Truss frame floor deck handling robot

Abstract

The present invention discloses a truss floor deck handling robot, including a numerical control steel bar truss welding production line, a steel bar truss conveyor belt, a bottom plate conveying roller, a steel bar truss loading robot, a special combined welding machine for truss floor decks, a finished product loading roller, a finished product stacking roller, a finished product unloading robot and a finished product unloading flipping robot. The left side of the bottom plate conveying roller is provided with a numerical control steel bar truss welding production line, the right side of the bottom plate conveying roller is provided with a steel bar truss loading robot; the special combined welding machine for truss floor decks is provided between the finished product loading roller and the bottom plate conveying roller; the right side of the finished product loading roller is provided with a finished product unloading robot, and the left side of the finished product stacking roller is provided with a finished product unloading flipping robot. The present invention effectively integrates the numerical control steel bar truss welding production line, the special plate forming machine for the truss bottom plate and the special combined welding machine for truss floor decks, and realizes the intelligentization and automation of truss floor deck production.

Description

Technical Field

[0001] The invention relates to the technical field of truss floor deck production, and in particular to a truss floor deck transporting robot. Background Art

[0002] At present, in the production of truss floor decking in factories, except for the two links of steel truss welding and floor decking welding, the rest of the links, such as the regular placement of steel trusses on the bottom plate, the movement and stacking of finished truss floor decking, are all done manually. This production method is backward, inefficient, time-consuming and labor-intensive, and the risk factor is relatively high when manual operation is performed in some links of the production. At the same time, the entire production occupies a large space, which does not meet the requirements of intelligent industrial development. Therefore, it is urgent to realize automation and intelligence in the entire production of truss floor decking. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention invents a truss frame floor deck transporting robot.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A truss frame floor deck handling robot comprises a CNC steel truss welding production line, a steel truss conveyor belt, a bottom plate conveyor roller, a steel truss loading robot, a special combined welding machine for truss floor decks, a finished product loading roller, a finished product stacking roller, a finished product unloading robot and a finished product unloading flipping robot. The CNC steel truss welding production line is arranged on the left side of the bottom plate conveyor roller, and the steel truss loading robot is arranged on the right side of the bottom plate conveyor roller; the CNC steel truss welding production line conveys the steel truss to the side of the bottom plate conveyor roller through the steel truss conveyor belt and passes through the steel truss The loading robot places the steel trusses neatly on the bottom plate of the bottom plate conveyor roller; the finished product loading roller and the bottom plate conveyor roller are arranged in the same straight line, and a special combined welding machine for truss floor decks for welding the steel trusses and the bottom plate is arranged between the finished product loading roller and the bottom plate conveyor roller; a finished product stacking roller is arranged on the left side of the finished product loading roller, a finished product unloading robot for transporting the truss floor decks to the finished product stacking roller is arranged on the right side of the finished product loading roller, and a finished product unloading and flipping robot for flipping the truss floor decks is arranged on the left side of the finished product stacking roller.

[0006] Furthermore, it also includes a robot moving guide rail, and the steel bar truss loading robot is arranged on the robot moving guide rail. The steel bar truss loading robot can adjust its position according to the output direction of the steel bar truss to facilitate the transportation of the steel bar truss from the steel bar truss conveyor belt to the bottom plate transported on the bottom plate conveyor roller.

[0007] Furthermore, it also includes a loading gripper, which is installed on the steel truss loading robot. The loading gripper is customized in design to facilitate the transportation and movement of the steel truss.

[0008] Furthermore, the loading gripper includes a connecting base, a cross bar, a sensor, a positioning clamp and a pneumatic lifting hook. A connecting base is provided at the center of the cross bar. The sensor is installed on the cross bar and the sensing direction of the sensor is facing away from the steel truss loading robot; a number of positioning clamps are installed at the bottom of the cross bar; a number of pneumatic lifting hooks are installed on the cross bar; the combination of the steel truss loading robot and the customized loading gripper allows the steel truss to be accurately and quickly transported from the steel truss conveyor belt to the bottom plate conveyor roller.

[0009] Furthermore, it also includes a unloading gripper, which is installed on the finished product unloading robot. The unloading gripper is customized in design to facilitate moving the truss floor deck from the finished product loading roller to the finished product stacking roller or tilting the truss floor deck at a small angle to facilitate the subsequent flipping of the finished product unloading and flipping robot.

[0010] Furthermore, the unloading gripper includes a connecting base, a cross bar, a sensor, a longitudinal bar and a U-shaped hook. A connecting base is arranged at the center of the cross bar. The sensor is mounted on the cross bar and the sensing direction of the sensor is toward the finished product unloading robot. A plurality of longitudinal bars are mounted on the cross bar. A U-shaped hook is arranged at each end of the longitudinal bar. The hook mouth of the U-shaped hook is toward the finished product unloading flipping robot.

[0011] Furthermore, it also includes a flip gripper, which is installed on the finished product unloading flipping robot pair. The flip gripper adopts a custom design to facilitate the flipping and stacking of the truss floor decking.

[0012] Furthermore, the flip gripper includes a connecting base, a cross bar, a longitudinal bar, a suction cup mounting seat and a vacuum suction cup. A connecting base is arranged at the center of the cross bar; a plurality of longitudinal bars are mounted on the cross bar, and a suction cup mounting seat is arranged at each end of the longitudinal bar, and the vacuum suction cup is mounted on the suction cup mounting seat; the vacuum suction cup is used to adsorb, flip and stack the truss floor decking.

[0013] The practical advantages of the present invention are: the present invention effectively integrates the CNC steel truss welding production line, the special plate forming machine for the truss bottom plate and the special combined welding machine for the truss floor deck to form a new truss floor deck production line, thereby realizing the intelligentization and automation of the truss floor deck production, accelerating the production efficiency, reducing the input of production labor, and reducing the production use space; a customized gripper is installed on each robot to enable it to complete specific functions to replace manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a layout diagram of a truss frame floor deck handling robot of the present invention;

[0015] Figure 2 It is a three-dimensional diagram of a loading gripper in a truss frame floor deck handling robot of the present invention;

[0016] Figure 3 It is a three-dimensional diagram of a material unloading gripper in a truss frame floor deck handling robot of the present invention;

[0017] Figure 4 It is a stereoscopic diagram of a flip gripper in a truss frame floor deck handling robot of the present invention. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings:

[0019] In the description of this utility model, it should be noted that the directions or positional relationships indicated by "left", "right", "horizontal" and "vertical" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation to this utility model.

[0020] like Figure 1 As shown, a truss frame floor deck handling robot includes a CNC steel truss welding production line 1, a steel truss conveyor belt 2, a bottom plate conveyor roller 3, a steel truss loading robot 4, a special combined welding machine for truss floor deck 5, a finished product loading roller 6, a finished product stacking roller 7, a finished product unloading robot 8, a finished product unloading flipping robot 9, a robot moving guide rail 10, a loading gripper, a unloading gripper and a flipping gripper. A CNC steel truss welding production line 1 is arranged on the left side of the bottom plate conveyor roller 3. The CNC steel truss welding production line 1 conveys the steel truss to the side of the bottom plate conveyor roller 3 through the steel truss conveyor belt 2; a truss alignment and positioning mechanism for aligning the steel truss should also be arranged on the steel truss conveyor belt 2. A steel truss loading robot 4 is arranged on the right side of the bottom plate conveyor roller 3. A loading gripper is arranged on the steel truss loading robot 4. The steel truss loading robot 4 is installed on the robot moving guide rail 10, which is convenient for the steel truss loading robot 4 to adjust its position. The steel truss loading robot 4 transports the steel truss from the steel truss conveyor belt 2 and neatly places it on the bottom plate of the bottom plate conveyor roller 3. A special press plate forming machine for the truss bottom plate is connected to the conveying end of the bottom plate conveyor roller 3.

[0021] The finished product loading roller 6 and the bottom plate conveying roller 3 are arranged in the same straight line, and a truss floor deck special combination welding machine 5 for welding the steel truss and the bottom plate is arranged between the finished product loading roller 6 and the bottom plate conveying roller 3, and the finished truss floor deck is formed by welding the truss floor deck special combination welding machine 5. The finished product loading roller 6 is provided with a finished product stacking roller 7 on the left side, and a finished product unloading robot 8 for transporting the truss floor deck to the finished product stacking roller 7 is provided on the right side of the finished product loading roller 6, and a unloading gripper is provided on the finished product unloading robot 8, and a finished product unloading flipping robot 9 for flipping the truss floor deck is provided on the left side of the finished product stacking roller 7, and a flipping gripper is provided on the unloading flipping robot 9.

[0022] like Figure 2 As shown, the feeding gripper includes a first connection base 11-1, a first crossbar 12-1, a first sensor 13-1, a positioning clamp 14 and a pneumatic lifting hook 15. The first connection base 11-1 is arranged at the center of the first crossbar 12-1, and the first connection base 11-1 is used to be installed and connected with the steel truss feeding robot 4. The first sensor 13-1 is installed on the first crossbar 12-1 and the sensing direction of the first sensor 13-1 is facing away from the steel truss feeding robot 4; two positioning clamps 14 are installed at the bottom of the first crossbar 12-1 and on both sides of the first connection base 11-1. The positioning clamps 14 are used to clamp and position the steel truss to ensure its bottom horizontality. Four pneumatic lifting hooks 15 are installed on the first crossbar 12-1, two of which are located at the two ends of the first crossbar 11-1, and the other two are located next to the positioning clamp 14. The pneumatic lifting hook 15 is composed of a cylinder and a hook. When the loading gripper performs the material grabbing task, when the pneumatic lifting hook 15 moves to the truss bar position, the cylinder contracts and lifts the hook, and the truss bar is lifted by the pneumatic lifting hook 15. The first sensor 13-1 and the pneumatic lifting hook 15 are connected to the PLC board of the steel bar truss loading robot 4 and are connected through a control line. When the loading gripper is working, the steel bar truss loading robot 4 controls the loading gripper to move to a suitable position and controls the pneumatic lifting hook 15 to hook the steel bar truss and position it in the positioning clamp 14. The first sensor 13-1 senses the steel bar (if it cannot sense, it means that there is no steel bar, and it will send a signal to the PLC, and the PLC will alarm). Then, the steel bar truss loading robot 4 finally transports the steel bar truss to the bottom plate conveyor roller 3 and places it at a suitable position on the bottom plate.

[0023] like Figure 3As shown, the material unloading gripper comprises a second connection base 11-2, a second crossbar 12-2, a second sensor 13-2, a second longitudinal bar 16-2 and a U-shaped hook 17. The second connection base 11-2 is arranged at the center of the second crossbar 12-2. The second sensor 13-2 is mounted on the second crossbar 12-2 and the sensing direction of the second sensor 13-2 faces the finished product unloading robot 8. Four second longitudinal bars 16-2 are mounted on the second crossbar 12-2, two of which are located at the two ends of the second crossbar 12-2, and the other two are located beside the second connection base 11-2; a U-shaped hook 17 is arranged at each end of the longitudinal bar 16, and the hook mouth of the U-shaped hook 17 faces the finished product unloading flipping robot 9. When the unloading gripper is working, when the truss floor deck moves to a specific position, the finished product unloading and flipping robot 9 will control the unloading gripper to move the truss floor deck to the finished product stacking roller 7 or tilt the truss floor deck 45° to facilitate the subsequent flipping operation. The second sensor 13-2 is used to determine whether the unloading gripper has grabbed the truss floor deck. If it cannot sense, an alarm signal is sent to the PLC.

[0024] like Figure 4 As shown, the flip gripper includes a third connecting base 11-3, a third crossbar 12-3, a third longitudinal bar 16-3, a suction cup mounting seat 18 and a vacuum suction cup 19. The third connecting base 11-3 is arranged at the center of the third crossbar 12-3; 6 third longitudinal bars 16-3 are evenly mounted on the third crossbar 12-3, of which 2 are mounted at both ends of the third crossbar 12-3. A suction cup mounting seat 18 is arranged at each end of the third longitudinal bar 16-3, and the vacuum suction cup 19 is mounted on the suction cup mounting seat 18. The control principle of the vacuum suction cup 19 is already a prior art and will not be repeated here. The vacuum suction cup 19 adopts electric control to adsorb, flip or stack the truss floor deck. The vacuum suction cup 19 is controlled by the finished product unloading and flipping robot 9. The operation of the finished product unloading and flipping robot 9 is based on the operation of the finished product unloading robot 8. For example, when moving or stacking the truss floor deck with the bottom plate at the bottom, only the finished product unloading robot 8 is needed. When the truss floor deck needs to be flipped and stacked, the finished product unloading robot 8 is needed to first tilt the truss floor deck 45°, and then the finished product unloading and flipping robot 9 flips the tilted truss floor deck 135° and stacks it on the placed truss floor deck.

[0025] In addition to the above-mentioned equipment, the present invention should also be equipped with an electrical control cabinet for controlling the power supply and power distribution of all equipment. The CNC steel truss welding production line 1 uses a model of SJL300T-18, the steel truss feeding robot 4 uses a model of SP200, the truss floor decking special combined welding machine 5 uses a model of DNK-63-1, the finished product unloading robot 8 uses a model of SR210, the finished product unloading flipping robot 9 uses a model of ER210, the truss bottom plate special press plate forming machine uses a model of YH-576, and the sensor 13 uses a model of ME18-05BPSZW2S.

[0026] Although the specific implementation scheme of the present utility model has been described and illustrated in detail above, it should be pointed out that various changes and modifications can be made to the above implementation scheme, but these do not deviate from the spirit of the present utility model and the scope of the appended claims.

Claims

1. A truss frame floor deck handling robot, It is characterized in that The invention comprises a numerically controlled steel truss welding production line (1), a steel truss conveyor belt (2), a bottom plate conveyor roller (3), a steel truss loading robot (4), a special combined welding machine for truss floor deck (5), a finished product loading roller (6), a finished product stacking roller (7), a finished product unloading robot (8) and a finished product unloading flipping robot (9), wherein the numerically controlled steel truss welding production line (1) is arranged on the left side of the bottom plate conveyor roller (3), and the steel truss loading robot (4) is arranged on the right side of the bottom plate conveyor roller (3); The CNC steel truss welding production line (1) conveys the steel truss to the side of the bottom plate conveyor roller (3) via the steel truss conveyor belt (2) and neatly places the steel truss on the bottom plate of the bottom plate conveyor roller (3) via the steel truss loading robot (4); The finished product loading roller (6) and the bottom plate conveying roller (3) are arranged in the same straight line, and a truss floor deck special combined welding machine (5) for welding the steel truss and the bottom plate together is arranged between the finished product loading roller (6) and the bottom plate conveying roller (3); A finished product stacking roller (7) is arranged on the left side of the finished product loading roller (6), a finished product unloading robot (8) for transporting the truss floor deck to the finished product stacking roller (7) is arranged on the right side of the finished product loading roller (6), and a finished product unloading and flipping robot (9) for flipping the truss floor deck is arranged on the left side of the finished product stacking roller (7); It also includes a robot moving guide rail (10), and the steel bar truss loading robot (4) is arranged on the robot moving guide rail (10); It also includes a loading gripper, which is mounted on the steel truss loading robot (4); It also includes a material unloading gripper, which is installed on the finished product unloading robot (8).

2. A truss frame floor deck handling robot according to claim 1, It is characterized in that The feeding gripper comprises a first connecting base (11-1), a first cross bar (12-1), a first sensor (13-1), a positioning clamp (14) and a pneumatic lifting hook (15); the first connecting base (11-1) is arranged at the center of the first cross bar (12-1); the first sensor (13-1) is mounted on the first cross bar (12-1) and the sensing direction of the first sensor (13-1) faces away from the steel truss feeding robot (4); a plurality of positioning clamps (14) are mounted at the bottom of the first cross bar (12-1); and a plurality of pneumatic lifting hooks (15) are mounted on the first cross bar (12-1).

3. A truss frame floor deck handling robot according to claim 2, It is characterized in that The material unloading gripper comprises a second connecting base (11-2), a second cross bar (12-2), a second sensor (13-2), a second longitudinal bar (16-2) and a U-shaped hook (17); a second connecting base (11-2) is arranged at the center of the second cross bar (12-2); the second sensor (13-2) is mounted on the second cross bar (12-2) and the sensing direction of the second sensor (13-2) faces the finished product unloading robot (8); a plurality of second longitudinal bars (16-2) are mounted on the second cross bar (12-2); a U-shaped hook (17) is arranged at each end of the second longitudinal bar (16-2); the hook mouth of the U-shaped hook (17) faces the finished product unloading flipping robot (9).

4. A truss frame floor deck handling robot according to claim 3, It is characterized in that It also includes a flip gripper, which is installed on the finished product unloading flip robot (9).

5. A truss frame floor deck handling robot according to claim 4, It is characterized in that The flip gripper comprises a third connecting base (11-3), a third cross bar (12-3), a third longitudinal bar (16-3), a suction cup mounting seat (18) and a vacuum suction cup (19); the third connecting base (11-3) is arranged at the center of the third cross bar (12-3); a plurality of third longitudinal bars (16-3) are mounted on the third cross bar (12-3); a suction cup mounting seat (18) is respectively arranged at both ends of the third longitudinal bar (16-3); and the vacuum suction cup (19) is mounted on the suction cup mounting seat (18).

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