CN211573550U - Electromagnetic gripper of trolley special for corrugated plate assembly - Google Patents

Abstract

The utility model provides a special platform truck electromagnetism tongs is assembled to buckled plate to steadily snatch the buckled plate fast, and utilize platform truck and platform truck arm can nimble characteristics that remove, the function is many to improve the efficiency of construction, realize the accurate quick high-quality assembly to the buckled plate. The electromagnetic gripper is fixedly arranged at the front end of the trolley mechanical arm, the rear end of the trolley mechanical arm is hinged with the trolley base through a joint, the electromagnetic gripper comprises an electromagnetic chuck and an electromagnetic device, the electromagnetic chuck is fixedly arranged on the front port of the bottom shell, the electromagnetic device is fixedly arranged in the bottom shell, and the rear end of the bottom shell is hinged with the trolley mechanical arm through a joint; the electromagnetic chuck is composed of telescopic electromagnetic heads which are uniformly arranged in an annular plane at intervals, and each telescopic electromagnetic head is provided with a longitudinal guiding and resetting mechanism and a longitudinal positioning mechanism.

Description

A special electromagnetic gripper for trolley for corrugated board assembly

technical field

The utility model relates to a construction tooling device for an initial support structure of a tunnel, in particular to a special electromagnetic gripper for a trolley for assembling a corrugated plate.

Background technique

During the initial support construction of the prefabricated corrugated plate tunnel, the assembly of the corrugated plate is an important part of the whole construction process. The corrugated plate structure is used as the initial support structure, and the assembly quality of the corrugated plate is related to the stability of the tunnel structure and the safety of personnel. For the assembly of the initial support structure of the new prefabricated corrugated plate tunnel, there is no perfect mechanical system to cooperate with the construction. Larger, inefficient, and costly. Mechanized construction has the advantages of speeding up construction progress, saving labor costs, reducing labor intensity and reducing economic costs. Therefore, mechanization, specialization and intelligent construction of tunnel construction have become an inevitable trend. Therefore, adding a special trolley for assembly operations in the initial support construction process of corrugated plates can not only meet the requirements of higher construction quality and faster speed, but also improve the level of construction mechanization to better ensure safety and quality.

The special trolley for assembly operations can be a multi-functional trolley installed with a tunnel steel arch. At present, the installation of steel arches in tunnels in my country is gradually changing to mechanization. The early manual method requires the erection of benches, which is time-consuming, low in efficiency and poor in flexibility. The tunnel multi-functional trolley replaces the bench, and the mechanical arm replaces the human shoulder to carry, which greatly reduces the dependence on labor. The multi-functional trolley adopts the multi-arm manipulator structure. Different manipulators realize different functions. They are mainly divided into workpiece lifting manipulators and worker work hoisting manipulators, but it depends on the difficulty of construction and the number of workers. The number of robotic arms.

In the installation and construction of the steel arch, the tunnel multi-functional trolley can realize multiple functions in one machine. During the installation and construction, the automatic positioning of the trolley is carried out first, and then the automatic positioning of the steel arch frame is completed. The mechanical arm of the work hoist carries the workers to cooperate with the steel arch to complete the installation of the structure quickly and accurately.

However, the existing tunnel multi-function trolley used for the installation and construction of the steel arch cannot be directly used for the corrugated board assembly operation, and its mechanical arm needs to be transformed to form a special work trolley for the corrugated board structure assembly.

Utility model content

The technical problem to be solved by the utility model is to provide a special trolley electromagnetic gripper for corrugated board assembly, so as to quickly and smoothly grasp the corrugated board, and to use the trolley and the trolley mechanical arm to move flexibly and have multiple functions to improve construction efficiency. , to achieve accurate, fast and high-quality assembly of corrugated boards.

The technical scheme adopted by the utility model to solve the above-mentioned technical problems is as follows:

The utility model relates to an electromagnetic gripper for a trolley specially used for corrugated plate assembly. The electromagnetic gripper is fixedly mounted on the front end of the trolley mechanical arm, and the rear end of the trolley mechanical arm is hinged with the trolley base through joints, and is characterized by: The electromagnetic gripper includes an electromagnetic chuck and an electromagnetic device, the electromagnetic chuck is fixedly installed on the front port of the bottom case, the electromagnetic device is fixedly installed in the bottom case, and the rear end of the bottom case is hinged with the trolley mechanical arm through joints; the electromagnetic The suction cup is composed of telescopic electromagnetic heads which are evenly spaced in the annular plane, and each telescopic electromagnetic head has a longitudinal guiding and resetting mechanism and a longitudinal positioning mechanism.

The telescopic electromagnet head includes a sleeve, an electromagnet head and a longitudinal guide and reset mechanism composed of a guide rod, an adjustment sleeve, a support block and a compression spring, the sleeve is fixedly installed on the base, and the rear part of the guide rod is located in the sleeve and It is threadedly connected with the adjusting sleeve, the support block is threadedly connected with it at the lower end of the sleeve, the lower part of the guide rod protrudes out of the sleeve through the core hole of the overhanging support block, and the two ends of the compression spring are respectively used on the adjusting sleeve and the support block, The electromagnetic head is fixedly installed on the lower end of the guide rod.

The longitudinal positioning mechanism includes a positioning hole and an electric positioning pin, the positioning holes are longitudinally arranged on the guide rod, and the electric positioning pin is arranged on the support block.

The beneficial effect of the utility model is that the longitudinal guide and reset mechanism in the telescopic electromagnetic head can make the electromagnetic head directionally expand and contract through the guide rod under the action of different forces, and the longitudinal position of each electromagnetic head can be kept relative to each other through the longitudinal positioning mechanism. Fixed and closely attached to the corrugated board surface, multi-point positioning of the corrugated board surface, each electromagnetic head generates a magnetic force through the electromagnetic device, so that the electromagnetic gripper can quickly and smoothly grasp the corrugated board; the trolley robot arm and the trolley base, electromagnetic Joints are set between the gripper and the trolley mechanical arm, which can easily realize the lifting, rotation and adjustment of the position and direction of the corrugated board to be grasped, and cooperate with the workers carried by the working hoisting mechanical arm to complete the assembly of the corrugated board; The trolley and the mechanical arm can be flexibly moved and have multiple functions to improve the construction efficiency, thereby replacing the traditional bench and a lot of labor, and realizing the accurate, fast and high-quality assembly of the corrugated board; applied to the initial support structure of the tunnel corrugated board structure Construction has improved the level of construction mechanization to better ensure worker safety and project quality.

Description of drawings

This manual includes the following seven drawings:

1 is a front view of the overall structure of the electromagnetic gripper of a special trolley for corrugated board assembly of the present utility model;

Figure 2 is a top view of the overall structure of the electromagnetic gripper of a special trolley for corrugated board assembly of the present invention;

3 is a schematic diagram of the installation position of the electromagnetic gripper of a special trolley for corrugated board assembly of the present invention;

Figure 4 is a bottom view of the electromagnetic gripper of a special trolley for corrugated board assembly of the present invention;

5 is a front view of the electromagnetic gripper of a special trolley for corrugated board assembly of the present invention;

Fig. 6 is the working state schematic diagram of the electromagnetic gripper of a special trolley for corrugated board assembly of the present invention;

7 is a schematic structural diagram of a telescopic electromagnetic head in an electromagnetic gripper of a special trolley for corrugated board assembly according to the present invention.

Component names and corresponding marks are shown in the figure: trolley base 10, manipulator control cabin 11, trolley manipulator 12, electromagnetic chuck 20, bottom shell 21, telescopic electromagnetic head 22, electromagnetic device 23, base 24, Sleeve 25 , guide rod 26 , adjusting sleeve 27 , support block 28 , compression spring 29 , electromagnetic head 30 , electric positioning pin 31 .

Detailed ways

The present utility model will be further described below in conjunction with the embodiments and the accompanying drawings.

Referring to FIGS. 1 to 7 , a special electromagnetic gripper for corrugated sheet assembly of the present invention is provided. The electromagnetic gripper is fixedly installed on the front end of the trolley mechanical arm 12, and the rear end of the trolley mechanical arm 12 is connected to the trolley base. 10 Hinges are formed through joints. The electromagnetic gripper includes an electromagnetic chuck 20 and an electromagnetic device 23. The electromagnetic chuck 20 is fixedly installed on the front port of the bottom case 21, the electromagnetic device 23 is fixedly installed in the bottom case 21, and the rear end of the bottom case 21 is connected to the trolley mechanical arm 12. Hinges are formed by joints. The electromagnetic chuck 20 is composed of telescopic electromagnetic heads 22 evenly spaced in its annular plane, and each telescopic electromagnetic head 22 has a longitudinal guide and reset mechanism and a longitudinal positioning mechanism.

4 to 7 , the telescopic electromagnetic head 22 includes a sleeve 25, an electromagnetic head 30, and a longitudinal guide and reset mechanism composed of a guide rod 26, an adjustment sleeve 27, a support block 28, and a compression spring 29. The sleeve 25 is fixed Installed on the base, the rear part of the guide rod 26 is located in the sleeve 25 and is threadedly connected with the adjusting sleeve 27; the support block 28 is threadedly connected with the lower end of the sleeve 25; The hole protrudes out of the sleeve 25 , the two ends of the compression spring 29 are respectively used on the adjusting sleeve 27 and the support block 28 , and the electromagnetic head 30 is fixedly installed on the lower end of the guide rod 26 . The longitudinal positioning mechanism includes a positioning hole and an electric positioning pin 31 , the positioning hole is longitudinally arranged on the guide rod 26 , and the electric positioning pin 31 is arranged on the support block 28 .

The present invention utilizes the longitudinal guide and reset mechanism in the telescopic electromagnetic head 22 to make the electromagnetic head 30 perform directional expansion and contraction through the guide rod 26 under the action of different forces, and the longitudinal position of each electromagnetic head 30 can be kept relatively fixed by the longitudinal positioning mechanism And closely fit the corrugated board surface, the multi-point positioning of the corrugated board surface, each electromagnetic head 30 generates a magnetic force through the electromagnetic device 23, so that the electromagnetic gripper can quickly and smoothly grasp the corrugated board. 6, when the corrugated plate is hoisted, the electromagnetic gripper moves toward the corrugated plate, each electromagnetic head 30 is pressed against the surface of the corrugated plate, the guide rod 26 drives the electromagnetic head 30 to retract along the axis of the sleeve 25, and the compression spring 29 is compressed . After the electromagnetic head 30 is retracted in place, the electric positioning pin 31 moves, and its front end is inserted into the positioning hole on the guide rod 26 to lock its position, so that the electromagnetic chuck 20 performs multi-point positioning on the corrugated board surface, and then the electromagnetic device 23 makes each The electromagnetic head 30 generates a magnetic force to quickly and smoothly grab the corrugated board.

1 to 3 , the circuit of the electromagnetic device 23 is connected with the DC power supply and ground wire on the trolley base 10 through the circuit of the trolley manipulator 12 , and a current control switch of the electromagnetic device 23 is provided in the manipulator control cabin 11 . After the electromagnetic gripper is connected to the trolley manipulator 12, the manipulator control cabin 11 completes the control of the electromagnetic gripper through the trolley electrical system. Joints are arranged between the trolley manipulator 12 and the trolley base 10, the electromagnetic gripper and the trolley manipulator 12, which can easily realize the lifting, rotation and adjustment of the position and direction of the corrugated board to be grasped. The worker carried by the bar robotic arm completes the assembly of the corrugated board. The trolley and the mechanical arm can be flexibly moved and have multiple functions to improve the construction efficiency, thereby replacing the traditional bench and a lot of labor, and realizing the accurate, fast and high-quality assembly of the corrugated board; applied to the initial support structure of the tunnel corrugated board structure Construction improves the level of construction mechanization to better ensure worker safety and project quality.

The production process of the electromagnetic gripper of a special trolley for corrugated board assembly of the present utility model is as follows:

1. According to the size and corrugated shape of the prefabricated corrugated plate, design a matching electromagnetic chuck 20, including the size of the bottom shell 21 and the telescopic electromagnetic head 22 and the number and arrangement of the telescopic electromagnetic heads 22, through casting or welding. way to complete the production of the electromagnetic chuck 20;

2. According to the weight of the prefabricated corrugated plate, design and manufacture the electromagnetic device 23 matched with the electromagnetic chuck 20;

3. Assemble the telescopic electromagnetic head 22 and the electromagnetic device 23 into the bottom case 21 to detect the use function of the electromagnetic gripper;

4. After ensuring the normal use of the electromagnetic gripper, articulate the electromagnetic gripper with the trolley manipulator 12 through joints, and connect the electromagnetic gripper and the trolley manipulator 12 with the line;

5. Detect the use function of the combination of the electromagnetic gripper and the trolley manipulator 12.

In order to ensure the reliability of the electromagnetic gripper, the selected materials of each part of the electromagnetic gripper must meet the requirements of use and durability. The production of the electromagnetic chuck 20 and the electromagnetic device 23 needs to meet their respective usage requirements for corrugated board assembly, so as to ensure that the electromagnetic gripper meets the design and usage requirements.

The number and arrangement of the telescopic electromagnetic heads 22 need to meet the shape requirements that the electromagnetic chuck 20 can closely fit the corrugated board, and the telescopic electromagnetic head 22 can be positioned after the electromagnetic chuck 20 closely fits the corrugated board. It is ensured that when the corrugated board is grasped, the telescopic electromagnetic head 23 that generates magnetic force can firmly absorb the corrugated board after the positioning is completed, and maintain the relative stability between the electromagnetic chuck 20 and the corrugated board.

The electromagnetic device 23 needs to provide a sufficiently large magnetic force to ensure that the corrugated plate with a certain weight will not move incorrectly when grasped by the electromagnetic gripper, and the grasped corrugated plate and the electromagnetic chuck 20 are kept in close contact. In order to ensure that the electromagnetic gripper of the trolley can adjust the position and direction of the corrugated plate in all directions during the assembling process of the corrugated plate, the electromagnetic gripper and the robot arm 12 of the trolley are connected by hinges.

After the electromagnetic gripper is connected to the circuit of the trolley robot arm 12, the robot arm control cabin 11 can control it through the trolley electrical system, so as to realize the placing and taking of the assembled corrugated panels. The ground wire ensures that when the electromagnetic gripper leaks or the voltage is too high, the current enters the earth through the ground wire.

The above is only to illustrate some principles of the electromagnetic gripper of a special trolley for corrugated board assembly of the present invention, and it is not intended to limit the present invention to the specific structure and scope of application shown and described, so all the Corresponding modifications and equivalents that may be used belong to the scope of the patent application of the present invention.

Claims (3)

1. A special trolley electromagnetic gripper for corrugated board assembly, the electromagnetic gripper is fixedly installed on the front end of the trolley mechanical arm (12), and the rear end of the trolley mechanical arm (12) and the trolley base (10) are connected through joints A hinge is formed, and is characterized in that: the electromagnetic gripper comprises an electromagnetic chuck (20) and an electromagnetic device (23), the electromagnetic chuck (20) is fixedly installed on the front port of the bottom case (21), and the electromagnetic device (23) is fixedly installed In the bottom shell (21), the rear end of the bottom shell (21) is hinged with the trolley mechanical arm (12) through joints; the electromagnetic chuck (20) is formed by telescopic electromagnetic heads ( 22), each telescopic electromagnetic head (22) has a longitudinal guide and reset mechanism and a longitudinal positioning mechanism. 2. The electromagnetic gripper of a special trolley for corrugated plate assembly according to claim 1, wherein the telescopic electromagnetic head (22) comprises a sleeve (25), an electromagnetic head (30) and a guide rod ( 26) Longitudinal guide and reset mechanism composed of adjusting sleeve (27), support block (28), and compression spring (29), the sleeve (25) is fixedly installed on the base, and the rear part of the guide rod (26) is located in the sleeve (25) and is threadedly connected with the adjusting sleeve (27), the support block (28) is threadedly connected with the lower end of the sleeve (25), and the lower part of the guide rod (26) extends through the core hole of the overhanging support block (28). Out of the sleeve (25), the two ends of the compression spring (29) are respectively used on the adjusting sleeve (27) and the support block (28), and the electromagnetic head (30) is fixedly installed on the lower end of the guide rod (26). 3. The electromagnetic gripper of a special trolley for assembling a corrugated plate as claimed in claim 2, wherein the longitudinal positioning mechanism comprises a positioning hole and an electric positioning pin (31), and the positioning hole is longitudinally arranged on the guide rod (31). 26), the electric positioning pin (31) is arranged on the support block (28).

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