CN212333944U - PC component skeleton automatically regulated grabbing device - Google Patents
PC component skeleton automatically regulated grabbing device Download PDFInfo
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- CN212333944U CN212333944U CN202022193515.1U CN202022193515U CN212333944U CN 212333944 U CN212333944 U CN 212333944U CN 202022193515 U CN202022193515 U CN 202022193515U CN 212333944 U CN212333944 U CN 212333944U
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Abstract
The utility model discloses a PC component skeleton automatically regulated grabbing device, including the link, tongs adjustment mechanism and a plurality of tongs, tongs adjustment mechanism includes X direction adjustment mechanism and Y direction adjustment mechanism, X direction adjustment mechanism installs in the bottom of link, X direction adjustment mechanism includes first slide rail, two piece at least movable plates and two at least first drive arrangement, Y direction adjustment mechanism links to each other with X direction adjustment mechanism through setting up the second slide rail bottom the movable plate, a plurality of tongs are installed respectively on Y direction adjustment mechanism, X direction adjustment mechanism is used for adjusting every tongs to the settlement position in the X direction, Y direction adjustment mechanism is used for adjusting the relative position of two rows of tongs in the Y direction. The utility model discloses what grab gets device need not artifical the regulation through setting up the Y direction adjustment mechanism that X direction adjustment mechanism links to each other to the position automatically regulated of tongs, is fit for various component steel reinforcement cage, and the commonality is good.
Description
Technical Field
The utility model relates to a concrete prefabricated part equipment technical field especially relates to a PC component skeleton automatically regulated grabbing device.
Background
In the production of present PC component, the transport of skeleton mainly adopts artifical or some supplementary facilities of lifting by crane to carry out steel reinforcement skeleton's transport, and this kind of transport mode production efficiency is low, and manufacturing cost is high.
Patent number 201820075691.5's utility model patent application discloses a punching press tongs equipment, this punching press tongs includes tongs fixing device, tongs connecting rod and at least one grabbing device, the tongs connecting rod runs through tongs fixing device and grabbing device, grabbing device distributes in tongs fixing device's both sides, grabbing device includes the connecting piece, regulating part and grabbing piece, the connecting piece is slidable for the tongs connecting rod, the regulating part is rotatable for the connecting piece, the regulating part passes through the fastener with grabbing and is connected. Although this kind of grabbing device can both freely adjust and easy quick assembly disassembly on the tongs connecting rod, the cooperation can make grabbing device translation regulation on the tongs connecting rod between the connecting piece on grabbing device and the tongs connecting rod, and the cooperation can make regulating part and grabbing piece rotatory 360 between connecting piece and the regulating part, and the part cooperation in the regulating part can adjust the vertical distance to can make grabbing piece rotatory 360, can fix a position the position of change grabbing point fast. However, this method is not suitable for the handling of PC component frames and the gripping device is not adjustable to the specifications of the gripped product object.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a PC component skeleton automatically regulated grabbing device to current grabbing device who proposes in the solution background art can not adapt to the problem of multiple specification skeleton.
In order to achieve the above object, the utility model provides a PC component skeleton automatically regulated grabbing device, including link, tongs adjustment mechanism and a plurality of tongs, the link is installed in actuating mechanism's end, tongs adjustment mechanism is including installing in the X direction adjustment mechanism of link bottom and with the Y direction adjustment mechanism that X direction adjustment mechanism links to each other, X direction adjustment mechanism includes first slide rail, two piece at least movable plates and two at least first drive arrangement, the movable plate sets up with first drive arrangement one-to-one, first slide rail sets up along the X direction, two piece at least movable plates install respectively on first slide rail, first drive arrangement drive corresponding movable plate sliding fit on first slide rail; the Y-direction adjusting mechanism comprises a second slide rail, two moving beams, two second driving devices and a gripper mounting plate, the bottom of each moving plate is provided with one second slide rail, the two moving beams are respectively mounted on the second slide rails, the second driving devices and the moving beams are arranged in a one-to-one correspondence manner, the second driving devices drive the corresponding moving beams to be in sliding fit on the second slide rails, the number of the gripper mounting plates is multiple, and the plurality of gripper mounting plates are arranged between the second slide rails and the moving beams; the plurality of grippers are respectively arranged on the corresponding gripper mounting plates.
Furthermore, the first driving device comprises a first driving motor, a first adjusting screw rod, a first bearing seat and a second bearing seat, the first driving motor, the first bearing seat and the second bearing seat are respectively and fixedly connected with the connecting frame, the first driving motor is connected with the first adjusting screw rod, the first adjusting screw rod is arranged along the X direction, and two ends of the first adjusting screw rod are respectively arranged on the first bearing seat and the second bearing seat; and a first adjusting screw rod sleeve is arranged on the moving plate, and the first adjusting screw rod penetrates through the first adjusting screw rod sleeve and is in fit connection with the first adjusting screw rod sleeve.
Further, the X-direction adjusting mechanism includes a first slider for cooperating with the first slide rail and a second slider for cooperating with the movable beam.
Furthermore, the X-direction adjusting mechanism further comprises two fixed movable plates connected with the connecting frame, and the bottom of each of the two fixed movable plates is provided with one second slide rail.
Furthermore, the second driving device comprises a second driving motor, a second adjusting screw rod, a third bearing seat and a fourth bearing seat, the second driving motor, the third bearing seat and the fourth bearing seat are fixedly connected with the fixed movable plate, the second driving motor is connected with the second adjusting screw rod, the second adjusting screw rod is arranged along the Y direction, and two ends of the second adjusting screw rod are respectively arranged on the third bearing seat and the fourth bearing seat; and a second adjusting screw rod sleeve is arranged on the movable beam, penetrates through the second adjusting screw rod sleeve and is connected with the second adjusting screw rod sleeve in a matching manner.
Furthermore, the Y-direction adjusting mechanism comprises a third sliding block matched with the second sliding rail, and the third sliding block is fixedly connected with the hand grip mounting plate.
Further, the tongs include the connecting plate and with actuating mechanism, location inclined pressing block and the lower claw that the connecting plate is connected, the connecting plate with the tongs mounting panel links to each other, the lower claw that colludes has horizontal positioning face and the vertical positioning face that mutually perpendicular set up, the bottom of location inclined pressing block is equipped with the location inclined plane, actuating mechanism is used for driving the location inclined pressing block pushes down, the location inclined plane is used for making the skeleton reinforcing bar closely near the horizontal positioning face of lower claw.
Furthermore, the number of the moving plates is three, and the three moving plates are arranged in parallel along the X direction at intervals; and the matching part of the moving plate and the moving beam is provided with the hand grip mounting plate.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses a PC component skeleton automatically regulated grabbing device, including link, tongs adjustment mechanism and a plurality of tongs, through setting up the Y direction adjustment mechanism that X direction adjustment mechanism links to each other to the position automatically regulated of tongs, the tongs adopts location sloping block and colludes claw matched with structure down, colludes the claw down and is used for drawing the skeleton and provide the horizontal location face, and location sloping block pushes down in its drive arrangement's effect, and the location inclined plane makes the skeleton reinforcing bar near the location plane who colludes the claw down. The utility model discloses the device can be fast accurate snatch steel reinforcement framework, need not artifical the regulation, is fit for various component steel reinforcement frameworks, and the commonality is good.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic structural view of an automatic adjusting and gripping device for a PC component frame of the present invention;
fig. 2 is a schematic structural diagram of the gripper adjusting mechanism of the present invention;
fig. 3 is a schematic structural view of the gripper in the utility model.
Detailed Description
The embodiments of the invention will be described in detail hereinafter with reference to the accompanying drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Referring to fig. 1, the present embodiment provides an automatic adjusting and gripping device for a PC component frame, which includes a connecting frame 1, a gripper adjusting mechanism 2 and a plurality of grippers 3, wherein the connecting frame 1 is used for connecting with the end of a robot or the end of another kind of executing mechanism.
Referring to fig. 2, the gripper adjusting mechanism 2 includes an X-direction adjusting mechanism mounted at the bottom of the connecting frame and a Y-direction adjusting mechanism connected to the X-direction adjusting mechanism, and it should be noted that, in this embodiment, the X-direction is perpendicular to the Y-direction. The X-direction adjusting mechanism is used for adjusting multiple rows of grippers to a set position along the X direction and comprises a first slide rail 2.1, three moving plates 2.2, two fixed moving plates 2.3 and three first driving devices, the first slide rail 2.1 is provided with two parallel first slide rails along the X direction, and two ends of the two first slide rails 2.1 are fixedly connected with the connecting frame 1 through vertical connecting plates. Three moving plates 2.2 are arranged on the first slide rail 2.1 in parallel at intervals along the first slide rail, the first driving device drives the corresponding moving plates to slide along the first slide rail 2.1, and the length direction of each moving plate is arranged along the Y direction. The two fixed movable plates 2.3 are respectively positioned at two ends of an area formed by the three movable plates and are also fixedly connected with the connecting frame 1 through the vertical connecting plate. In this embodiment, the plurality of grippers moving in cooperation with the same moving plate are referred to as a row of grippers.
In a preferred embodiment of the present invention, the first driving device includes a first driving motor 2.4, a first adjusting screw 2.5, a first bearing seat and a second bearing seat; the first driving motor, the first bearing seat and the second bearing seat are respectively and fixedly arranged at the bottom of the connecting frame, the first driving motor is connected with a first adjusting screw rod, the first adjusting screw rod is arranged along the X direction, and two ends of the first adjusting screw rod are respectively arranged on the first bearing seat and the second bearing seat; and the moving plate is provided with a first adjusting screw rod sleeve 2.8, and the first adjusting screw rod penetrates through the first adjusting screw rod sleeve and is connected with the first adjusting screw rod sleeve in a matching way. The utility model discloses in with three first drive arrangement that three movable plates link to each other respectively along independent, the dislocation set of Y direction, each other do not influence, can effectively ensure the regulation effect.
In the preferred embodiment of the present invention, the Y-direction adjusting mechanism is used for adjusting the relative positions of the two rows of grippers along the Y-direction, and includes a second slide rail 2.9, two movable beams 2.10, two second driving devices and a gripper mounting plate 2.11, the bottoms of all the movable plates and the fixed plates are respectively provided with a second slide rail, the two movable beams are respectively mounted on the second slide rail, the second driving devices drive the corresponding movable beams to slide and cooperate on the second slide rail, and the gripper mounting plate is provided with a plurality of grippers arranged on the second slide rail and the movable beams; the plurality of grippers are fixedly connected with the corresponding gripper mounting plates respectively. In this embodiment, the plurality of grippers moving in cooperation with the same moving beam is referred to as a row of grippers.
In the preferred embodiment of the present invention, the structure of the second driving device is the same as that of the first driving device, the second driving device includes a second driving motor 2.12, a second adjusting screw 2.13, a third bearing seat and a fourth bearing seat, the second driving motor, the third bearing seat and the fourth bearing seat are respectively and fixedly disposed at the inner side of the fixed and movable plate, the second driving motor is connected with the second adjusting screw, the second adjusting screw is disposed along the Y direction, and both ends of the second adjusting screw are respectively mounted on the third bearing seat and the fourth bearing seat; and a second adjusting screw rod sleeve 2.16 is arranged on the movable beam, and the second adjusting screw rod penetrates through the second adjusting screw rod sleeve and is matched and connected with the second adjusting screw rod sleeve.
The utility model discloses in the preferred embodiment, X direction adjustment mechanism is including setting up in the movable plate top be used for with first slide rail complex first slider and set up in tongs mounting panel bottom be used for with walking beam complex second slider. When the gripper needs to be adjusted in the X direction, the first driving motor is started, the first driving motor drives the first adjusting screw rod to rotate, the first adjusting screw rod and the first adjusting screw rod sleeve are matched to drive the moving plate to move along the first sliding rail, and then the gripper is adjusted in the X direction. In this structure, preferred first accommodate the lead screw cover is established between two first slide rails, guarantees that first accommodate the lead screw drives the movable plate and steadily slides.
The utility model discloses in the preferred embodiment, Y direction adjustment mechanism is including setting up the third slider between tongs mounting panel and second slide rail, third slider and tongs mounting panel fixed connection. When the gripper needs to be adjusted in the Y direction, the second driving motor is started, the second driving motor drives the second adjusting screw rod to rotate, the second adjusting screw rod is matched with the second adjusting screw rod sleeve to drive the moving plate to move along the second sliding rail, namely the third sliding block moves along the second sliding rail, and therefore the gripper is adjusted in the Y direction.
As shown in fig. 3, the gripper 3 includes a connecting plate 3.1, a driving mechanism 3a connected with the connecting plate 3.1, a positioning inclined pressing block 3.2 and a lower hook claw 3.3 for extracting the steel reinforcement framework, the connecting plate is connected with the gripper mounting plate, and the lower hook claw includes a horizontal positioning surface 3.11 and a vertical positioning surface 3.12 which are vertically arranged; the positioning inclined pressing block is pressed down under the action of the driving mechanism 3a, and the positioning inclined plane 3.21 enables the framework steel bar to abut against the horizontal positioning surface of the lower hook claw. And the matching parts of the two ends of the moving plate and the two moving beams are respectively provided with a gripper mounting plate, and each gripper mounting plate is connected with one gripper. The grabbing device of this embodiment, through setting up the Y direction adjustment mechanism that X direction adjustment mechanism links to each other to the position automatically regulated of tongs, need not artifical the regulation, is fit for various component steel reinforcement framework, and the commonality is good, easily popularizes and applies.
Adopt the embodiment of the utility model provides a grabbing device's a PC component skeleton automatically regulated snatchs method, include: before grabbing is carried out, recording position parameters of the hand grab into a database in advance according to parameters and combination molding parameters of a PC component framework to be grabbed; the action point of the hand grip is close to the insertion part of the framework combination, so that the influence of self deformation, gravity and the like on the insertion part is reduced. And a control system of the grabbing device calls set parameters in a database according to the model of the PC component framework to be grabbed, and adjusts the hand grab to the corresponding position through an X-direction adjusting mechanism and a Y-direction adjusting mechanism. The positioning inclined pressing block of the gripper is in a lifting state, the lower hook claw moves to the side of the framework steel bar, the horizontal positioning surface of the lower hook claw is lower than the bottom surface of the framework steel bar, and the lower hook claw is controlled to transversely move so that the side surface of the framework steel bar contacts the vertical positioning surface of the lower hook claw; and the positioning inclined pressing blocks of one row of grippers descend to position and fix the framework steel bars, the positioning inclined pressing blocks of the other row of grippers descend to fix and assist in positioning the steel bar framework, and the gripping devices grip the steel bar framework to perform combined forming. According to the grabbing method, under the combined action of the plurality of groups of the grabs, the PC component framework is positioned in space when being grabbed, grabbing errors are reduced, and precision guarantee is provided for subsequent assembly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The automatic adjusting and grabbing device for the PC component framework is characterized by comprising a connecting frame, a hand grip adjusting mechanism and a plurality of hand grips, wherein the connecting frame is installed at the tail end of an executing mechanism, the hand grip adjusting mechanism comprises an X-direction adjusting mechanism and a Y-direction adjusting mechanism, the X-direction adjusting mechanism is installed at the bottom of the connecting frame, the X-direction adjusting mechanism comprises a first slide rail, at least two movable plates and at least two first driving devices, the movable plates and the first driving devices are arranged in a one-to-one correspondence mode, the first slide rail is arranged along the X direction, the at least two movable plates are installed on the first slide rail respectively, and the first driving devices drive the corresponding movable plates to be in sliding fit with the first slide rail; the Y-direction adjusting mechanism is connected with the X-direction adjusting mechanism through a second sliding rail arranged at the bottom of the moving plate, the plurality of grippers are respectively arranged on the Y-direction adjusting mechanism, the X-direction adjusting mechanism is used for adjusting each row of grippers to a set position in the X direction, and the Y-direction adjusting mechanism is used for adjusting the relative positions of the two rows of grippers in the Y direction.
2. The gripping device of claim 1, wherein the Y-direction adjustment mechanism comprises the second slide rail, two moving beams, two second driving devices, and a gripper mounting plate, one second slide rail is disposed at the bottom of each moving plate, the two moving beams are respectively mounted on the second slide rail, the second driving devices are disposed in one-to-one correspondence with the moving beams, the second driving devices drive the corresponding moving beams to be slidably fitted on the second slide rails, the number of the gripper mounting plates is multiple, and the plurality of gripper mounting plates are disposed between the second slide rails and the moving beams; the plurality of grippers are respectively arranged on the corresponding gripper mounting plates.
3. The grasping apparatus according to claim 2, wherein the first driving device includes a first driving motor, a first adjusting screw, a first bearing block, and a second bearing block, the first driving motor, the first bearing block, and the second bearing block are respectively fixedly connected to the connecting frame, the first driving motor is connected to the first adjusting screw, the first adjusting screw is disposed along the X direction, and both ends of the first adjusting screw are respectively mounted on the first bearing block and the second bearing block; and a first adjusting screw rod sleeve is arranged on the moving plate, and the first adjusting screw rod penetrates through the first adjusting screw rod sleeve and is in fit connection with the first adjusting screw rod sleeve.
4. The grasping apparatus according to claim 3, wherein the X-direction adjustment mechanism includes a first slider for engaging with the first slide rail and a second slider for engaging with the movable beam.
5. The grasping apparatus according to claim 2, wherein the X-direction adjustment mechanism further includes two fixed movable plates connected to the connecting frame, and the second slide rail is provided at the bottom of each of the two fixed movable plates.
6. The grasping apparatus according to claim 5, wherein the second driving device includes a second driving motor, a second adjusting screw, a third bearing seat and a fourth bearing seat, the second driving motor, the third bearing seat and the fourth bearing seat are fixedly connected to the fixed movable plate, the second driving motor is connected to the second adjusting screw, the second adjusting screw is disposed along the Y direction, and both ends of the second adjusting screw are respectively mounted on the third bearing seat and the fourth bearing seat; and a second adjusting screw rod sleeve is arranged on the movable beam, penetrates through the second adjusting screw rod sleeve and is connected with the second adjusting screw rod sleeve in a matching manner.
7. The gripping device of claim 6, wherein the Y-direction adjustment mechanism includes a third slider for engaging the second slide rail, the third slider being fixedly coupled to the gripper mounting plate.
8. The gripping device of claim 1, wherein the gripper comprises a connecting plate, and a driving mechanism, a positioning ramp block and a lower hook claw which are connected with the connecting plate, the connecting plate is connected with the gripper mounting plate, the lower hook claw has a horizontal positioning surface and a vertical positioning surface which are arranged perpendicular to each other, a positioning inclined surface is arranged at the bottom of the positioning ramp block, the driving mechanism is used for driving the positioning ramp block to press downwards, and the positioning inclined surface is used for enabling the framework steel bar to abut against the horizontal positioning surface of the lower hook claw.
9. The grasping apparatus according to any one of claims 2 to 7, wherein the number of the moving plates is three, and the three moving plates are arranged in parallel at intervals in the X direction; and the matching part of the moving plate and the moving beam is provided with the hand grip mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022193515.1U CN212333944U (en) | 2020-09-30 | 2020-09-30 | PC component skeleton automatically regulated grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022193515.1U CN212333944U (en) | 2020-09-30 | 2020-09-30 | PC component skeleton automatically regulated grabbing device |
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| Publication Number | Publication Date |
|---|---|
| CN212333944U true CN212333944U (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022193515.1U Active CN212333944U (en) | 2020-09-30 | 2020-09-30 | PC component skeleton automatically regulated grabbing device |
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| Country | Link |
|---|---|
| CN (1) | CN212333944U (en) |
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- 2020-09-30 CN CN202022193515.1U patent/CN212333944U/en active Active
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