamped and sent below the pressing mechanism 205, the fifth cylinder 20501 of the pressing mechanism 205 acts, and the driven rolling wheel 20506 will press the steel bar 300 and cooperate with the active conveying wheel 20805 to push it. The steel bar 300 is clamped and transported, and the active conveying wheel 20805 is installed on the frame 211. Driven by the active conveying wheel 20805, the steel bar 300 is transported to the next work station or processing equipment.

上述实施例中,滚送机构208采取上下夹紧滚送的方式,将钢筋300送至加工设备或产线。在其他一些实施方式中,还可以采用左右夹紧滚送等其他的方式,只要能够实现上述相同功能即可。In the above embodiment, the rolling mechanism 208 adopts an up and down clamping and rolling method to deliver the steel bar 300 to the processing equipment or production line. In some other embodiments, other methods such as left and right clamping and rolling can also be used, as long as the same functions as above can be achieved.

在夹取机构203夹取第一根钢筋300(即夹取位置上的钢筋300)开始输送时,如果接料杆20902上其余钢筋300向输送方向运动会导致以下结果:一方面,运动后的钢筋300被夹取后无法进入输送通道20806,无法按照既定路线运行;另一方面,当前规格的钢筋300剩余多根但需要切换型号时,接料杆20902缩回将剩余的钢筋300放回原料仓,但由于钢筋300已经向前运动,可能会超出料仓边缘,导致钢筋300无法进入料仓。为解决该问题,拾取输送机构200还包括设于接料机构209上方的挡料机构210,挡料机构210安装在框架211上,位于接料杆20902的上方,其具体位置如图14所示。参照图15,挡料机构210包括第六气缸21002和挡板21001,第六气缸21002固定于框架211上,第六气缸21002具有向下伸出的第六气缸杆;挡板21001连接于第六气缸杆的末端,挡板21001挡住接料机构209上未被夹取的钢筋300的端部。当钢筋300开始输送时挡料机构210的第六气缸杆伸出,挡板21001会挡住接料杆20902上未被夹取钢筋300的端部,防止钢筋300开始输送时,被输送钢筋300带动其余钢筋300向输送方向纵向运动。When the clamping mechanism 203 clamps the first steel bar 300 (that is, the steel bar 300 at the clamping position) and starts conveying, if the remaining steel bars 300 on the receiving rod 20902 move in the conveying direction, the following results will occur: On the one hand, the moved steel bars 300 cannot enter the conveyor channel 20806 after being clamped, and cannot run according to the established route; on the other hand, if there are many steel bars 300 of the current specifications remaining but the model needs to be switched, the receiving rod 20902 is retracted and the remaining steel bars 300 are returned to the raw material bin. , but since the steel bar 300 has moved forward, it may exceed the edge of the silo, causing the steel bar 300 to be unable to enter the silo. In order to solve this problem, the picking and conveying mechanism 200 also includes a material blocking mechanism 210 located above the material receiving mechanism 209. The material blocking mechanism 210 is installed on the frame 211 and is located above the material receiving rod 20902. Its specific position is shown in Figure 14. . Referring to Figure 15, the blocking mechanism 210 includes a sixth cylinder 21002 and a baffle 21001. The sixth cylinder 21002 is fixed on the frame 211. The sixth cylinder 21002 has a sixth cylinder rod extending downward; the baffle 21001 is connected to the sixth cylinder rod. At the end of the cylinder rod, the baffle 21001 blocks the end of the steel bar 300 that is not clamped on the material receiving mechanism 209. When the steel bar 300 starts to be conveyed, the sixth cylinder rod of the blocking mechanism 210 extends, and the baffle 21001 will block the end of the receiving rod 20902 that has not clamped the steel bar 300 to prevent the steel bar 300 from being driven by the conveyed steel bar 300 when the steel bar 300 begins to be conveyed. The remaining steel bars 300 move longitudinally in the conveying direction.

参照图16,利用上述多规格钢筋精准拾取装置进行钢筋拾取的过程如下:不同规格的钢筋300放至移动料仓100的不同仓位101,需要切换不同规格钢筋时,移动料仓100移动至目标位置,接料机构209上剩余的钢筋300掉落在原规格钢筋对应的仓位101内,目标规格钢筋对应的仓位101移动至拾取机构204下方,拾取机构204吸取目标规格钢筋300,钢筋300放至接料机构209,搓平机构202调整钢筋300为单层并防止二次堆叠,定位机构201对钢筋300进行定位,夹取机构203抓取钢筋300放至滚送机构208,滚送机构208输送钢筋300至加工设备。Referring to Figure 16, the process of picking steel bars using the above-mentioned multi-specification steel bar precision picking device is as follows: steel bars 300 of different specifications are placed in different positions 101 of the mobile silo 100. When it is necessary to switch steel bars of different specifications, the mobile silo 100 moves to the target position. , the remaining steel bars 300 on the material receiving mechanism 209 fall into the bin 101 corresponding to the original specification steel bars, and the bin 101 corresponding to the target specification steel bars moves to the bottom of the picking mechanism 204. The picking mechanism 204 picks up the target specification steel bars 300, and the steel bars 300 are placed in the material receiving mechanism. The mechanism 209 and the flattening mechanism 202 adjust the steel bars 300 into a single layer and prevent secondary stacking. The positioning mechanism 201 positions the steel bars 300. The clamping mechanism 203 grabs the steel bars 300 and puts them to the rolling mechanism 208. The rolling mechanism 208 transports the steel bars 300. to processing equipment.

本发明上述实施例提供的多规格钢筋精准拾取装置,通过移动料仓和拾取输送机构,在拾取时可以任意切换不同规格的钢筋,还可按照预先设定好的程序对不同规格的钢筋进拾取输送。通过移动料仓、接料机构、搓平机构、定位机构、夹取机构、滚送机构等之间的相互配合作用,能够实现对同一规格钢筋进行批量高效加工,以及对不同规格的钢筋的精准拾取。The multi-specification steel bar precise picking device provided by the above embodiments of the present invention can arbitrarily switch between different specifications of steel bars during picking by moving the silo and the picking and conveying mechanism, and can also pick up different specifications of steel bars according to a preset program. delivery. Through the interaction between the mobile silo, material receiving mechanism, rolling mechanism, positioning mechanism, clamping mechanism, rolling mechanism, etc., it is possible to achieve efficient batch processing of steel bars of the same specification, as well as accurate processing of steel bars of different specifications. Pick up.

以上对本发明的具体实施例进行了描述。需要理解的是,本发明并不局限于上述特定实施方式,本领域技术人员可以在权利要求的范围内做出各种变形或修改,这并不影响本发明的实质内容。上述各优选特征在互不冲突的情况下,可以任意组合使用。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above. Those skilled in the art can make various variations or modifications within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination as long as they do not conflict with each other.

Claims (10)

1.一种多规格钢筋精准拾取装置,其特征在于,包括移动料仓和拾取输送机构,所述移动料仓包括多个仓位,每个所述仓位放置相同规格的钢筋;所述拾取输送机构包括:1. A device for accurately picking up multiple specifications of steel bars, which is characterized in that it includes a mobile silo and a picking and conveying mechanism. The mobile silo includes multiple positions, and each of the positions places steel bars of the same specifications; the picking and conveying mechanism include: 框架,所述框架为所述拾取输送机构提供支撑;A frame that provides support for the pick-up and conveyor mechanism; 拾取机构,固定在所述框架顶部,所述拾取机构用于自所述移动料仓拾取目标规格的钢筋;A pick-up mechanism is fixed on the top of the frame, and the pick-up mechanism is used to pick up steel bars of target specifications from the mobile silo; 接料机构,位于所述拾取机构下方,所述接料机构用于缓存所述拾取机构拾取的钢筋,所述接料机构的一端为夹取位置;A material receiving mechanism is located below the pickup mechanism. The material receiving mechanism is used to cache the steel bars picked up by the pickup mechanism. One end of the material receiving mechanism is a clamping position; 搓平机构,位于所述接料机构的一侧,所述搓平机构将所述接料机构上堆叠的钢筋往复搓平为单层排布;A flattening mechanism is located on one side of the material receiving mechanism. The flattening mechanism reciprocally flattens the steel bars stacked on the material receiving mechanism into a single layer arrangement; 定位机构,位于所述接料机构的一侧且远离所述夹取位置,所述定位机构沿垂直钢筋轴向的方向将搓平后的钢筋向所述夹取位置推动,使得钢筋自所述夹取位置依次紧密排布;The positioning mechanism is located on one side of the material receiving mechanism and away from the clamping position. The positioning mechanism pushes the flattened steel bar toward the clamping position in the direction perpendicular to the axial direction of the steel bar, so that the steel bar moves from the The clamping positions are arranged closely in sequence; 夹取机构,固定在所述框架上且位于所述接料机构的上方,所述夹取机构夹取所述接料机构上位于所述夹取位置的钢筋;A clamping mechanism is fixed on the frame and located above the material receiving mechanism, and the clamping mechanism clamps the steel bar on the material receiving mechanism at the clamping position; 滚送机构,固定在所述框架上,所述滚送机构用于将所述夹取机构夹取的钢筋输送至加工设备。A rolling mechanism is fixed on the frame. The rolling mechanism is used to transport the steel bars clamped by the clamping mechanism to the processing equipment. 2.根据权利要求1所述的多规格钢筋精准拾取装置,其特征在于,所述移动料仓还包括:2. The multi-specification steel bar precise picking device according to claim 1, characterized in that the mobile silo further includes: 支撑架,设于多个所述仓位下方,所述支撑架用于支撑多个所述仓位;A support frame is provided below a plurality of the warehouse positions, and the support frame is used to support a plurality of the warehouse positions; 料仓导轨,固定于所述支撑架上且位于所述移动料仓的底部,所述料仓导轨沿垂直于所述仓位的长度方向设置;Bin guide rails, fixed on the support frame and located at the bottom of the mobile bin, are arranged along the length direction perpendicular to the bin position; 驱动装置,设于所述移动料仓的底部,所述驱动装置驱动所述仓位沿所述料仓导轨移动。A driving device is provided at the bottom of the mobile silo, and the driving device drives the silo to move along the silo guide rail. 3.根据权利要求1所述的多规格钢筋精准拾取装置,其特征在于,所述拾取机构包括:3. The multi-specification steel bar precise picking device according to claim 1, characterized in that the picking mechanism includes: 第一气缸固定板,固定在所述框架上;The first cylinder fixing plate is fixed on the frame; 第一气缸,固定在所述第一气缸固定板上,所述第一气缸的第一气缸杆向下伸出;The first cylinder is fixed on the first cylinder fixing plate, and the first cylinder rod of the first cylinder extends downward; 限位杆,其下端穿过所述第一气缸固定板,上端连接有连接板,所述连接板固定于所述框架上,所述限位杆上设有限位环,所述限位环用于调节所述第一气缸的行程;The lower end of the limit rod passes through the first cylinder fixed plate, and the upper end is connected to a connecting plate. The connecting plate is fixed on the frame. The limit rod is provided with a limit ring. The limit ring is To adjust the stroke of the first cylinder; 第二缓冲垫,套设于所述限位杆上,所述第二缓冲垫靠近所述第一气缸固定板的上表面;A second buffer pad is set on the limiting rod, and the second buffer pad is close to the upper surface of the first cylinder fixed plate; 导杆固定板,连接于所述第一气缸杆的末端,所述限位杆的下端固定于所述导杆固定板上;A guide rod fixing plate is connected to the end of the first cylinder rod, and the lower end of the limit rod is fixed on the guide rod fixing plate; 导杆,其上端与所述导杆固定板连接,所述导杆固定板能够沿所述导杆滑动;The upper end of the guide rod is connected to the guide rod fixed plate, and the guide rod fixed plate can slide along the guide rod; 电磁铁,设于所述导杆的下端,所述电磁铁用于吸取钢筋。An electromagnet is provided at the lower end of the guide rod, and the electromagnet is used to absorb steel bars. 4.根据权利要求3所述的多规格钢筋精准拾取装置,其特征在于,所述导杆的下端连接电磁铁支撑板,所述电磁铁通过铰接座与所述电磁铁支撑板连接,所述铰接座包括x方向的旋转轴和y方向的旋转轴,所述铰接座具有x方向和y方向的旋转自由度。4. The device for accurately picking up multiple specifications of steel bars according to claim 3, characterized in that the lower end of the guide rod is connected to an electromagnet support plate, and the electromagnet is connected to the electromagnet support plate through a hinge seat. The hinge base includes a rotation axis in the x direction and a rotation axis in the y direction, and the hinge base has rotational degrees of freedom in the x direction and the y direction. 5.根据权利要求1所述的多规格钢筋精准拾取装置,其特征在于,所述接料机构包括:5. The multi-specification steel bar precise picking device according to claim 1, characterized in that the material receiving mechanism includes: 接料杆,所述夹取位置位于所述接料杆的其中一端,钢筋垂直于所述接料杆的轴向放置;Material receiving rod, the clamping position is located at one end of the material receiving rod, and the steel bar is placed perpendicular to the axial direction of the material receiving rod; 第二气缸,固定在所述框架上,所述第二气缸的第二气缸杆末端与所述接料杆的中部连接,所述第二气缸杆的伸缩方向与所述接料杆的轴向垂直;The second cylinder is fixed on the frame. The end of the second cylinder rod of the second cylinder is connected to the middle part of the material receiving rod. The expansion and contraction direction of the second cylinder rod is consistent with the axial direction of the material receiving rod. vertical; 滚轮,套设于所述接料杆的两端部。Rollers are sleeved on both ends of the material receiving rod. 6.根据权利要求1所述的多规格钢筋精准拾取装置,其特征在于,所述搓平机构包括:6. The multi-specification steel bar precise picking device according to claim 1, characterized in that the flattening mechanism includes: 支架,固定在所述框架上;Bracket, fixed on the frame; 导轨,固定在所述支架上,所述导轨沿所述搓平机构的高度方向设置;Guide rails are fixed on the bracket, and the guide rails are arranged along the height direction of the flattening mechanism; 活动板,所述活动板的一侧固定在所述导轨的滑块上;A movable plate, one side of which is fixed on the slider of the guide rail; 第一伺服电机-减速机组合和第二伺服电机-减速机组合,均固定在所述活动板上,所述第一伺服电机-减速机组合位于所述第二伺服电机-减速机组合的下方;The first servo motor-reducer combination and the second servo motor-reducer combination are both fixed on the movable plate, and the first servo motor-reducer combination is located below the second servo motor-reducer combination. ; 第一齿轮,所述第一齿轮与所述第二伺服电机-减速机组合的输出轴连接;A first gear, the first gear is connected to the output shaft of the second servo motor-reducer combination; 第二齿轮,所述第二齿轮与所述第一伺服电机-减速机组合的输出轴连接;a second gear connected to the output shaft of the first servo motor-reducer combination; 第一齿条,沿所述搓平机构的高度方向设置,所述第一齿条固定在所述支架上并与所述第一齿轮相互配合;A first rack is arranged along the height direction of the flattening mechanism, the first rack is fixed on the bracket and cooperates with the first gear; 第三导轨,设于所述活动板的另一侧,所述第三导轨与所述导轨垂直,所述第三导轨的滑块上设有齿条安装板;A third guide rail is provided on the other side of the movable plate, the third guide rail is perpendicular to the guide rail, and a rack mounting plate is provided on the slider of the third guide rail; 第二齿条,固定在所述齿条安装板上,所述第二齿条与所述第一齿条垂直,所述第二齿条与所述第二齿轮相互配合;A second rack is fixed on the rack mounting plate, the second rack is perpendicular to the first rack, and the second rack cooperates with the second gear; 第三气缸,固定在所述齿条安装板上,所述第三气缸具有沿所述搓平机构的高度方向伸缩的第三气缸杆;A third cylinder, fixed on the rack mounting plate, having a third cylinder rod that telescopes along the height direction of the flattening mechanism; 搓平板,安装在所述第三气缸杆的末端。A rubbing plate is installed at the end of the third cylinder rod. 7.根据权利要求5所述的多规格钢筋精准拾取装置,其特征在于,所述接料杆上靠近所述夹取位置的端部设有定位柱,所述定位柱用于定位位于所述夹取位置的钢筋;所述定位机构包括:7. The device for accurately picking up multiple specifications of steel bars according to claim 5, characterized in that a positioning post is provided on the end of the material receiving rod close to the clamping position, and the positioning post is used to position the material at the The steel bar at the clamping position; the positioning mechanism includes: 固定座,固定在所述框架上;A fixed base, fixed on the frame; 第四气缸,固定在所述固定座上,所述第四气缸位于所述固定座的上方,所述第四气缸具有沿垂直于所述钢筋的轴向伸缩的第四气缸杆;A fourth cylinder is fixed on the fixed base, the fourth cylinder is located above the fixed base, and the fourth cylinder has a fourth cylinder rod that telescopes in an axial direction perpendicular to the steel bar; 第六导轨,设于所述固定座的下表面,所述第六导轨的长度方向与所述第四气缸杆的伸缩方向一致;A sixth guide rail is provided on the lower surface of the fixed seat, and the length direction of the sixth guide rail is consistent with the expansion and contraction direction of the fourth cylinder rod; 定位推板,其一端固定于所述第六导轨的滑块上,另一端固定于所述第四气缸杆末端;所述定位推板将搓平后的钢筋向所述夹取位置推动至挤压所述定位柱。The positioning push plate has one end fixed on the slide block of the sixth guide rail and the other end fixed on the end of the fourth cylinder rod; the positioning push plate pushes the flattened steel bar to the clamping position until it is squeezed. Press the positioning post. 8.根据权利要求1所述的多规格钢筋精准拾取装置,其特征在于,所述滚送机构包括:8. The multi-specification steel bar precise picking device according to claim 1, characterized in that the rolling mechanism includes: 电机-减速机组合,安装于所述框架上;A motor-reducer combination is installed on the frame; 链轮,连接于所述电机-减速机组合的输出轴上;A sprocket connected to the output shaft of the motor-reducer combination; 主动输送轮,通过链条与所述链轮连接;The active conveying wheel is connected to the sprocket through a chain; 两组第一导向轮,分别布置在所述滚动机构上钢筋移动方向的两端,每组第一导向轮包括分别位于所述主动输送轮两侧的两个第一导向轮;每组的两个所述第一导向轮之间形成用于放置钢筋的空间,并对钢筋输送起导向作用;Two sets of first guide wheels are respectively arranged at both ends of the rolling mechanism in the direction of movement of the steel bars. Each set of first guide wheels includes two first guide wheels respectively located on both sides of the active conveyor wheel; A space for placing steel bars is formed between the first guide wheels and plays a guiding role in conveying steel bars; 输送通道,所述主动输送轮旋转将钢筋导入所述输送通道。Conveying channel, the active conveying wheel rotates to guide the steel bars into the conveying channel. 9.根据权利要求8所述的多规格钢筋精准拾取装置,其特征在于,所述拾取输送机构还包括下压机构,所述下压机构位于所述滚动机构的上方,所述下压机构包括:9. The device for accurately picking up multiple specifications of steel bars according to claim 8, wherein the picking and conveying mechanism further includes a pressing mechanism, the pressing mechanism is located above the rolling mechanism, and the pressing mechanism includes : 第五气缸,安装于所述框架上,所述第五气缸具有向下伸出的第五气缸杆;a fifth cylinder installed on the frame, the fifth cylinder having a fifth cylinder rod extending downward; 滚轮支座,设于所述第五气缸杆末端;A roller support is located at the end of the fifth cylinder rod; 第二导轨,设于所述框架上,所述第二导轨沿所述框架的高度方向设置,所述滚轮支座在所述第五气缸的带动下沿所述第二导轨移动;A second guide rail is provided on the frame, the second guide rail is provided along the height direction of the frame, and the roller support moves along the second guide rail driven by the fifth cylinder; 从动滚送轮,设于所述滚轮支座内,所述滚轮支座下降后所述从动滚送轮压住钢筋,并与所述主动输送轮配合将钢筋夹紧输送;The driven rolling wheel is located in the roller support. After the roller support is lowered, the driven rolling wheel presses the steel bar and cooperates with the active conveying wheel to clamp and transport the steel bar; 第二导向轮,设于所述滚轮支座内,所述第二导向轮对钢筋的纵向输送起导向作用。The second guide wheel is provided in the roller support, and the second guide wheel plays a guiding role in the longitudinal transportation of steel bars. 10.根据权利要求1所述的多规格钢筋精准拾取装置,其特征在于,所述拾取输送机构还包括设于所述接料机构上方的挡料机构,所述挡料机构包括:10. The device for accurately picking up multiple specifications of steel bars according to claim 1, characterized in that the picking and conveying mechanism further includes a material blocking mechanism located above the material receiving mechanism, and the material blocking mechanism includes: 第六气缸,固定于所述框架上,所述第六气缸具有向下伸出的第六气缸杆;a sixth cylinder, fixed on the frame, the sixth cylinder having a downwardly extending sixth cylinder rod; 挡板,连接于所述第六气缸杆的末端,所述挡板挡住所述接料机构上未被夹取的钢筋的端部。The baffle is connected to the end of the sixth cylinder rod, and the baffle blocks the end of the steel bar that is not clamped on the material receiving mechanism.
CN202311190672.9A 2023-09-15 2023-09-15 Accurate pickup device of many specifications reinforcing bar Pending CN117208568A (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
CN104959494A (en) * 2015-06-15 2015-10-07 中国建筑科学研究院建筑机械化研究分院 Steel bar distributing device and method
CN113369415A (en) * 2021-06-25 2021-09-10 中铁一局集团有限公司 Processing integrated equipment for coiled steel bars and straight spiral steel bars
CN113714460A (en) * 2021-09-03 2021-11-30 北京机电研究所有限公司 Automatic feeding equipment for aviation forgings based on machine vision
CN220844489U (en) * 2023-09-15 2024-04-26 上海蔚建科技有限公司 Accurate pickup device of many specifications reinforcing bar

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104959494A (en) * 2015-06-15 2015-10-07 中国建筑科学研究院建筑机械化研究分院 Steel bar distributing device and method
CN113369415A (en) * 2021-06-25 2021-09-10 中铁一局集团有限公司 Processing integrated equipment for coiled steel bars and straight spiral steel bars
CN113714460A (en) * 2021-09-03 2021-11-30 北京机电研究所有限公司 Automatic feeding equipment for aviation forgings based on machine vision
CN220844489U (en) * 2023-09-15 2024-04-26 上海蔚建科技有限公司 Accurate pickup device of many specifications reinforcing bar

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