A double-block sleeper steel frame mold-in device based on a mechanical arm

Abstract

The present invention discloses a double-block rail sleeper steel bar skeleton mold-entry device based on a robotic arm, comprising a conveying mechanism and a mold-entry mechanism installed on the conveying mechanism, wherein the mold-entry mechanism comprises a mounting crossbeam arranged along the length direction of the steel bar truss, a flange is provided in the middle of the upper end surface of the mounting crossbeam for connecting with the conveying mechanism, a clamping assembly for grasping and releasing the steel bar skeleton, and a fixing assembly for preventing the stirrups from swinging are provided on the lower end surface of the mounting crossbeam, and a pressing plate rotating assembly is also provided on the lower end surface of the mounting crossbeam for screwing the pressing plate in the rail sleeper mold to fix the steel bar skeleton; the conveying mechanism is a six-axis robot. The present invention can realize the automatic grasping and installation of the double-block rail sleeper steel bar skeleton, which is conducive to saving labor and improving the efficiency of mold-entry. Moreover, the clamping assembly cooperates with the fixing assembly and the clamping assembly to ensure the reliability of grasping and prevent the swing of the stirrups and the hook from affecting the mold-entry accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of sleeper production, and in particular to a dual-block sleeper steel bar skeleton mold-entering device based on a mechanical arm. Background Art

[0002] The double-block sleeper reinforcement skeleton consists of two reinforcement trusses and two stirrups hung under the reinforcement trusses by hooks. The traditional installation method is to manually place the stirrups and trusses in sequence, then hang the stirrups on the trusses with hooks, and finally turn the pressure plate to lock the trusses. The installation efficiency is low, the labor cost is high, and it is difficult to adapt to the modern production process. Summary of the invention

[0003] The purpose of the invention is to provide a mold-entering device capable of automatically grabbing and installing a double-block sleeper reinforcement skeleton.

[0004] To achieve the above-mentioned purpose, the technical scheme of the present invention is: a dual-block rail sleeper steel frame mold-in device based on a mechanical arm, comprising a conveying mechanism and a mold-in mechanism installed on the conveying mechanism, the mold-in mechanism comprising a mounting crossbeam arranged along the length direction of the steel truss, a flange is arranged in the middle of the upper end surface of the mounting crossbeam for connecting with the conveying mechanism, a clamping assembly for grasping and releasing the steel frame and a fixing assembly for preventing the stirrups from swinging are arranged on the lower end surface of the mounting crossbeam, and a pressing plate rotating assembly is also arranged on the lower end surface of the mounting crossbeam for screwing the pressing plate in the rail sleeper mold to fix the steel frame; the conveying mechanism is a six-axis robot;

[0005] The clamping assembly includes a first mounting plate, which is four in number and respectively arranged on both sides of the lower end surface of the mounting beam. Pneumatic clamping fingers are provided on the first mounting plates, and the movable ends of the pneumatic clamping fingers are provided with inward-bent hook fingers. The pneumatic clamping fingers cooperate with each other in pairs so that the hook fingers are hooked under the upper steel bars at both ends of the same steel truss to achieve the grasping of the steel skeleton.

[0006] The structure adopting the above technical solution can realize the automatic grabbing and installation of the double-block sleeper steel bar skeleton, which is beneficial to saving labor and improving the mold insertion efficiency.

[0007] Furthermore, the fixing assembly includes a second mounting plate, the number of the second mounting plates is four and they are arranged along the axial direction of the mounting beam, the second mounting plates are fixedly connected to the lower end surface of the mounting beam, the second mounting plates are each provided with a first telescopic cylinder, the end of the telescopic rod of the first telescopic cylinder is provided with a pressure block, the first telescopic cylinders cooperate in pairs so that their pressure blocks press the two ends of the same stirrup, and cooperate with the clamping assembly to fix the steel skeleton.

[0008] The structure of the above technical solution uses the fixing assembly to compress the stirrups. In addition to cooperating with the clamping assembly to fix the steel skeleton, the stirrups can also generate a downward pulling force on the hook, thereby preventing the hook and stirrups from swinging as the equipment moves.

[0009] Furthermore, the pressing plate rotating assembly includes a third mounting plate arranged in the middle of the lower end surface of the mounting beam, and a rotating cylinder driving the third mounting plate to rotate horizontally, the third mounting plate is provided with a first vertical pole and a second telescopic cylinder driving the first vertical pole to move laterally, the third mounting plate is also provided with a second vertical pole and a third telescopic cylinder driving the second vertical pole to move laterally, when the steel skeleton is put into the mold, the first vertical pole and the second vertical pole are staggered and stand at both ends of the pressing plate of the sleeper mold, and the third mounting plate is driven to rotate by the rotating cylinder, and the first vertical pole and the second vertical pole drive the pressing plate to rotate and press on the lower steel bars of the steel truss to achieve locking of the steel skeleton.

[0010] The structure of the technical solution can realize the locking of the pressing piece and realize unmanned operation.

[0011] Furthermore, it also includes a clamping assembly, including a fourth mounting plate, the number of the fourth mounting plates is two and they are respectively arranged at the two ends of the lower end surface of the mounting beam, the fourth mounting plate is provided with a pressing plate and a fourth telescopic cylinder driving the pressing plate to move up and down, the pressing plate is arranged along the width direction of the mounting beam, when the clamping assembly grabs the steel truss, the fourth telescopic cylinder drives the pressing plate downward to clamp the steel truss, and cooperates with the clamping assembly to fix the steel truss.

[0012] By adopting the structure of the above technical solution, when the steel bar truss has height deviation, the auxiliary clamping assembly can be used to fix the steel bar truss.

[0013] The beneficial effects of the present invention are as follows: the present invention can realize the automatic grasping and installation of the double-block rail sleeper steel bar skeleton, which is conducive to saving labor and improving the mold insertion efficiency. Moreover, the clamping component cooperates with the fixing component and the pressing component to ensure the reliability of grasping and prevent the swing of the stirrups and the hook from affecting the mold insertion accuracy. In addition, the pressing plate rotating component can automatically complete the rotation of the rail sleeper mold pressing plate, so that the entire mold insertion process can be realized without any operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the mold-entering mechanism of the present invention. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings.

[0017] like Figure 1-2 As shown, a dual-block rail sleeper steel frame mold-in device based on a robotic arm includes a transport mechanism 1 and a mold-in mechanism 2 installed on the transport mechanism 1, wherein the mold-in mechanism 2 includes a mounting crossbeam 21 arranged along the length direction of the steel truss, a flange 22 is provided in the middle of the upper end surface of the mounting crossbeam 21 for connecting with the transport mechanism 1, a clamping assembly 23 for grasping and releasing the steel frame and a fixing assembly 24 for preventing the stirrups from swinging are provided on the lower end surface of the mounting crossbeam 21, and a pressing plate rotating assembly 25 is also provided on the lower end surface of the mounting crossbeam 21 for screwing the pressing plate in the rail sleeper mold to fix the steel frame; the transport mechanism 1 is a six-axis robot;

[0018] The clamping assembly 23 includes a first mounting plate 231, and there are four first mounting plates 231, which are respectively arranged on both sides of the lower end surface of the mounting beam 21. The first mounting plates 231 are each provided with a pneumatic clamping finger 232, and the movable ends of the pneumatic clamping fingers 232 are each provided with an inwardly bent hook finger 233. The pneumatic clamping fingers 233 cooperate with each other so that the hook fingers 233 are hooked under the upper steel bars at both ends of the same steel truss to achieve the grasping of the steel skeleton.

[0019] It can realize the automatic grabbing and installation of the double-block sleeper steel bar skeleton, which is beneficial to saving labor and improving the mold insertion efficiency.

[0020] The fixing assembly 24 includes a second mounting plate 241, which is four in number and arranged along the axis direction of the mounting crossbeam 21. The second mounting plate 241 is fixedly connected to the lower end surface of the mounting crossbeam 21. The second mounting plate 241 is provided with a first telescopic cylinder 242. The end of the telescopic rod of the first telescopic cylinder 242 is provided with a pressure block 243. The first telescopic cylinders 242 cooperate with each other so that the pressure blocks 243 press the two ends of the same stirrup and cooperate with the clamping assembly 23 to fix the steel skeleton. Using the fixing assembly to press the stirrup can not only cooperate with the clamping assembly to fix the steel skeleton, but also make the stirrup produce a downward pulling force on the hook, which can prevent the hook and stirrup from swinging due to the movement of the equipment.

[0021] The pressing plate rotating assembly 25 includes a third mounting plate 251 arranged at the middle of the end surface of the lower mounting beam 21, and a rotating cylinder 252 driving the third mounting plate 251 to rotate horizontally, a first vertical rod 253 and a second telescopic cylinder 254 driving the first vertical rod 253 to move horizontally are arranged on the third mounting plate 251, and a second vertical rod 255 and a third telescopic cylinder 256 driving the second vertical rod 255 to move horizontally are also arranged on the third mounting plate 251. When the steel skeleton is put into the mold, the first vertical rod 253 and the second vertical rod 255 are staggered and stand at the two ends of the pressing plate of the sleeper mold, and the third mounting plate 251 is driven to rotate by the rotating cylinder 252, and the first vertical rod 253 and the second vertical rod 255 drive the pressing plate to rotate and press on the lower steel bars of the steel truss to achieve locking of the steel skeleton. The pressing plate can be locked and unmanned operation can be achieved.

[0022] It also includes a clamping assembly 26, including a fourth mounting plate 261, two of which are respectively arranged at the two ends of the lower end surface of the mounting crossbeam 21, and a pressing plate 262 and a fourth telescopic cylinder 263 driving the pressing plate 262 to move up and down are arranged on the fourth mounting plate 261, and the pressing plate 262 is arranged along the width direction of the mounting crossbeam 21. When the clamping assembly 23 grabs the steel bar truss, the fourth telescopic cylinder 263 drives the pressing plate 262 downward to press the steel bar truss, and cooperates with the clamping assembly 23 to fix the steel bar truss. When the steel bar truss has a height deviation, the auxiliary clamping assembly can fix the steel bar truss.

[0023] The described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A dual-block sleeper steel frame mold-entering device based on a mechanical arm, characterized in that: It includes a transport mechanism and a mold-entering mechanism installed on the transport mechanism, the mold-entering mechanism includes a mounting crossbeam arranged along the length direction of the steel bar truss, a flange is arranged in the middle of the upper end surface of the mounting crossbeam for connecting with the transport mechanism, a clamping assembly for grasping and releasing the steel bar skeleton and a fixing assembly for preventing the stirrup from swinging are arranged on the lower end surface of the mounting crossbeam, and a pressing plate rotating assembly is also arranged on the lower end surface of the mounting crossbeam for screwing the pressing plate in the sleeper mold to fix the steel bar skeleton; the transport mechanism is a six-axis robot; The clamping assembly includes a first mounting plate, the number of the first mounting plates is four and they are respectively arranged on both sides of the end of the lower end surface of the mounting cross beam, the first mounting plates are each provided with a pneumatic clamping finger, the movable ends of the pneumatic clamping fingers are each provided with an inwardly bent hook finger, the pneumatic clamping fingers cooperate in pairs so that the hook fingers are hooked under the upper steel bars at both ends of the same steel bar truss, thereby realizing the grabbing of the steel bar skeleton; The fixing assembly includes a second mounting plate, the number of the second mounting plates is four and they are arranged along the axis direction of the mounting crossbeam, the second mounting plates are fixedly connected to the lower end surface of the mounting crossbeam, the second mounting plates are each provided with a first telescopic cylinder, the end of the telescopic rod of the first telescopic cylinder is provided with a pressure block, the first telescopic cylinders cooperate in pairs, so that the pressure blocks thereof press the two ends of the same stirrup, and cooperate with the clamping assembly to achieve the fixation of the steel bar skeleton; The pressing plate rotating assembly includes a third mounting plate arranged at the middle part of the lower end surface of the mounting beam, and a rotating cylinder driving the third mounting plate to rotate horizontally. The third mounting plate is provided with a first vertical pole and a second telescopic cylinder driving the first vertical pole to move laterally. The third mounting plate is also provided with a second vertical pole and a third telescopic cylinder driving the second vertical pole to move laterally. When the steel skeleton is put into the mold, the first vertical pole and the second vertical pole are staggered and stand at the two ends of the pressing plate of the sleeper mold. The third mounting plate is driven to rotate by the rotating cylinder, and the first vertical pole and the second vertical pole drive the pressing plate to rotate and press on the lower steel bars of the steel truss to achieve locking of the steel skeleton.

2. A dual-block rail sleeper reinforcement skeleton mold-entering device based on a mechanical arm as claimed in claim 1, characterized in that: It also includes a clamping assembly, including a fourth mounting plate. There are two fourth mounting plates, which are respectively arranged at the two ends of the lower end surface of the mounting beam. The fourth mounting plate is provided with a pressing plate and a fourth telescopic cylinder for driving the pressing plate to move up and down. The pressing plate is arranged along the width direction of the mounting beam. When the clamping assembly grabs the steel truss, the fourth telescopic cylinder drives the pressing plate downward to clamp the steel truss, and cooperates with the clamping assembly to fix the steel truss.

Images