A connecting plate positioning and grabbing mechanism for welding and processing of a section steel arch

Abstract

A connecting plate positioning and grabbing mechanism for steel arch welding processing, relates to the technical field of steel arch welding, one side of the frame body is provided with a conveying mechanism, and a rough positioning mechanism is installed on the moving end of the conveying mechanism, one end of the conveying mechanism is connected with a plate shearing machine, both sides of the frame body are respectively provided with a grabbing mechanism, and a displacement mechanism is installed on the moving end of the grabbing mechanism, the displacement mechanism is in sliding connection with the frame body, and the moving end of the grabbing mechanism is fixedly connected with a fine positioning mechanism; the connecting plate positioning and grabbing mechanism for steel arch welding processing, automatic assembly line, without manual intervention, high degree of automation, reduces the workload of the staff, the grabbing mechanism can grab various types and sizes of steel plates, facilitates the operation of the staff, and the end plate is positioned twice through the rough positioning mechanism and the fine positioning mechanism, so that the precision of the end plate placement is higher.

Description

Technical Field

[0001] This invention relates to the field of steel arch frame welding technology, and in particular to a connecting plate positioning and gripping mechanism for steel arch frame welding processing. Background Technology

[0002] In underground cavern engineering projects such as tunnels, subways, and mines, steel profiles are often bent and assembled into support arches for support. Therefore, the ends of the bent steel profiles need to be welded with connecting plates. Currently, the welding of connecting plates is mostly done by manually grabbing the end plates, spot welding, and then full welding, or by manually grabbing the end plates, spot welding, and then using a robotic arm for full welding. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, this invention discloses a connecting plate positioning and gripping mechanism for welding and processing steel arch frames. This invention is an automated production line that requires no manual intervention, has a high degree of automation, reduces the workload of workers, and the gripping mechanism can grip steel plates of various types and sizes, making it convenient for workers to operate. The end plate is positioned twice by a coarse positioning mechanism and a fine positioning mechanism, which improves the accuracy of the end plate placement.

[0004] To achieve the aforementioned objective, the present invention employs the following technical solution:

[0005] A connecting plate positioning and gripping mechanism for welding steel arch frames includes a frame, a conveying mechanism installed on one side of the frame, a coarse positioning mechanism installed on the moving end of the conveying mechanism, one end of the conveying mechanism being connected to a shearing machine, gripping mechanisms installed on both sides of the frame, and a displacement mechanism installed on the moving end of the gripping mechanism, the displacement mechanism being slidably connected to the frame, and a fine positioning mechanism fixedly connected to one side of the moving end of the gripping mechanism, the position of the fine positioning mechanism corresponding to the position of the coarse positioning mechanism.

[0006] The gripping mechanism includes a movable frame, pulleys, electromagnets, a mounting plate, a gripping robotic arm, a welding robotic arm, a power supply mechanism, a drive motor, and a rack. The movable frame has equidistantly arranged rotating slots, and pulleys are rotatably connected within these slots. The pulleys are slidably connected to the upper surface of the frame, and a rack is mounted on one side of the frame. A drive motor is mounted on the movable frame, and its shaft passes through the frame and connects to a gear. The gear meshes with the rack. The movable frame houses the gripping robotic arm and the welding robotic arm, and a mounting plate is mounted on the gripping robotic arm. Sliding rods are slidably connected to the four corners of the mounting plate, and an electromagnet is fixedly connected to one end of each sliding rod. A spring is mounted on the electromagnet, and one end of the spring is fixedly connected to the mounting plate. A displacement mechanism is mounted on the movable frame, and a precision positioning mechanism is mounted on one side of the movable frame. The power supply mechanism is mounted on the movable frame, and its power output is electrically connected to the power inputs of the drive motor, the gripping robotic arm, and the welding robotic arm.

[0007] The displacement mechanism includes a positioning frame, a guide rod, a clamping plate, a chain, a limit rod, a hydraulic cylinder, an arc-shaped frame, a fixed frame, a dual-axis reduction motor, sliding wheels, motor gears, and a connecting rod. One end of the connecting rod is fixedly connected to the moving frame, and the other end of the connecting rod is fixedly connected to the positioning frame. Equally spaced sliding wheels are rotatably connected to the positioning frame, and the sliding wheels are slidably connected to the upper surface of the frame. Two fixed frames are fixedly connected to the two side walls of the positioning frame, and a guide rod is rotatably connected between the two fixed frames. An arc-shaped frame is slidably connected between the rods. A chain is installed on the frame wall of the arc-shaped frame, and the chain meshes with a motor gear. The motor gear is located on the motor shaft of a dual-axis reduction motor and is fixedly connected. The dual-axis reduction motor is located inside a positioning frame and is fixedly connected. Two hydraulic cylinders are fixedly connected inside the arc-shaped frame. A limit plate is fixedly connected to the fixed end of each hydraulic cylinder, and the telescopic end of the hydraulic cylinder passes through the limit plate and is connected to a clamping plate. Two limit rods are fixedly connected to the clamping plate, and the limit rods are slidably connected to the limit plate.

[0008] The precision positioning mechanism includes a placement frame, support rods, a placement plate, and bullseye omnidirectional balls. The placement frame is located on one side of the movable frame and is fixedly connected. The placement frame is fixedly connected with support rods arranged at equal intervals. The top of the support rods is fixedly connected with a placement plate, and the placement plate is fixedly connected with bullseye omnidirectional balls arranged at equal intervals.

[0009] The varying heights of the support rods cause the placement plates on the support rods to be tilted.

[0010] The conveying mechanism includes a mounting frame, a belt, mounting rods, a first pulley, a rotating rod, a reduction motor, a second pulley, a fixed plate, a moving block, a rotating rod, and a screw. There are two mounting frames, which are connected in contact. One mounting frame has equidistantly arranged mounting rods fixedly connected to one side, and one end of each mounting rod is fixedly connected to the frame body. Both mounting frames are rotatably connected to equidistantly arranged rotating rods, and equidistantly arranged first pulleys are fixedly connected to each rotating rod. A reduction motor is fixedly connected inside one mounting frame, and the reduction motor is connected to the second pulley via a motor shaft. The second belt... The wheel is connected to one of the first pulleys on the rotating rod via a belt. The fixed plates are equidistantly arranged on the two mounting brackets and fixedly connected. A screw is threaded onto the fixed plate. One end of the screw is rotatably connected to a moving block. A rotating rod is rotatably connected between the two moving blocks on both sides. The rotating rod is located on the mounting bracket and slidably connected. Equidistant first pulleys are also fixedly connected to the rotating rod. The first pulleys on the rotating rod and the first pulleys on the rotating rod are also connected by a belt. A coarse positioning mechanism is installed on the belt. The first pulleys on the two rotating rods are also connected by a belt.

[0011] One of the mounting brackets is fixedly connected to a finished product storage rack on one side.

[0012] The coarse positioning mechanism includes a connecting frame and a small linear motor. The connecting frame is located on the belt and fixedly connected, and the small linear motor is installed on the connecting frame. The position of the small linear motor corresponds to that of the placement plate.

[0013] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0014] The present invention discloses a connecting plate positioning and gripping mechanism for welding and processing steel arch frames. It is an automated production line that requires no manual intervention, has a high degree of automation, reduces the workload of workers, and can grip steel plates of various types and sizes, making it convenient for workers to operate. The end plate is positioned twice by a coarse positioning mechanism and a fine positioning mechanism, which improves the accuracy of the end plate placement. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a side view of the present invention;

[0017] Figure 3 This is an enlarged structural diagram of point A in the present invention;

[0018] Figure 4 This is an enlarged structural diagram of point B in the present invention;

[0019] Figure 5 This is an enlarged structural diagram of point C in the present invention;

[0020] Figure 6 This is a schematic diagram of the gripping mechanism of the present invention;

[0021] 1. Frame; 2. Finished product storage rack; 3. Shearing machine; 4. Gripping mechanism; 401. Moving frame; 402. Pulley; 403. Electromagnet; 404. Mounting plate; 405. Gripping robotic arm; 406. Welding robotic arm; 407. Power supply mechanism; 5. Positioning mechanism; 501. Positioning frame; 502. Guide rod; 503. Clamping plate; 504. Chain; 505. Limiting rod; 506. Hydraulic cylinder; 507. Arc-shaped frame; 508. Fixed frame; 509. Dual-axis geared motor; 510. Pulley; 511. 512. Motor gear; 6. Connecting rod; 7. Conveying mechanism; 8. Mounting bracket; 9. Belt; 10. Mounting rod; 11. First pulley; 12. Rotating rod; 13. Gear motor; 14. Second pulley; 15. Fixed plate; 16. Moving block; 17. Rotating rod; 18. Screw; 19. Fine positioning mechanism; 20. Placement bracket; 21. Support rod; 22. Placement plate; 33. Bullseye universal ball; 44. Coarse positioning mechanism; 55. Connecting bracket; 66. Small linear motor. Detailed Implementation

[0022] The present invention will be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0023] Combined with appendix Figures 1-6 The aforementioned connecting plate positioning and gripping mechanism for welding and processing steel arch frames includes a frame 1. A conveying mechanism 6 is installed on one side of the frame 1, and a coarse positioning mechanism 8 is installed on the moving end of the conveying mechanism 6. One end of the conveying mechanism 6 is connected to a shearing machine 3. Gripping mechanisms 4 are installed on both sides of the frame 1, and a displacement mechanism 5 is installed on the moving end of the gripping mechanism 4. The displacement mechanism 5 clamps the steel profile conveyed by the conveyor and adjusts the position of the steel profile according to actual needs, so that the gripping mechanism 4 can weld the end plate onto the steel profile. The displacement mechanism 5 is slidably connected to the frame 1. A fine positioning mechanism 7 is fixedly connected to one side of the moving end of the gripping mechanism 4, and the position of the fine positioning mechanism 7 corresponds to the position of the coarse positioning mechanism 8.

[0024] The gripping mechanism 4 includes a movable frame 401, pulleys 402, an electromagnet 403, a mounting plate 404, a gripping robotic arm 405, a welding robotic arm 406, a power supply mechanism 407, a drive motor, and a rack. The movable frame 401 has equidistantly arranged rotating slots, and pulleys 402 are rotatably connected within these slots. The pulleys 402 are slidably connected to the upper surface of the frame 1, and a rack is mounted on one side of the frame 1. A drive motor is mounted on the movable frame 401, and the motor shaft of the drive motor passes through the movable frame 401 and connects to a gear. The gear meshes with the rack. The gripping robotic arm 405 and the welding robotic arm 406 are mounted on the movable frame 401. The welding robotic arm 406 has a three-dimensional... A 3D camera is used to facilitate the welding robotic arm 406 in finding the spatial position between the end of the steel section and the end plate. A mounting plate 404 is installed on the gripping robotic arm 405. Sliding rods are slidably connected to the four corners of the mounting plate 404, and an electromagnet 403 is fixedly connected to one end of each sliding rod. A spring is installed on the electromagnet 403, and one end of the spring is fixedly connected to the mounting plate 404. A displacement mechanism 5 is installed on the moving frame 401, and a precision positioning mechanism 7 is installed on one side of the moving frame 401. A power supply mechanism 407 is installed on the moving frame 401, and the power output terminal of the power supply mechanism 407 is electrically connected to the power input terminals of the drive motor, the gripping robotic arm 405, and the welding robotic arm 406, respectively.

[0025] The displacement mechanism 5 includes a positioning frame 501, a guide rod 502, a clamping plate 503, a chain 504, a limiting rod 505, a hydraulic cylinder 506, an arc-shaped frame 507, a fixed frame 508, a dual-axis reduction motor 509, sliding wheels 510, a motor gear 511, and a connecting rod 512. One end of the connecting rod 512 is fixedly connected to the moving frame 401, and the other end of the connecting rod 512 is fixedly connected to the positioning frame 501. Equally spaced sliding wheels 510 are rotatably connected to the positioning frame 501, and the sliding wheels 510 are slidably connected to the upper surface of the frame 1. Two fixed frames 508 are fixedly connected to the two side walls of the positioning frame 501, and a guide rod 502 is rotatably connected between the two fixed frames 508. An arc-shaped frame 507 is slidably connected between the rods 502. A chain 504 is installed on the frame wall of the arc-shaped frame 507. The chain 504 is taut on the arc-shaped frame 507 and meshes with a motor gear 511. The motor gear 511 is located on the motor shaft of a dual-axis reduction motor 509 and is fixedly connected. The dual-axis reduction motor 509 is located inside a positioning frame 501 and is fixedly connected. Two hydraulic cylinders 506 are fixedly connected inside the arc-shaped frame 507. A limit plate is fixedly connected to the fixed end of the hydraulic cylinder 506, and the telescopic end of the hydraulic cylinder 506 passes through the limit plate and is connected to a clamping plate 503. Two limit rods 505 are fixedly connected to the clamping plate 503, and the limit rods 505 are slidably connected to the limit plate.

[0026] The precision positioning mechanism 7 includes a placement frame 701, a support rod 702, a placement plate 703, and bullseye universal balls 704. The placement frame 701 is located on one side of the movable frame 401 and is fixedly connected. The support rods 702 are fixedly connected to the placement frame 701 at equal intervals. The top of the support rods 702 is fixedly connected to the placement plate 703, and the bullseye universal balls 704 are fixedly connected to the placement plate 703 at equal intervals.

[0027] The varying heights of the support rods 702 cause the placement plate 703 on the support rods 702 to be tilted.

[0028] The conveying mechanism 6 includes a mounting frame 601, a belt 602, mounting rods 603, a first pulley 604, a rotating rod 605, a reduction motor 606, a second pulley 607, a fixed plate 608, a moving block 609, a rotating rod 610, and a screw 611. There are two mounting frames 601 connected in contact. One side of one mounting frame 601 is fixedly connected to equidistant mounting rods 603, and one end of each mounting rod 603 is fixedly connected to the frame body 1. The two mounting frames 601 are rotatably connected to equidistant rotating rods 605, and equidistant first pulleys 604 are fixedly connected to each rotating rod 605. A reduction motor 606 is fixedly connected inside one mounting frame 601, and the reduction motor 606 is connected to the second pulley 607 via a motor shaft. 607 is connected to one of the first pulleys 604 on the rotating rod 605 via a belt 602. The fixed plate 608 is equidistantly arranged on two mounting brackets 601 and fixedly connected. A screw 611 is threaded onto the fixed plate 608. One end of the screw 611 is rotatably connected to a moving block 609. A rotating rod 610 is rotatably connected between the two moving blocks 609 on both sides. The rotating rod 610 is located on the mounting bracket 601 and is slidably connected. The rotating rod 610 is also fixedly connected to the first pulleys 604 arranged at equal intervals. The first pulleys 604 on the rotating rod 610 are also connected to the first pulleys 604 on the rotating rod 605 via a belt 602. A coarse positioning mechanism 8 is installed on the belt 602. The first pulleys 604 on the two rotating rods 610 are also connected via a belt 602.

[0029] One of the mounting brackets 601 is fixedly connected to a finished product storage rack 2 on one side, through which finished products are placed.

[0030] The coarse positioning mechanism 8 includes a connecting frame 801 and a small linear motor 802. The connecting frame 801 is located on the belt 602 and fixedly connected, and the small linear motor 802 is installed on the connecting frame 801. The position of the small linear motor 802 corresponds to that of the placement plate 703. A sensor is provided on the moving end of the small linear motor 802 to facilitate the coarse positioning mechanism 8 in confirming whether there is an end plate at the work station.

[0031] The aforementioned steel arch frame welding and processing connecting plate positioning and gripping mechanism, in use, involves a conveyor transporting the bent steel section to the arc frame 507. A hydraulic cylinder 506 drives a clamping plate 503 to move up and down, clamping the steel section. A dual-shaft reduction motor 509 drives a chain 504 via a motor gear 511, which in turn rotates the arc frame 507 clamping the steel section, adjusting its position. A reduction motor 606 drives a belt 602 to transport the end plate to the coarse positioning mechanism 8. A small linear motor 802 moves the end plate downwards. For coarse positioning, the gripping robotic arm 405 moves the electromagnet 403 to grip the end plate on the belt 602 and place it on the placement plate 703. Since the placement plate 703 is tilted, the end plate slides on the bullseye ball 704 under its own weight until it reaches the bottom of the placement plate 703. For fine positioning, the gripping robotic arm 405 grips the finely positioned end plate again and moves it to the position of the profile on the positioning mechanism 5. The welding robotic arm 406 performs welding based on the spatial position of the profile end face transmitted by the 3D camera, making the end plate fit more closely to the profile and realizing the function of automatic positioning and gripping.

[0032] The parts of this invention not described in detail are prior art. Although the invention has been specifically shown and introduced in conjunction with preferred embodiments, there are many methods and approaches to implement this technical solution. The above description is only a preferred embodiment of the invention. However, those skilled in the art should understand that various changes in form and detail can be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the invention.

Claims

1. A connecting plate positioning and gripping mechanism for welding and processing steel arch frames, comprising a frame (1), characterized in that: A conveying mechanism (6) is installed on one side of the frame (1), and a coarse positioning mechanism (8) is installed on the moving end of the conveying mechanism (6). One end of the conveying mechanism (6) is connected to the shearing machine (3). A gripping mechanism (4) is installed on both sides of the frame (1), and a displacement mechanism (5) is installed on the moving end of the gripping mechanism (4). The displacement mechanism (5) is slidably connected to the frame (1). A fine positioning mechanism (7) is fixedly connected to one side of the moving end of the gripping mechanism (4), and the position of the fine positioning mechanism (7) corresponds to the position of the coarse positioning mechanism (8). The gripping mechanism (4) includes a movable frame (401), pulleys (402), an electromagnet (403), a mounting plate (404), a gripping robotic arm (405), a welding robotic arm (406), a power supply mechanism (407), a drive motor, and a rack. The movable frame (401) is provided with equidistantly arranged rotating slots, and pulleys (402) are rotatably connected in the rotating slots. The pulleys (402) are slidably connected to the upper surface of the frame (1), and a rack is installed on one side of the frame (1). A drive motor is installed on the movable frame (401), and the motor shaft of the drive motor passes through the movable frame (401) and is connected to a gear. The gear meshes with the rack. The gripping robotic arm (405) is installed on the movable frame (401). The moving frame (401) is equipped with a welding robotic arm (406), and a mounting plate (404) is installed on the gripping robotic arm (405). Sliding rods are slidably connected to the four corners of the mounting plate (404), and an electromagnet (403) is fixedly connected to one end of the sliding rod. A spring is installed on the electromagnet (403), and one end of the spring is fixedly connected to the mounting plate (404). A displacement mechanism (5) is installed on the moving frame (401), and a precision positioning mechanism (7) is installed on one side of the moving frame (401). A power supply mechanism (407) is installed on the moving frame (401), and the power supply output end of the power supply mechanism (407) is electrically connected to the power supply input end of the drive motor, the gripping robotic arm (405), and the welding robotic arm (406). The precision positioning mechanism (7) includes a placement frame (701), a support rod (702), a placement plate (703), and a bullseye universal ball (704). The placement frame (701) is located on one side of the movable frame (401) and is fixedly connected. The support rod (702) is fixedly connected to the placement frame (701) at equal intervals. The top of the support rod (702) is fixedly connected to the placement plate (703), and the bullseye universal ball (704) is fixedly connected to the placement plate (703) at equal intervals. The varying heights of the support rods (702) cause the placement plate (703) on the support rods (702) to be tilted.

2. The connecting plate positioning and gripping mechanism for welding and processing steel arch frames according to claim 1, characterized in that: The displacement mechanism (5) includes a positioning frame (501), a guide rod (502), a clamping plate (503), a chain (504), a limit rod (505), a hydraulic cylinder (506), an arc frame (507), a fixed frame (508), a dual-axis reduction motor (509), a sliding wheel (510), a motor gear (511), and a connecting rod (512). One end of the connecting rod (512) is fixedly connected to the moving frame (401), and the other end of the connecting rod (512) is fixedly connected to the positioning frame (501). The positioning frame (501) is rotatably connected with equidistantly arranged sliding wheels (510), and the sliding wheels (510) are slidably connected to the upper surface of the frame (1). Two fixed frames (508) are fixedly connected to the two side walls of the positioning frame (501), and the two fixed frames (508) rotate between each other. A guide rod (502) is connected, and an arc frame (507) is slidably connected between the two guide rods (502). A chain (504) is installed on the frame wall of the arc frame (507), and the chain (504) is meshed with a motor gear (511). The motor gear (511) is located on the motor shaft of a dual-shaft reduction motor (509) and is fixedly connected. The dual-shaft reduction motor (509) is located inside a positioning frame (501) and is fixedly connected. Two hydraulic cylinders (506) are fixedly connected inside the arc frame (507). A limit plate is fixedly connected to the fixed end of the hydraulic cylinder (506), and the telescopic end of the hydraulic cylinder (506) passes through the limit plate and is connected to a clamping plate (503). Two limit rods (505) are fixedly connected to the clamping plate (503), and the limit rods (505) are slidably connected to the limit plate.

3. The connecting plate positioning and gripping mechanism for welding steel arch frames according to claim 1, characterized in that: The conveying mechanism (6) includes a mounting frame (601), a belt (602), a mounting rod (603), a first pulley (604), a rotating rod (605), a reduction motor (606), a second pulley (607), a fixed plate (608), a moving block (609), a rotating rod (610), and a screw (611). There are two mounting frames (601), which are connected in contact. One side of one mounting frame (601) is fixedly connected to an equidistantly arranged mounting rod (603), and one end of the mounting rod (603) is fixedly connected to the frame body (1). The two mounting frames (601) are rotatably connected to equidistantly arranged rotating rods (605), and equidistantly arranged first pulleys (604) are fixedly connected to the rotating rods (605). A reduction motor (606) is fixedly connected inside one of the mounting frames (601), and the reduction motor (606) is connected to the second pulley (607) via a motor shaft. (607) is connected to one of the first pulleys (604) on the rotating rod (605) via a belt (602). The fixed plate (608) is equidistantly arranged on two mounting brackets (601) and fixedly connected. A screw (611) is threaded onto the fixed plate (608). One end of the screw (611) is rotatably connected to a moving block (609). A rotating rod (610) is rotatably connected between the two moving blocks (609) on both sides. The rotating rod (610) is positioned... The first pulleys (604) are equidistantly arranged and slidably connected on the mounting bracket (601). The first pulleys (604) on the rotating rod (610) and the first pulleys (604) on the rotating rod (605) are also connected by a belt (602). A coarse positioning mechanism (8) is installed on the belt (602). The first pulleys (604) on the two rotating rods (610) are also connected by a belt (602).

4. The connecting plate positioning and gripping mechanism for welding and processing steel arch frames according to claim 3, characterized in that: one of them A finished product storage rack (2) is fixedly connected to one side of the mounting bracket (601).

5. The connecting plate positioning and gripping mechanism for welding and processing steel arch frames according to claim 1, characterized in that: The coarse positioning mechanism (8) includes a connecting frame (801) and a small linear motor (802). The connecting frame (801) is located on the belt (602) and fixedly connected. The small linear motor (802) is installed on the connecting frame (801) and the position of the small linear motor (802) corresponds to that of the placement plate (703).

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