CN217018342U

CN217018342U - Steel bar grabbing mechanism and grabbing equipment

Info

Publication number: CN217018342U
Application number: CN202123374241.7U
Authority: CN
Inventors: 李继成; 魏猛
Original assignee: Himile Mechanical Manufacturing Co Ltd
Current assignee: Himile Mechanical Manufacturing Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-07-22
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses a steel bar grabbing mechanism and grabbing equipment, belonging to the technical field of grabbing equipment and comprising a first installation frame, wherein a second installation frame is rotatably connected to the first installation frame; a plurality of manipulators are arranged on the second mounting frame; the automatic steel bar grabbing device can realize automatic grabbing of steel bars and conversion of the state of the steel bars after grabbing, so that the steel bars can be placed conveniently; the automatic production line has the advantages of high automation degree and continuous production, and improves the production efficiency.

Description

Steel bar grabbing mechanism and grabbing equipment

Technical Field

The utility model relates to a steel bar grabbing mechanism and grabbing equipment, and belongs to the technical field of grabbing equipment.

Background

The bending and transferring of the reinforcing steel bars are needed in more fields of industrial production, such as the preparation of a reinforcing steel bar framework in the building field and the preparation of a reinforcing cage of a high-speed rail track slab.

Taking the preparation of a steel reinforcement cage of a railway track slab as an example, the steel reinforcement cage is formed by weaving a plurality of steel reinforcements such as transverse reinforcements, longitudinal reinforcements, erection reinforcements and V-shaped reinforcements, and the various steel reinforcements are required to be transferred to a preset position after being bent. The reinforcing bar after bending because the existence of various flexion, when grabbing device among the prior art got and puts the reinforcing bar of bending, can appear snatching the back reinforcing bar and can not directly place on corresponding the station, lead to getting to put inconveniently, consequently generally transport preset position through the manual work with the reinforcing bar after bending, degree of automation is low, and production process serialization, degree of automation are not enough.

In view of the foregoing, it is apparent that the prior art has inconvenience and disadvantages in practical use, and thus, needs to be improved.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is to provide a steel bar grabbing mechanism and grabbing equipment aiming at the defects, which can realize automatic grabbing of steel bars and conversion of the state of the steel bars after grabbing so as to facilitate placement of the steel bars; the automatic production line has the advantages of high automation degree and continuous production, and improves the production efficiency.

In order to solve the technical problems, the utility model adopts the following technical scheme: a steel bar grabbing mechanism and grabbing equipment comprise a first mounting frame, wherein a second mounting frame is rotatably connected to the first mounting frame; and a plurality of manipulators are mounted on the second mounting frame.

Further, the first mounting rack comprises a first cross beam and first hanging arms arranged at two ends of the first cross beam; the second mounting rack comprises a second cross beam and second vertical arms arranged at two ends of the second cross beam;

the second plumbing arm is rotatably connected with the first plumbing arm through a rotating assembly; the manipulator is arranged on the second cross beam.

Further, the rotating assembly comprises a rotating shaft, and the second plumbing arm is mounted on the rotating shaft; the first vertical arm is provided with a bearing seat, and the rotating shaft is rotatably arranged in the bearing seat through a bearing.

Further, a balancing weight is installed at the free end of the second vertical arm.

Furthermore, the manipulator comprises a pneumatic finger, clamping jaws are mounted on two movable jaws of the pneumatic finger, grooves are formed in the inner sides of the clamping jaws, and a space for accommodating the reinforcing steel bars is formed after the two clamping jaws are closed.

Furthermore, a rotating shaft at least one end of the second mounting rack is connected with a driving part, and the driving part is fixed on the first vertical arm; the driving part is a motor or an electric swing table.

The grabbing equipment comprises a fixing frame, wherein at least one set of steel bar grabbing mechanism is movably arranged on the fixing frame.

Furthermore, a guide rail is arranged on the fixed frame, and a ram is horizontally arranged on the guide rail in a sliding manner; the ram is vertically and slidably provided with a transition connecting plate, and the steel bar grabbing mechanism is fixed on the transition connecting plate.

Furthermore, the number of the steel bar grabbing mechanisms is 2-3, and a plurality of sets of steel bar grabbing mechanisms work alternately.

Furthermore, a horizontal driving device is arranged on the fixing frame and drives the ram to move horizontally; and a vertical driving device is arranged on the ram and drives the transition connecting plate to vertically move.

After the technical scheme is adopted, compared with the prior art, the utility model has the following advantages:

the utility model can realize the automatic grabbing of the steel bar and the conversion of the state of the steel bar after grabbing, so as to be convenient for placing the steel bar; the automatic production line has the advantages of high automation degree and continuous production, and improves the production efficiency.

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Drawings

FIG. 1 is a schematic structural view of example 1;

FIG. 2 is a front view of embodiment 1;

FIG. 3 is an enlarged view at A in FIG. 2;

FIG. 4 is an enlarged view at B in FIG. 2;

FIG. 5 is a schematic structural view of example 2;

fig. 6 is a schematic view of the steel bar gripping mechanism gripping the steel bar (the steel bar is in a horizontal state);

fig. 7 is a schematic view of the bar grasping mechanism grasping the bar (the bar is in an upright position).

In the figure, the position of the upper end of the main shaft,

1-mechanical arm, 11-pneumatic finger, 12-clamping jaw, 13-mounting plate, 2-first mounting frame, 21-first beam, 22-first vertical arm, 3-second mounting frame, 31-second beam, 32-second vertical arm, 4-rotating assembly, 41-rotating shaft, 42-driving part, 43-bearing seat, 44-bearing, 45-end cover, 46-shaft sleeve, 47-gland, 5-counterweight, 6-fixing frame, 7-guide rail, 8-ram and 9-transition connecting plate.

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

Example 1

As shown in fig. 1-4 jointly, this embodiment provides a reinforcing bar snatchs mechanism, including first mounting bracket 2 and second mounting bracket 3, second mounting bracket 3 rotates through rotating assembly 4 and connects on first mounting bracket 2, realizes the conversion of reinforcing bar state after snatching the reinforcing bar to the reinforcing bar is placed, and degree of automation is high, and realizes that the reinforcing bar snatchs, places the serialization, has improved production efficiency.

Install a plurality of manipulator 1 on the second mounting bracket 2, manipulator 1 is used for snatching the reinforcing bar, and the manipulator is arranged according to the bending type of waiting to snatch the reinforcing bar of bending to in snatch the reinforcing bar of bending. For example, a plurality of manipulators 1 can front and back dislocation set, are convenient for snatch the different positions of reinforcing bar.

The manipulator 1 comprises a pneumatic finger 11, clamping jaws 12 are mounted on two movable jaws of the pneumatic finger 11, grooves are formed in the inner sides of the clamping jaws 12, and a space for containing a steel bar is formed after the two clamping jaws 12 are closed.

The pneumatic finger 11 is directly mounted on the second mounting bracket 3; alternatively, the pneumatic finger 11 is mounted on the second mounting bracket 3 by means of a mounting plate 13.

Preferably, the first mounting frame 2 and the second mounting frame 3 are both U-shaped structures to avoid interference caused by picking and placing reinforcing steel bars, and the first mounting frame 2 comprises a first cross beam 21 and first hanging arms 22 arranged at two ends of the first cross beam 21; the second mounting bracket 3 comprises a second cross beam 31 and second hanging arms 32 arranged at two ends of the second cross beam 31; the second mounting frame 3 is arranged inside or outside the first mounting frame 2; the second drop arm 32 is rotatably connected with the first drop arm 22 through the rotating assembly 4; the robot hand 1 is disposed on the second beam 31.

The rotating assembly 4 comprises a rotating shaft 41, and the second hanging arm 32 is mounted on the rotating shaft 41 through a screw; the first vertical arm 22 is provided with a bearing seat 43, and the rotating shaft 41 is rotatably arranged in the bearing seat 43 through a bearing 44; an end cap 45 is mounted to one end of the bearing block 43 by screws.

The rotating shaft 41 at least one end of the second mounting rack 3 is connected with a driving part 42, and the driving part 42 is fixed on the first hanging arm 22; the driving part 42 is a motor or an electric swing table.

Preferably, the bearing 44 is a deep groove ball bearing, the deep groove ball bearing is disposed in the bearing seat 42, a shaft sleeve 46 is disposed on one side of the deep groove ball bearing 44, and the shaft sleeve 46 is disposed on the rotating shaft 41.

Alternatively, the bearing 44 is an angular ball bearing, the angular ball bearing is provided in the bearing housing 42, a gland 47 is provided at an end of the angular ball bearing, and the gland 47 is attached to an end of the rotating shaft 41 by a screw.

Preferably, the free end of the second depending arm 32 is fitted with a weight 5 to reduce or avoid moment-induced damage to the drive components.

Example 2

As shown in fig. 5, this embodiment provides a grasping apparatus, which includes a fixing frame 6, and at least one set of the steel bar grasping mechanism of embodiment 1 is movably disposed on the fixing frame 6.

Preferably, a guide rail 7 is arranged on the fixed frame 6, and a ram 8 is horizontally arranged on the guide rail 7 in a sliding manner; the ram 8 is vertically provided with a transition connecting plate 9 in a sliding mode, and the steel bar grabbing mechanism is fixed on the transition connecting plate 9.

A horizontal driving device is arranged on the fixing frame 6, and the horizontal driving device drives the ram 8 to drive the steel bar grabbing mechanism to move horizontally; a vertical driving device is arranged on the ram 8 and drives the transition connecting plate 9 to drive the steel bar grabbing mechanism to vertically move; the horizontal driving device and the vertical driving device can be devices such as a rodless cylinder, a motor and the like.

In this embodiment, the steel bar grabbing mechanism preferably has 2-3 sets, and multiple sets of steel bar grabbing mechanisms can work alternately, so that the working efficiency is improved.

Taking the grabbing of the V-shaped ribs of the reinforcement cage as an example, the grabbing equipment has the following working process:

after the V-shaped rib is bent and formed on the bending device, the grabbing mechanism descends, and the manipulator opens to grab the V-shaped rib; the grabbing mechanism rises, the second mounting frame rotates 90 degrees under the driving of the driving part, the V-shaped rib is converted from a horizontal state to a vertical state (as shown in fig. 6 and 7), the grabbing mechanism is driven by the horizontal driving device to move horizontally to one end of the fixing frame, the grabbing mechanism descends, the manipulator is opened, the V-shaped rib is placed on a preset material rack or in a reinforcement cage, and the grabbing and placing continuity is achieved. And the other set of grabbing mechanism moves to the position right above the bending device in the process that the former set of grabbing mechanism grabs the V-shaped rib and places the V-shaped rib, so that the grabbing and placing actions of the V-shaped rib are completed. The two sets of grabbing devices alternately perform the grabbing and placing actions of the V-shaped ribs.

The above is an example of the best mode of carrying out the utility model, and the parts not described in detail are the common general knowledge of those skilled in the art. The scope of the present invention is defined by the appended claims, and any equivalent modifications based on the technical teaching of the present invention are also within the scope of the present invention.

Claims

1. The utility model provides a reinforcing bar snatchs mechanism which characterized in that: the device comprises a first mounting rack (2), wherein a second mounting rack (3) is rotatably connected to the first mounting rack (2); and a plurality of manipulators (1) are mounted on the second mounting frame (3).

2. A rebar grasping mechanism as claimed in claim 1, wherein: the first mounting frame (2) comprises a first cross beam (21) and first hanging arms (22) arranged at two ends of the first cross beam (21); the second mounting frame (3) comprises a second cross beam (31) and second vertical arms (32) arranged at two ends of the second cross beam (31);

the second plumbing arm (32) is rotatably connected with the first plumbing arm (22) through a rotating assembly (4); the manipulator (1) is arranged on the second cross beam (31).

3. A rebar grasping mechanism as claimed in claim 2, wherein: the rotating assembly (4) comprises a rotating shaft (41), and the second vertical arm (32) is arranged on the rotating shaft (41); a bearing seat (43) is installed on the first vertical arm (22), and the rotating shaft (41) is rotatably arranged in the bearing seat (43) through a bearing (44).

4. A rebar grasping mechanism as claimed in claim 2, wherein: and a balancing weight (5) is arranged at the free end of the second vertical arm (32).

5. A rebar grasping mechanism as claimed in claim 1, wherein: manipulator (1) are including pneumatic finger (11), all install clamping jaw (12) on two movable claws of pneumatic finger (11), clamping jaw (12) inboard sets up the recess, forms the space that holds the reinforcing bar after two clamping jaws (12) are closed.

6. A rebar grasping mechanism as claimed in claim 3, wherein: a rotating shaft (41) at least one end of the second mounting rack (3) is connected with a driving part (42), and the driving part (42) is fixed on the first vertical arm (22); the driving part (42) is a motor or an electric swing table.

7. A grasping apparatus characterized in that: the steel bar grabbing mechanism comprises a fixing frame (6), wherein at least one set of steel bar grabbing mechanism according to any one of claims 1 to 6 is movably arranged on the fixing frame (6).

8. A gripping apparatus according to claim 7, characterized in that: a guide rail (7) is arranged on the fixed frame (6), and a ram (8) is horizontally arranged on the guide rail (7) in a sliding manner; the ram (8) is vertically slidably provided with a transition connecting plate (9), and the steel bar grabbing mechanism is fixed on the transition connecting plate (9).

9. The grasping apparatus according to claim 7, wherein: the steel bar grabbing mechanisms are 2-3 sets, and a plurality of sets of steel bar grabbing mechanisms work alternately.

10. A gripping apparatus according to claim 8, characterized in that: the fixing frame (6) is provided with a horizontal driving device, and the horizontal driving device drives the ram (8) to drive horizontal movement; the ram (8) is provided with a vertical driving device, and the vertical driving device drives the transition connecting plate (9) to move vertically.