CN211565950U

CN211565950U - Multifunctional composite gripper system of trapezoidal bridge

Info

Publication number: CN211565950U
Application number: CN201922411404.0U
Authority: CN
Inventors: 顾超杰; 许�永; 张春睿; 苏昱航; 成操; 朱学强; 王冬
Original assignee: Beiwen Intelligent Technology Shanghai Co ltd
Current assignee: Beiwen Intelligent Technology Shanghai Co ltd
Priority date: 2019-12-28
Filing date: 2019-12-28
Publication date: 2020-09-25
Anticipated expiration: 2029-12-28

Abstract

The utility model discloses a multi-functional compound tongs system of trapezoidal crane span structure, snatch structure, line rail support and finished product transport structure including tongs main part, sucking disc subassembly, crosspiece, flange is installed at the top of tongs main part, and first guide arm cylinder is all installed to the upper end of tongs main part both sides, and the sucking disc mount is installed to the bottom of first guide arm cylinder, and 8 sucking disc subassemblies are evenly installed in the outside of sucking disc mount, and the line rail support is evenly installed to the intermediate position department of body frame body bottom, installs the line rail between the adjacent line rail support, installs the crosspiece between the adjacent line rail and snatchs the structure, finished product transport structure is all installed at the both ends of body frame body bottom. The utility model discloses install on industrial robot to realize the transport of curb plate, the assembly of crosspiece, the automatic pile up neatly of finished product after the welding, this compound tongs system can satisfy the automatic switch-over of six kinds of product specifications simultaneously, has saved the capital cost and the sharply increased work efficiency of equipment input greatly.

Description

Multifunctional composite gripper system of trapezoidal bridge

Technical Field

The utility model relates to a transfer robot technical field specifically is a multi-functional compound tongs system of trapezoidal crane span structure.

Background

At present, in the field of welding of a trapezoidal bridge, two side plates are manually placed in place, then one crosspiece is placed in place, then the crosspieces are point-fixed and welded together again, and the welding is finished on a simple welding platform; the welding method has the advantages that a positioning operation is simply carried out manually, so that the consistency of the welded product is poor, and the efficiency is low; after welding, two workers are needed to carry finished products and then stack the finished products, and the manual working strength is high.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi-functional compound tongs system of trapezoidal crane span structure to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: multi-functional compound tongs system of trapezoidal crane span structure, snatch mechanism, line rail support and finished product transport mechanism including tongs main part, sucking disc subassembly, crosspiece, flange is installed at the top of tongs main part, and first guide arm cylinder is all installed to the upper end of tongs main part both sides, and the sucking disc mount is installed to the bottom of first guide arm cylinder, and 8 sucking disc subassemblies are evenly installed in the outside of sucking disc mount, tongs main part bottom is fixed with the body frame body, and the line rail support is evenly installed to the intermediate position department of body frame body bottom, installs the line rail between the adjacent line rail support, installs 7 groups of crosspiece between the adjacent line rail and snatchs the mechanism, finished product transport mechanism is all installed at the both ends of body frame body bottom.

Preferably, the sucking disc subassembly includes lock nut, channel-section steel, bolted connection spare, prevents bull stick, vacuum chuck, mechanical switch valve, buffer beam, connecting plate, and the both sides movable mounting of channel-section steel has bolted connection spare, and bolted connection spare passes through the bolt fastening on the sucking disc mount, the bottom movable mounting of channel-section steel has the connecting plate, and the bottom of connecting plate is through the vertical buffer beam that is fixed with of bolt, and the mechanical switch valve is installed through preventing the bull stick in the bottom of buffer beam, and vacuum chuck is installed to the bottom of mechanical switch valve.

Preferably, the upper end and the lower end of the rotation preventing rod are respectively connected with the buffer rod and the mechanical switch valve through bolts, and the rotation preventing rod is connected with the buffer rod and the mechanical switch valve through locking nuts.

Preferably, the crosspiece snatchs the mechanism including adjusting slip table, fixing base, connecting seat, snatching the main part, snatching clamping jaw, stopper, the fixing base passes through the bolt fastening in the bottom of the body frame body, and the bottom swing joint of fixing base has the regulation slip table, and the bottom of adjusting the slip table is fixed with through the connecting seat and snatchs the main part, and the bottom movable mounting who snatchs the main part has 2 to snatch the clamping jaw, snatchs the inboard bottom mounting of clamping jaw and has the stopper.

Preferably, the line rail support includes fixed bolster, splint, installation through-hole, and the bolt fastening is passed through in the top of fixed bolster in the bottom of the body frame body, and the bottom of fixed bolster is provided with splint, is provided with the installation through-hole between the splint, and the tail end of splint passes through bolt fixed connection, and the internally mounted of installation through-hole has the line rail, and the both ends of line rail all highly have the pressure spring.

Preferably, both ends of the wire track are embedded in both ends of the connecting seat.

Preferably, finished product transport mechanism includes fixed pincers, second guide arm cylinder, activity pincers, transport clamping jaw, bracket, and fixed pincers pass through the bolt fastening in the bottom of the body frame body, and the inboard level of fixed pincers installs the second guide arm cylinder, and the output of second guide arm cylinder is installed and is moved pincers.

Preferably, a bracket is fixed at the bottom of the fixed clamp, and a carrying clamping jaw is installed at the position, corresponding to the bracket, of the bottom of the movable clamp.

Compared with the prior art, the beneficial effects of the utility model are that: the device is installed on industrial robot to realize the transport of curb plate, the assembly of crosspiece, the automatic pile up neatly of finished product after the welding, this compound tongs system can satisfy the automatic switch-over of six kinds of product specifications simultaneously, has saved the capital cost and the sharp increase work efficiency of equipment input greatly.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the suction cup assembly of the present invention;

FIG. 3 is a schematic structural view of a crosspiece grabbing mechanism of the present invention;

fig. 4 is a schematic structural view of the wire rail bracket of the present invention;

fig. 5 is a schematic structural view of the finished product carrying mechanism of the present invention.

In the figure: 1. the gripper body; 2. a sucker component; 201. locking the nut; 202. channel steel; 203. a bolt connection; 204. a rotation prevention lever; 205. a vacuum chuck; 206. a mechanical on-off valve; 207. a buffer rod; 208. a connecting plate; 3. a crosspiece grabbing mechanism; 301. adjusting the sliding table; 302. a fixed seat; 303. a connecting seat; 304. grabbing the main body; 305. grabbing a clamping jaw; 306. a limiting block; 4. a wire track support; 401. fixing a bracket; 402. a splint; 403. mounting a through hole; 404. a pressure spring; 5. a first guide rod cylinder; 6. a suction cup fixing frame; 7. a connecting flange; 8. a wire track; 9. a finished product carrying mechanism; 901. fixing the pliers; 902. a second guide rod cylinder; 903. movable pliers; 904. carrying the clamping jaw; 905. a bracket; 10. a main frame body.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides an embodiment: a multifunctional composite type gripper system of a trapezoidal bridge comprises a gripper main body 1, sucker assemblies 2, a crosspiece gripping mechanism 3, a line rail support 4 and a finished product carrying mechanism 9, wherein a connecting flange 7 is installed at the top of the gripper main body 1, first guide rod cylinders 5 are installed at the upper ends of two sides of the gripper main body 1, sucker fixing frames 6 are installed at the bottoms of the first guide rod cylinders 5, and 8 sucker assemblies 2 are uniformly installed on the outer sides of the sucker fixing frames 6;

the sucker component 2 comprises a locking nut 201, channel steel 202, bolt connectors 203, anti-rotation rods 204, vacuum suckers 205, mechanical switch valves 206, buffer rods 207 and connecting plates 208, wherein the bolt connectors 203 are movably mounted on two sides of the channel steel 202, the bolt connectors 203 are fixed on a sucker fixing frame 6 through bolts, the connecting plates 208 are movably mounted at the bottom of the channel steel 202, the buffer rods 207 are vertically fixed at the bottoms of the connecting plates 208 through bolts, the mechanical switch valves 206 are mounted at the bottom ends of the buffer rods 207 through the anti-rotation rods 204, and the vacuum suckers 205 are mounted at the bottoms of the mechanical switch valves 206;

the upper end and the lower end of the anti-rotation rod 204 are respectively in bolt connection with the buffer rod 207 and the mechanical switch valve 206, and the anti-rotation rod 204 is connected with the buffer rod 207 and the mechanical switch valve 206 and is provided with a locking nut 201;

the main frame body 10 is fixed at the bottom of the gripper main body 1, the linear rail supports 4 are uniformly arranged in the middle of the bottom of the main frame body 10, the linear rails 8 are arranged between the adjacent linear rail supports 4, each linear rail support 4 comprises a fixing support 401, a clamping plate 402 and an installation through hole 403, the top end of each fixing support 401 is fixed at the bottom of the main frame body 10 through bolts, the clamping plates 402 are arranged at the bottoms of the fixing supports 401, the installation through holes 403 are formed between the clamping plates 402, the tail ends of the clamping plates 402 are fixedly connected through bolts, the linear rails 8 are arranged in the installation through holes 403, and pressure springs 404 are arranged at the two ends of each linear rail 8;

both ends of the wire rail 8 are embedded and installed at both ends of the connecting seat 303;

7 groups of crosspiece grabbing mechanisms 3 are installed between adjacent wire rails 8, each crosspiece grabbing mechanism 3 comprises an adjusting sliding table 301, a fixed seat 302, a connecting seat 303, a grabbing main body 304, grabbing clamping jaws 305 and a limiting block 306, the fixed seat 302 is fixed at the bottom of the main frame body 10 through bolts, the bottom of the fixed seat 302 is movably connected with the adjusting sliding table 301, the grabbing main body 304 is fixed at the bottom of the adjusting sliding table 301 through the connecting seat 303, 2 grabbing clamping jaws 305 are movably installed at the bottom of the grabbing main body 304, and the limiting block 306 is fixed at the bottom end of the inner side of each grabbing clamping jaw;

finished product handling mechanism 9 is all installed at the both ends of body frame 10 bottom, finished product handling mechanism 9 is including fixed pincers 901, second guide arm cylinder 902, activity pincers 903, carry clamping jaw 904, bracket 905, fixed pincers 901 passes through the bolt fastening in the bottom of body frame 10, second guide arm cylinder 902 is installed to the inboard horizontal installation of fixed pincers 901, activity pincers 903 are installed to the output of second guide arm cylinder 902, the bottom of fixed pincers 901 is fixed with bracket 905, the position department that activity pincers 903 bottom and bracket 905 correspond installs the transport clamping jaw 904.

The working principle is as follows: the robot walks onto a side plate feeding table according to a manually debugged program, the sucker assembly 2 downwards presses and sucks one side plate under the protection of the buffer rod 207, the gripper can be lifted after the vacuum finger reaches set parameters, and then the robot assembles the side plate to a welding tool through a set track;

on the same principle, the robot firstly walks to the crosspiece feeding table, the robot grabs 7 crosspieces at a time through the crosspiece grabbing mechanism 3 through a set program, and the crosspieces are assembled to the welding tool after the robot grabs after all sensor signals meet the conditions;

after all the side plates and the crosspieces are assembled, the welding robot starts to weld the parts;

after the robot finishes welding, the robot is signaled, and finished plates are grabbed and stacked through the finished product carrying mechanisms 9 at the two ends.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a multi-functional compound tongs system of trapezoidal crane span structure, includes tongs main part (1), sucking disc subassembly (2), crosspiece grabbing mechanism (3), line rail support (4) and finished product handling mechanism (9), its characterized in that: connecting flange (7) are installed at the top of tongs main part (1), and first guide arm cylinder (5) are all installed to the upper end of tongs main part (1) both sides, and sucking disc mount (6) are installed to the bottom of first guide arm cylinder (5), and 8 sucking disc subassemblies (2) are evenly installed in the outside of sucking disc mount (6), tongs main part (1) bottom is fixed with the body frame body (10), and line rail support (4) are evenly installed to the intermediate position department of body frame body (10) bottom, install line rail (8) between adjacent line rail support (4), install 7 groups of crosspiece between adjacent line rail (8) and snatch mechanism (3), finished product transport mechanism (9) are all installed at the both ends of body frame body (10) bottom.

2. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 1, wherein: sucking disc subassembly (2) include lock nut (201), channel-section steel (202), bolted connection spare (203), prevent bull stick (204), vacuum chuck (205), mechanical switch valve (206), buffer beam (207), connecting plate (208), and the both sides movable mounting of channel-section steel (202) has bolted connection spare (203), and bolted connection spare (203) pass through the bolt fastening on sucking disc mount (6), the bottom movable mounting of channel-section steel (202) has connecting plate (208), and the bottom of connecting plate (208) is through the vertical buffer beam (207) that is fixed with of bolt, and mechanical switch valve (206) are installed through preventing bull stick (204) in the bottom of buffer beam (207), and vacuum chuck (205) are installed to the bottom of mechanical switch valve (206).

3. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 2, wherein: the upper end and the lower end of the anti-rotation rod (204) are respectively in bolted connection with the buffer rod (207) and the mechanical switch valve (206), and a locking nut (201) is installed at the joint of the anti-rotation rod (204) and the buffer rod (207) and the mechanical switch valve (206).

4. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 1, wherein: the crosspiece snatchs mechanism (3) including adjusting slip table (301), fixing base (302), connecting seat (303), snatch main part (304), snatch clamping jaw (305), stopper (306), fixing base (302) are through the bottom of bolt fastening in the body frame body (10), the bottom swing joint of fixing base (302) has regulation slip table (301), the bottom of adjusting slip table (301) is fixed with through connecting seat (303) and snatchs main part (304), the bottom movable mounting who snatchs main part (304) has 2 to snatch clamping jaw (305), snatch the inboard bottom mounting of clamping jaw (305) and have stopper (306).

5. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 4, wherein: the wire rail support (4) comprises a fixing support (401), clamping plates (402) and installation through holes (403), the top end of the fixing support (401) is fixed to the bottom of the main frame body (10) through bolts, the clamping plates (402) are arranged at the bottom of the fixing support (401), the installation through holes (403) are formed between the clamping plates (402), the tail ends of the clamping plates (402) are fixedly connected through bolts, a wire rail (8) is installed inside the installation through holes (403), and pressure springs (404) are installed at two ends of the wire rail (8).

6. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 5, wherein: both ends of the wire rail (8) are embedded in both ends of the connecting seat (303).

7. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 1, wherein: finished product handling mechanism (9) are including fixed pincers (901), second guide arm cylinder (902), activity pincers (903), transport clamping jaw (904), bracket (905), and fixed pincers (901) pass through the bolt fastening in the bottom of body frame body (10), and the inboard horizontal installation of fixed pincers (901) has second guide arm cylinder (902), and activity pincers (903) are installed to the output of second guide arm cylinder (902).

8. The multifunctional composite type gripper system for the trapezoid bridge frame as claimed in claim 7, wherein: the bottom of the fixed clamp (901) is fixed with a bracket (905), and the bottom of the movable clamp (903) is provided with a carrying clamping jaw (904) at a position corresponding to the bracket (905).