CN219582857U - Reinforcing bar centre gripping manipulator, net device and reinforcing bar processing production line - Google Patents

Abstract

The utility model provides a steel bar clamping manipulator, a net pulling device and a steel bar processing production line, and belongs to the technical field of steel bar processing equipment. The reinforcing bar centre gripping manipulator includes: a floating seat; the clamping assembly is rotatably arranged on the floating seat through the clamping seat and comprises a first driving part and a clamping part, the first driving part and the clamping part are arranged on the clamping seat, the clamping part is provided with a clamping state for clamping the reinforcing steel bars and an opening state for loosening the reinforcing steel bars, the first driving part is in driving connection with the clamping part, and the first driving part is used for driving the clamping part to switch between the clamping state and the opening state; the second driving part is fixedly arranged on the floating seat, and a driving shaft of the second driving part is connected with the clamping seat and is vertically arranged and used for driving the clamping assembly to rotate. According to the utility model, the vertical direct-drive clamping assembly rotates and shifts, so that the relative rotation driving force is larger, the rigidity is better, and the processing is easier.

Description

Reinforcing bar centre gripping manipulator, net device and reinforcing bar processing production line

Technical Field

The utility model relates to the technical field of reinforcement processing equipment, in particular to a reinforcement clamping manipulator, a net pulling device and a reinforcement processing production line.

Background

On a three-dimensional reinforcing mesh production line, two modes are held by the mesh pulling clamp of the reinforcing mesh: snatch and indulge the muscle and snatch horizontal muscle, to the reinforcing bar net piece of coincide floor and A/B face wallboard, indulge muscle and horizontal muscle and all be in same horizontal plane, these two kinds of snatchs modes are applicable, but to the cylinder mould of bending that is used for post, roof beam, can only snatch the leading flank of cylinder mould and drag in the drawing of net in-process, and because the cylinder mould front side probably has the condition that does not have horizontal muscle, so can only snatch and indulge the muscle and carry out drawing of net, indulge the muscle at this moment and be in on the vertical face, so the clamping jaw face needs to shift to the horizontality in order to conveniently snatch from vertical state.

Therefore, a grabbing mechanism for both reinforcing mesh pulling and bending mesh cage pulling is needed. In the prior art, a rotary driving mechanism is adopted to realize vertical and horizontal net pulling, the rotation deflection rigidity is small, the structural strength is low, the processing difficulty is high, and the requirements cannot be met.

Disclosure of Invention

The utility model aims to provide a steel bar clamping manipulator which is used for overcoming the defects in the prior art.

The utility model provides a steel bar clamping manipulator, which comprises: a floating seat; the clamping assembly is rotatably arranged on the floating seat through a clamping seat; the clamping assembly comprises a first driving part and a clamping part, the first driving part and the clamping part are arranged on the clamping seat, the clamping part is provided with a clamping state for clamping the reinforcing steel bars and an opening state for loosening the reinforcing steel bars, the first driving part is in driving connection with the clamping part, and the first driving part is used for driving the clamping part to switch between the clamping state and the opening state; the second driving part is fixedly arranged on the floating seat, a driving shaft of the second driving part is connected with the clamping seat and is vertically arranged, and the second driving part is used for driving the clamping assembly to rotate.

Optionally, the clamping seat includes: the two seat boards are fixedly connected through a connecting piece and form a containing cavity, and all or part of the first driving part and part of the clamping part are arranged in the containing cavity; the floating seat is characterized by further comprising an ear plate, wherein the ear plate is fixedly arranged between the two seat plates, and the clamping seat is hinged to the floating seat through the ear plate.

Optionally, the floating seat includes left and right two curb plates and intermediate junction board, the left and right sides of intermediate junction board respectively with left and right two curb plate fixed connection, be provided with the connecting seat on one of them bedplate of grip slipper, the stiff end of second drive division with intermediate junction board fixed connection, the drive end of second drive division with the connecting seat drive connection.

Optionally, the clamping part includes clamping jaw, connecting rod, connector, the both ends of connecting rod respectively with the clamping jaw reaches the one end of connector is articulated, the other end of connector with the drive shaft of first drive portion is connected, the interlude of clamping jaw with the bedplate is articulated, the other end of clamping jaw is used for the centre gripping reinforcing bar.

Optionally, the device further comprises a stand, wherein the floating seat is rotatably arranged on the stand and is suitable for rotating when the clamping assembly is limited in activity.

Optionally, the emergency stop structure comprises an induction plate and an induction switch, the induction plate and the induction switch are mutually matched for induction, one of the induction plate and the induction switch is arranged on the floating seat, and the other induction plate and the induction switch are arranged on the base.

Optionally, the lifting device further comprises a lifting seat and a lifting driving mechanism, wherein one end of the lifting driving mechanism is fixedly arranged on the machine base, and the other end of the lifting driving mechanism is connected with the lifting seat and used for driving the lifting seat to lift; the floating seat is rotatably arranged on the lifting seat.

Another object of the present utility model is to provide a net pulling device, which includes a frame, a trawl cart and two or more steel bar clamping manipulators mentioned above, wherein the trawl cart includes a cart beam, the cart beam is movably disposed on the frame, and the steel bar clamping manipulator is movably disposed on the cart beam through the stand.

Optionally, a rack is arranged along the length direction of the trolley beam; the steel bar clamping manipulator further comprises a transverse moving driving mechanism, wherein the fixed end of the transverse moving driving mechanism is fixedly arranged on the machine base, the driving end of the transverse moving driving mechanism is provided with a gear, and the gear is meshed with the rack; along the length direction of the trolley beam, one of the trolley beam and the base is provided with a sliding rail, and the other is provided with a sliding groove which are mutually matched for guiding.

Another object of the present utility model is to provide a reinforcing bar processing line, which includes the aforementioned net pulling device and has all the functions of the net pulling device.

Compared with the prior art, the embodiment of the utility model has the beneficial effects that: the clamping assembly is vertically and directly driven to rotate and shift through the driving mechanism, so that clamping requirements in different directions can be realized, the force is larger than that of the rotary driving mechanism, the rigidity is better, and the processing is easier.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a steel bar clamping manipulator according to embodiment 1 of the present utility model;

fig. 2 is a schematic structural view of a clamping assembly of the reinforcing steel bar clamping manipulator shown in fig. 1;

fig. 3 is a schematic structural view of a clamping state of the clamping assembly of the reinforcing bar clamping manipulator shown in fig. 1;

fig. 4 is a schematic view illustrating an opened state of the clamping assembly of the reinforcing bar clamping robot shown in fig. 1;

fig. 5 is a schematic structural diagram of a net pulling device according to embodiment 2 of the present utility model.

Icon: 100-a steel bar clamping manipulator; 110-a clamping assembly; 111-clamping jaws; 112-a connecting rod; 113-a connector; 114-a first driving part; 115-pin shaft; 116-an intermediate sleeve; 120-clamping seat; 121-a seat plate; 122-ear plate; 123-connecting piece; 124-a connection base; 130-floating mount; 131-side plates; 132—intermediate connection plates; 140-a second driving part; 150-emergency stop structure; 151-an inductive switch; 152-sensing plates; 160-lifting seat; 170-a stand; 180-lifting driving mechanism; 190-a traversing driving mechanism; 191-gear; 200-trawl car; 210-a trolley beam; 220-rack.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present utility model, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Example 1

Referring to fig. 1 to 4, the present embodiment provides a bar clamping manipulator 100, which includes: a floating seat 130; the clamping assembly 110 is rotatably arranged on the floating seat 130 through the clamping seat 120; the clamping assembly 110 comprises a first driving part 114 and a clamping part, wherein the first driving part 114 and the clamping part are arranged on a clamping seat 120, the clamping part is provided with a clamping state for clamping reinforcing steel bars and an opening state for loosening the reinforcing steel bars, the first driving part 114 is in driving connection with the clamping part, and the first driving part 114 is used for driving the clamping part to switch between the clamping state and the opening state; the second driving portion 140 is fixedly disposed on the floating seat 130, and a driving shaft of the second driving portion 140 is connected to the clamping seat 120 and is vertically disposed, so as to directly drive the clamping seat 120 to rotate, and drive the clamping assembly 110 to rotate.

The clamping assembly 110 is driven to rotate and shift, so that the requirements of clamping the transverse and vertical reinforcing steel bars can be met simultaneously, and the force of the relative rotation driving mechanism is larger, and the rigidity is better.

Specifically, the clamping base 120 includes: the two seat boards 121 are oppositely arranged, the two seat boards 121 are fixedly connected through a connecting piece 123 and form a containing cavity, and all or part of the first driving part 114 and part of the clamping part are arranged in the containing cavity; in this embodiment, the connecting piece 123 includes a middle sleeve 116 and a bolt, the middle sleeve 116 has a structure with threaded holes at two ends, two ends of the middle sleeve 116 are abutted between two seat boards 121, through holes corresponding to the threaded holes of the middle sleeve 116 are respectively provided on the two seat boards 121, and the bolt is connected with the threaded holes of the middle sleeve 116 through the through holes to fix the two seat boards. In other embodiments, the connecting member 123 may have a structure such as a double-ended screw and a nut, which is not limited herein, so long as two seat plates 121 can be fixed at equal intervals. The clamping seat 120 further comprises an ear plate 122, the ear plate 122 is fixedly arranged between the two seat plates 121, and the clamping seat 120 is hinged on the floating seat 130 through the ear plate 122. In this embodiment, the two ear plates 122 are oppositely arranged, the two ear plates 122 are fixedly arranged between the two seat plates 121 through screws and are positioned at two side edges of the seat plates 121, through holes are formed in the two ear plates 122, the clamping seat 120 is hinged to the floating seat 130 through the through holes in the ear plates 122, and the hinge point is a. Of course, in other embodiments, the ear plate 122 may have other shapes, such as a U-shaped plate, and the clamping seat 120 may be hinged to the floating seat 130, which will not be described in detail herein. The clamping assembly 110 is hinged on the floating seat 130 through the semi-closed structure of the clamping seat 120, so that the whole rigidity is better, and the processing is more convenient.

Specifically, the floating seat 130 includes a left side plate 131, a right side plate 131, and a middle connecting plate 132, wherein the left side and the right side of the middle connecting plate 132 are fixedly connected with the left side plate 131 and the right side plate 131 respectively, a connecting seat 124 is disposed on one of the seat plates 121 of the clamping seat 120, a fixed end of the second driving portion 140 is fixedly connected with the middle connecting plate 132, and a driving end of the second driving portion 140 is in driving connection with the connecting seat 124. In this embodiment, the second driving part 140 is a cylinder. In other embodiments, the second driving portion 140 may be an electric push rod, an oil cylinder, etc., which will not be described herein. When the second driving portion 140 works, the clamping seat 120 can be directly driven to rotate the clamping assembly 110. By adopting the direct driving mode, the rotary driving force is larger, and the rigidity is better.

Specifically, the clamping part includes a clamping jaw 111, a connecting rod 112, and a connecting head 113, two ends of the connecting rod 112 are respectively hinged to the clamping jaw 111 and one end of the connecting head 113, the other end of the connecting head 113 is connected to a driving shaft of the first driving part 114, a middle section of the clamping jaw 111 is hinged to the seat plate 121, and the other end of the clamping jaw 111 is used for clamping a reinforcing steel bar. Specifically, two pins 115 are fixedly arranged between the two seat plates 121, and the middle section of the clamping jaw 111 is hinged with the pins 115. Further, a copper sleeve is further arranged between the clamping jaw 111 and the pin shaft 115, the copper sleeve is of a structure with a T-shaped section and a hollow inside, the copper sleeve is sleeved on the pin shaft, the lower surface of the head part of the copper sleeve is pressed on the upper surface of the clamping jaw 111, and friction loss between the clamping jaw 111 and the pin shaft 115 can be reduced. The fixed end of the first driving portion 114 is fixed with the ear plate 122 in a matching manner. Of course, in other embodiments, the fixed end of the first driving portion 114 may be fixed with the seat plate 121 or fixed with both the seat plate 121 and the ear plate 122. In this embodiment, the first driving portion 114 is a cylinder, and in other embodiments, the first driving portion 114 may be an electric push rod, an oil cylinder, or the like, which will not be described herein. When the clamping jaw 111 is in operation, the driving shaft of the air cylinder extends out, the driving connector 113 drives the connecting rod 112 to act, and the connecting rod 112 drives the clamping jaw 111 to clamp the reinforcing steel bar; when the cylinder driving shaft is retracted, the connecting rod 112 drives the clamping jaw 111 to open, and the clamping jaw 111 is separated from the steel bar.

Specifically, the floating seat 130 is hinged to the base 170, and the hinge point is B, and the floating seat 130 is adapted to rotate when the clamping assembly 110 is limited in activity.

Specifically, the lifting device further comprises a lifting seat 160 and a lifting driving mechanism 180, wherein one end of the lifting driving mechanism 180 is fixedly arranged on the machine base 170, and the other end of the lifting driving mechanism is connected with the lifting seat 160 and is used for driving the lifting seat 160 to lift along the height direction of the machine base 170; the lifting seat 160 has two side plates, the two side plates 131 of the floating seat 130 and the two side plates of the lifting seat 160 are respectively provided with a connecting hole, and the floating seat 130 is hinged on the lifting seat 160 through a pin shaft. Specifically, the lifting seat 160 further includes a top plate, and the driving end of the lifting driving mechanism 180 is connected to the top plate, for driving the lifting seat 160 to lift. Specifically, a sliding groove is disposed on the stand 170, and a sliding rail is disposed on the lifting seat 160, where the sliding groove and the sliding rail cooperate to lift and guide.

Specifically, the emergency stop structure 150 is further included, the emergency stop structure 150 includes a sensing plate 152 and a sensing switch 151, in this embodiment, the sensing plate 152 is disposed on the floating seat 130, the sensing switch 151 is disposed on the lifting seat 160, in other embodiments, the sensing plate 152 may be disposed on the lifting seat 160, the sensing switch 151 may be disposed on the floating seat 130, or in the absence of the lifting seat 160, one of the sensing plate 152 and the sensing switch 151 may be disposed on the floating seat 130, and the other one of the sensing plate 152 and the sensing switch 151 may be disposed on the base 170, so as to mutually cooperate to sense whether the floating seat 130 swings. During normal operation, the floating seat 130 does not swing, and the positions of the sensing plate 152 and the sensing switch 151 remain unchanged; when the clamping stagnation occurs, the floating seat 130 swings, the sensing plate 152 and the sensing switch 151 are dislocated, the sensing switch 151 transmits a signal to the controller, and the controller controls the clamping assembly 110 to stop acting so as to prevent the clamping assembly 110 from being damaged.

Specifically, an elastic member is further disposed between the floating seat 130 and the lifting seat 160, and the elastic member can deform along with the swing of the floating seat 130. In this embodiment, the number of the elastic members is two, one side of the spring is abutted against the floating seat 130, the other side is abutted against the lifting seat 160, and the elastic members can buffer the swing of the floating seat 130 by fixing the position of the elastic members through the positioning bolts.

Example 2

As shown in fig. 5, the present embodiment also provides a net pulling device, which includes a frame, a trawl cart 200, and two or more steel bar clamping manipulators 100 as described in embodiment 1, where the trawl cart 200 includes a cart beam 210, the cart beam 210 is movably disposed on the frame, and the steel bar clamping manipulators 100 are movably disposed on the cart beam 210 through the stand 170.

Two or more reinforcing steel bar clamping manipulators 100 are arranged on the trawl car 200 in a transversely movable manner, so that the range of clamping reinforcing steel bars can be flexibly adjusted, and reinforcing steel bar products with different sizes or models can be better dealt with.

Specifically, a rack 220 is provided along the length direction of the trolley beam 210; the steel bar clamping manipulator 100 further comprises a transverse moving driving mechanism 190, wherein the fixed end of the transverse moving driving mechanism 190 is fixedly arranged on the stand 170, the driving end of the transverse moving driving mechanism 190 is provided with a gear 191, and the gear 191 is meshed with the rack 220; along the length direction of the trolley beam 210, one of the trolley beam 210 and the stand 170 is provided with a sliding rail, and the other is provided with a sliding groove, and the two are matched with each other to guide the movement of the steel bar clamping manipulator 100. In this embodiment, a sliding rail is disposed on the trolley beam 210, a sliding slot is disposed on the stand 170, and the traverse driving mechanism 190 is a motor. In other embodiments, the traversing drive mechanism 190 can be other power mechanisms.

Example 3

This embodiment also provides a reinforcing bar processing line including the net puller mentioned in embodiment 2, which has all the functions of the reinforcing bar holding robot 100 and the net puller.

In summary, the present utility model provides a reinforcing steel bar clamping manipulator 100, a net pulling device and a reinforcing steel bar processing production line, wherein a driving device is adopted to vertically drive a clamping assembly 110 to rotate and shift, so that the strength is greater and the rigidity is better relative to a rotary driving mechanism; meanwhile, the clamping assembly 110 is hinged on the floating seat 130 through a semi-closed structure, so that the integral strength is better, and the machining is more convenient.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A rebar gripping manipulator (100), comprising:

a floating mount (130);

the clamping assembly (110) is rotatably arranged on the floating seat (130) through the clamping seat (120); the clamping assembly (110) comprises a first driving part (114) and a clamping part, the first driving part (114) and the clamping part are arranged on the clamping seat (120), the clamping part is provided with a clamping state for clamping reinforcing steel bars and an opening state for loosening the reinforcing steel bars, the first driving part (114) is in driving connection with the clamping part, and the first driving part (114) is used for driving the clamping part to switch between the clamping state and the opening state;

the second driving part (140) is fixedly arranged on the floating seat (130), a driving shaft of the second driving part (140) is connected with the clamping seat (120) and is vertically arranged, and the second driving part (140) is used for driving the clamping assembly (110) to rotate.

2. The rebar clamping manipulator (100) of claim 1, wherein the clamping seat (120) comprises:

the two seat boards (121) are oppositely arranged, the two seat boards (121) are fixedly connected through a connecting piece (123) and form a containing cavity, and all or part of the first driving part (114) and part of the clamping part are arranged in the containing cavity;

the novel floating seat comprises seat boards (121) and is characterized by further comprising an ear plate (122), wherein the ear plate (122) is fixedly arranged between the two seat boards (121), and the clamping seat (120) is hinged to the floating seat (130) through the ear plate (122).

3. The steel bar clamping manipulator (100) according to claim 2, wherein the floating seat (130) comprises a left side plate (131), a right side plate (131) and a middle connecting plate (132), the left side and the right side of the middle connecting plate (132) are respectively and fixedly connected with the left side plate (131) and the right side plate (131), a connecting seat (124) is arranged on one seat plate (121) of the clamping seat (120), a fixed end of the second driving part (140) is fixedly connected with the middle connecting plate (132), and a driving end of the second driving part (140) is in driving connection with the connecting seat (124).

4. The steel bar clamping manipulator (100) according to claim 2, wherein the clamping portion comprises a clamping jaw (111), a connecting rod (112) and a connector (113), two ends of the connecting rod (112) are hinged to one end of the clamping jaw (111) and one end of the connector (113), the other end of the connector (113) is connected with a driving shaft of the first driving portion (114), a middle section of the clamping jaw (111) is hinged to the seat plate (121), and the other end of the clamping jaw (111) is used for clamping steel bars.

5. The rebar clamping manipulator (100) of claim 1, further comprising a stand (170), the floating mount (130) rotatably disposed on the stand (170), the floating mount (130) adapted to rotate when the clamping assembly (110) is restricted from movement.

6. The rebar clamping manipulator (100) of claim 5, further comprising a scram structure (150), the scram structure (150) comprising a sensing plate (152) and a sensing switch (151) that are cooperatively sensed, one of the sensing plate (152) and the sensing switch (151) being disposed on the floating mount (130) and the other being disposed on the base (170).

7. The bar clamping robot (100) as recited in claim 5, further comprising a lifting base (160) and a lifting driving mechanism (180), wherein one end of the lifting driving mechanism (180) is fixedly arranged on the base (170), and the other end is connected with the lifting base (160) and is used for driving the lifting base (160) to lift; the floating seat (130) is rotatably arranged on the lifting seat (160).

8. A net pulling device, characterized by comprising a frame, a trawl car (200) and two or more steel bar clamping manipulators (100) according to any one of claims 5-7, wherein the trawl car (200) comprises a car beam (210), the car beam (210) is movably arranged on the frame, and the steel bar clamping manipulators (100) are movably arranged on the car beam (210) through the stand (170).

9. The net hauling device according to claim 8, characterized in that a rack (220) is provided along the length direction of the trolley beam (210); the steel bar clamping manipulator (100) further comprises a transverse moving driving mechanism (190), the fixed end of the transverse moving driving mechanism (190) is fixedly arranged on the stand (170), a gear (191) is arranged at the driving end of the transverse moving driving mechanism (190), and the gear (191) is meshed with the rack (220); along the length direction of the trolley beam (210), one of the trolley beam (210) and the base (170) is provided with a sliding rail, and the other is provided with a sliding groove which are mutually matched and guided.

10. A reinforcing bar processing line comprising a net puller as set forth in claim 8 or 9.