CN216028946U - Automatic angle iron flange welding machine - Google Patents

Abstract

The utility model relates to the field of production machinery of angle iron flange products, and particularly discloses an automatic angle iron flange welding machine which comprises an installation base, a length and width self-adjusting mechanism, an angle iron feeding mechanism, a self-adjusting welding gun rack and a flange blanking manipulator, wherein the installation base is provided with a welding gun rack; the angle iron feeding mechanism is respectively arranged on the length and width self-regulating mechanism corresponding to the four side directions of the square angle iron flange to form angle iron feeding stations in the four directions of the square angle iron flange, and the length and width of the angle iron flange are automatically regulated to the required length and width position of the angle iron flange through the length and width self-regulating mechanism; the self-adjusting welding gun frame is used for erecting a welding gun, is arranged on the length and width self-adjusting mechanism corresponding to four corners of the square angle iron flange, and is automatically adjusted to a welding position close to the square angle iron flange through the length and width self-adjusting mechanism; and the flange blanking manipulator is used for grabbing and moving the welded angle iron flange to a placing position from the angle iron conveying mechanism. The intelligent adjustment mechanical adaptation of the specification of the angle iron flange to be produced can be realized by the aid of the structure, and automatic feeding and discharging can be realized.

Description

Automatic angle iron flange welding machine

Technical Field

The utility model relates to the field of production machinery of angle iron flange products.

Background

The port of ventilation pipe connects through flange part needs to be connected, its cross sectional shape of common ventilation pipe is square form usually, therefore its flange part of end connection also is square angle bar flange, has the long wide size of cross-section of multiple different specifications according to its place of use environment, and this kind of square angle bar flange adopts angle bar usually, cuts out the length according to its square length and width and encloses into squarely and fix each angle junction still connect and form, as shown in fig. 7.

At present, the production machinery of the square angle iron flange is operated manually on the feeding operation of the angle iron, the angle iron is placed on a welding station one by one manually to form a flange structure, then each angle is welded and fixed by a manual or automatic welding machine, the square angle iron flange is taken down manually after the welding is finished, or the square angle iron flange is pushed out by the machinery to finish the production and welding of the square angle iron flange, the production mode has the following defects that the labor intensity is high due to manual participation, the labor cost is high, the working efficiency is difficult to improve, the accuracy of the structural shape is influenced by manual operation, the consistency of the product shape is influenced, and the intelligent and automatic effects of the existing angle iron flange production machinery are relatively lagged behind in the current high-tech rapid development era, and the production benefits are finally influenced by the defects, can become a burden for the manufacturing enterprise. In view of the above, the inventors of the present invention have made extensive studies on automated machines for the manufacturing process of angle iron flanges.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic angle iron flange welding machine which can realize intelligent adjustment of mechanical adaptation according to the specification of an angle iron flange to be produced and can realize automatic feeding and discharging.

In order to achieve the purpose, the technical scheme of the utility model is as follows: an automatic angle iron flange welding machine comprises an installation base, a length and width self-adjusting mechanism, an angle iron feeding mechanism, a self-adjusting welding gun rack and a flange blanking manipulator; the angle iron feeding mechanism is respectively arranged on the length and width self-regulating mechanism corresponding to four side directions of the square angle iron flange to form angle iron feeding in four directions of the square angle iron flange to a station, and the length and width self-regulating mechanism realizes automatic regulation to the required length and width position of the square angle iron flange; the self-adjusting welding gun frame is used for erecting a welding gun, is arranged on the length and width self-adjusting mechanism corresponding to four corners of the square angle iron flange, and is automatically adjusted to a welding position close to the square angle iron flange through the length and width self-adjusting mechanism; the flange blanking manipulator is used for automatically grabbing and moving the welded square angle iron flange to a placing position from the angle iron feeding mechanism.

The angle iron feeding mechanism is characterized in that a group of two groups of intervals are oppositely arranged in each direction of the length and width self-adjusting mechanism respectively, the angle iron feeding mechanism comprises a supporting block, a material pushing structure, a limiting structure and a material storage groove, the material storage groove is arranged on the supporting block and used for storing angle iron, the material storage groove comprises a discharge hole used for enabling the angle iron to be placed into a feed port and pushing the angle iron out to the supporting block, the material pushing structure is arranged on the supporting block and provided with a material pushing block capable of sliding in a reciprocating mode below the discharge hole, the limiting structure is arranged corresponding to the tail end of the pushing direction of the material pushing block and used for fixing the angle iron to supply stable welding, and the material storage groove of the angle iron feeding mechanism with two opposite intervals in each direction is relatively opened and arranged to form a structure capable of enabling two ends of the angle iron to be embedded into the material storage groove respectively.

The storage tank comprises a vertical plate, a vertical plate and an inclined edge retaining strip, wherein the vertical plate is vertically provided with a lower end connecting supporting block, the vertical edge retaining strip is vertically arranged on the surface of the vertical plate on the same side, the inclined edge retaining strip is arranged in an inclined mode, the vertical edge retaining strip is arranged on the surface of the vertical plate, the distance between the upper end of the vertical edge retaining strip and the upper end of the inclined edge retaining strip is wide, the distance between the upper end of the vertical edge retaining strip and the upper end of the inclined edge retaining strip is narrow, the feed inlet is formed between the upper end of the vertical edge retaining strip and the upper end of the inclined edge retaining strip, the lower end of the inclined edge retaining strip extends downwards towards the supporting block to form a vertical retaining surface towards one side of the vertical edge retaining strip, a push-out opening for pushing the end of the angle iron to the tail end of the pushing direction of the pushing block after the end of the angle iron comes out from the discharge outlet is formed between the vertical edge retaining surface and the supporting block, and one side of the two angle iron feeding mechanisms is arranged oppositely.

The inclined edge retaining strips are connected to the vertical plate through a transverse moving structure capable of adjusting the spacing distance relative to the vertical edge retaining strips, and the vertical edge retaining strips are connected to the vertical plate through a vertical moving structure capable of adjusting the mounting height position relative to the height direction of the vertical plate.

The supporting block is fixedly installed and arranged to support the whole angle iron feeding mechanism, a sliding groove is formed in the upper surface of the supporting block, the two ends, corresponding to the sliding groove, of the supporting block are respectively an installation outer end and a limiting inner end, the material pushing structure comprises a sliding block embedded in the sliding groove, a pushing cylinder which is fixedly installed on the installation outer end and a piston rod of the pushing cylinder penetrates into the sliding groove to be connected with the sliding block, and the material pushing block are connected, can protrude out of the upper surface of the supporting block when the sliding block slides towards the limiting inner end, and can not protrude out of the upper surface of the supporting block when the sliding block slides towards the installation outer end.

An embedded groove for embedding the pushing block is formed in the upper surface of the sliding block, one end of the pushing block is hinged in the embedded groove, and an elastic part is arranged between the bottom surface of the other end of the pushing block and the bottom surface of the embedded groove.

The limiting structure comprises a limiting rod which is arranged at the inner limiting end and protrudes out of the upper surface of the supporting block, and/or a hook-shaped limiting rod which can be lifted and rotated is arranged at the inner limiting end, and the upper end part of the hook-shaped limiting rod is of a hook-shaped structure which can hook the upper edge of the angle iron.

The self-adjusting welding gun frame is arranged on the angle iron feeding mechanism and comprises an erection rod for erecting a welding gun, a rotary driving device for driving the erection rod to move a welding position and a driving and reversing lifting moving mechanism for driving the moving driving device to be installed on the rotation driving device and driving the moving driving device to realize relative front and back and lifting movement.

The length and width self-adjusting mechanism comprises a width-direction adjusting mechanism and a length-direction adjusting mechanism; the width direction adjusting mechanism comprises two beams which are arranged above the mounting base at intervals in parallel and a beam moving mechanism between the two beams and the mounting base, the beam moving mechanism comprises a first screw rod transmission structure and two first guide sliding blocks which are driven by the first screw rod transmission structure to slide, the two first guide sliding blocks are respectively and fixedly connected with the two beams, and the two first guide sliding blocks slide in the synchronous opposite directions; the long-direction adjusting mechanism comprises a second screw rod transmission structure and two second guide sliding blocks, the second screw rod transmission structure is respectively arranged on the two cross beams, the second guide sliding blocks are driven by the second screw rod transmission structure to slide, and the sliding of the two second guide sliding blocks is synchronous and opposite; two second guide sliding blocks are used for installing two angle iron feeding mechanisms in a group two by two on the two second guide sliding blocks respectively.

The width adjusting mechanism and the length adjusting mechanism are used for adjusting two opposite spacing distances in the length direction of the angle iron flange and the length of the angle iron, the length and width self-adjusting mechanism further comprises a width independent self-adjusting mechanism, the width independent self-adjusting mechanism comprises a third screw rod transmission structure, two third guide sliding blocks, second cross beams, fourth screw rod transmission structures and four fourth guide sliding blocks, the third screw rod transmission structures are arranged on the installation base correspondingly to the direction of the cross beams, the two third guide sliding blocks are driven by the third screw rod transmission structure, the second cross beams are respectively arranged on the two third guide sliding blocks, the fourth screw rod transmission structures are respectively arranged on the two second cross beams, the fourth screw rod transmission structures are driven by the fourth screw rod transmission structures, two groups of the four fourth guide sliding blocks are respectively arranged on the two second cross beams, the sliding of the two third guide sliding blocks is in synchronous opposite direction, the sliding of the two fourth guide sliding blocks arranged on the same second cross beam is in synchronous opposite direction, and the two groups of the two angle iron feeding mechanisms are respectively arranged on the same second cross beam Two opposite spacing distances and angle iron widths are arranged on the angle iron flange for adjusting the width direction of the angle iron flange.

The screw transmission in the first screw transmission structure is a screw transmission mode with two sections of opposite spiral directions and is respectively used for connecting two first guide sliding blocks to realize synchronous opposite actions, the screw transmission in the second screw transmission structure is a screw transmission mode with two sections of opposite spiral directions and is respectively used for connecting two second guide sliding blocks to realize synchronous opposite actions, the screw transmission in the third screw transmission structure is a screw transmission mode with two sections of opposite spiral directions and is respectively used for connecting two third guide sliding blocks to realize synchronous opposite actions, and/or the screw transmission in the fourth screw transmission structure is a screw transmission mode with two sections of opposite spiral directions and is respectively used for connecting two fourth sliding blocks arranged on the same second beam to realize synchronous opposite actions.

The flange blanking manipulator comprises a support, a support mounting seat, a movable long arm, a swing driving mechanism, a gripper lifting mechanism, a gripper directional movable structure and a gripper distance self-adjusting mechanism; the support is used for the high support of activity long arm support mount pad and swing actuating mechanism set up on the support, the one end of activity long arm is for articulating the first hinged end on the support mount pad, and the other end is for supplying the articulated second hinged end of grapple elevating system, swing actuating mechanism sets up and connects the activity long arm on the support and drive its reciprocal swing, the grapple is two settings on the self-modulation mechanism of tong interval, installation of the self-modulation mechanism of tong interval is used for adjusting the distance between two grapple tongs on the grapple elevating system, directional slewing mechanism of tong connects and is used for realizing that two grapple tongs keep being in same orientation when the activity long arm swings between support mount pad and grapple elevating system.

The swing driving mechanism comprises a driving arm and a swing driving cylinder, the driving arm is connected to the first hinged end of the movable long arm, the swing driving cylinder is hinged to the support mounting seat, and the tail end of a piston rod of the swing driving cylinder is hinged to the driving arm.

The gripping and clamping lifting mechanism comprises a hinged plate for hinging the second hinged end of the movable long arm, a lifting mounting plate corresponding to the lower part of the hinged plate, a lifting driving cylinder arranged on the hinged plate and with a piston rod downwards connected with the lifting mounting plate, and a lifting guide structure between the hinged plate and the lifting mounting plate.

The directional movable structure of the clamping hand comprises a long connecting rod, one end of the long connecting rod is hinged on the support or the support mounting seat, and the other end of the long connecting rod is hinged on the hinged plate.

The automatic tong spacing adjusting mechanism comprises a fixed mounting plate, a horizontal cross rod, sliding wheels, tensioning wheels, a transmission structure and a transmission belt, wherein the fixed mounting plate is connected to a lifting mounting plate, the middle position of the horizontal cross rod is fixedly connected to the fixed mounting plate, the sliding wheels are respectively arranged at four angular positions of the horizontal cross rod, the transmission structure and the tensioning wheels are arranged on the fixed mounting plate, and the transmission belt is driven by the transmission structure around each sliding wheel and the tensioning wheel.

The gripper comprises a driving connecting block, a gripper supporting plate, a telescopic driving cylinder, a fixed rod, a directional movable rod, a free shaft lever, a hinged strip and a clamping jaw, wherein a vertical guide groove is formed in the gripper supporting plate, the end part of the directional movable rod is embedded in the vertical guide groove to slide, the end part of the fixed rod is fixedly connected below the lower end of the vertical guide groove, two groups of the clamping jaws are movably sleeved on the fixed rod in a group, a driving strip is arranged on the clamping jaw in an extending manner, one end of each group of the hinged strips in the same direction is movably sleeved on the directional movable rod, the other ends of the two hinged strips are respectively hinged with the driving strip on the clamping jaw on the corresponding side through the free shaft lever, the telescopic driving cylinder is arranged on the gripper supporting plate, the tail end of a piston rod of the telescopic driving cylinder is downwards hinged on the directional movable rod, the two grippers are respectively sleeved on the two ends of the horizontal cross rod through the driving connecting block guide, one of the gripping and clamping hands is connected with the transmission belt which is correspondingly arranged above the horizontal cross rod, and the other gripping and clamping hand is connected with the transmission belt which is correspondingly arranged below the horizontal cross rod.

The clamping jaws are sheet-shaped blocks, and a plurality of groups of clamping jaws and hinge strips are arranged on one clamping hand at intervals.

By adopting the technical scheme, the utility model has the beneficial effects that: according to the angle iron flange welding machine with the structure, the length and width self-adjusting mechanism can automatically adjust the machine to the size corresponding to the angle iron flange to be produced, so that angle iron flanges with various length and width dimensions can be produced, the size range is wide, the automatic adjustment speed is high, and the size is accurate; the angle iron feeding mechanism can correspond to edges in all directions to achieve the function of storing a plurality of angle irons for automatic blanking and automatically pushing materials to a welding station, the blanking and pushing processes are performed automatically, the effect of better positioning and pushing materials is achieved, and the effect of accurate feeding position is achieved; the flange blanking manipulator adopts a manipulator grabbing mode for blanking, the mode is different from a pushing-out blanking mode, the flange blanking manipulator can act from the upper side of the machine, the simplification of the mechanical structure can be facilitated, and the realization of the mechanical structure is facilitated.

The structure of the detailed length and width self-adjusting mechanism can realize intelligent control, the mechanical structure acts stably and smoothly, and the displacement is accurate, so that the effect of accurately adjusting the length and width dimensions is achieved; the structure of the detailed angle iron feeding mechanism disclosed above is a mechanical structure arrangement specially used for angle iron feeding, the structure is simpler, but the structure arrangement is novel and reasonable, and can smoothly feed and accurately position and feed, the structure arrangement is also one of the core technologies of the technical scheme of the utility model, and four-side feeding capable of being combined into an angle iron flange frame is achieved under the accurate displacement matching of the length and width self-adjusting mechanism; the automatic welding gun frame is used for erecting an automatic welding gun, can drive the automatic moving position of the welding gun to move to a welding position when welding is required, and can move away when welding is not required, so that the mechanical action of feeding and discharging is prevented from being influenced; the structure of the above disclosed detailed flange discharging mechanical arm is stable in mechanical action, stable in grabbing and placing actions, reasonable in utilization of discharging of space above the machine, and free of mutual influence of the mechanical structure of feeding and discharging and the length and width self-adjusting mechanism.

In conclusion, the automatic angle iron flange welding machine has the following excellent points that 1, industrial intelligent automation performance is high, manual participation is not needed in the whole process, 2, mechanical action is stable, the produced angle iron flange is high in size precision and high in product consistency, and 3, the mechanical structure solves the problems of complex structures and complicated mechanical action. Thereby better achieving the beneficial effects of the utility model.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an automatic angle iron flange welding machine according to the present invention;

FIG. 2 is a schematic structural diagram of a wide-direction adjusting mechanism and a long-direction adjusting mechanism in an automatic angle iron flange welding machine according to the utility model;

FIG. 3 is a schematic structural diagram of a width-direction independent self-adjusting mechanism in an automatic angle iron flange welding machine according to the present invention;

FIG. 4 is a schematic structural view of an angle iron feeding mechanism in an automatic angle iron flange welding machine according to the present invention;

FIG. 5 is a schematic perspective view of an angle iron flange manipulator in an automatic angle iron flange welding machine according to the present invention;

FIG. 6 is a schematic structural view of an angle iron flange manipulator in an automatic angle iron flange welding machine according to the present invention;

fig. 7 is a schematic structural view of an angle iron flange according to the present invention.

In the figure:

installing a base 1; a length and width self-adjusting mechanism 2;

a width direction adjusting mechanism 21; a cross beam 211; the beam moving mechanism 212;

a first lead screw transmission structure 2121; a first guide slider 2122;

a longitudinal adjustment mechanism 22; a second lead screw transmission structure 221; a second guide slider 222;

a width direction independent self-adjusting mechanism 23; the third lead screw transmission structure 231; a third guide slider 232;

a second cross member 233; a fourth lead screw transmission 234; a fourth guide slider 235;

an angle iron feeding mechanism 3; a support block 31; a chute 311; an outer mounting end 312; a limiting inner end 313;

a material pushing structure 32; a pusher block 321; a slider 322; the insertion groove 3221; a push cylinder 323;

a limiting structure 33; a stopper rod 331; a hook-shaped stopper rod 332;

a stock chest 34; a feed port 341; a discharge port 342; a vertical plate 343; a vertical edge strip 344;

an inclined edge strip 345; vertical stop surface 346; a push-out port 347;

a self-adjusting welding gun rack 4; a mounting rod 41; the rotary drive device 42; a forward/backward elevating/lowering mechanism 43;

a flange blanking manipulator 5; a bracket 51; a bracket mount 52;

a movable long arm 53; a first hinged end 531; a second hinged end 532;

a swing drive mechanism 54; a driving arm 541; swing drive cylinder 542;

a gripper hand 55; driving the connecting block 551; the gripper supporting plate 552; the vertical guide groove 5521;

a telescopic driving cylinder 553; a fixing rod 554; a directional movable bar 555; a free shaft 556; a hinge bar 557;

a clamping jaw 558; the driving bar 5581; a gripper lifting mechanism 56; a hinge plate 561; a lift mounting plate 562;

the lifting drive cylinder 563; a lift guide 564; a gripper orientation moving structure 57; a long link 571;

a gripper spacing self-adjusting mechanism 58; a fixed mounting plate 581; a horizontal cross bar 582; a pulley 583;

a tension pulley 584; a drive structure 585; drive belt 586.

Detailed Description

In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.

The automatic angle iron flange welding machine disclosed in the embodiment comprises a mounting base 1, a length and width self-adjusting mechanism 2, an angle iron feeding mechanism 3, a self-adjusting welding gun rack 4 and a flange blanking manipulator 5, as shown in fig. 1, 2, 3, 4, 5 and 6.

The mounting base 1 is a frame type base structure, the structure is stable, the base is rectangular as shown in the figure in the embodiment, so that technical characteristic names in the utility model are defined by words corresponding to the length and the width of the base shown in the figure, which do not necessarily refer to the length and the width of the produced square angle iron flange, and a square angle iron flange with smaller length and width is shown in figure 7.

In this embodiment, as shown in fig. 1, fig. 2, fig. 3, and fig. 4, the length and width self-adjusting mechanism 2 includes a width-direction adjusting mechanism 21, a length-direction adjusting mechanism 22, and a width-direction independent self-adjusting mechanism 23; the width direction adjusting mechanism 21 is used for automatically adjusting the width direction distance of the graphic machine according to the actual size of the angle iron flange to be welded, the length direction adjusting mechanism 22 is used for automatically adjusting the length direction distance of the graphic machine according to the actual size of the angle iron flange to be welded, and the width direction independent self-adjusting mechanism 23 is used for automatically adjusting the width direction distance of the graphic machine width direction angle iron feeding mechanism 3 according to the actual size of the angle iron flange to be welded.

The width direction adjusting mechanism 21 includes two beams 211 arranged above the mounting base 1 at an interval in parallel and a beam moving mechanism 212 between the two beams 211 and the mounting base 1, the beam moving mechanism 212 includes a first screw rod transmission structure 2121 and two first guide sliding blocks 2122 driven by the first screw rod transmission structure 2121 to slide, the two first guide sliding blocks 2122 are respectively used for fixedly connecting the two beams 211, the sliding of the two first guide sliding blocks 2122 is synchronous and opposite, the interval distance between the two beams 211 is reduced when the beams are relatively close to move, and otherwise the moving distance is increased. The longitudinal adjusting mechanism 22 includes a second screw transmission structure 221 respectively installed on the two cross beams 211 and two second guide sliding blocks 222 driven by the second screw transmission structure 221 to slide, the sliding of the two second guide sliding blocks 222 is synchronous and opposite, the distance between the two second guide sliding blocks 222 decreases when the two second guide sliding blocks are relatively close to each other, otherwise, the movement increases, and the two second guide sliding blocks 222 are used for installing two angle iron feeding mechanisms 3 in a group of two by two on the two second guide sliding blocks 222. The width direction independent self-adjusting mechanism 23 comprises a third screw rod transmission structure 231 arranged on the mounting base 1 corresponding to the directions of the two beams 211, two third guide sliding blocks 232 driven by the third screw rod transmission structure 231, second beams 233 respectively arranged on the two third guide sliding blocks 232, fourth screw rod transmission structures 234 respectively arranged on the two second beams 233, four fourth guide sliding blocks 235 driven by the fourth screw rod transmission structure 234 and respectively arranged on the two second beams 233 in a group of two, the sliding of the two third guide sliding blocks 232 is synchronous opposite direction action, the spacing distance of the two third guide sliding blocks 232 is reduced when the two third guide sliding blocks 232 move relatively close to each other, otherwise, the sliding of the two fourth guide sliding blocks 235 arranged on the same second beam 233 is synchronous opposite direction action, and the two fourth guide sliding blocks 235 arranged on the same second beam 233 are used for respectively arranging two angle iron feeding mechanisms 3 in a group on each group, when the two fourth guide sliding blocks 235 mounted on the same second beam 233 move relatively close to each other, the distance between the two guide sliding blocks is reduced, and vice versa, the movement is increased.

As can be seen from the attached drawings, in the present embodiment, the width-direction adjusting mechanism 21 and the length-direction adjusting mechanism 22 are used for adjusting two relative spacing distances in the length direction of the angle iron flange and the length of the angle iron, and the structures involved in feeding the angle iron in the width direction and adjusting the length in the width direction on the machine are independent automatic adjusting parts and are not related to automatic adjustment in the length direction, that is, the two angle iron mechanisms 3 on the same side and in the width direction realize automatic adjustment of the length-direction distance and automatic adjustment of the width-direction distance of the machine according to the size of the angle iron flange to be actually welded. It should be noted that the arrangement of the independent width direction self-adjusting mechanism 23 in the above structure is designed for the reason that the adjustment is more suitable for the angle iron flanges of various specifications produced, the mechanical structure is easier to implement, the mechanical structure is more stable, the production precision is higher, and the like, for example, the machine is changed to enable the angle iron feeding mechanism 3 on the independent width direction self-adjusting mechanism 23 to directly follow the automatic adjustment actions of the width direction adjusting mechanism 21 and the length direction adjusting mechanism 22 to achieve feasible work, and the structural arrangement of the independent width direction self-adjusting mechanism 23 is also omitted. In addition, the screw transmission in the first screw transmission structure 2121 is two screw transmission modes with opposite spiral directions, and the two first guide sliding blocks 2122 are respectively connected to realize synchronous opposite actions, the screw transmission in the second screw transmission structure 221 is two screw transmission modes with opposite spiral directions, and the two second guide sliding blocks 222 are respectively connected to realize synchronous opposite actions, the screw transmission in the third screw transmission structure 231 is two screw transmission modes with opposite spiral directions, and the two third guide sliding blocks 232 are respectively connected to realize synchronous opposite actions, and/or the screw transmission in the two fourth screw transmission structures 234 is two screw transmission modes with opposite spiral directions, and the two fourth guide sliding blocks 235 mounted on the same second beam are respectively connected to realize synchronous opposite actions; note that the above-mentioned screw rod transmission modes are and/or relations, that is, all the transmission modes or one or several parts of the transmission modes can be realized by adopting such a mode, and the above-mentioned transmission mode has the characteristics of good synchronization and consistency effects, and can also be realized by adopting other modes for reasons such as low precision requirement or component incapability. The working principle of the length and width self-adjusting mechanism 2 in this embodiment is detailed with the working principle of the moving mechanism on some existing machines (such as a plane or three-dimensional engraving machine), and the working principle of the length and width self-adjusting mechanism 2 will not be described here.

The angle iron feeding mechanism 3 is respectively arranged on the length and width self-adjusting mechanism 2 corresponding to four edge directions of the square angle iron flange during production to form angle iron feeding stations in four directions of the square angle iron flange, and the angle iron feeding stations can be automatically adjusted to the required length and width positions of the square angle iron flange through the length and width self-adjusting mechanism 2. The detailed structure disclosed in this embodiment is as shown in fig. 1, fig. 2 and fig. 4, the angle iron feeding mechanisms 3 are respectively arranged in pairs and in groups at intervals in each direction of the length and width self-adjusting mechanism 2, when in use, the long strip-shaped angle iron is arranged between the angle iron feeding mechanisms 3 in pairs and in groups, and two ends of the long strip-shaped angle iron are respectively placed on the corresponding angle iron feeding mechanisms 3, and each angle iron feeding mechanism 3 comprises a supporting block 31, a material pushing structure 32, a limiting structure 33 and a material storage tank 34; the storage trough 34 is arranged on the supporting block 31 and used for storing angle iron, and comprises a feeding hole 341 for placing angle iron and a discharging hole 342 for pushing the angle iron out of the supporting block 31, the pushing structure 32 is arranged on the supporting block 31 and provided with a pushing block 321 capable of sliding back and forth corresponding to the lower part of the discharging hole 324, the limiting structure 33 is arranged corresponding to the tail end of the pushing direction of the pushing block 321 and used for fixing the angle iron for stable welding, and the storage trough 34 of the two angle iron feeding mechanisms 3 opposite to each other at intervals in each direction is relatively opened to form a structure for embedding two ends of the angle iron into the storage trough 34. The structural arrangement disclosed in the present embodiment is described in more detail below with reference to the accompanying drawings.

The storage tank 34 comprises a vertical plate 343, the lower end of which is vertically and vertically connected with the supporting block 31, a vertical rib 344, the vertical rib is vertically arranged on the same side surface of the vertical plate 343, an inclined rib 345, the interval between the upper end and the lower end of which is wider than the interval between the upper end and the lower end of the vertical rib 344, the upper end of the vertical rib 344 and the upper end of the inclined rib 345 form the feeding port 341, the lower end of the vertical rib 342 forms the discharging port 342, the lower end of the inclined rib 345 extends downwards towards one side of the vertical rib 344 to the supporting block 31 to form a vertical rib 346, the lower end of the vertical rib 344 corresponds to the vertical rib 346 to form a pushing port 347, the angle end of the pushing port is pushed out from the discharging port 342 to the tail end of the pushing block 321 in the pushing direction, the height of the pushing port 347 just corresponds to the height of one angle end, the vertical plate 343 of the two angle iron feeding mechanisms 3 is provided with the vertical rib 344, and the side is arranged oppositely, therefore, the two ends of the long angle iron are respectively embedded into the corresponding storage troughs 34, the storage troughs 34 are used for storing materials, one vertical edge of the first placed angle iron is correspondingly attached to the vertical edge blocking strip 344 and placed, the other vertical edge of the first placed angle iron is horizontally overlapped on the supporting block 31, the first placed angle iron is nested and stacked, and the stacking effect is achieved, so that the inclined edge blocking strip 345 provides an inclined space formed by nesting and stacking, and the second placed angle iron can slide downwards to the position of the push-out port 347 automatically after the first placed angle iron is pushed out. In this embodiment, in order to adapt to the application of storing and feeding of angle irons with different specifications, the inclined edge blocking strips 345 are connected to the vertical plate 343 through a transverse-moving structure capable of adjusting the spacing distance relative to the vertical edge blocking strips 344, the transverse-moving structure is a structure in which holes in the vertical plate 343, for locking the inclined edge blocking strips 345, are horizontal strip-shaped holes, so that the spacing distance can be adjusted by adjusting the positions of the horizontal strip-shaped holes through the locked bolts, the vertical edge blocking strips 344 are connected to the vertical plate 343 through a vertical-moving structure capable of adjusting the installation height position relative to the height direction of the vertical plate 343, the vertical-moving structure can adopt a structure similar to the transverse-moving structure principle, so that the height of the pushing-out holes 347 can be changed through the height adjustment, and the purpose of adapting to storing and feeding of angle irons with different specifications is achieved.

The supporting block 31 is fixedly installed on each sliding block of the length and width self-adjusting mechanism 2 for supporting the whole angle iron feeding mechanism 3, as shown in the figure, the sliding slot 311 is formed on the upper surface of the supporting block 31, the two ends of the supporting block 31 corresponding to the sliding slot 311 are respectively the installation outer end 312 and the limit inner end 313, the pushing structure 32 comprises the sliding block 322 embedded in the sliding slot 311, the pushing cylinder 323 fixedly installed on the installation outer end 312 and the piston rod of which penetrates through the sliding slot 311 to connect the sliding block 322, and the pushing block 321, the pushing block 321 can protrude from the upper surface of the supporting block 31 when the sliding block 322 slides towards the limit inner end 313, and can not protrude from the upper surface of the supporting block 31 when the sliding block 322 slides towards the installation outer end 312, the specific structure is that the upper surface of the sliding block 322 is provided with an embedded slot 3221 for the pushing block 321 to be embedded, one end of the pushing block 321 is hinged in the embedded slot 1, and an elastic component is arranged between the bottom surface of the other end and the bottom surface of the embedded slot 3221 (in the figure, it cannot be seen in the figure ) By this structure, the pusher block 321 is elastically supported by the elastic member when it is pressed by gravity, and is inserted into the insertion groove 3221 when it is pressed by gravity. Thus, in operation, when the pushing cylinder 323 is in a retraction state, the pushing block 321 is not raised by pressure, the pushing cylinder 323 pushes, the pushing block 321 abuts against the edge of the horizontal side of the lowermost angle iron falling and lapping on the supporting block 31, and pushes towards the direction of the limiting inner end 313, so that one angle iron is pushed out and sent to a station, meanwhile, the next angle iron is already fallen on the supporting block 31, in the retraction motion of the pushing cylinder 323, the pushing block 321 cannot be returned and blocked by the upper and lower angle irons already fallen on the supporting block 31 in the retraction process, because the pushing block 321 can be pressed by the angle irons to be embedded into the embedding groove 3221 to return to the original position when returning through the angle irons, and the pushing of the next angle iron can be carried out by passing through the angle irons, namely, the pushing block is raised again.

The limiting structure 33 comprises a limiting rod 331 which is arranged at the inner limiting end 313 and protrudes out of the upper surface of the supporting block 31, and/or a hook-shaped limiting rod 332 which can be lifted and rotated is arranged at the inner limiting end 313, the upper end of the hook-shaped limiting rod 332 is of a hook-shaped structure which can hook the upper edge of the angle iron, two structures are arranged in the drawing of the embodiment, the limiting rod 331 can be driven to lift through a limiting driving cylinder, the hook-shaped limiting rod 332 is driven to lift and rotate through a rotating driving cylinder, the upper end of the hook-shaped limiting rod 332 is lifted and separated from the hook-shaped structure when blanking is completed after the welding of the angle iron flange, then the upper end of the hook-shaped structure is rotated to avoid a lifting space which is taken out upwards when blanking of the angle iron flange, and the hook-shaped limiting structure is rotated to fall when the next limiting positioning.

The self-adjusting welding gun rack 4 is used for erecting a welding gun (not visible in the figure), is arranged on the length and width self-adjusting mechanism 2 corresponding to four angular positions of the square angle iron flange (namely the position of the end part joint of every two angle irons), and realizes automatic adjustment to the welding position close to the square angle iron flange through the length and width self-adjusting mechanism 2; the self-adjusting welding gun rack of the embodiment is arranged on the angle iron feeding mechanism 3 (namely indirectly arranged on the length and width self-adjusting mechanism 2), and comprises an erection rod 41 for erecting a welding gun, a rotary driving device 42 for driving the erection rod 41 to move a welding position and a forward and backward lifting moving mechanism 43 for driving the moving driving device 42 to be arranged on the erection rod and driving the moving driving device 42 to realize relative forward and backward and lifting movement, as shown in the figure, the erection rod 41 is formed by connecting a cross rod and a vertical rod, one end of the cross rod is connected with the upper end of the vertical rod, the other end of the cross rod is connected on an output shaft of the rotary driving device 42, the lower end of the vertical rod is connected with the welding gun, the forward and backward lifting moving mechanism 43 is formed by two linear modules, and through the arrangement, the welding gun can push and feed materials and avoid a working space for blanking angle iron flanges after welding, cannot influence each other, and can automatically move and adjust, the motion precision is high.

The flange blanking manipulator 5 is used for automatically grabbing and moving welded square angle iron flanges from an angle iron feeding mechanism to a placing position, and structurally comprises a support 51, a support mounting seat 52, a movable long arm 53, a swinging driving mechanism 54, a grabbing clamp 55, a grabbing clamp lifting mechanism 56, a clamping clamp directional movable structure 57 and a clamping clamp distance self-adjusting mechanism 58; the support 51 is used for supporting the height of the movable long arm 53, the height of the support is higher than that of each angle iron feeding mechanism 3, and the height of the support is supported to form a lifting height space of a blanking grabbing angle iron flange, the support 51 is a square frame structure shown in the figure, an interlayer is arranged inside the frame structure and is used for placing a welding machine of each welding gun, the support mounting seat 52 and the swing driving mechanism 54 are arranged on the support 51, one end of the movable long arm 53 is a first hinged end 531 hinged on the support mounting seat 52, the other end of the movable long arm is a second hinged end 532 hinged on the grabbing clamp lifting mechanism 56, the swing driving mechanism 54 is arranged on the support 51 and is connected with the movable long arm 53 to drive the movable long arm to swing back and forth on a horizontal plane at the same height, the grabbing clamp hands 55 are two and are arranged on the grabbing hand space self-adjusting mechanism 58, the grabbing hand space-adjusting mechanism 58 is arranged on the grabbing clamp lifting mechanism 56 and is used for adjusting the distance between the grabbing hands 55, the gripper orientation moving mechanism 57 is connected between the bracket mounting seat 52 and the gripper lifting mechanism 56 for keeping the two gripper hands 55 in the same orientation when the movable long arm 53 swings. The details are described below in conjunction with the accompanying drawings.

The swing driving mechanism 54 comprises a driving arm 541 and a swing driving cylinder 542, the driving arm 541 is connected to the first hinged end 531 of the movable long arm 53, the swing driving cylinder 54 is hinged to the bracket mounting seat 52, and the end of the piston rod thereof is hinged to the driving arm 541.

The gripping and clamping lifting mechanism 56 comprises a hinged plate 561 for hinging the second hinged end 532 of the movable long arm 53, a lifting and mounting plate 562 corresponding to the lower part of the hinged plate 561, a lifting and driving cylinder 563 arranged on the hinged plate 561 and having a piston rod connected with the lifting and mounting plate 562 downwards, and a lifting and guiding structure 564 between the hinged plate 561 and the lifting and mounting plate 562.

The gripper orientation moving structure 57 includes a long connecting rod 571, one end of the long connecting rod 571 is hinged to the bracket 51 or the bracket mounting seat 52 (in the figure, hinged to the bracket mounting seat 52), and the other end thereof is hinged to the hinge plate 561.

Hand grip interval self-regulating mechanism 58 includes fixed mounting panel 581, horizontal pole 582, movable pulley 583, take-up pulley 584, drive structure 585 and drive belt 586, fixed mounting panel 581 is connected on lift mounting panel 562, the length intermediate position fixed connection of horizontal pole 582 is on fixed mounting panel 581, movable pulley 583 sets up respectively on four angular position (for two upper and lower angular position at both ends about) of horizontal pole 582, drive structure 585 and take-up pulley 584 set up on fixed mounting panel 581, drive belt 586 is walked around each movable pulley 583, take-up pulley 584 and is driven through drive structure 585.

The gripper 55 comprises a driving connecting block 551, a gripper supporting plate 552, a telescopic driving cylinder 553, a fixed rod 554, a directional movable rod 555, a free shaft lever 556, a hinge bar 557 and a clamping jaw 558, wherein the gripper supporting plate 552 is provided with a vertical guide groove 5521, the end part of the directional movable rod 555 is embedded in the vertical guide groove 5521 to slide, the end part of the fixed rod 554 is fixedly connected below the lower end of the vertical guide groove 5521, two groups of the clamping jaws 558 are movably sleeved on the fixed rod 554, a driving bar 5581 is arranged on the clamping jaw 558 in an extending manner, one group of the two hinge bars 557 is movably sleeved on the directional movable rod 555, the other ends of the two hinge bars 557 are respectively hinged with the driving bar 5581 on the clamping jaw 558 at the corresponding side through the free shaft lever 556, the telescopic driving cylinder is arranged on the gripper supporting plate 552, and the tail end of the piston rod of the telescopic driving cylinder is hinged on the directional movable rod 555 downwards, when the telescopic driving cylinder 553 moves, the free shaft lever 556 is driven to move up and down in the vertical guide groove 5521, and when the telescopic driving cylinder 553 moves, the hinged bar 557 and the driving bar 5581 are driven to move, so that the two clamping jaws 558 are opened and closed; two grab tong 55 is established at the both ends of horizontal pole 582 through driving connecting block 551 direction cover respectively to a grab tong 55 is connected with the drive belt 586 that corresponds in horizontal pole 582 top, and another grab tong 55 is connected with the drive belt 568 that corresponds in horizontal pole 582 below, can realize like this that two grab tong 55 are close to smoothly steady movement smoothly and carry on the back mutually and keep away from smooth and steady movement smoothly. The clamping jaws 558 are sheet-shaped blocks, and a plurality of groups of clamping jaws 558 and hinge bars 557 are arranged on one clamping hand 55 at intervals, so that better balanced and stable grabbing can be achieved.

Through the structural arrangement of the flange blanking manipulator 5, when the grabbing clamp performs blanking, the movable long arm 53 is swung to the position above a welded angle iron flange through the action of the swing driving mechanism 54, and the arrangement of the clamp hand directional movable structure 57 reaches the direction limitation of the grabbing clamp lifting mechanism 56, so that the movement of the two grabbing clamp hands 55 can be parallel movement, when the angle iron flange is grabbed, the two grabbing clamp hands are grabbed at the corresponding positions of the two opposite angle irons, the balance stability in the grabbing clamp blanking process is kept well, after the grabbing clamp lifting mechanism 56 is correspondingly arranged above the angle iron flange, the two grabbing clamp hands 55 are automatically adjusted to the corresponding spacing distance through the clamp hand spacing self-adjusting mechanism 58 according to the size of the angle iron flange to be grabbed, then the grabbing clamp lifting mechanism 56 acts, the lifting mounting plate 562 descends to drive the grabbing clamp hands 55 to descend to the clamping jaws 558 to be sleeved on the corresponding angle irons, the telescopic driving cylinders 553 of the two gripper hands 55 act to drive the opposite sets of gripping jaws 558 to fold and grip the angle iron, then the gripper lifting mechanism 56 acts to lift, the swing driving mechanism 54 acts to drive the movable long arm 53 to swing to a blanking station for placing the angle iron, and the angle iron flange is dismounted, and then the blanking action of the angle iron flange is completed.

In conclusion, the automatic angle iron flange welding machine has the following advantages:

1. the industrial intelligent automation performance is high, and the whole process can be carried out without manual participation;

2. the mechanical action is stable, and the produced angle iron flange is high in dimensional accuracy and high in product consistency;

3. the mechanical structure solves the problems of complex structures and complicated mechanical actions.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.

Claims (10)

1. An automatic angle iron flange welding machine is characterized by comprising an installation base, a length and width self-adjusting mechanism, an angle iron feeding mechanism, a self-adjusting welding gun rack and a flange blanking manipulator; the angle iron feeding mechanism is respectively arranged on the length and width self-regulating mechanism corresponding to four side directions of the square angle iron flange to form angle iron feeding in four directions of the square angle iron flange to a station, and the length and width self-regulating mechanism realizes automatic regulation to the required length and width position of the square angle iron flange; the self-adjusting welding gun frame is used for erecting a welding gun, is arranged on the length and width self-adjusting mechanism corresponding to four corners of the square angle iron flange, and is automatically adjusted to a welding position close to the square angle iron flange through the length and width self-adjusting mechanism; the flange blanking manipulator is used for automatically grabbing and moving the welded square angle iron flange to a placing position from the angle iron feeding mechanism.

2. An automatic angle iron flange welding machine as claimed in claim 1, characterized in that: the angle iron feeding mechanism is characterized in that a group of two groups of intervals are oppositely arranged in each direction of the length and width self-adjusting mechanism respectively, the angle iron feeding mechanism comprises a supporting block, a material pushing structure, a limiting structure and a material storage groove, the material storage groove is arranged on the supporting block and used for storing angle iron, the material storage groove comprises a discharge hole used for enabling the angle iron to be placed into a feed port and pushing the angle iron out to the supporting block, the material pushing structure is arranged on the supporting block and provided with a material pushing block capable of sliding in a reciprocating mode below the discharge hole, the limiting structure is arranged corresponding to the tail end of the pushing direction of the material pushing block and used for fixing the angle iron to supply stable welding, and the material storage groove of the angle iron feeding mechanism with two opposite intervals in each direction is relatively opened and arranged to form a structure capable of enabling two ends of the angle iron to be embedded into the material storage groove respectively.

3. An automatic angle iron flange welding machine as claimed in claim 2, characterized in that: the storage tank comprises a vertical plate with the lower end connected with a supporting block, a vertical baffle strip which is vertically arranged on the surface of the same side of the vertical plate, and an inclined baffle strip which is obliquely arranged with a wide distance between the upper ends of the vertical baffle strip and a narrow distance between the lower ends of the vertical baffle strip and the inclined baffle strip, wherein the feed inlet is formed between the upper ends of the vertical baffle strip and the inclined baffle strip;

the inclined edge retaining strips are connected to the vertical plate through a transverse moving structure capable of adjusting the spacing distance relative to the vertical edge retaining strips, and the vertical edge retaining strips are connected to the vertical plate through a vertical moving structure capable of adjusting the mounting height position relative to the height direction of the vertical plate.

4. An automatic angle iron flange welding machine as claimed in claim 3, characterized in that: the supporting block is fixedly arranged and used for supporting the whole angle iron feeding mechanism, a chute is formed in the upper surface of the supporting block, the two ends, corresponding to the chute, of the supporting block are respectively an installation outer end and a limiting inner end, the material pushing structure comprises a sliding block embedded in the chute, a pushing cylinder fixedly arranged on the installation outer end, a piston rod of the pushing cylinder penetrates into the chute and is connected with the sliding block, and the material pushing block can protrude out of the upper surface of the supporting block when the sliding block slides towards the limiting inner end and can not protrude out of the upper surface of the supporting block when the sliding block slides towards the installation outer end;

an embedded groove for embedding a pushing block is formed in the upper surface of the sliding block, one end of the pushing block is hinged in the embedded groove, and an elastic part is arranged between the bottom surface of the other end of the pushing block and the bottom surface of the embedded groove;

the limiting structure comprises a limiting rod which is arranged at the inner limiting end and protrudes out of the upper surface of the supporting block, and/or a hook-shaped limiting rod which can be lifted and rotated is arranged at the inner limiting end, and the upper end part of the hook-shaped limiting rod is of a hook-shaped structure which can hook the upper edge of the angle iron.

5. An automatic angle iron flange welding machine as claimed in claim 1, characterized in that: the self-adjusting welding gun frame is arranged on the angle iron feeding mechanism and comprises an erection rod for erecting a welding gun, a rotary driving device for driving the erection rod to move a welding position and a driving and reversing lifting moving mechanism for driving the moving driving device to be installed on the rotation driving device and driving the moving driving device to realize relative front and back and lifting movement.

6. An automatic angle iron flange welding machine as claimed in any one of claims 1 to 5, characterized in that: the length and width self-adjusting mechanism comprises a width-direction adjusting mechanism and a length-direction adjusting mechanism; the width direction adjusting mechanism comprises two beams which are arranged above the mounting base at intervals in parallel and a beam moving mechanism between the two beams and the mounting base, the beam moving mechanism comprises a first screw rod transmission structure and two first guide sliding blocks which are driven by the first screw rod transmission structure to slide, the two first guide sliding blocks are respectively and fixedly connected with the two beams, and the two first guide sliding blocks slide in the synchronous opposite directions; the long-direction adjusting mechanism comprises a second screw rod transmission structure and two second guide sliding blocks, the second screw rod transmission structure is respectively arranged on the two cross beams, the second guide sliding blocks are driven by the second screw rod transmission structure to slide, and the sliding of the two second guide sliding blocks is synchronous and opposite; two second guide sliding blocks are used for installing two angle iron feeding mechanisms in a group two by two on the two second guide sliding blocks respectively.

7. An automatic angle iron flange welding machine as claimed in claim 6, characterized in that: the width adjusting mechanism and the length adjusting mechanism are used for adjusting two opposite spacing distances in the length direction of the angle iron flange and the length of the angle iron, the length and width self-adjusting mechanism further comprises a width independent self-adjusting mechanism, the width independent self-adjusting mechanism comprises a third screw rod transmission structure, two third guide sliding blocks, second cross beams, fourth screw rod transmission structures and four fourth guide sliding blocks, the third screw rod transmission structures are arranged on the installation base correspondingly to the direction of the cross beams, the two third guide sliding blocks are driven by the third screw rod transmission structure, the second cross beams are respectively arranged on the two third guide sliding blocks, the fourth screw rod transmission structures are respectively arranged on the two second cross beams, the fourth screw rod transmission structures are driven by the fourth screw rod transmission structures, two groups of the four fourth guide sliding blocks are respectively arranged on the two second cross beams, the sliding of the two third guide sliding blocks is in synchronous opposite direction, the sliding of the two fourth guide sliding blocks arranged on the same second cross beam is in synchronous opposite direction, and the two groups of the two angle iron feeding mechanisms are respectively arranged on the same second cross beam The installation is arranged on the bracket.

8. An automatic angle iron flange welding machine as claimed in claim 1, characterized in that: the flange blanking manipulator comprises a support, a support mounting seat, a movable long arm, a swing driving mechanism, a gripper lifting mechanism, a gripper directional movable structure and a gripper distance self-adjusting mechanism; the support is used for the high support of activity long arm support mount pad and swing actuating mechanism set up on the support, the one end of activity long arm is for articulating the first hinged end on the support mount pad, and the other end is for supplying the articulated second hinged end of grapple elevating system, swing actuating mechanism sets up and connects the activity long arm on the support and drive its reciprocal swing, the grapple is two settings on the self-modulation mechanism of tong interval, installation of the self-modulation mechanism of tong interval is used for adjusting the distance between two grapple tongs on the grapple elevating system, directional slewing mechanism of tong connects and is used for realizing that two grapple tongs keep being in same orientation when the activity long arm swings between support mount pad and grapple elevating system.

9. An automatic angle iron flange welding machine as claimed in claim 8, characterized in that: the swing driving mechanism comprises a driving arm and a swing driving cylinder, the driving arm is connected to the first hinged end of the movable long arm, the swing driving cylinder is hinged to the support mounting seat, and the tail end of a piston rod of the swing driving cylinder is hinged to the driving arm;

the gripping and clamping lifting mechanism comprises a hinged plate for hinging the second hinged end of the movable long arm, a lifting mounting plate corresponding to the lower part of the hinged plate, a lifting driving cylinder arranged on the hinged plate and with a piston rod downwards connected with the lifting mounting plate, and a lifting guide structure between the hinged plate and the lifting mounting plate;

the directional movable structure of the clamping hand comprises a long connecting rod, one end of the long connecting rod is hinged on the support or the support mounting seat, and the other end of the long connecting rod is hinged on the hinged plate; the automatic tong spacing adjusting mechanism comprises a fixed mounting plate, a horizontal cross rod, sliding wheels, tensioning wheels, a transmission structure and a transmission belt, wherein the fixed mounting plate is connected to a lifting mounting plate, the middle position of the horizontal cross rod is fixedly connected to the fixed mounting plate, the sliding wheels are respectively arranged at four angular positions of the horizontal cross rod, the transmission structure and the tensioning wheels are arranged on the fixed mounting plate, and the transmission belt is driven by the transmission structure around each sliding wheel and the tensioning wheel.

10. An automatic angle iron flange welding machine as claimed in claim 9, characterized in that: the gripper comprises a driving connecting block, a gripper supporting plate, a telescopic driving cylinder, a fixed rod, a directional movable rod, a free shaft lever, a hinged strip and a clamping jaw, wherein a vertical guide groove is formed in the gripper supporting plate, the end part of the directional movable rod is embedded in the vertical guide groove to slide, the end part of the fixed rod is fixedly connected below the lower end of the vertical guide groove, two groups of the clamping jaws are movably sleeved on the fixed rod in a group, a driving strip is arranged on the clamping jaw in an extending manner, one end of each group of the hinged strips in the same direction is movably sleeved on the directional movable rod, the other ends of the two hinged strips are respectively hinged with the driving strip on the clamping jaw on the corresponding side through the free shaft lever, the telescopic driving cylinder is arranged on the gripper supporting plate, the tail end of a piston rod of the telescopic driving cylinder is downwards hinged on the directional movable rod, the two grippers are respectively sleeved on the two ends of the horizontal cross rod through the driving connecting block guide, one of the gripping and clamping hands is connected with the transmission belt which is correspondingly arranged above the horizontal cross rod, and the other gripping and clamping hand is connected with the transmission belt which is correspondingly arranged below the horizontal cross rod.

Images