CN219633778U - Angle steel feeding and discharging robot - Google Patents
Angle steel feeding and discharging robot Download PDFInfo
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- CN219633778U CN219633778U CN202320440495.4U CN202320440495U CN219633778U CN 219633778 U CN219633778 U CN 219633778U CN 202320440495 U CN202320440495 U CN 202320440495U CN 219633778 U CN219633778 U CN 219633778U
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- electromagnetic suction
- robot
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 94
- 239000010959 steel Substances 0.000 title claims abstract description 94
- 238000007599 discharging Methods 0.000 title claims abstract description 24
- 230000007704 transition Effects 0.000 claims abstract description 18
- 230000005389 magnetism Effects 0.000 claims description 12
- 238000002955 isolation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 6
- 206010000372 Accident at work Diseases 0.000 abstract description 5
- 230000000670 limiting effect Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 229910000746 Structural steel Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses an angle steel feeding and discharging robot which comprises a base, a six-axis robot and flexible clamping jaws, wherein the six-axis robot is rotatably arranged on the base; the flexible clamping jaw is fixedly connected with an operation head of the six-axis robot, and comprises a transition plate, a plurality of springs, a magnetic attraction connecting plate, a magnetic attraction disassembly plate, an electromagnetic attraction plate and a pressure sensor, wherein a connecting flange is arranged on the upper surface of the transition plate, and the magnetic attraction connecting plate is fixedly arranged on the lower surface of the bearing plate; the magnetic dismounting plate is detachably arranged on the lower surface of the magnetic connecting plate; the electromagnetic suction plate is fixedly arranged on the lower surface of the magnetic suction disassembly plate; the pressure sensor is embedded and arranged on one surface of the electromagnetic suction plate, which is contacted with the angle steel. From this, can go up the unloading through flexible clamping jaw cooperation robot to reduced workman's intensity of labour and industrial accident's probability, simultaneously, still improved the efficiency of angle steel processing and the stability of angle steel unloading, satisfied angle steel mass production's demand.
Description
Technical Field
The utility model relates to the technical field of angle steel technicians, in particular to an angle steel feeding and discharging robot.
Background
The angle steel can be formed into various stress components according to different requirements of the structure, and can also be used as a connecting piece between the components. The method is widely applied to various building structures and engineering structures, such as communication towers, photovoltaic brackets, bridges, power transmission towers, hoisting and transporting machinery, ships, industrial furnaces, reaction towers, container frames, cable pit brackets, power piping, bus bar bracket installation, warehouse shelves and the like.
In the production process of the equiangular steel in the existing photovoltaic bracket or 5G communication tower industry, the existing angle steel blanking is classified by adopting manual blanking and classification, which is very suitable under the conditions of single product and low productivity, but with the increasing progress of society and development and technology, the product updating and updating are accelerated, the blanking is exposed by using manual angle steel feeding and discharging, so that a lot of defects and weaknesses are caused, the labor intensity of workers is increased by using manual labor, the industrial accident is easy to generate, the efficiency is low, the stability of the product quality by using manual feeding and discharging is insufficient, and the requirement of mass production cannot be met.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems in the related art to some extent.
Therefore, one purpose of the utility model is to provide the angle steel feeding and discharging robot, and the flexible clamping jaw is matched with the robot to feed and discharge the angle steel, so that the labor intensity of workers and the probability of industrial accidents are reduced, meanwhile, the angle steel processing efficiency and the angle steel discharging stability are improved, and the requirement of mass production of angle steel is met.
In order to achieve the above object, a first aspect of the present utility model provides an angle steel feeding and discharging robot, which comprises a base, a six-axis robot and a flexible clamping jaw, wherein the six-axis robot is rotatably arranged on the base; the flexible clamping jaw is fixedly connected with the operating head of the six-axis robot and comprises a transition plate, a plurality of springs, a magnetic attraction connecting plate, a magnetic attraction detaching plate, an electromagnetic attraction plate and a pressure sensor, wherein a connecting flange is arranged on the upper surface of the transition plate, and the connecting flange is connected with one end of the six-axis robot through a fastener; the springs are distributed on the lower surface of the transition plate, one end of each spring is fixedly connected with the transition plate, and the other end of each spring is fixedly connected with the bearing plate; the magnetic connection plate is fixedly arranged on the lower surface of the bearing plate; the magnetic dismounting plate is detachably arranged on the lower surface of the magnetic connecting plate; the electromagnetic suction plate is fixedly arranged on the lower surface of the magnetic suction disassembly plate; the pressure sensor is embedded and installed on one surface of the electromagnetic suction plate, which is contacted with the angle steel.
According to the angle steel feeding and discharging robot, the flexible clamping jaw is matched with the six-axis robot to feed and discharge the angle steel, so that the labor intensity of workers and the probability of industrial accident occurrence are reduced, meanwhile, the angle steel processing efficiency and the angle steel discharging stability are improved, and the requirement of mass production of the angle steel is met.
In addition, according to the angle steel feeding and discharging robot provided by the application, the following additional technical characteristics can be provided:
specifically, the lower surface fixing of transition board is equipped with two cylinder connecting plates, and two the cylinder connecting plate sets up respectively the both sides of electromagnetism suction plate, and two the cylinder connecting plate deviates from the one side of electromagnetism suction plate is all fixed and is equipped with the magnetism isolation plate.
Specifically, the magnetism isolating plate deviates from the fixed cylinder that is equipped with of one side of cylinder connecting plate, the flexible end of cylinder is fixed and is equipped with the angle steel ejector pad.
Specifically, the cross-sectional shapes of the angle steel push block and the electromagnetic suction plate are the same as the cross-sectional shape of the angle steel.
Specifically, a controller is arranged on the six-axis robot and is respectively connected with the pressure sensor and the electromagnetic suction plate.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The foregoing and/or additional aspects and advantages of the utility model will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural view of an angle steel feeding and discharging robot according to an embodiment of the present utility model;
FIG. 2 is a schematic view of the structure of a flexible jaw according to one embodiment of the utility model;
fig. 3 is a left side view of a flexible jaw according to one embodiment of the utility model.
As shown in the figure: 1. a base; 2. a six-axis robot; 3. a flexible jaw; 4. a connecting flange; 5. a cylinder connecting plate; 6. a magnetism isolating plate; 7. a cylinder; 8. angle steel pushing blocks; 9. a carrying plate; 30. a transition plate; 31. a spring; 32. a magnetic connection plate; 33. a magnetic disassembling plate; 34. an electromagnetic suction plate.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model. On the contrary, the embodiments of the utility model include all alternatives, modifications and equivalents as may be included within the spirit and scope of the appended claims.
The angle steel feeding and discharging robot of the embodiment of the utility model is described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the angle steel loading and unloading robot in the embodiment of the utility model can comprise a base 1, a six-axis robot 2 and a flexible clamping jaw 3.
Wherein, the six-axis robot 2 is rotatably arranged on the base 1; the flexible clamping jaw 3 is fixedly connected with the operating head of the six-axis robot 2.
The six-axis robot 2 described in this embodiment includes six degrees of freedom, namely, rotation (s-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis), and wrist swing (T-axis), each of which is driven by a servo motor. According to the degree of freedom distribution, six robots generally include base, lower arm, upper arm, swinging boom, cantilever, operating head, and operating head and flexible clamping jaw 3 fixed connection, and this six robots 2 control is convenient, and the precision is high, through the mutually supporting of six robots 2 and flexible clamping jaw 3, can realize the unloading on the angle steel.
The flexible clamping jaw 3 includes transition board 30, a plurality of springs 31, the connecting plate 32 is inhaled to the magnetism, the magnetism is inhaled and is torn open plate 33, electromagnetic suction plate 34 and pressure sensor 35, wherein, the upper surface of transition board 30 is equipped with flange 4, flange 4 passes through the fastener with the one end of six robots 2 and is connected, a plurality of springs 31 distribute at the lower surface of transition board 30, and the one end and the transition board 30 of spring 31 are fixed to be received, the other end and the loading board 9 fixed connection of spring 31, the fixed lower surface that sets up at loading board 9 of connecting plate 32 is inhaled to the magnetism, the magnetism is inhaled and is dismantled plate 33 detachably and is set up the lower surface at magnetic suction connecting plate 32, electromagnetic suction plate 34 is fixed to be set up the lower surface of magnetic suction plate 33, pressure sensor 35 (not shown in the figure) embedding is installed on the one side that electromagnetic suction plate 34 contacted with the angle steel.
It should be noted that, the electromagnetic suction plate 34 described in this embodiment adopts an electro-permanent magnet structure, the electromagnetic suction plate 34 is not magnetic in normal state, when the electromagnetic suction plate 34 is electrified to generate magnetism to adsorb diagonal steel, and the electromagnetic suction plate 34 has specific 16 gear positions, different gear positions can be selected according to different angle steel to control the magnetic force of the electromagnetic suction plate 34, so that when the angle steel is adsorbed by the electromagnetic suction plate 34, two angle steel cannot be adsorbed simultaneously, and further the accuracy of feeding and discharging of the angle steel is improved.
Further, the electromagnetic suction plate 34 described in the above embodiment has a reverse degaussing function, wherein the degaussing time is controlled to be 0.2s, so as to improve the stability of the angle steel during blanking.
In one embodiment of the present utility model, the six-axis robot 2 is provided with a controller (not shown in the drawing) connected to the pressure sensor 35 and the electromagnetic suction plate 34, respectively.
It should be noted that, the controller described in this embodiment may be electrically connected to the pressure sensor 35 and the electromagnetic suction plate 34 through wires, and the pressure sensor 35 may detect the pressure data applied to the angle steel by the electromagnetic suction plate 34 in time and transmit the pressure data to the controller, and the controller may control the opening of the electromagnetic suction plate 34 and the movement of the six-axis robot 2 according to the transmitted pressure value, so as to implement the feeding and discharging operations of the angle steel, and in addition, the controller may also be connected to the upper computer through a wired or wireless manner, so as to receive the control command sent by the upper computer.
Further, a touch screen (not shown in the figure) is arranged on the six-axis robot 2, the touch screen is respectively electrically connected with the electromagnetic suction plate 34 and the controller, the gear of the electromagnetic suction plate 34 can be input through the touch screen, and the controller controls the magnetic attraction of the electromagnetic suction plate 34 according to the input gear of the electromagnetic suction plate 34 so as to adapt to angle steel with various sizes, and the application range is wide.
Specifically, when the angle steel is fed, firstly, the angle steel feeding and discharging robot is moved to an angle steel feeding and discharging area, a gear of the electromagnetic suction plate 34 is input into a touch screen according to the size of the angle steel, so that the electromagnetic suction plate 34 is controlled to absorb magnetic attraction force, the electromagnetic suction plate 34 can absorb only one angle steel each time, secondly, the six-axis robot 2 is controlled by the controller, the flexible clamping jaw 3 is moved to be right above the angle steel, the electromagnetic suction plate 34 is attached to the upper surface of the angle steel, at the moment, the pressure sensor can timely detect pressure data between the electromagnetic suction plate 34 and the angle steel and transmit the pressure data to the controller, the controller analyzes the detected pressure data, if the pressure data is larger than a preset threshold value, the controller controls the electromagnetic suction plate 34 to electrify, the electromagnetic suction plate 34 generates magnetic force, the angle steel can be absorbed, and the angle steel is moved to a designated area through the six-axis robot 2, so that the feeding operation of the angle steel is completed.
When the diagonal steel is fed, after the angle steel is moved to a designated area through the cooperation of the six-axis robot 2 and the flexible clamping jaw 3, the electromagnetic suction plate 34 is powered off, the magnetic force disappears after the electromagnetic suction plate 34 is powered off, and the angle steel falls to the designated area under the action of gravity so as to complete the feeding work of the diagonal steel.
In one embodiment of the present utility model, as shown in fig. 2, two cylinder connecting plates 5 are fixedly arranged on the lower surface of the transition plate 30, the two cylinder connecting plates 5 are respectively arranged on two sides of the electromagnetic suction plate 34, and a magnetism isolating plate 6 is fixedly arranged on one surface, facing away from the electromagnetic suction plate 34, of each of the two cylinder connecting plates 5.
The magnetism insulator 6 described in this embodiment adsorbs the magnetic field generated after the energization of the electromagnetic attraction plate 34, thereby reducing the influence on the cylinder 7 after the energization of the electromagnetic attraction plate 34.
In one embodiment of the present utility model, as shown in fig. 2, a cylinder 7 is fixedly arranged on one surface of the magnetism isolating plate 6 away from the cylinder connecting plate 5, and an angle steel push block 8 is fixedly arranged at the telescopic end of the cylinder 7.
It should be noted that, the cylinder 7 is only a preferred embodiment of the present embodiment, and in other embodiments, the adjustment of the position of the angle steel pushing block 8 may be implemented by a pneumatic rod or a hydraulic rod.
Further, the cylinder 7 and the angle steel pushing block 8 described in the above embodiments can limit the angle steel position during blanking, prevent the angle steel from bouncing up during blanking, cause the deviation of the angle steel position, and affect the processing of the subsequent angle steel.
Specifically, when blanking is carried out on diagonal steel, when the electromagnetic suction plate 34 is powered off, the controller controls the air cylinder 7 to start, the telescopic end of the air cylinder 7 moves downwards, and in the falling process of angle steel, the angle steel push block 8 is matched with the air cylinder 7 to move downwards, so that downward thrust is generated on the diagonal steel, the diagonal steel plays a limiting role, the angle steel is prevented from bouncing up at the moment of falling to the ground, the deflection of the angle steel position is caused, and the processing of subsequent angle steel is affected.
Further, as shown in fig. 2, the angle iron push block 8 and the electromagnetic suction plate 34 have the same sectional shape as the angle iron.
It should be noted that, the cross-sectional shape of the electromagnetic suction plate 34 is the same as the cross-sectional shape of the angle steel, so that the angle steel is more attached to the electromagnetic suction plate 34, the adsorption effect of the electromagnetic suction plate 34 is better, the cross-sectional shape of the angle steel push block 8 is the same as the cross-sectional shape of the angle steel, the angle steel push block 8 is better attached to the angle steel, and the limiting effect is better.
In sum, the angle steel feeding and discharging robot provided by the embodiment of the utility model can feed and discharge angle steel through the cooperation of the flexible clamping jaw and the six-axis robot, so that the labor intensity of workers and the probability of occurrence of industrial accidents are reduced, meanwhile, the angle steel processing efficiency and the angle steel discharging stability are improved, and the requirement of mass production of angle steel is met.
In the description of this specification, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.
Claims (5)
1. The angle steel feeding and discharging robot is characterized by comprising a base (1), a six-axis robot (2) and a flexible clamping jaw (3), wherein,
the six-axis robot (2) is rotatably arranged on the base (1);
the flexible clamping jaw (3) is fixedly connected with the operation head of the six-axis robot (2), the flexible clamping jaw (3) comprises a transition plate (30), a plurality of springs (31), a magnetic suction connecting plate (32), a magnetic suction detaching plate (33), an electromagnetic suction plate (34) and a pressure sensor, wherein,
the upper surface of the transition plate (30) is provided with a connecting flange (4), and the connecting flange (4) is connected with one end of the six-axis robot (2) through a fastener;
the springs (31) are distributed on the lower surface of the transition plate (30), one end of each spring (31) is fixedly connected with the transition plate (30), and the other end of each spring (31) is fixedly connected with the bearing plate (9);
the magnetic connection plate (32) is fixedly arranged on the lower surface of the bearing plate (9);
the magnetic dismounting plate (33) is detachably arranged on the lower surface of the magnetic connecting plate (32);
the electromagnetic suction plate (34) is fixedly arranged on the lower surface of the magnetic suction disassembly plate (33);
the pressure sensor is embedded and arranged on one surface of the electromagnetic suction plate (34) contacted with the angle steel.
2. The angle steel feeding and discharging robot according to claim 1, wherein two cylinder connecting plates (5) are fixedly arranged on the lower surface of the transition plate (30), the two cylinder connecting plates (5) are respectively arranged on two sides of the electromagnetic suction plate (34), and a magnetism isolating plate (6) is fixedly arranged on one surface, deviating from the electromagnetic suction plate (34), of each cylinder connecting plate (5).
3. The angle steel feeding and discharging robot according to claim 2, wherein an air cylinder (7) is fixedly arranged on one surface of the magnetic isolation plate (6) deviating from the air cylinder connecting plate (5), and an angle steel pushing block (8) is fixedly arranged at the telescopic end of the air cylinder (7).
4. The angle steel loading and unloading robot according to claim 3, wherein the section shapes of the angle steel pushing block (8) and the electromagnetic suction plate (34) are the same as the section shape of the angle steel.
5. The angle steel feeding and discharging robot according to claim 1, wherein a controller is arranged on the six-axis robot (2), and the controller is respectively connected with the pressure sensor and the electromagnetic suction plate (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320440495.4U CN219633778U (en) | 2023-03-10 | 2023-03-10 | Angle steel feeding and discharging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320440495.4U CN219633778U (en) | 2023-03-10 | 2023-03-10 | Angle steel feeding and discharging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219633778U true CN219633778U (en) | 2023-09-05 |
Family
ID=87813257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320440495.4U Active CN219633778U (en) | 2023-03-10 | 2023-03-10 | Angle steel feeding and discharging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219633778U (en) |
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2023
- 2023-03-10 CN CN202320440495.4U patent/CN219633778U/en active Active
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 35 Chuangye Road, Economic and Technological Development Zone, Xuzhou City, Jiangsu Province, 221122 Patentee after: Xuzhou Ruima Intelligent Technology Co.,Ltd. Country or region after: China Address before: No. 35, Chuangye Road, Xuzhou Economic and Technological Development Zone, Jiangsu 221000 Patentee before: XUZHOU REMARKABLE INTELLIGENT TECHNOLOGY CO.,LTD. Country or region before: China |
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| CP03 | Change of name, title or address |