CN210172840U - Truss frame building carrier plate transfer robot - Google Patents
Truss frame building carrier plate transfer robot Download PDFInfo
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- CN210172840U CN210172840U CN201922031070.4U CN201922031070U CN210172840U CN 210172840 U CN210172840 U CN 210172840U CN 201922031070 U CN201922031070 U CN 201922031070U CN 210172840 U CN210172840 U CN 210172840U
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Abstract
The utility model discloses a truss frame building carrier plate transfer robot, which comprises a numerical control steel bar truss welding production line, a steel bar truss conveying belt, a bottom plate conveying roller way, a steel bar truss feeding robot, a special combined welding machine for truss building carrier plates, a finished product feeding roller way, a finished product stacking roller way, a finished product discharging robot and a finished product discharging overturning robot, wherein the numerical control steel bar truss welding production line is arranged on the left side of the bottom plate conveying roller way, and the steel bar truss feeding robot is arranged on the right side of the bottom plate conveying roller way; a special combined welding machine for the truss floor support plate is arranged between the finished product feeding roller way and the bottom plate conveying roller way; and a finished product discharging robot is arranged on the right side of the finished product feeding roller way, and a finished product discharging overturning robot is arranged on the left side of the finished product stacking roller way. The utility model discloses numerical control steel bar truss welding production line, the special clamp plate make-up machine of truss bottom plate and the effectual integration of special built-up welding machine of truss building carrier plate are in the same place, have realized the intellectuality and the automation of truss building carrier plate production.
Description
Technical Field
The utility model relates to a truss building carrier plate production technical field, concretely relates to truss building carrier plate transfer robot.
Background
At present, the truss floor bearing plate is produced except that steel bar truss welding and floor bearing plate welding two links realize automation all the other links if regularly place steel bar truss on the bottom plate, the removal and the pile up neatly of finished product truss floor bearing plate are realized through the manual work, such production mode is laggard, inefficiency and consuming time power, and danger coefficient is higher when some links manual operation of production, and whole production occupation space is bigger simultaneously, is not conform to the requirement of intelligent industrial development. Therefore, automation and intellectualization of the whole production process of the truss floor bearing plate are urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the not enough of above-mentioned prior art, invented a truss frame building carrier plate transfer robot.
In order to achieve the above object, the utility model adopts the following technical scheme:
a truss frame floor bearing plate carrying robot comprises a numerical control steel bar truss welding production line, a steel bar truss conveying belt, a bottom plate conveying roller way, a steel bar truss feeding robot, a special combined welding machine for truss floor bearing plates, a finished product feeding roller way, a finished product stacking roller way, a finished product blanking robot and a finished product blanking overturning robot, wherein the numerical control steel bar truss welding production line is arranged on the left side of the bottom plate conveying roller way, and the steel bar truss feeding robot is arranged on the right side of the bottom plate conveying roller way; the numerical control steel bar truss welding production line conveys the steel bar trusses to the side of the bottom plate conveying roller way through the steel bar truss conveying belt and neatly places the steel bar trusses on the bottom plate conveying roller way through a steel bar truss feeding robot; the finished product feeding roller way and the bottom plate conveying roller way are arranged in the same straight line, and a special combined welding machine for a truss floor support plate for welding the steel bar truss and the bottom plate together is arranged between the finished product feeding roller way and the bottom plate conveying roller way; the left side of finished product material loading roller bed be provided with the finished product pile up neatly roll bed, the right of finished product material loading roller bed be provided with the finished product unloading robot that is used for carrying truss building carrier plate to the finished product pile up neatly roll bed, the left side of finished product pile up neatly roll bed is provided with the finished product unloading upset robot that is used for the truss building carrier plate upset.
Further, still include the mobile rail of robot, steel bar truss material loading robot set up on the mobile rail of robot steel bar truss material loading robot can be according to the position adjustment position of steel bar truss output with the bottom plate of conveniently transporting steel bar truss from steel bar truss conveyer belt transport to the bottom plate rollgang on.
The steel bar truss loading robot comprises a steel bar truss loading robot body, and is characterized by further comprising a loading gripper, wherein the loading gripper is arranged on the steel bar truss loading robot body, and the loading gripper is designed in a customized mode and is convenient to carry and move the steel bar truss.
Furthermore, the feeding gripper comprises a connecting base, a cross rod, a sensor, a positioning clamp and a pneumatic lifting hook, wherein the connecting base is arranged at the center of the cross rod, the sensor is arranged on the cross rod, and the sensing direction of the sensor is back to the steel bar truss feeding robot; the bottom of the cross rod is provided with a plurality of positioning clamps; the cross bar is provided with a plurality of pneumatic lifting hooks; the combination of the steel bar truss feeding robot and the customized feeding gripper enables the steel bar truss to be accurately and quickly conveyed to the baseplate conveying roller way from the steel bar truss conveying belt.
Further, still include the unloading tongs, the unloading tongs install on finished product unloading robot, the unloading tongs adopts the customization design, conveniently moves truss building carrier plate to finished product pile up neatly roll table or carries out the upset of follow-up finished product unloading upset robot of low-angle slope to truss building carrier plate from finished product material loading roll table.
Further, the blanking gripper comprises a connecting base, a cross rod, a sensor, a longitudinal rod and a U-shaped hook, wherein the connecting base is arranged at the center of the cross rod, the sensor is arranged on the cross rod, and the sensing direction of the sensor faces to the finished product blanking robot; the cross rod on install a plurality of vertical poles, the both ends of vertical pole respectively are provided with a U type and collude, the U type collude mouthful towards finished product unloading upset robot.
Further, still include the upset tongs, the upset tongs install at finished product unloading upset robot right, the upset tongs adopts the customization design, conveniently overturns truss building carrier plate and pile up neatly.
Further, the overturning gripper comprises a connecting base, a cross rod, a longitudinal rod, a sucker mounting seat and a vacuum sucker, wherein the connecting base is arranged at the center of the cross rod; the transverse rods are provided with a plurality of longitudinal rods, two ends of each longitudinal rod are respectively provided with a sucker mounting seat, and the vacuum suckers are mounted on the sucker mounting seats; and the truss floor bearing plate is adsorbed, turned and stacked by adopting a vacuum chuck.
This practical advantage lies in: the utility model effectively integrates the numerical control steel bar truss welding production line, the truss bottom plate special pressing plate forming machine and the truss floor bearing plate special combined welding machine together to form a new truss floor bearing plate production line, realizes the intellectualization and automation of truss floor bearing plate production, accelerates the production efficiency, reduces the manual investment of production, and reduces the production and use space; each robot is fitted with a customized hand grip that enables it to perform a specific function instead of manual operation.
Drawings
Fig. 1 is a layout view of a truss frame floor support plate handling robot of the present invention;
fig. 2 is a perspective view of a feeding gripper in the truss frame floor support plate carrying robot of the present invention;
fig. 3 is a perspective view of a blanking gripper in the truss frame floor support plate carrying robot of the present invention;
fig. 4 is a perspective view of the turning gripper in the truss frame floor support plate transfer robot of the present invention.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings:
in the description of the present invention, it should be noted that the directions or positional relationships indicated by "left", "right", "horizontal", "vertical", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to be referred must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.
As shown in fig. 1, a truss frame floor bearing plate carrying robot comprises a numerical control steel bar truss welding production line 1, a steel bar truss conveying belt 2, a bottom plate conveying roller way 3, a steel bar truss feeding robot 4, a special combination welder 5 for truss floor bearing plates, a finished product feeding roller way 6, a finished product stacking roller way 7, a finished product blanking robot 8, a finished product blanking overturning robot 9, a robot moving guide rail 10, a feeding gripper, a blanking gripper and an overturning gripper, wherein the numerical control steel bar truss welding production line 1 is arranged on the left side of the bottom plate conveying roller way 3, and the numerical control steel bar truss welding production line 1 conveys a steel bar truss to the side of the bottom plate conveying roller way 3 through the steel bar truss conveying belt 2; and a truss aligning and positioning mechanism for aligning the steel bar truss is also arranged on the steel bar truss conveying belt 2. Be provided with steel bar truss material loading robot 4 on bottom plate rollgang 3's the right, be provided with the material loading tongs on steel bar truss material loading robot 4, steel bar truss material loading robot 4 installs on robot movable guide 10, makes things convenient for steel bar truss material loading robot 4 to carry out position adjustment, and steel bar truss material loading robot 4 carries steel bar truss from steel bar truss conveyer belt 2 and neatly places on the bottom plate on bottom plate rollgang 3. The conveying end of the bottom plate conveying roller way 3 is connected with a special truss bottom plate pressing plate forming machine.
The finished product feeding roller way 6 and the bottom plate conveying roller way 3 are arranged in the same straight line, a special combination welding machine 5 for a truss floor support plate for welding the steel bar truss and the bottom plate together is arranged between the finished product feeding roller way 6 and the bottom plate conveying roller way 3, and the finished product truss floor support plate is formed by welding the special combination welding machine 5 for the truss floor support plate. The left side of finished product material loading roller way 6 be provided with finished product pile up neatly roll table 7, the right of finished product material loading roller way 6 is provided with the finished product unloading robot 8 that is used for carrying truss building carrier plate to finished product pile up neatly roll table 7, is provided with the unloading tongs on the finished product unloading robot 8, the left side of finished product pile up neatly roll table 7 is provided with the finished product unloading upset robot 9 that is used for truss building carrier plate upset, is provided with the upset tongs on the unloading upset robot 9.
As shown in fig. 2, the feeding gripper comprises a connecting base 11, a cross rod 12, a sensor 13, a positioning clamp 14 and a pneumatic lifting hook 15, the connecting base 11 is arranged at the center of the cross rod 12, and the connecting base 11 is used for being installed and connected with the steel bar truss feeding robot 4. The sensor 13 is arranged on the cross bar 12, and the sensing direction of the sensor 13 is back to the steel bar truss feeding robot 4; 2 positioning clamps 14 are arranged at the bottom of the cross rod 12 and at two sides of the connecting base 11, and the positioning clamps 14 are used for clamping and positioning the steel bar truss to ensure the bottom horizontality. On the crossbar 12 are mounted 4 pneumatic lifting hooks 15, two of which are located at the two ends of the crossbar 11 and the other two of which are located beside the positioning clamps 14. Pneumatic lifting hook 15 comprises cylinder and lifting hook, and when the material task was grabbed in the execution of material loading tongs, when pneumatic lifting hook 15 moved the truss muscle position, the cylinder shrink was mentioned the lifting hook, and the truss muscle is mentioned by pneumatic lifting hook 15. And the sensor 13 and the pneumatic lifting hook 15 are connected with a PLC (programmable logic controller) plate of the steel bar truss feeding robot 4 through control lines. When the feeding gripper works, the steel bar truss feeding robot 4 controls the feeding gripper to move to a proper position and controls the pneumatic lifting hook 15 to hook the steel bar truss and position the steel bar truss in the positioning clamp 14, the sensor 13 senses the steel bar (if the sensing is not successful, no steel bar can send a signal to the PLC, and the PLC gives an alarm), and finally the steel bar truss feeding robot 4 carries the steel bar truss to the bottom plate conveying roller way 3 and places the steel bar truss at a proper position of the bottom plate.
As shown in fig. 3, the blanking gripper comprises a connecting base 11, a cross rod 12, a sensor 13, a longitudinal rod 16 and a U-shaped hook 17, the connecting base 11 is arranged at the center of the cross rod 12, the sensor 13 is installed on the cross rod 12, and the sensing direction of the sensor 13 faces the finished product blanking robot 8. 4 longitudinal rods 16 are arranged on the cross rod 12, wherein 2 longitudinal rods are arranged at two ends of the cross rod 12, and the other 2 longitudinal rods are arranged beside the connecting base 11; two ends of the longitudinal rod 16 are respectively provided with a U-shaped hook 17, and the hook opening of the U-shaped hook 17 faces the finished product blanking overturning robot 9. When the unloading tongs work, when the truss floor bearing plate moves to a specific position, the finished product unloading overturning robot 9 can control the unloading tongs to move the truss floor bearing plate to the finished product stacking roller 7 or incline the truss floor bearing plate by 45 degrees so as to facilitate subsequent overturning operation, the sensor 13 is used for judging whether the unloading tongs grab the truss floor bearing plate, and the sensor can not respond to the situation of just sending an alarm signal to the PLC.
As shown in fig. 4, the turning hand grip comprises a connecting base 11, a cross rod 12, a longitudinal rod 16, a suction cup mounting seat 18 and a vacuum suction cup 19, wherein the connecting base 11 is arranged at the center of the cross rod 12; the transverse rod 12 is evenly provided with 6 longitudinal rods 16, wherein 2 longitudinal rods are arranged at two ends of the transverse rod 12. The two ends of the longitudinal rod 16 are respectively provided with a suction cup mounting seat 18, the vacuum suction cup 19 is mounted on the suction cup mounting seat 18, and the control principle of the vacuum suction cup 19 is the prior art and is not described herein again. The vacuum chuck 19 adopts electric control to adsorb, turn over or stack the truss floor bearing plate. The vacuum chuck 19 is controlled by the finished product blanking turnover robot 9. The operation of the finished product blanking overturning robot 9 is based on the operation of the finished product blanking robot 8. If only need use finished product unloading robot 8 when removing or pile up neatly to truss building carrier plate under the bottom plate can, need finished product unloading robot 8 earlier to incline 45 to truss building carrier plate when needs overturn the pile up neatly to truss building carrier plate, then finished product unloading upset robot 9 then overturns 135 and pile up neatly on the truss building carrier plate of placing the truss building carrier plate after the slope.
The utility model discloses the equipment that except the aforesaid involves still should be provided with electrical control cabinet for control all equipment's power and distribution. The numerical control steel bar truss welding production line 1 is used with the model of SJL300T-18, the steel bar truss feeding robot 4 is used with the model of SP200, the truss floor bearing plate special combined welding machine 5 is used with the model of DNK-63-1, the finished product blanking robot 8 is used with the model of SR210, the finished product blanking overturning robot 9 is used with the model of ER210, the truss bottom plate special pressing plate forming machine is used with the model of YH-576, and the sensor 13 is used with the model of ME18-05BPSZW 2S.
Although particular embodiments of the present invention have been described and illustrated in detail, it should be noted that various changes and modifications could be made to the above-described embodiments without departing from the spirit of the invention and the scope of the appended claims.
Claims (8)
1. A truss frame floor bearing plate carrying robot is characterized by comprising a numerical control steel bar truss welding production line (1), a steel bar truss conveying belt (2), a bottom plate conveying roller way (3), a steel bar truss feeding robot (4), a special combined welding machine (5) for truss floor bearing plates, a finished product feeding roller way (6), a finished product stacking roller way (7), a finished product blanking robot (8) and a finished product blanking overturning robot (9), wherein the numerical control steel bar truss welding production line (1) is arranged on the left side of the bottom plate conveying roller way (3), and the steel bar truss feeding robot (4) is arranged on the right side of the bottom plate conveying roller way (3);
the numerical control steel bar truss welding production line (1) conveys steel bar trusses to the side of the bottom plate conveying roller way (3) through the steel bar truss conveying belt (2) and neatly places the steel bar trusses on a bottom plate on the bottom plate conveying roller way (3) through a steel bar truss feeding robot (4);
the finished product feeding roller way (6) and the bottom plate conveying roller way (3) are arranged in the same straight line, and a special combined welding machine (5) for the truss floor bearing plate for welding the steel bar truss and the bottom plate together is arranged between the finished product feeding roller way (6) and the bottom plate conveying roller way (3);
the automatic conveying device is characterized in that a finished product stacking roller way (7) is arranged on the left side of the finished product feeding roller way (6), a finished product discharging robot (8) used for conveying the truss floor bearing plate to the finished product stacking roller way (7) is arranged on the right side of the finished product feeding roller way (6), and a finished product discharging overturning robot (9) used for overturning the truss floor bearing plate is arranged on the left side of the finished product stacking roller way (7).
2. The truss frame floor deck carrying robot as claimed in claim 1, further comprising a robot moving guide rail (10), wherein the steel bar truss feeding robot (4) is arranged on the robot moving guide rail (10).
3. The truss frame floor deck transfer robot as claimed in claim 1, further comprising a loading gripper, wherein the loading gripper is mounted on the steel bar truss loading robot (4).
4. The truss frame floor deck carrying robot as claimed in claim 3, wherein the loading gripper comprises a connecting base (11), a cross rod (12), a sensor (13), a positioning clamp (14) and a pneumatic lifting hook (15), the connecting base (11) is arranged at the center of the cross rod (12), the sensor (13) is mounted on the cross rod (12), and the sensing direction of the sensor (13) is opposite to that of the steel bar truss loading robot (4); the bottom of the cross rod (12) is provided with a plurality of positioning clamps (14); the cross rod (12) is provided with a plurality of pneumatic lifting hooks (15).
5. The truss frame floor deck transfer robot as claimed in claim 1, further comprising a blanking gripper, wherein the blanking gripper is mounted on a finished product blanking robot (8).
6. The truss frame floor deck carrying robot as claimed in claim 5, wherein the blanking gripper comprises a connecting base (11), a cross rod (12), a sensor (13), a longitudinal rod (16) and a U-shaped hook (17), the connecting base (11) is arranged at the center of the cross rod (12), the sensor (13) is mounted on the cross rod (12), and the sensing direction of the sensor (13) faces to the finished product blanking robot (8); the automatic unloading machine is characterized in that a plurality of longitudinal rods (16) are installed on the transverse rod (12), two ends of each longitudinal rod (16) are respectively provided with a U-shaped hook (17), and hook openings of the U-shaped hooks (17) face to a finished product unloading overturning robot (9).
7. The truss frame floor deck transfer robot as claimed in claim 1, further comprising a turning gripper, wherein the turning gripper is mounted on a finished product blanking turning robot (9).
8. The truss frame floor deck carrying robot as claimed in claim 7, wherein the overturning gripper comprises a connecting base (11), a cross bar (12), a longitudinal bar (16), a suction cup mounting seat (18) and a vacuum suction cup (19), and the connecting base (11) is arranged at the center of the cross bar (12); the vacuum sucker is characterized in that a plurality of longitudinal rods (16) are installed on the transverse rod (12), sucker installation seats (18) are respectively arranged at two ends of each longitudinal rod (16), and the vacuum suckers (19) are installed on the sucker installation seats (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031070.4U CN210172840U (en) | 2019-11-22 | 2019-11-22 | Truss frame building carrier plate transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922031070.4U CN210172840U (en) | 2019-11-22 | 2019-11-22 | Truss frame building carrier plate transfer robot |
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| Publication Number | Publication Date |
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| CN210172840U true CN210172840U (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922031070.4U Active CN210172840U (en) | 2019-11-22 | 2019-11-22 | Truss frame building carrier plate transfer robot |
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| CN (1) | CN210172840U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681217A (en) * | 2021-08-09 | 2021-11-23 | 浙江同星科技股份有限公司 | Automatic conveying device for welding of large heat exchanger |
-
2019
- 2019-11-22 CN CN201922031070.4U patent/CN210172840U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681217A (en) * | 2021-08-09 | 2021-11-23 | 浙江同星科技股份有限公司 | Automatic conveying device for welding of large heat exchanger |
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