Intelligent flexible gripper mechanism for angle steel profiles

Abstract

The application provides an intelligent flexible clamping jaw mechanism for angle steel profiles, which comprises a mounting frame, a telescopic assembly, a floating assembly and a magnetic attraction device. A plurality of hangers are fixedly arranged at the bottom of the mounting frame. The telescopic assembly comprises locking cylinders, a supporting plate, locking blocks and locking ends. The supporting plate is fixedly connected to the bottoms of the hangers. The locking cylinders are symmetrically arranged on the upper surfaces of the supporting plate. The locking cylinders are connected to one end of the locking blocks through telescopic rods. The other end of the locking block is connected to the locking end in a clamping mode. The floating assembly comprises a floating plate, sliding rods, limiting plates and floating springs. The two side surfaces of the floating plate are fixedly connected to the bottoms of the locking ends. The sliding rods are slidably arranged on the two sides of the floating plate. The limiting plates are fixedly connected to one end of the sliding rods. The mechanism is flexible and stable, has high grabbing precision and reduces labor intensity.

Description

Technical Field

[0001] This invention relates to a gripper mechanism, and more particularly to an intelligent flexible gripper mechanism for angle steel profiles. Background Technology

[0002] Angle steel is a common material in steel structure products. The processing of angle steel mainly includes punching, drilling, corner cutting, root cleaning, and back trimming. Due to the need for mass production, angle steel processing has become mechanized and automated, allowing for quick and accurate processing with minimal human intervention, greatly improving production efficiency. Currently, angle steel loading is mostly done manually or with the assistance of simple lifting equipment. Furthermore, many existing angle steel loading devices have poor compatibility; one type of gripper can only handle one or two types of angle steel materials. Although automation has been achieved, it requires high straightness and parallelism of the incoming material. If the angle steel is tilted or deformed, ordinary grippers cannot handle it, significantly impacting processing efficiency and resulting in high labor intensity. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the above-mentioned technologies.

[0004] To achieve the above objectives, a first aspect of the present invention provides an intelligent flexible gripper mechanism for angle steel profiles, comprising: a mounting frame, a telescopic assembly, a floating assembly, and a magnetic suction device. The mounting frame has multiple hanging rods fixedly mounted at its bottom. The telescopic assembly includes: a locking cylinder, a support plate, a locking block, and a locking end. The support plate is fixedly connected to the bottom of the multiple hanging rods. The locking cylinders are symmetrically arranged on both sides of the upper surface of the support plate. Each locking cylinder is connected to one end of the locking block via a telescopic rod, and the other end of the locking block is engaged with the locking end. The floating assembly includes: a floating plate, a sliding rod, a limiting plate, and a floating spring. The two sides of the floating plate are fixedly connected to the bottom of the locking end. The rod slides through both sides of the floating plate, the limiting plate is located above the floating plate, the limiting plate is fixedly connected to one end of the sliding rod, one end of the floating spring is connected to the lower surface of the floating plate, and the floating spring is sleeved on the sliding rod, the upper surface of the magnetic attraction device is fixedly connected to the other end of the sliding rod, and the upper surface of the magnetic attraction device is connected to the other end of the floating spring, a magnetic suction cup is installed at the bottom of the magnetic attraction device, the telescopic assembly also includes a floating shaft, one end of the floating shaft is connected to the support plate, and the other end of the floating shaft is connected to the floating plate, a locking groove is provided on the locking end, the bottom of the locking block is interference-fitted with the locking groove, and the main body of the locking block is made of elastic material.

[0005] Optionally, a guide assembly is also included, comprising: a guide cylinder, a guide block, and multiple guide wheels. The guide cylinder is symmetrically arranged on both sides of the magnetic attraction device. The guide cylinder is connected to the guide block via a telescopic rod. A drive motor is mounted on the guide block. The drive motor is connected to the multiple guide wheels, and the multiple guide wheels are mounted on the bottom of the guide block.

[0006] Optionally, the surface of the locking block is coated with lubricating oil.

[0007] The intelligent flexible gripper mechanism for angle steel profiles provided in this invention can adsorb and grasp angle steel using a magnetic suction plate mounted on a magnetic suction device. Its gripping ability is not limited by the tilting or deformation of the angle steel. During the gripping process, a locking cylinder controls the locking block to lower the magnetic suction device. The long, elastic locking block and the floating bearing work together to compensate for elastic deformation rotation between the floating plate and the mounting plate, achieving flexible gripping and opening of the magnetic device. It compensates for rotation in all directions during gripping and, in conjunction with the floating component, enables flexible gripping of the magnetic suction device. Furthermore, the guide block on the magnetic suction device can guide the gripping position via a drive motor-controlled guide wheel, allowing the magnetic suction device to flexibly and accurately adsorb and grasp the angle steel. The structure is flexible and stable, with high gripping accuracy, reducing labor intensity.

[0008] Additional aspects and advantages of the invention 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 invention. Attached Figure Description

[0009] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0010] Figure 1 This is a structural schematic diagram of an intelligent flexible clamp for an angle steel profile according to an embodiment of the present invention;

[0011] Figure 2 This is an exploded structural diagram of an intelligent flexible clamp for an angle steel profile according to an embodiment of the present invention;

[0012] Figure 3 This is a structural schematic diagram of an intelligent flexible clamp for an angle steel profile according to another embodiment of the present invention.

[0013] Reference numerals: 1. Magnetic suction device; 11. Magnetic suction cup; 2. Telescopic assembly; 21. Locking cylinder; 22. Support plate; 23. Locking block; 24. Locking end; 25. Locking groove; 3. Floating assembly; 31. Limiting plate; 32. Slide rod; 33. Floating plate; 34. Floating spring; 4. Guide assembly; 41. Guide cylinder; 42. Guide block; 43. Guide wheel; 5. Mounting bracket; 51. Hanging rod; 6. Floating shaft. Detailed Implementation

[0014] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0015] The intelligent flexible clamp for angle steel profiles according to embodiments of the present invention will now be described with reference to the accompanying drawings.

[0016] Figure 1 This is a structural schematic diagram of an intelligent flexible clamp for an angle steel profile according to an embodiment of the present invention.

[0017] like Figure 1 As shown, the intelligent flexible clamp of the angle steel profile includes: mounting frame 5, telescopic component 2, floating component 3 and magnetic suction device 1.

[0018] In this embodiment of the invention, when loading angle steel, the intelligent flexible clamp of the angle steel profile can be installed on a designated truss or robot to provide power and control to the intelligent flexible clamp. Then, the intelligent flexible clamp of the angle steel profile can be connected to the truss or robot as a whole through the mounting frame 5. The magnetic suction device 1 is released and retracted through the telescopic component 2. At the same time, the floating component 3 increases the flexibility of the magnetic suction device 1 when gripping the angle steel. Finally, the magnetic suction device 1 can grip angle steel of various shapes without affecting the gripping effect due to the deformation of the angle steel.

[0019] In one embodiment of the present invention, such as Figure 2 As shown, the mounting frame 5 has multiple hanging rods 51 fixedly installed at its bottom. The telescopic assembly 2 includes a locking cylinder 21, a support plate 22, a locking block 23, and a locking end 24. The support plate 22 is fixedly connected to the bottom of the multiple hanging rods 51. The locking cylinders 21 are symmetrically arranged on both sides of the upper surface of the support plate 22. The locking cylinders 21 are connected to one end of the locking block 23 through a telescopic rod. The other end of the locking block 23 is engaged with the locking end 24.

[0020] Specifically, before loading the angle steel, relevant personnel can first fix the mounting frame 5 to the designated support end (such as a truss, robot, etc.) with bolts. Then, multiple hangers 51 are fixed at the bottom of the mounting frame 5. The telescopic component 2 located below the mounting frame 5 is then connected through the hangers 51. The multiple hangers 51 can be connected to the support plate 22. Then, a locking cylinder 21 can be fixed to each side of the support plate 22 with bolts. A locking block 23 is installed on the telescopic rod of the locking cylinder 21, and a corresponding locking end 24 is set so that one end of the locking block 23 can be engaged with the locking end 24. The locking end 24 is fixed to the floating plate 33 in the floating component 3, so that the up and down movement of the floating component 3 can be controlled by the locking cylinder 21.

[0021] In one embodiment of the present invention, such as Figure 3 As shown, the telescopic assembly 2 also includes a floating shaft 6. One end of the floating shaft 6 is connected to the support plate 22, and the other end of the floating shaft 6 is connected to the floating plate 33. A locking groove 25 is provided on the locking end 24. The bottom of the locking block 23 is interference-fitted with the locking groove 25. The main body of the locking block 23 is made of elastic material.

[0022] Specifically, to ensure the structural stability of the telescopic component 2, a floating shaft 6 can be connected between the floating plate 33 and the support plate 22. When the locking cylinder 21 controls the floating component 3 to move up and down, the floating shaft 6 increases its structural strength and stability. At the same time, the locking end 24 can be fixedly set on the floating plate 33, and a locking groove 25 is opened on the locking end 24 so that the locking block 23 is fixed in the locking groove 25. This allows the floating component 3 connected to the bottom of the locking end 24 to move up and down by controlling the up and down movement of the locking block 23. Meanwhile, the main body of the locking block 23 can be made of elastic material, so that when the floating component 3 is controlled to move up and down, the locking block 23 can rotate at a certain angle around the floating shaft 6, which provides some torsional compensation during the hoisting of the angle steel and increases the overall gripping flexibility.

[0023] It should be noted that the locking block 23 described in the above embodiment is connected to the locking groove 25 by interference fit, and will not detach from the locking groove 25 due to deformation caused by the elastic material of the locking block 23 under force. Furthermore, the elastic material has a certain degree of elasticity, which will only cause the floating component 3 to rotate slightly under its certain elastic deformation.

[0024] In one embodiment of the invention, the surface of the locking block 23 is coated with lubricating oil.

[0025] Specifically, when the locking cylinder 21 controls the locking block 23 to extend and retract via the telescopic rod, lubricating oil can be applied to the surface of the locking block 23 to reduce friction when the main body of the locking block 23 slides on the floating plate 33, making the displacement of the locking block 23 smoother and reducing wear caused by friction.

[0026] It should be noted that when applying lubricating oil to the locking block 23, the locking block 23 located in the locking groove 25 will not be contaminated with lubricating oil.

[0027] In one embodiment of the present invention, such as Figure 1 and Figure 3 As shown, the floating assembly 3 includes: a floating plate 33, a sliding rod 32, a limiting plate 31, and a floating spring 34. The two side surfaces of the floating plate 33 are fixedly connected to the bottom of the locking end 24. The sliding rod 32 slides through the two sides of the floating plate 33. The limiting plate 31 is located above the floating plate 33 and is fixedly connected to one end of the sliding rod 32. One end of the floating spring 34 is connected to the lower surface of the floating plate 33 and is sleeved on the sliding rod 32. The upper surface of the magnetic suction device 1 is fixedly connected to the other end of the sliding rod 32, and the upper surface of the magnetic suction device 1 is connected to the other end of the floating spring 34. A magnetic suction cup 11 is installed at the bottom of the magnetic suction device 1.

[0028] Specifically, when controlling the magnetic suction device 1 via the floating component 3, the floating plate 33 located below the telescopic component 2 can be fixedly connected to the locking end 24. Simultaneously, symmetrical sliding rods 32 are arranged on both sides of the floating plate 33, allowing the sliding rods 32 to slide along the floating plate 33. The ends of the sliding rods 32 on both sides located above the floating plate 33 can be fixedly connected to the same limiting plate 31. Correspondingly, the ends of the sliding rods 32 on both sides located below the floating plate 33 can be fixed to the magnetic suction device 1. A floating spring 34 can also be connected between the floating plate 33 and the magnetic suction device 1, and the floating spring 34 can be sleeved on the sliding rods 32. The floating spring 34 is used to tension and elastically drag the floating plate 33 and the magnetic suction device 1. When the angle steel is not being gripped, the magnetic suction device 1 is set close to the floating plate 33 by the floating spring 34. When the magnetic suction device 1 grips the angle steel by the magnetic suction cup 11 installed at the bottom, the magnetic suction device 1 is pulled down by the gravity of the angle steel. At this time, the floating spring 34 is pulled out. At the same time as the slide bar 32 is pulled down, the limiting plate 31 can limit the height of the slide bar 32. Under the control of the floating component 3, the magnetic suction device 1 has a certain flexibility in gripping the angle steel, so that it can make up-down elastic displacement and has a good gripping effect.

[0029] In one embodiment of the present invention, such as Figure 2 As shown, it also includes a guide assembly 4, which includes a guide cylinder 41, a guide block 42 and multiple guide wheels 43. The guide cylinder 41 is symmetrically arranged on both sides of the magnetic attraction device 1. The guide cylinder 41 is connected to the guide block 42 through a telescopic rod. A drive motor is installed on the guide block 42. The drive motor is connected to multiple guide wheels 43. The multiple guide wheels 43 are installed at the bottom of the guide block 42.

[0030] Specifically, before the magnetic suction device 1 grasps the angle steel using the magnetic suction cup 11, a set of guide components 4 can be installed on each side of the magnetic suction device 1. Each side of the magnetic suction device 1 can have a guide cylinder 41, and a guide block 42 can be installed below the guide cylinder 41. The guide cylinder 41 can be connected to the guide block 42 via a telescopic rod. Multiple guide wheels 43 can be installed under the guide block 42, and a drive motor can be installed on the guide block 42 to drive the rotation of the guide wheels 43. Before grasping the angle steel, the magnetic suction device 1 is lowered to the vicinity of the angle steel via the telescopic component 2. Then, the guide cylinder 41 is controlled to lower the guide block 42, and the drive motor drives the guide wheels 43 to rotate. The rotation of the guide wheels 43 is controlled according to the specific position of the angle steel, thereby guiding the entire magnetic suction device 1 to the angle steel, whereby the magnetic suction cup 11 grasps the angle steel.

[0031] It should be noted that when the magnetic suction device 1 is precisely guided by the guide component 4, the intelligent flexible clamp of the angle steel profile in this embodiment of the invention can be displaced to a certain extent on the truss or robot it is connected to, so as to facilitate the gripping of the angle steel.

[0032] In summary, the intelligent flexible gripper mechanism for angle steel profiles in this embodiment of the invention can adsorb and grasp angle steel through a magnetic suction disk installed on a magnetic suction device. Its gripping ability is not limited by changes in the shape of the angle steel. During the gripping process, a locking cylinder controls the locking block to lower the magnetic suction device. The long, elastic locking block and the floating bearing allow for a certain degree of elastic rotation between the floating plate and the mounting plate, achieving flexible gripping and opening of the magnetic device. It compensates for rotation in all directions during gripping and, in conjunction with the floating component, enables flexible gripping of the magnetic suction device. Furthermore, the guide block on the magnetic suction device can guide the gripping position through a drive motor-controlled guide wheel, allowing the magnetic suction device to flexibly and accurately adsorb and grasp the angle steel. The structure is flexible and stable, with high gripping accuracy, reducing labor intensity.

[0033] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0035] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent flexible gripper mechanism for angle steel profiles, characterized in that, include: The mounting bracket (5), telescopic assembly (2), floating assembly (3), and magnetic suction device (1) are included. The mounting bracket (5) has multiple hanging rods (51) fixedly installed at its bottom; The telescopic assembly (2) includes: a locking cylinder (21), a support plate (22), a locking block (23), and a locking end (24), wherein, The support plate (22) is fixedly connected to the bottom of the plurality of the hanging rods (51); The locking cylinders (21) are symmetrically arranged on both sides of the upper surface of the support plate (22), and the locking cylinders (21) are connected to one end of the locking block (23) through a telescopic rod; The other end of the locking block (23) is engaged with the locking end (24); The floating component (3) includes: a floating plate (33), a sliding rod (32), a limiting plate (31), and a floating spring (34), wherein, The two sides of the floating plate (33) are fixedly connected to the bottom of the locking end (24); The slide bar (32) slides through both sides of the floating plate (33); The limiting plate (31) is disposed above the floating plate (33), and the limiting plate (31) is fixedly connected to one end of the sliding rod (32); One end of the floating spring (34) is connected to the lower surface of the floating plate (33), and the floating spring (34) is sleeved on the slide rod (32); The upper surface of the magnetic suction device (1) is fixedly connected to the other end of the slide bar (32), and the upper surface of the magnetic suction device (1) is connected to the other end of the floating spring (34). A magnetic suction cup (11) is installed at the bottom of the magnetic suction device (1). The telescopic assembly (2) also includes a floating shaft (6), one end of which is connected to the support plate (22), and the other end of which is connected to the floating plate (33); The locking end (24) is provided with a locking groove (25), the bottom of the locking block (23) is interference-fitted with the locking groove (25), and the main body of the locking block (23) is made of elastic material.

2. The intelligent flexible gripper mechanism for angle steel profiles according to claim 1, characterized in that, It also includes a guide assembly (4), which comprises: a guide cylinder (41), a guide block (42), and a plurality of guide wheels (43), wherein, The guide cylinder (41) is symmetrically arranged on both sides of the magnetic attraction device (1), and the guide cylinder (41) is connected to the guide block (42) through a telescopic rod; A drive motor is mounted on the guide block (42), and the drive motor is connected to a plurality of guide wheels (43); Multiple guide wheels (43) are mounted on the bottom of the guide block (42).

3. The intelligent flexible gripper mechanism for angle steel profiles according to claim 1, characterized in that, The surface of the locking block (23) is coated with lubricating oil.

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