Steel foot frame device

Abstract

The application discloses a steel foot upper frame device and relates to the technical field of insulators, which comprises a conveying mechanism, a detection mechanism and a transfer mechanism. The detection mechanism comprises a detection platform, a camera detection system, a conventional receiving piece and a waste receiving piece. The conventional receiving piece and the waste receiving piece are arranged between the detection platform and the conveying mechanism. The detection platform, the conventional receiving piece and the conveying mechanism form a steel foot conveying path. A switcher for switching the conventional receiving piece or the waste receiving piece to be communicated with the detection platform is arranged on one side of the detection platform. A first pusher for pushing the steel foot to the conventional receiving piece or the waste receiving piece is arranged on the detection platform. In the application, whether the steel foot is qualified is determined by using the camera detection system, and then the running path of the steel foot is switched by using the switcher. The qualified steel foot enters subsequent conveying, and the unqualified steel foot is screened out. The overall structure has high motorization degree, does not need manual participation in inspection work, and improves screening efficiency.

Description

Technical Field

[0001] This invention relates to the field of insulator technology, and in particular to a steel foot mounting device. Background Technology

[0002] An insulator is a device installed between conductors at different potentials or between a conductor and a grounding component, capable of withstanding voltage and mechanical stress. Taking tempered glass insulators as an example, they are mainly composed of an iron cap, a tempered glass component, and steel feet, which are bonded together with cement adhesive.

[0003] In insulator production, steel feet are often manufactured separately. After production, they are transferred to the next production line for assembly with other components. Previously, this transfer required manual labor, which was inefficient and wasteful of manpower. With the popularization of automation, overhead conveyor systems have been gradually applied to the transfer of steel feet. This involves setting up receivers on the overhead conveyor to receive the steel feet, and using the reciprocating motion of the conveyor to transfer them. However, before the steel feet are placed on the overhead conveyor, they often need to be inspected one by one to ensure their quality, checking for damage, breakage, etc. Currently, most manufacturers still choose manual labor as the main inspector for the inspection stage. They manually observe and screen the steel feet conveyed on the conveyor belt to remove waste materials, which wastes a lot of manpower and is inefficient.

[0004] Therefore, there is an urgent need for a steel-foot mounting device that can improve screening efficiency and has a high degree of automation. Summary of the Invention

[0005] The purpose of this invention is to provide a steel foot mounting device to solve the problems existing in the prior art. It uses a detection platform and a camera detection system to detect the steel feet, automatically screening qualified steel feet into the conveying mechanism, thereby improving the automation level of the device and thus improving the screening efficiency.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a steel foot mounting device, including a conveying mechanism for conveying steel feet, a detection mechanism, and a transfer mechanism for transferring steel feet to a suspended conveying system. The detection mechanism includes a detection platform, a camera detection system with a camera range covering the detection platform, a conventional receiver, and a waste receiver. The conventional receiver and the waste receiver are disposed between the detection platform and the conveying mechanism. The detection platform, the conventional receiver, and the conveying mechanism form a steel foot conveying path. A switcher is provided on one side of the detection platform for switching the connection between the conventional receiver or the waste receiver and the detection platform. A first pusher is provided on the detection platform for pushing the steel feet onto the conventional receiver or the waste receiver.

[0007] Preferably, the bearing surfaces of both the detection platform and the conventional receiving component are V-shaped, the bearing surface of the waste receiving component is inclined to one side, and an inclined slide is provided on one side of the waste receiving component.

[0008] Preferably, the feed inlet of the testing platform is located at the top of the inclined surface of its bearing surface, and the axis of the steel foot is parallel to the orientation of the testing platform.

[0009] Preferably, the middle part of the detection platform is a rotatable rotating table.

[0010] Preferably, the conventional receiver and the waste receiver are arranged in parallel, the switcher is a second pusher, the conventional receiver and the waste receiver are connected by a connector or directly by bolts, and the telescopic end of the second pusher is connected to the conventional receiver.

[0011] Preferably, the conveying mechanism includes a first conveying section and a second conveying section. The end of the first conveying section is located on one side of the detection platform, and the beginning of the second conveying section forms a steel foot conveying path with the detection platform and the conventional receiving component. A first detector for detecting the steel foot's arrival is provided at the end of the first conveying section. A first push rod is provided on the side of the end of the first conveying section away from the detection platform. The first push rod pushes the steel foot into the detection platform. Both the first push rod and the first detector are electrically connected to the control system.

[0012] Preferably, the transfer mechanism is a robotic arm or a mechanical gripper integrating horizontal, lifting, and rotational motion. A plurality of steel foot storage platforms and a receiving platform are provided on one side of the end of the second conveying section. The bearing surfaces of the steel foot storage platforms and the receiving platform are V-shaped. The steel foot storage platforms and the receiving platform are parallel to the second conveying section. The receiving platform is located close to the second conveying section. A second push rod for pushing the steel feet into the receiving platform is provided on the side of the end of the second conveying section away from the receiving platform. A second detector for detecting the steel feet's positioning is provided at the end of the second conveying section. Both the second push rod and the control system are electrically connected. The bottom of the steel foot storage platform and the receiving platform are provided with a transfer channel. The transfer channel extends upward and passes through the middle of the steel foot storage platform and the receiving platform. A translation mechanism is provided in the transfer channel. The movement direction of the translation mechanism is parallel to the arrangement direction of the several steel foot storage platforms. A telescopic rod is provided on the translation mechanism. A V-shaped support is provided at the end of the telescopic rod away from the translation mechanism. The telescopic rod drives the V-shaped support to lift the steel foot in the receiving platform and transfer it to the steel foot storage platform. The end of the robot arm is provided with several grippers for gripping the steel foot.

[0013] Preferably, a clamp is provided above the transfer mechanism for fixing the position of the steel foot connection structure on the suspension chain.

[0014] Preferably, the steel foot adjustment frame device further includes a feeding mechanism, which includes a tilting feeder, a lifting trough for receiving the steel feet in the tilting feeder, and a lifting machine. The lifting machine is installed in the lifting trough, and the top of the lifting machine is connected to the first conveying section.

[0015] Preferably, a baffle plate is provided above the first conveying section to restrict the passage of a single layer of steel feet, and an inclined surface is provided on one side of the lifting trough corresponding to the position of the baffle plate to receive the slipping steel feet, and the bottom end of the inclined surface is connected to the lifting trough.

[0016] The present invention achieves the following main technical effects compared to the prior art: The camera inspection system above the inspection platform acquires images of the steel feet and analyzes them to determine if they are damaged or broken. When a steel foot passes inspection, the first pusher pushes it from the inspection platform onto the regular receiving unit. As the next qualified product is pushed onto the regular receiving unit, the previously pushed steel foot is pushed into the conveyor mechanism and then transferred to the overhead chain by the transfer mechanism. When a steel foot is found to be defective (i.e., it fails inspection), the switcher controls the position of the defective receiving unit to replace the regular receiving unit. As the first pusher pushes, the defective material is pushed into the defective receiving unit. After the defective material enters, the switcher immediately switches the regular receiving unit back to its original position to receive the next steel foot. The overall structure is highly mobile, requiring no manual inspection and improving screening efficiency.

[0017] Other solutions of the present invention achieve the following technical effects compared with the prior art: The V-shaped bearing surface of the inspection platform not only provides more stable support for the steel feet, but also allows the steel feet to roll on the inclined surface because they enter the platform at the top of the inclined surface and their outer circumference is arc-shaped. During this rolling process, the camera inspection system can acquire image information of the circumference, thereby improving the inspection effect on the steel feet.

[0018] The orientation of the steel feet can be switched by controlling the rotation of the turntable, so that the large end faces forward or the small end faces forward, ensuring that the orientation of the steel feet is the same throughout the entire conveying process. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the steel leg support device of the present invention; Figure 2 This is a schematic diagram of the structure of the detection mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of the width adjustment mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the transfer mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the storage platform and the receiving platform of the present invention; Figure 6 This is a schematic diagram of the mechanical gripper movement structure of the present invention; Figure 7 This is a schematic diagram of the structure at the L-shaped plate positioning point of the present invention; The components include: 1. Conveying mechanism; 2. Detection mechanism; 3. Transfer mechanism; 4. Suspended chain; 5. Detection platform; 6. Camera detection system; 7. Conventional receiving component; 8. Waste receiving component; 9. First pusher; 10. Inclined slide; 11. Rotary table; 12. Second pusher; 13. First conveying section; 14. Second conveying section; 15. Baffle; 16. Lead screw; 17. Connecting plate; 18. Adjusting block; 19. Bevel gear; 20. Transmission rod; 21. Mechanical gripper; 22. Lifting telescopic rod; 23. ... 24. Horizontal telescopic rod; 25. Second horizontal telescopic rod; 26. Third horizontal telescopic rod; 27. Rack; 28. Gear; 29. ​​Storage platform; 30. Receiving platform; 31. Second push rod; 32. Through-hole; 33. Limiting plate; 34. Guide rod; 35. Photoelectric sensor; 36. L-shaped plate; 37. Connecting rod; 38. U-shaped plate; 39. Strip hole; 40. Horizontal telescopic device; 41. Vertical plate; 42. Gripper; 43. Tilting feeder; 44. Lifting trough; 45. Elevator; 46. Baffle plate. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The purpose of this invention is to provide a steel foot mounting device to solve the problems existing in the prior art. It uses a detection platform and a camera detection system to detect the steel feet, automatically screening qualified steel feet into the conveying mechanism, thereby improving the automation level of the device and thus improving the screening efficiency.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Please refer to the following: Figures 1-7 As shown, a steel foot mounting device is provided, including a conveying mechanism 1 for conveying steel feet, a detection mechanism 2, and a transfer mechanism 3. The conveying mechanism 1 uses a conveyor belt to sequentially convey the steel feet. The transfer mechanism 3 is used to transfer the steel feet into a suspended conveying system. The detection mechanism 2 includes a detection platform 5, a camera detection system 6 whose camera range covers the detection platform 5, a conventional receiving device 7, and a waste receiving device 8. The camera detection system 6 mainly includes a camera and a processing system. The camera is set above the bearing surface of the conveying platform and transmits the captured images of the steel feet to the processing system for processing, thereby providing signals indicating whether the product is qualified, the product is waste, or whether the product specifications meet the requirements (since there are many specifications of steel feet, and the steel foot specifications required for a single batch of insulator production have certain requirements, it is necessary to screen steel feet of the required specifications). The conventional receiving device 7 and the waste receiving device 8 are set between the detection platform 5 and the conveying mechanism 1. The detection platform 5, the conventional receiving device 7, and the conveying mechanism 1 form a steel foot conveying path. A switch is set on one side of the detection platform 5 for switching the connection between the conventional receiving device 7 and the waste receiving device 8 and the detection platform 5. Both the switcher and the camera inspection system 6 are electrically connected to the control system. The inspection platform 5 is equipped with a first pusher 9 for pushing the steel foot onto the conventional receiving container 7 or the waste receiving container 8. The working principle of this device is as follows: the camera inspection system 6 above the inspection platform 5 acquires images of the steel foot and analyzes them to determine if it is damaged, broken, or does not meet specifications. When the steel foot passes inspection, the control system controls the first pusher 9 to push the steel foot from the inspection platform 5 onto the conventional receiving container 7. This process continues as the next qualified product is pushed into the conventional receiving container. On the 7th, the steel foot that was previously pushed in will be pushed into the conveying mechanism 1 and transported, and then transferred to the overhead chain 4 by the transfer mechanism 3. When the steel foot is detected as scrap or does not meet the specifications (i.e., it is found to be unqualified), the control system controls the scrap receiving device 8 to replace the position of the regular receiving device 7 through the switcher. With the push of the first pusher 9, the scrap is pushed into the scrap receiving device 8. After the scrap enters, the switcher immediately switches the regular receiving device 7 back to its original position to prepare to receive the next steel foot. The overall structure has a high degree of motorization, and no manual intervention is required for inspection, which improves the screening efficiency.

[0025] The bearing surfaces of the detection platform 5 and the conventional receiving component 7 are both V-shaped, with the opening of the V-shape being larger than the maximum thickness of the steel foot. The V-shaped structure can more stably support the steel foot. The bearing surface of the waste receiving component 8 is tilted to one side, and an inclined slide 10 is provided on one side of the waste receiving component 8. After the steel foot enters the waste receiving component 8, it will slide towards the inclined slide 10 and fall down. A receiving box can be set at the outlet of the inclined slide 10 to receive waste, which is convenient for subsequent recycling and reuse.

[0026] Based on the V-shaped bearing surface, the feed inlet of the detection platform 5 is located at the top of the inclined surface of its bearing surface. The axis of the steel foot is parallel to the orientation of the detection platform 5. Since the steel foot enters the detection platform 5 at the top of the inclined surface of the bearing surface of the detection platform 5, and the outer circumference of the steel foot itself is arc-shaped, the steel foot will roll on the inclined surface. During its rolling process, the camera detection system 6 can acquire image information of its circumference, thereby improving the detection effect of the steel foot.

[0027] Because the steel feet have large and small ends, they may be misaligned when entering the inspection platform 5, with the large or small ends facing forward. To improve the uniformity of the transport, the middle of the inspection platform 5 is set as a rotating table 11. By controlling the rotation of the rotating table 11, the orientation of the steel feet can be switched so that the large end or the small end faces forward, ensuring that the orientation of the steel feet is the same throughout the transport process. For example, the inspection platform 5 has a block-shaped structure with a cylindrical groove in the middle. A cylinder driven by a bottom rotating motor is embedded in the cylindrical groove. The outer diameter of the cylinder is the same as the inner diameter of the cylindrical groove, and the top surface of the cylinder and the top surface of the block-shaped structure form an integral V-shape. The cylinder serves as the rotating table 11. The table surface of the rotating table 11 must cover the entire steel foot in the vertical space to prevent the steel foot from hitting the outer circumference of the stationary table surface when it rotates with the rotating table 11.

[0028] The rotation of the rotating platform 11 is controlled by the control system. When the camera detection system 6 detects that its orientation is opposite to the specified orientation, it transmits a signal to the control system, which then controls the rotating platform 11 to rotate.

[0029] The conventional receiver 7 and the waste receiver 8 are arranged in parallel. The switcher is the second pusher 12, and its extension and retraction direction is perpendicular to the extension direction of the first pusher 9. The conventional receiver 7 and the waste receiver 8 are connected by a connector, which can be a connecting rod or a connecting block. The connection method can be welding or bolting, or the conventional receiver 7 and the waste receiver 8 can be directly bolted together. The extension and retraction end of the second pusher 12 is connected to the conventional receiver 7. The switching between the waste receiver 8 and the conventional receiver 7 is controlled by the extension and retraction of the extension rod.

[0030] Both the conventional receiving component 7 and the waste receiving component 8 can be block-shaped structures.

[0031] Both the first pusher 9 and the second pusher 12 can be pneumatic, hydraulic or electric telescopic devices.

[0032] The conveying mechanism 1 is divided into a first conveying section 13 and a second conveying section 14. The end of the first conveying section 13 is located on one side of the detection platform 5. The beginning of the second conveying section 14 forms a steel foot conveying path with the detection platform 5 and the conventional receiving component 7. A first detector is provided at the end of the first conveying section 13 to detect the steel foot in place. A first push rod is provided on the side of the end of the first conveying section 13 away from the detection platform 5. The first push rod pushes the steel foot into the detection platform 5. Both the first push rod and the first detector are electrically connected to the control system.

[0033] Both sides of the first conveying section 13 and the second conveying section 14 are equipped with baffles 15. Due to the limitations of the 5V-shaped structure of the detection platform, the first pusher 9 can only push one steel foot at a time. Therefore, the baffles 15 on both sides of the first conveying section 13 can only prevent the steel foot from slipping sideways. However, the second conveying section 14 is directly connected to the transfer mechanism 3, so its baffles 15 need to restrict multiple steel feet from passing through one by one, that is, to restrict the conveying width. Since the steel feet of different specifications have different sizes, a width adjustment mechanism is required. The width adjustment mechanism includes a lead screw 16, a connecting plate 17, and an adjusting block 18. The two ends of the lead screw 16 have opposite threads, and the two ends of the lead screw 16 are respectively threaded to the connecting plate 17. The end of the connecting plate 17 away from the lead screw 16 is connected to the adjusting block 18. The adjusting block 18 is fixedly connected to the outer wall of the baffle 15. In this way, when the drive screw... When rod 16 rotates, it enables the two adjusting blocks 18 to move towards each other or away from each other, thereby adjusting the distance between baffles 15. Several wide-range adjustment mechanisms can be set to adjust the baffles 15 between the second conveying sections 14. The method of driving the lead screw 16 to rotate can be electric drive or manual drive. In manual drive, in order to ensure the synchronous rotation of several lead screws 16, a bevel gear 2719 can be set on the lead screw 16, and a transmission rod 20 can be set between adjacent lead screws 16. The end of the transmission rod 20 is transmitted to the bevel gear 2719 on the lead screw 16 through the bevel gear 2719. When the bevel gear 2719 and the transmission rod 20 are set, it should be ensured that when several lead screws 16 rotate, the movement direction of the adjusting blocks 18 on them is the same. In electric drive, each lead screw 16 can rotate synchronously through a transmission belt or transmission chain, etc., and one lead screw 16 can be connected to the drive motor.

[0034] The transfer mechanism 3 is a robotic arm or a mechanical gripper 21 integrating horizontal, lifting, and rotational motion. The motion control structure of the mechanical gripper 21 includes: a lifting telescopic rod 22, a first horizontal telescopic rod 23, a second horizontal telescopic rod 24, and a rotary motor. The rotary motor is mounted on the telescopic end of the first horizontal telescopic rod 23, and the fixed end of the first horizontal telescopic rod 23 is mounted on the telescopic end of the lifting telescopic rod 22. The fixed end of the second horizontal telescopic rod 24 is connected to the rotary motor, and the mechanical gripper 21 is fixedly mounted on the telescopic end of the second horizontal telescopic rod 24. The lifting telescopic rod 22 drives the rotary motor, the first horizontal telescopic rod 23, the second horizontal telescopic rod 24, and the mechanical gripper 21 to perform the following actions: The lifting and lowering motion is achieved by the first horizontal telescopic rod 23 driving a rotary motor and the second horizontal telescopic rod 24 to perform horizontal displacement. The rotary motor drives the second horizontal telescopic rod 24 and the mechanical gripper 21 to rotate, and the second horizontal telescopic rod 24 drives the mechanical gripper 21 to perform horizontal displacement. The lifting telescopic rod 22, the first horizontal telescopic rod 23, and the second horizontal telescopic rod 24 can be electric, pneumatic, or hydraulic telescopic rods; a screw drive structure can also be used to replace the lifting telescopic rod 22 and the horizontal telescopic rod. When multiple mechanical grippers 21 are set, multiple second horizontal telescopic rods 24 can be set to control multiple mechanical grippers 21 separately, and the distance between multiple mechanical grippers 21 can be adjusted.

[0035] The rotary motor can be replaced by a mechanical transmission rotary structure, specifically including a third horizontal telescopic rod 25, a rack 26, and a gear 27. The third horizontal telescopic rod 25 is mounted on a bracket, which is connected to the telescopic end of the first horizontal telescopic rod 23. The telescopic end of the third horizontal telescopic rod 25 is fixedly connected to the rack 26. The gear 27 is rotatably mounted on the bracket, and the gear 27 meshes with the rack 26 to complete the rotation. The fixed end of the second horizontal telescopic rod 24 is fixedly connected to the gear 27.

[0036] Several steel foot storage platforms 28 and receiving platforms 29 are provided on one side of the end of the second conveying section 14. The bearing surfaces of the steel foot storage platforms 28 and receiving platforms 29 are V-shaped to stabilize the steel feet. The steel foot storage platforms 28 and receiving platforms 29 are parallel to the second conveying section 14, with the receiving platforms 29 positioned close to the second conveying section 14. A second push rod 30 is provided on the side of the end of the second conveying section 14 away from the receiving platforms 29 to push the steel feet into the receiving platforms 29. A second detector for detecting the arrival of the steel feet is provided at the end of the second conveying section 14. The second detector and the second... All push rods 30 are electrically connected to the control system. A transfer channel is provided at the bottom of the steel foot storage platform 28 and the receiving platform 29. The transfer channel extends upwards, passing through the middle of the steel foot storage platform 28 and the receiving platform 29 to form a through-hole 31. Along the upward orientation of the V-shaped groove of the receiving platform 29, the length of the through-hole 31 is no greater than the length of the steel foot. Preferably, the length of the through-hole 31 is greater than the thickness of the gripper arm on the robotic arm or the thickness of the mechanical gripper 21, allowing the gripper arm or mechanical gripper 21 to partially extend into the through-hole 31 for easier gripping of the steel foot. A translation mechanism is provided within the transfer channel. The translation mechanism is electrically... A pneumatic / hydraulic push rod or screw drive mechanism acts as the driver to drive the platform. The direction of movement of the translation mechanism is parallel to the arrangement direction of the several steel foot storage platforms 28. A telescopic rod is vertically installed on the translation mechanism, and a V-shaped support is installed at the end of the telescopic rod away from the translation mechanism. The telescopic rod drives the V-shaped support to lift the steel feet inside the receiving platform 29 and uses the translation movement of the translation mechanism to transfer the steel feet to the steel foot storage platform 28. The specific process is as follows: the telescopic rod extends and drives the V-shaped support to pass through the middle of the receiving platform 29, and the V-shaped support lifts the steel feet from the bottom of the receiving platform 29. The steel foot inside is disengaged from the receiving platform 29, and then the translation mechanism drives the V-shaped support to move to the steel foot storage platform 28 above the steel foot storage platform 28, which is located farthest from the second conveying section 14 and where no steel foot is placed. The telescopic rod retracts, and the V-shaped support places the steel foot on the steel foot storage platform 28. Then it returns to the bottom of the receiving platform 29 to lift another steel foot. The end of the robot arm is equipped with several grippers for gripping steel feet, or several mechanical grippers 21 are equipped on the horizontal telescopic rod. The arrangement of several steel foot storage platforms 28 allows the robot arm or multiple mechanical grippers 21 to transfer multiple steel feet at a time, improving transfer efficiency.

[0037] To ensure the accuracy of gripping by the robotic arm or mechanical gripper 21, corresponding limiting plates 32 are set on several steel foot storage platforms 28 and receiving platforms 29. That is, limiting plates 32 are set on both sides of the through opening 31. The distance between the two limiting plates 32 is the same as the distance between the steel feet. The channel formed by the two limiting plates 32 has a flared structure at the port near the second conveying section 14 to facilitate the guidance of the entering steel feet.

[0038] The positions of the two limiting plates 32 can be adjusted to accommodate steel feet of different specifications. The adjustment method is as follows: the ends of the two limiting plates 32 that are away from the second conveying section 14 are threadedly connected to a lead screw through a connecting block. The two lead screws are set horizontally and have the same thread direction. The two lead screws are driven by gears. The end of one of the lead screws is connected to the drive mechanism. In this way, the two lead screws rotate synchronously and in opposite directions, driving the two limiting plates 32 to move towards each other or away from each other.

[0039] To improve the stability of the movement of the limiting plate 32, guide rods 33 are provided on the outer sides of both limiting plates 32. Guide holes are provided on the limiting plates 32, and the guide rods 33 are inserted into the guide holes to complete the guidance. The setting of the guide rods 33 does not affect the gripping of the steel foot at the through-hole 31 by the robot or mechanical gripper 21.

[0040] Photoelectric sensors 34 are installed at the positions of the limit plate 32 corresponding to the storage platform 28 and the receiving platform 29. The transmitter and receiver of the photoelectric sensor 34 are respectively installed at the corresponding positions of the limit plate 32 on both sides. The photoelectric sensor 34 detects whether there are steel feet in the current storage platform 28 and the receiving platform 29, and then transmits the signal to the control system. The control system controls the movement of the robot or mechanical gripper 21 according to the storage status of the steel feet.

[0041] Both the first and second detectors can be selected from limit switches, cameras, or laser rangefinders.

[0042] Both the first push rod and the second push rod 30 can be pneumatic, hydraulic or electric telescopic devices, and a flat plate is set at the end of the telescopic device to increase the contact area with the steel foot, thereby improving the pushing stability.

[0043] To ensure accurate transfer of the steel foot to the connecting structure of the suspension chain 4, the connecting structure on the suspension chain 4 needs to be positioned to cooperate with the precision motion robot or mechanical gripper 21 to complete the precise connection. The positioning structure is specifically set according to the shape of the connecting structure. The connecting structure used on the suspension chain 4 is an L-shaped plate 35. The top of the L-shaped plate 35 is connected to the suspension chain 4 via a connecting rod 36. Several slots are opened on the bottom horizontal plate for the column of the steel foot to enter. The slots are smaller than the flange at the end of the steel foot to achieve the attachment of the steel foot. Based on the L-shaped plate 35, a U-shaped plate 37 is set on the frame of the transfer mechanism 3. The top opening of the U-shaped plate 37 is fastened to the suspension chain 4 from below. The bottom of the U-shaped plate 37 has a section that matches the connecting rod 36. The strip-shaped hole 38 has flared ends to guide the connecting rod 36. Rollers are installed on the inner wall of the U-shaped plate 37 on both sides of the strip-shaped hole 38. The rollers slightly protrude from the strip-shaped hole 38 to guide the connecting rod 36 while reducing friction. A horizontal telescopic device 39 is additionally installed on the frame of the transfer mechanism 3. The telescopic end of the horizontal telescopic device 39 is connected to the vertical plate 40 with a gripper 41. The gripper 41 of the vertical plate 40 is positioned directly opposite the connecting rod 36. The gripper 41 can be a thumb cylinder. When the connecting rod 36 moves to the position of the corresponding gripper 41, the horizontal telescopic device 39 drives the gripper 41 to approach and clamp the connecting rod 36, thereby positioning the connecting rod 36 and thus positioning the L-shaped plate 35.

[0044] The L-shaped plate 35 can be equipped with multiple slots suitable for holding steel feet of different specifications. After the steel feet of the mounting device are changed to the required specifications, there is no need to replace the L-shaped plate.

[0045] The movement process of the mechanical gripper 21: After the mechanical gripper 21 grips the steel foot, it moves upward through the lifting telescopic rod 22. The rotary motor drives it to rotate, changing it from a vertical state to a horizontal state. Then, the second horizontal movement mechanism moves to make the mechanical gripper 21 correspond to the slot of the L-shaped plate 35. Finally, the first horizontal movement mechanism drives the mechanical gripper 21 to move towards the slot. When it reaches the slot, the mechanical gripper 21 releases the steel foot, and the steel foot falls down by gravity. Its upper flange is hooked at the slot. After the hooking is completed, the mechanical gripper 21 returns to its original position, and the suspension chain 4 continues to move to the next L-shaped plate 35.

[0046] The steel leg mounting device also includes a feeding mechanism, which includes a tilting feeder 42, a lifting trough 43 for receiving the steel legs inside the tilting feeder 42, and a lifting machine 44. The lifting machine 44 is installed inside the lifting trough 43, and the top of the lifting machine 44 is connected to the first conveying section 13 to realize automated feeding and improve the automation level of the device.

[0047] A baffle plate 45 is provided above the first conveying section 13 to restrict the passage of a single layer of steel feet. The distance between the bottom end of the baffle plate 45 and the conveying surface of the first conveying section 13 is slightly greater than the maximum thickness of a single steel foot. The baffle plate 45 is actually a horizontal plate structure, and its surface facing the direction of the steel feet is an inclined surface. When the steel feet are stacked and pass through, the upper layer of steel feet will be guided by the inclined surface and slide to the side out of the first conveying section 13. An inclined surface is provided on one side of the lifting trough 43 corresponding to the position of the baffle plate 45 to receive the sliding steel feet. The bottom end of the inclined surface is connected to the lifting trough 43. The baffle plate 45 realizes the conveying of a single steel foot, while the inclined surface can collect and guide the steel feet that are blocked by the baffle plate 45 and slide to the side, and then guide them back into the lifting trough 43.

[0048] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0049] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0050] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A steel-foot adjustable upper frame device, characterized in that, The system includes a conveying mechanism for conveying steel feet, a detection mechanism, and a transfer mechanism for transferring steel feet to a suspended conveying system. The detection mechanism includes a detection platform, a camera detection system with a camera range covering the detection platform, a conventional receiver, and a waste receiver. The conventional receiver and the waste receiver are located between the detection platform and the conveying mechanism. The detection platform, the conventional receiver, and the conveying mechanism form a steel foot conveying path. A switcher is provided on one side of the detection platform for switching between the conventional receiver and the waste receiver connected to the detection platform. A first pusher is provided on the detection platform for pushing the steel feet onto the conventional receiver or the waste receiver. The conveying mechanism includes a first conveying section and a second conveying section. The end of the first conveying section is located on one side of the detection platform. The beginning of the second conveying section forms a steel foot conveying path with the detection platform and the conventional receiving component. A first detector is provided at the end of the first conveying section to detect the steel foot's arrival. A first push rod is provided on the side of the end of the first conveying section away from the detection platform. The first push rod pushes the steel foot into the detection platform. Both the first push rod and the first detector are electrically connected to the control system. The transfer mechanism is a robotic arm or a mechanical gripper integrating horizontal, vertical, and rotary motion. Several steel foot storage platforms and receiving platforms are provided at one end of the second conveying section. The bearing surfaces of both the steel foot storage platforms and the receiving platform are V-shaped. These platforms are parallel to the second conveying section, with the receiving platform positioned close to it. A second push rod for pushing the steel feet into the receiving platform is provided at the end of the second conveying section away from the receiving platform. A second detector for detecting the steel feet's positioning is located at the end of the second conveying section. The second push rods are all electrically connected to the control system. The bottom of the steel foot storage platform and the receiving platform are provided with a transfer channel. The transfer channel extends upward and passes through the middle of the steel foot storage platform and the receiving platform. A translation mechanism is provided in the transfer channel. The movement direction of the translation mechanism is parallel to the arrangement direction of the several steel foot storage platforms. A telescopic rod is provided on the translation mechanism. A V-shaped support is provided at the end of the telescopic rod away from the translation mechanism. The telescopic rod drives the V-shaped support to lift the steel foot in the receiving platform and transfer it to the steel foot storage platform. The end of the robot arm is provided with several grippers for gripping the steel foot.

2. The steel foot adjusting upper frame device according to claim 1, characterized in that, The bearing surfaces of both the detection platform and the conventional receiving component are V-shaped. The bearing surface of the waste receiving component is inclined to one side, and an inclined slide is provided on one side of the waste receiving component.

3. The steel foot adjusting upper frame device according to claim 2, characterized in that, The feed inlet of the testing platform is located at the top of the inclined surface of its bearing surface, and the axis of the steel foot is parallel to the orientation of the testing platform.

4. The steel foot adjusting upper frame device according to claim 1, characterized in that, The detection platform has a rotating table in the middle.

5. The steel foot adjusting upper frame device according to claim 1, characterized in that, The conventional receiving unit and the waste receiving unit are arranged in parallel. The switcher is a second pusher. The conventional receiving unit and the waste receiving unit are connected by a connector or directly by bolts. The telescopic end of the second pusher is connected to the conventional receiving unit.

6. The steel foot adjusting upper frame device according to claim 1, characterized in that, A clamp is provided above the transfer mechanism to fix the position of the steel foot connection structure on the suspension chain.

7. The steel foot adjusting upper frame device according to claim 1, characterized in that, The steel foot adjustment and mounting device also includes a feeding mechanism, which includes a tilting feeder, a lifting trough for receiving the steel feet inside the tilting feeder, and a lifting machine. The lifting machine is installed inside the lifting trough, and the top of the lifting machine is connected to the first conveying section.

8. The steel foot adjusting upper frame device according to claim 7, characterized in that, A baffle plate is provided above the first conveying section to restrict the passage of a single layer of steel feet. An inclined surface is provided on one side of the lifting trough corresponding to the position of the baffle plate to receive the slipping steel feet. The bottom end of the inclined surface is connected to the lifting trough.

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