Movable grabbing device based on piano iron plate alignment installation

Abstract

A movable grabbing device based on piano iron plate alignment installation comprises a base, a control table, an installation base and an alignment base are arranged on the base, a steering structure is arranged on the installation base, a first telescopic device is arranged at the steering end of the steering structure, an installation plate and a second telescopic device are arranged on the telescopic device, and a plurality of camera shooting structures and alignment frames are arranged on the installation plate. First alignment sensors are arranged at the two ends of the alignment frame. By the adoption of the structure, through cooperation of the special clamp or the grabbing structure, piano iron rows can be stably hoisted and transferred, overturning alignment is achieved, the assembling station is accurately matched, and the working efficiency and quality of the assembling procedure are further improved; intelligent position monitoring is achieved, an alignment sensor is matched with video image analysis, dependence on personal experience of operators in the alignment process is avoided, and operation is more flexible, simpler, more stable and more efficient; the device is high in overall automation degree, simple and reasonable in structure, stable, firm and high in practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of piano manufacturing equipment, in particular to a mobile grabbing device based on the counter-position installation of piano iron plates. Background Art

[0002] Existing piano factories mainly rely on manual operation when aligning the piano iron plate with the piano frame. The reason is that the weight of the piano iron plate is generally not less than 70 kilograms. Because it is an important part of the sound source system and is used to hook the strings, it needs great strength to withstand the tension of the strings. Therefore, most piano iron plates are cast iron parts. In order to ensure its strength, its quality is generally very high. During the manual lifting and installation process, it is tied with a traction rope, hook or other hook structure, and then it is lifted and moved by the cooperation of a forklift, a lifting hoist and a mobile gantry. At the same time, staff are required to assist in stabilizing the piano iron plate to reduce shaking and accurately align the installation. However, due to the great weight of the piano iron plate and its large shaking inertia, it is difficult to control its stability manually, and the installation process is extremely dependent on the personal experience of the operator. Therefore, the installation is difficult and it is very easy to bump and damage the piano frame. Summary of the invention

[0003] The technical problem to be solved by the utility model is to provide a mobile grasping device based on the alignment installation of piano iron plates. Through the cooperation of special clamps or grasping structures, the piano iron bars can be stably lifted and transferred, and the piano iron plates can be turned over and aligned to accurately match the assembly stations, thereby further improving the work efficiency and quality of the assembly process; intelligent position monitoring, alignment sensors combined with video image analysis, eliminate the dependence on the operator's personal experience during the assembly process, and the operation is more flexible, simple, stable and efficient; the overall degree of automation of the device is high, the structure is simple and reasonable, stable and reliable, and the practicability is strong.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a mobile grabbing device based on the piano iron plate alignment installation, comprising a base, a control console, a mounting seat and an alignment seat are provided on the base, a steering structure is provided on the mounting seat, a first telescopic device is provided at the steering end of the steering structure, a mounting plate and a second telescopic device are provided on the first telescopic device, a plurality of camera structures and an alignment frame are provided on the mounting plate, and first alignment sensors are provided at both ends of the alignment frame;

[0005] The mounting seat is provided with a second positioning sensor matched with the first positioning sensor, and the mounting seat is symmetrically provided with limiting slide grooves, and the limiting slide grooves are provided with an adjustable limiting structure matched with the first positioning sensor.

[0006] In the preferred scheme, the adjustable limiting structure includes a movable seat that cooperates with the limiting slide groove, and the movable seat is provided with a pull-out rod and a locking screw. The two ends of the pull-out rod are respectively provided with a limit head and a handle, and the locking screw is positioned and cooperated with the positioning groove provided on the mounting seat, and the locking screw is locked and cooperated with the limiting slide groove.

[0007] In a preferred solution, the bottom of the movable seat is provided with a plurality of groups of ball structures that cooperate with the bottom of the inner wall of the limiting slide groove.

[0008] In a preferred solution, a guiding inclined surface is provided on the mounting seat.

[0009] In the preferred solution, the console is provided with a touch screen, a signal receiving module cooperating with the first alignment sensor and the second alignment sensor, an image analysis module cooperating with the camera structure, a control module cooperating with the first telescopic device and the second telescopic device, and a parameter setting module.

[0010] In a preferred solution, there are at least two of the multiple camera structures, and the two camera structures are arranged on the mounting plates on both sides of the first telescopic device.

[0011] In a preferred solution, the first telescopic device and the second telescopic device may adopt a hydraulic telescopic structure, an electric push rod structure or a screw rod adjustment structure.

[0012] The mobile grabbing device based on the piano iron plate counter-position installation provided by the utility model has the following beneficial effects by adopting the above structure:

[0013] (1) Through the cooperation of special fixtures or grabbing structures, the piano iron bars can be stably lifted and transferred, flipped and aligned to accurately match the assembly station, further improving the work efficiency and quality of the assembly process;

[0014] (2) Intelligent position monitoring, alignment sensors and video image analysis eliminate the need for operators to rely on their personal experience during the assembly process, making the operation more flexible, simple, stable and efficient;

[0015] (3) The overall degree of automation of the device is high, the structure is simple and reasonable, stable and reliable, and highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 It is a schematic diagram of the overall structure of the utility model.

[0019] Figure 3 It is a schematic diagram of the adjustable limiting structure of the utility model.

[0020] In the figure: base 1, control console 2, mounting seat 3, mounting seat 4, touch screen 5, steering structure 6, first telescopic device 7, mounting plate 8, second telescopic device 9, camera structure 10, alignment frame 11, first alignment sensor 12, second alignment sensor 13, limiting slide groove 14, positioning groove 15, guide slope 16, adjustable limiting structure 17, moving seat 18, pull rod 19, locking screw 20, ball structure 21, limiting head 22, handle 23. DETAILED DESCRIPTION

[0021] like Figure 1-3 In the invention, a mobile grasping device based on the piano iron plate alignment installation comprises a base 1, on which a control console 2, a mounting seat 3 and an alignment seat 4 are provided, on which a steering structure 6 is provided, and on which a steering end of the steering structure 6 is provided a first telescopic device 7, on which a mounting plate 8 and a second telescopic device 9 are provided, on which a plurality of camera structures 10 and an alignment frame 11 are provided, and on which first alignment sensors 12 are provided at both ends of the alignment frame 11;

[0022] The mounting seat 4 is provided with a second positioning sensor 13 cooperating with the first positioning sensor 12 , and the mounting seat 4 is symmetrically provided with limiting slide grooves 14 , and the limiting slide grooves 14 are provided with an adjustable limiting structure 17 cooperating therewith.

[0023] In the preferred solution, the adjustable limiting structure 17 includes a movable seat 18 that is limitedly matched with the limiting slide groove 14, and a pull rod 19 and a locking screw 20 are provided on the movable seat 18. The two ends of the pull rod 19 are respectively provided with a limiting head 22 and a handle 23. The locking screw 20 is positioned and matched with the positioning groove 15 provided on the mounting seat 4, and the locking screw 20 is locked and matched with the limiting slide groove 14. The positioning piano frame is matched to be stably placed in the mounting position, the movement is limited, and the adjustment is convenient.

[0024] In a preferred solution, the bottom of the movable seat 18 is provided with a plurality of groups of ball structures 21 that cooperate with the bottom of the inner wall of the limiting slide groove 14. The movement and adjustment are smoother and more practical.

[0025] In the preferred solution, the mounting seat 4 is provided with a guiding inclined surface 16, which facilitates the piano frame to enter and exit the mounting seat 4, and is highly practical.

[0026] In a preferred solution, the console 2 is provided with a touch screen 5, a signal receiving module cooperating with the first alignment sensor 12 and the second alignment sensor 13, an image analysis module cooperating with the camera structure 10, a control module cooperating with the first telescopic device 7 and the second telescopic device 9, and a parameter setting module. The alignment sensing is combined with the image analysis to eliminate the dependence on the operator's personal experience during the assembly process, and the operation is more flexible, concise, stable and efficient.

[0027] In a preferred solution, there are at least two of the plurality of camera structures 10, and the two camera structures 10 are arranged on the mounting plates 8 on both sides of the first telescopic device 7. The image capture is more comprehensive, the analysis is accurate, and the regulation is convenient.

[0028] In the preferred solution, the first telescopic device 7 and the second telescopic device 9 can adopt a hydraulic telescopic structure, an electric push rod structure or a screw rod adjustment structure. Because the piano iron bar has a very large deadweight, a reliable telescopic structure is required for use.

[0029] The method of using the utility model is as follows: according to the different structures of the piano iron plates to be installed, a suitable clamp or grabbing device is selected and installed at the output end of the second telescopic device 9, and the first telescopic arm 7 is controlled to rotate back and forth through the steering structure 6, so that the piano iron bar raw material on one side is grabbed and lifted to the top of the installation seat 4 on the other side, and then the first alignment sensor 12 and the second alignment sensor 13 are used to accurately align the installation area, and then the image analysis of the camera structure 10 is used to flexibly control the second telescopic device 9 to accurately output and lower the piano iron plate raw material, so that the installation is accurate and the operation is convenient.

[0030] The beneficial effects of the utility model are as follows: through the cooperation of special clamps or grabbing structures, the piano iron bars can be stably lifted and transferred, and flipped and aligned to accurately match the assembly station, further improving the work efficiency and quality of the assembly process; intelligent position monitoring, alignment sensors combined with video image analysis, eliminate the dependence on the operator's personal experience during the assembly process, and the operation is more flexible, simple, stable and efficient; the overall degree of automation of the device is high, the structure is simple and reasonable, stable and reliable, and it is highly practical.

Claims

1. A mobile grabbing device based on piano iron plate counter-position installation, comprising a base (1), characterized in that: The base (1) is provided with a control console (2), a mounting seat (3) and an alignment seat (4); the mounting seat (3) is provided with a steering structure (6); a steering end of the steering structure (6) is provided with a first telescopic device (7); a mounting plate (8) and a second telescopic device (9) are provided on the first telescopic device (7); a plurality of camera structures (10) and an alignment frame (11) are provided on the mounting plate (8); and first alignment sensors (12) are provided at both ends of the alignment frame (11); The mounting seat (4) is provided with a second positioning sensor (13) that cooperates with the first positioning sensor (12), and the mounting seat (4) is symmetrically provided with a limiting slide groove (14), and the limiting slide groove (14) is provided with an adjustable limiting structure (17) that cooperates with it.

2. The mobile grabbing device based on piano iron plate counter-position installation according to claim 1 is characterized in that: The adjustable limiting structure (17) comprises a movable seat (18) which is limitedly matched with the limiting slide groove (14); a pull-out rod (19) and a locking screw (20) are provided on the movable seat (18); both ends of the pull-out rod (19) are provided with a limiting head (22) and a handle (23), respectively; the locking screw (20) is positionedly matched with a positioning groove (15) provided on the mounting seat (4); and the locking screw (20) is lockedly matched with the limiting slide groove (14).

3. The mobile grabbing device based on piano iron plate counter-position installation according to claim 2 is characterized in that: The bottom of the movable seat (18) is provided with a plurality of groups of ball structures (21) that cooperate with the bottom of the inner wall of the limiting slide groove (14).

4. The mobile grabbing device based on piano iron plate counter-position installation according to claim 1 is characterized in that: The mounting seat (4) is provided with a guiding inclined surface (16).

5. The mobile grabbing device based on piano iron plate counter-position installation according to claim 1 is characterized in that: The console (2) is provided with a touch screen (5), a signal receiving module cooperating with the first alignment sensor (12) and the second alignment sensor (13), an image analysis module cooperating with the camera structure (10), a control module cooperating with the first telescopic device (7) and the second telescopic device (9), and a parameter setting module.

6. The mobile grabbing device based on piano iron plate counter-position installation according to claim 1 is characterized in that: There are at least two of the plurality of camera structures (10), and the two camera structures (10) are arranged on the mounting plates (8) on both sides of the first telescopic device (7).

7. The mobile grabbing device based on piano iron plate counter-position installation according to claim 1 is characterized in that: The first telescopic device (7) and the second telescopic device (9) may adopt a hydraulic telescopic structure, an electric push rod structure or a screw rod adjustment structure.

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