A method for grabbing curved steel plates

Abstract

The present invention relates to the technical field of arc-shaped steel plate grasping equipment, and in particular, to an arc-shaped steel plate grasping method, comprising a grasping seat and a plurality of electromagnets. The electromagnet is provided with a sliding rod. The sliding rod is slidably arranged in the grasping seat so that the distance between the adsorption surface of the electromagnet and the grasping seat is adjustable. A plurality of electromagnets are distributed on the grasping seat so that when the grasping seat is close to the steel plate, a plurality of electromagnets are attached to different parts of the steel plate. During the grasping process, the electromagnets are extended and retracted according to the shape of the surface of the steel plate, so that each electromagnet can adsorb the steel plate well. After the steel plate is adsorbed, the sliding rod is locked. At this time, lifting the steel plate causes a plurality of electromagnets to lift the steel plate together, ensuring that each electromagnet applies a lifting force to the steel plate.

Description

Technical Field

[0001] The invention relates to the technical field of arc-shaped steel plate grabbing equipment, and in particular to an arc-shaped steel plate grabbing method. Background Art

[0002] Shield tunnels are widely used in my country's subways and large-diameter tunnels. However, shield tunnels in operation often suffer from structural deformation due to factors such as surrounding rock pressure, groundwater erosion, and external construction disturbance. The common method to deal with the structural deformation of shield tunnels is to reinforce them with steel linings inside. Generally, multiple curved steel plates are installed along the inner contour of the tunnel by hand or by a mechanical arm to form a steel ring.

[0003] At present, the manual method of splicing steel rings has high risk factors, low efficiency and cannot guarantee high precision requirements. Therefore, robotic arms are gradually being used in steel ring reinforcement projects, which can not only reduce the risk factor but also improve efficiency. However, traditional robotic arms are difficult to fully adapt to curved steel plates of various curvatures in steel ring reinforcement projects, so the stability of grabbing and transporting steel plates is insufficient, especially when the installation position of the steel plate needs to be fine-tuned or the steel plate needs to be pushed to make it close to the tunnel contour after initial anchoring, the steel plate is prone to overturning or even falling. Summary of the invention

[0004] The object of the present invention is to provide a method for grabbing a curved steel plate, which can conveniently grab the curved steel plate.

[0005] The embodiments of the present invention are implemented by the following technical solutions:

[0006] A curved steel plate grabbing device comprises a grabbing seat and a plurality of electromagnets; the electromagnet is provided with a sliding rod; the sliding rod is slidably arranged in the grabbing seat so that the distance between the adsorption surface of the electromagnet and the grabbing seat is adjustable; the plurality of electromagnets are distributed in the grabbing seat so that when the grabbing seat is close to the steel plate, the plurality of electromagnets are attached to different parts of the steel plate.

[0007] Furthermore, the sliding rod is provided with a driving mechanism; the driving mechanism includes a shell, a telescopic rod, a driving shaft and a driving motor; the telescopic rod is slidably arranged inside the shell; the telescopic rod is tubular and the inner wall is provided with an internal thread; the driving shaft is threadedly connected to the inside of the telescopic rod; the driving motor is arranged in the shell and is transmission-connected to the telescopic rod; the telescopic rod is connected to the sliding rod, so that the telescopic rod drives the sliding rod to extend and retract.

[0008] Furthermore, the telescopic rod and the sliding rod are connected via a force sensor.

[0009] Furthermore, anti-drop mechanisms are provided on both sides of the grab seat; the anti-drop mechanisms include a positioning slot seat and an anti-drop pin; the anti-drop pin is slidably arranged on one side of the positioning slot seat so that the anti-drop pin can be extended to open or block the slot of the positioning slot seat.

[0010] Furthermore, the grabbing seat is provided with a guide sleeve in cooperation with each of the sliding rods; the sliding rod is slidably arranged inside the guide sleeve.

[0011] Furthermore, a plurality of the electromagnets are arranged in a row along the length direction of the grab seat; a sliding rod and a guide sleeve are respectively provided at both ends of each of the electromagnets; the two sliding rods corresponding to each of the electromagnets are connected to a connecting plate; and the telescopic rod is connected to the connecting plate.

[0012] A method for grabbing an arc-shaped steel plate is used in conjunction with the above-mentioned arc-shaped steel plate grabbing device. The grabbing seat is close to the steel plate; a number of the driving motors rotate until all the electromagnets are in contact with the surface of the steel plate; then all the driving motors stop rotating; the anti-drop pin extends into the pin hole of the safety ear of the steel plate; finally, the grabbing seat moves and lifts the steel plate.

[0013] Furthermore, the process of the electromagnet approaching the steel plate is adjusted according to the force condition of the force sensor; when the force sensor is not subjected to external force or the external pulling force is less than a preset value, the electromagnet approaches the steel plate at a basic speed; when the external pulling force applied to the force sensor reaches a preset value, the speed of the electromagnet approaching the steel plate is reduced to half of the basic speed; when the external pulling force applied to the force sensor reaches four times the preset value, the speed of the electromagnet approaching the steel plate is reduced to one-fourth of the basic speed; when the force applied to the force sensor becomes a thrust, the electromagnet stops approaching the steel plate.

[0014] Furthermore, when all the electromagnets are in contact with the steel plate, all the driving motors rotate until the external forces acting on each force sensor are zero.

[0015] The technical solution of the embodiment of the present invention has at least the following advantages and beneficial effects:

[0016] When the arc-shaped steel plate grabbing device of the present invention grabs the steel plate, the grabbing seat is moved so that a plurality of electromagnets are attached to different parts of the steel plate. Thus, different parts of the steel plate are all adsorbed by the electromagnets. Then, the locking mechanism locks the sliding rod so that the sliding rod cannot slide relative to the grabbing seat. Finally, the grabbing seat is moved to take away the adsorbed steel plate, thereby achieving the grabbing of the arc-shaped steel plate.

[0017] During the grabbing process, the electromagnets expand and contract according to the shape of the steel plate surface, so that each electromagnet can adsorb the steel plate well. After the steel plate is adsorbed, the sliding rod is locked. At this time, lifting the steel plate causes several electromagnets to lift the steel plate together, ensuring that each electromagnet applies a lifting force to the steel plate.

[0018] The cooperation of the driving mechanism and the force sensor makes it possible to adjust the force of each electromagnet to tighten the steel plate, so that the force applied by each electromagnet to the steel plate can be adjusted as needed, so that the force applied to each part of the steel plate is appropriate, avoiding the bending and deformation of the steel plate caused by improper force. At the same time, if the bending degree of the steel plate itself is not up to standard, it can be corrected by bending the steel plate through the action of several electromagnets.

[0019] The anti-drop pin is inserted into the small hole of the safety ear of the steel plate. If the grabbing device suddenly loses power or fails, the steel plate is fixed to the grabbing device through the anti-drop pin to prevent it from falling off and causing safety hazards.

[0020] The speed of the driving motor is adjusted according to the size of the external pulling force or thrust on the force sensor, so that the electromagnet moves at full speed when it is far away from the steel plate, slows down to half when it is close to the steel plate, and slows down to one-fourth when it is about to contact the steel plate. The electromagnet contacts the steel plate slowly to avoid strong impact and deformation of the steel plate. Finally, by adjusting the tightening state of several electromagnets to just fit, the steel plate is lifted in its original form to avoid deformation, and the steel plate can be installed more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the cooperation between the grabbing device and the manipulator of the present invention;

[0023] Figure 2 is a schematic diagram of a grasping device;

[0024] Figure 3 It is a partial schematic diagram of the grabbing device;

[0025] Figure 4 This is the principle structure diagram of the electromagnet extension;

[0026] Figure 5 Schematic diagram of the anti-fall mechanism.

[0027] Icon: 1-grabbing seat, 2-electromagnet, 3-sliding rod, 4-housing, 5-telescopic rod, 6-driving shaft, 7-driving motor, 8-force sensor, 9-positioning slot seat, 10-anti-dropping pin, 11-electric cylinder, 12-guide sleeve, 13-connecting plate, 14-steel plate, 15-safety ear, 16-manipulator. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Example:

[0030] like Figure 1-Figure 5 As shown, the present invention provides an arc-shaped steel plate grasping device, including a grasping seat 1 and a plurality of electromagnets 2. The grasping seat 1 is used to connect the electromagnet 2 and the manipulator 16. The movement of the manipulator 16 can drive the grasping seat 1, the electromagnet 2 and the steel plate 14 adsorbed on the electromagnet 2 to move to a required place. The electromagnet 2 is provided with a sliding rod 3. The sliding rod 3 is slidably arranged in the grasping seat 1 so that the distance between the adsorption surface of the electromagnet 2 and the grasping seat 1 can be adjusted. A plurality of electromagnets 2 are distributed on the grasping seat 1 so that when the grasping seat 1 is close to the steel plate 14, the plurality of electromagnets 2 are attached to different parts of the steel plate 14.

[0031] When the arc-shaped steel plate grabbing device of the present invention grabs the steel plate 14, the grabbing seat 1 is moved so that the electromagnets 2 are attached to different parts of the steel plate 14. Then, different parts of the steel plate 14 are all adsorbed by the electromagnets 2. Then, the locking mechanism locks the sliding rod 3 so that the sliding rod 3 cannot slide relative to the grabbing seat 1. Finally, the grabbing seat 1 is moved to take away the adsorbed steel plate 14, thereby achieving the grabbing of the arc-shaped steel plate 14.

[0032] During the grabbing process, the electromagnet 2 expands and contracts according to the shape of the surface of the steel plate 14, so that each electromagnet 2 can well adsorb the steel plate 14. After the steel plate 14 is adsorbed, the sliding rod 3 is locked. At this time, lifting the steel plate 14 allows several electromagnets to lift the steel plate 14 together, ensuring that each electromagnet 2 applies a lifting force to the steel plate 14.

[0033] In one embodiment, the telescopic rod 5 can be provided with a pin hole, and the grab seat 1 is also provided with a latch corresponding to the pin hole. After the grab seat 1 is lifted, the electromagnet 2 hangs freely. When it contacts the surface of the steel plate 14, the electromagnet 2 fits the steel plate 14. At the same time, the grab seat 1 moves the electromagnet 2 to slide the sliding rod 3 relative to the grab seat 1, so that the electromagnet always remains in a state of fitting to the surface of the steel plate 14. Finally, the latch is inserted into the socket to lock the sliding rod 3 in the position of the retaining wall, thereby preventing the sliding rod 3 from sliding relative to the grab seat 1 during the rotation of the steel plate 14.

[0034] This embodiment is another implementation method, and the sliding rod 3 is provided with a driving mechanism. Figure 3 As shown, the driving mechanism includes a housing 4, a telescopic rod 5, a driving shaft 6 and a driving motor 7. The telescopic rod 5 is slidably arranged inside the housing 4. The telescopic rod 5 and the interior of the housing 4 can be matched to be arranged in a rectangular shape, so that the telescopic rod 5 can only be telescoped relative to the housing 4 but cannot rotate relatively. The telescopic rod 5 is tubular and the inner wall is provided with an internal thread. The driving shaft 6 is threadedly connected to the inside of the telescopic rod 5. The driving motor 7 is arranged in the housing 4 and is transmission-connected to the telescopic rod 5. The telescopic rod 5 is connected to the sliding rod 3 so that the telescopic rod 5 drives the sliding rod 3 to telescope.

[0035] When the driving motor 7 rotates, the driving shaft 6 rotates, and the telescopic rod 5 is extended and retracted under the cooperation of the thread. The extension and retraction of the telescopic rod 5 can drive the electromagnet 2 to extend and retract. Since the telescopic rod 5 and the driving shaft 6 are threadedly connected, when the driving motor 7 stops rotating, the telescopic rod 5 cannot be extended and retracted, and the relative position of the sliding rod 3 and the grab seat 1 is automatically locked.

[0036] In this embodiment, the telescopic rod 5 is connected to the sliding rod 3 via a force sensor 8. The force applied by the telescopic rod 5 to the sliding rod 3 can be detected by the force sensor 8. The cooperation between the driving mechanism and the force sensor 8 makes it possible to adjust the force of each electromagnet 2 pressing the steel plate 14, so that the force applied by each electromagnet 2 to the steel plate 14 can be adjusted as needed, so that the force applied to each part of the steel plate 14 is appropriate. Avoid the warping and deformation of the steel plate 14 caused by improper force. At the same time, if the bending degree of the steel plate 14 itself is not up to standard, the steel plate 14 can be bent and corrected by the action of several electromagnets 2.

[0037] In this embodiment, both sides of the grab seat 1 are provided with anti-dropping mechanisms. Figure 5 As shown, the anti-drop mechanism includes a positioning groove seat 9 and an anti-drop pin 10. The anti-drop pin 10 is slidably arranged on one side of the positioning groove seat 9 so that the anti-drop pin 10 can be extended to open or block the slot of the positioning groove seat 9. Specifically, the anti-drop pin 10 is connected to the electric cylinder 11. The other side of the positioning groove seat 9 is provided with a plug hole to cooperate with the anti-drop pin 10, so that the anti-drop pin 10 can enter or leave the plug hole under the action of the electric cylinder 11.

[0038] When the steel plate 14 is attracted by the electromagnets 2, the anti-drop pin 10 is inserted into the hole of the safety ear 15 of the steel plate 14, so that the safety ear 15 is hooked on the gripping seat 1 through the anti-drop pin 10. If the gripping device suddenly loses power or fails, the steel plate 14 is fixed to the gripping device through the anti-drop pin 10 to prevent it from falling off and causing safety hazards. Figure 5 As shown by the dotted line in .

[0039] In this embodiment, the grab seat 1 is provided with a guide sleeve 12 in cooperation with each sliding rod 3. The sliding rod 3 can be slidably inserted into the guide sleeve 12. This makes the sliding of the sliding rod 3 more stable and reliable.

[0040] In this embodiment, a plurality of electromagnets 2 are arranged in a row along the length direction of the grab seat 1. A sliding rod 3 and a guide sleeve 12 are provided at both ends of each electromagnet 2. Figure 4 As shown, two sliding rods 3 corresponding to each electromagnet 2 are connected to the connecting plate 13. The telescopic rod 5 is connected to the connecting plate 13. This makes the forces on both ends of the electromagnet 2 balanced and stable.

[0041] The present invention also provides a method for grabbing an arc-shaped steel plate, which is used in conjunction with the above-mentioned arc-shaped steel plate grabbing device, and the grabbing seat 1 is close to the steel plate 14. A number of driving motors 7 rotate until all electromagnets 2 are in contact with the surface of the steel plate 14. Then all driving motors 7 stop rotating. The anti-drop pin 10 extends into the pin hole of the safety ear 15 of the steel plate 14. Finally, the grabbing seat 1 moves and lifts the steel plate 14. In this way, the arc-shaped steel plate 14 can be grabbed quickly and stably, thereby improving the installation efficiency of the steel plate 14. The safety of the installation is also guaranteed.

[0042] In this embodiment, the process of the electromagnet 2 approaching the steel plate 14 is adjusted according to the force condition of the force sensor 8. When the force sensor 8 is not subjected to external force or the external pulling force it is subjected to is less than a preset value, at this time, due to the attraction between the electromagnet 2 and the steel plate 14, it manifests as a pulling force. However, the electromagnet 2 is far away from the steel plate 14, and the pulling force it is subjected to is small and less than the preset value. At this time, the electromagnet 2 approaches the steel plate 14 at the basic speed. The basic speed is the fastest speed at which the electromagnet 2 moves. When the external pulling force on the force sensor 8 reaches the preset value, it is considered that the electromagnet 2 is close to the steel plate 14. At this time, the speed at which the electromagnet 2 approaches the steel plate 14 is reduced to half of the basic speed.

[0043] The change of magnet attraction with distance is expressed by the following formula: F=K*(m1*m2) / d2. Among them, F is the magnet attraction, K is a constant, m1 and m2 are the masses of the magnet and the steel plate 14 respectively, and d is the distance between the magnet and the steel plate 14. The change of magnet attraction with distance can be summarized as follows: the closer the distance, the greater the magnet attraction; the farther the distance, the smaller the magnet attraction. In other words, when the distance is reduced by one time, the magnet attraction increases by four times; when the distance is increased by one time, the magnet attraction decreases by four times. When the external pulling force on the force sensor 8 reaches a preset value, the distance between it and the steel plate 14 is determined as the basic distance. For the basic distance, it can be set to 1cm. According to the formula, when the external pulling force on the force sensor 8 reaches four times the preset value, the distance between the electromagnet 2 and the steel plate 14 is half of the basic distance, and the speed of the electromagnet 2 approaching the steel plate 14 is reduced to one-fourth of the basic speed. When the force on the force sensor 8 becomes a thrust, the electromagnet 2 has abutted against the steel plate 14. At this time, the electromagnet 2 stops approaching the steel plate 14. It should be noted that the external force here refers to the force outside the system. The gravity of the natural droop of the electromagnet 2 applied to the force sensor 8 is regarded as non-external force.

[0044] The rotation speed of the driving motor 7 is adjusted according to the size of the external pulling force or thrust on the force measuring sensor 8, so that the electromagnet 2 moves at full speed when it is far away from the steel plate 14, slows down to half when it is close to the steel plate 14, and slows down to one-fourth when it is about to contact the steel plate 14. The electromagnet 2 is slowly contacted with the steel plate 14 to avoid strong impact and deformation of the steel plate 14. In practice, the movement amplitude of the electromagnet 2 is small, and its maximum movement speed is also small. If the maximum movement of the electromagnet 2 is 5cm, the maximum speed of the electromagnet 2 is 1cm / s. If 1cm / s is used as the basic speed, one-fourth of it is recorded as 0.25cm / s, and approaching the steel plate 14 at this speed will hardly cause an impact on the steel plate 14. And it can complete the grasping in a shorter time. At the same time, if the attraction force applied by the electromagnet 2 to the steel plate 14 when the electromagnet 2 is 1 cm away from the steel plate 14 is taken as a preset value, the attraction force applied by the electromagnet 2 to the steel plate 14 gradually increases as the electromagnet 2 gradually approaches the steel plate 14 at a basic speed, and the attraction force increases to the preset value when the distance between the two is 1 cm. Subsequently, the electromagnet 2 gradually approaches the steel plate 14 at half the basic speed; when the distance between the two is 0.5 cm, the attraction force between the two increases to four times the preset value. Subsequently, the electromagnet 2 gradually approaches the steel plate 14 at a quarter of the basic speed until the force on the force sensor 8 becomes a thrust, at which time the electromagnet 2 stops approaching the steel plate 14.

[0045] The above is only one of the values ​​of the basic speed and the preset value, and the values ​​are not limited to this. In practice, the values ​​of the basic speed and the preset value are set according to specific circumstances as long as they can meet actual needs.

[0046] In this embodiment, when all the electromagnets 2 are attached to the steel plate 14, all the drive motors 7 rotate until the external forces on each force sensor 8 are zero. That is to say, the electromagnets 2 are adjusted to a state where they just touch the surface of the steel plate 14. The steel plate 14 is lifted in its original form to avoid deformation, and the steel plate 14 can be installed more accurately.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for grabbing an arc-shaped steel plate, characterized in that: Used in conjunction with an arc-shaped steel plate grabbing device, the arc-shaped steel plate grabbing device includes a grabbing seat and a plurality of electromagnets; the electromagnet is provided with a sliding rod; the sliding rod is slidably arranged in the grabbing seat, so that the distance between the adsorption surface of the electromagnet and the grabbing seat is adjustable; the sliding rod is also provided with a locking mechanism, so that the locking mechanism can lock the relative position of the sliding rod relative to the grabbing seat; a plurality of the electromagnets are distributed on the grabbing seat, so that when the grabbing seat is close to the steel plate, the plurality of the electromagnets are attached to different parts of the steel plate: The sliding rod is provided with a driving mechanism; the driving mechanism includes a housing, a telescopic rod, a driving shaft and a driving motor; the telescopic rod is slidably arranged inside the housing; the telescopic rod is tubular and the inner wall is provided with an internal thread; the driving shaft is threadedly connected to the inside of the telescopic rod; the driving motor is arranged in the housing and is transmission-connected to the telescopic rod; the telescopic rod is connected to the sliding rod so that the telescopic rod drives the sliding rod to extend and retract: The telescopic rod and the sliding rod are connected via a force sensor: Anti-drop mechanisms are provided on both sides of the grab seat; the anti-drop mechanisms include a positioning slot seat and an anti-drop pin; the anti-drop pin is slidably provided on one side of the positioning slot seat so that the anti-drop pin can be extended to open or block the slot of the positioning slot seat: The method for grabbing the arc-shaped steel plate is as follows: the grabbing seat approaches the steel plate; a plurality of the driving motors rotate until all the electromagnets are in contact with the surface of the steel plate; then all the driving motors stop rotating; the anti-dropping pin extends into the pin hole of the safety ear of the steel plate; finally, the grabbing seat moves and lifts the steel plate; The process of the electromagnet approaching the steel plate is adjusted according to the force condition of the force sensor; when the force sensor is not subjected to external force or the external pulling force is less than a preset value, the electromagnet approaches the steel plate at a basic speed; when the external pulling force on the force sensor reaches a preset value, the speed of the electromagnet approaching the steel plate is reduced to half of the basic speed; when the external pulling force on the force sensor reaches four times the preset value, the speed of the electromagnet approaching the steel plate is reduced to one-fourth of the basic speed; when the force on the force sensor becomes a thrust, the electromagnet stops approaching the steel plate; When all the electromagnets are in contact with the steel plate, all the driving motors rotate until the external forces acting on each force sensor are all zero.

2. The method for grabbing a curved steel plate according to claim 1, characterized in that: The grabbing seat is matched with each of the sliding rods and is provided with a guide sleeve; the sliding rod is slidably arranged inside the guide sleeve.

3. The method for grabbing a curved steel plate according to claim 2, characterized in that: A plurality of electromagnets are arranged in a row along the length direction of the grab seat; a sliding rod and a guide sleeve are respectively arranged at both ends of each electromagnet; two sliding rods corresponding to each electromagnet are connected to a connecting plate; and the telescopic rod is connected to the connecting plate.

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