A steel mold grasping mechanism

Abstract

The present invention relates to the technical field of steel mold grasping, and specifically relates to a steel mold grasping mechanism, which includes a connecting plate and a mounting shell. The connecting plate is connected to an external robotic arm. One end of the mounting shell is fixedly connected to the connecting plate. A telescopic support mechanism is installed on the mounting shell, and connecting shells are respectively installed at both ends of the telescopic support mechanism. A moving mechanism is installed on the connecting shell, and two support frames are connected to the moving mechanism. The support frames are slidably connected to the connecting shell. An auxiliary demolding mechanism is installed on the support frames, and the auxiliary demolding mechanism is used to assist in demolding between the steel mold and the concrete. For this steel mold grasping mechanism, multiple auxiliary demolding mechanisms stably grasp the steel mold, and under the connection of the external robotic arm, the steel mold is continuously separated from multiple steel bars of the concrete, thereby realizing stable demolding of the steel mold while preventing deformation of the steel mold and the steel bars, and at the same time realizing the function of protecting the concrete.

Description

Technical Field

[0001] The present invention relates to the technical field of steel mold grasping, and specifically relates to a steel mold grasping mechanism. Background Technique

[0002] Steel molds have the characteristics of high strength, good rigidity, and not being easily deformed. They can withstand the lateral pressure during concrete pouring, ensuring the stability and accuracy of the concrete structure. During the construction process, it is a common practice to use steel molds to assist in the pouring and forming of concrete. This method can ensure that the shape, size, and position of the concrete structure meet the design requirements, while improving the construction efficiency and quality.

[0003] Moreover, after the existing steel molds assist in the forming of concrete, when the strength of the concrete reaches the design requirements, the steel molds can be demolded. Since one side of the steel mold is in close contact with one side of the concrete during the process of the steel mold assisting in the forming of concrete, during the demolding process, a lifting device is used to pull the steel mold to separate the steel mold from the concrete. However, in this process, the force application point of this pulling method is on the back of the steel mold, and the number of force application points is small. At the same time, since there are many steel bars in the concrete, directly pulling the steel mold not only easily causes deformation of the steel mold and the steel bars, but also easily damages the surface of the concrete. Summary of the Invention

[0004] The purpose of the present invention is to provide a steel mold grasping mechanism to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A steel mold grasping mechanism includes a connecting plate and a mounting shell. The connecting plate is connected to an external robotic arm. One end of the mounting shell is fixedly connected to the connecting plate. A telescopic support mechanism is installed on the mounting shell, and connecting shells are respectively installed at both ends of the telescopic support mechanism;

[0006] A moving mechanism is installed on the connecting shell, and two support frames are connected to the moving mechanism. The support frames are slidably connected to the connecting shell;

[0007] An auxiliary demolding mechanism is installed on the support frame. The auxiliary demolding mechanism is used to assist in demolding between the steel mold and the concrete. After multiple auxiliary demolding mechanisms separate the steel mold from the concrete, they grasp the steel mold to separate the steel mold from the concrete.

[0008] Among them, the telescopic support mechanism includes a rotating block, a rotating sleeve, a rotating mechanism, a rotating lead screw, a connecting block, and a telescopic rod. The rotating block is located inside the mounting shell. There are two rotating sleeves. The two rotating sleeves are respectively located on both sides of the mounting shell, and the mutually close ends of the two rotating sleeves penetrate the mounting shell and are fixedly connected to the rotating block. The rotating sleeve is rotatably connected to the mounting shell;

[0009] The rotating mechanism is located inside the mounting shell, and the rotating mechanism is used to drive the rotating block;

[0010] One end of the rotating lead screw is located inside the rotating sleeve, and the other end of the rotating lead screw is fixedly connected to the connecting block. The connecting block is fixedly connected to the connecting shell, and one end of the rotating lead screw is threadedly connected to the rotating sleeve. The thread directions of the two rotating lead screws are opposite;

[0011] There are four telescopic rods, and the four telescopic rods are distributed in pairs on the outer sides of the two rotating lead screws. One end of the telescopic rod is fixedly installed on the outer side of the mounting shell, and the other ends of the two telescopic rods are both fixedly connected to the corresponding connecting blocks.

[0012] Among them, the rotating mechanism includes a rotating motor, a first rotating gear and a second rotating gear. The rotating motor is fixedly installed inside the mounting shell. The output end of the rotating motor is fixedly connected to the first rotating gear, and the first rotating gear is meshed with the second rotating gear. The second rotating gear is fixedly sleeved on the outer side of the rotating block, so as to realize the function of driving the rotating sleeve.

[0013] Among them, the moving mechanism includes a double-threaded lead screw, a rotating motor and a protective shell. The double-threaded lead screw is rotatably connected to the connecting shell. The rotating motor is installed on one side outside the connecting shell, and the output end of the rotating motor is rotatably connected to the double-threaded lead screw. The protective shell is located outside the rotating motor, and the protective shell is installed at one end outside the connecting shell. The two support frames are respectively threadedly sleeved on both ends of the double-threaded lead screw, so as to realize the function of driving the support frames.

[0014] Among them, the support frame is composed of a moving section, a supporting section and a guiding section. A threaded hole is provided at the moving section, and the moving section is threadedly sleeved on the outer side of the double-threaded lead screw, so as to facilitate the connection of the support frame.

[0015] Among them, the auxiliary demoulding mechanism includes a clamping member, a guiding block, a prying-up mechanism and a swinging member. The clamping member is fixedly installed at the guiding section, and the clamping member is used to clamp the steel mould. A guiding opening is provided at the guiding section, and the guiding block slidably penetrates through the guiding opening. One side of the guiding block away from the guiding section is connected to the prying-up mechanism, and the prying-up mechanism is used to initially separate the steel mould from the concrete;

[0016] The swinging member is installed at the supporting section, and the swinging member is used to drive the guiding block. By providing the auxiliary demoulding mechanism, the function of demoulding the steel mould from the concrete is realized.

[0017] Among them, the clamping member includes a fixed frame, a limiting horizontal plate and fixed side plates. The fixed frame is fixedly installed at the guiding section, and the limiting horizontal plate is fixedly installed on the side of the fixed frame close to the steel mold. There are two fixed side plates, and the two fixed side plates are fixedly installed at both ends of the fixed frame and on the side of the limiting horizontal plate away from the support frame. By providing the clamping member, the function of assisting in clamping the steel mold is realized.

[0018] Among them, the prying mechanism includes a support block, a reinforcing rod, a prying plate and a pulling member. The support block is fixedly connected to the guiding block. There is an opening on the side of the support block close to the concrete, and the prying plate penetrates through the opening. The reinforcing rod fixedly penetrates one end of the prying plate, and both ends of the reinforcing rod are rotatably connected to the support block. The pulling member is installed on the support block, and the pulling member is used to pull the prying plate through the reinforcing rod. By providing the prying mechanism, the function of quickly separating the steel mold from the concrete is realized.

[0019] Among them, the pulling member includes a pulling cylinder, a pulling rod, a pulling frame and a pulling block. The pulling cylinder is fixedly installed on one side of the support block, and there is a moving hole on the support block. One end of the pulling rod slidably penetrates through the moving hole, and the output end of the pulling cylinder is fixedly connected to one end of the pulling rod. The end of the pulling rod outside the moving hole is fixedly connected to the pulling frame. The pulling frame is U-shaped, and a support shaft is fixedly installed at one end of the pulling frame. One end of the pulling block is rotatably sleeved outside the support shaft. There are two pulling protrusions at the other end of the pulling block. The two pulling protrusions are respectively located on both sides of the prying plate and fixedly sleeved outside the reinforcing rod. By providing the pulling member, the function of pulling the prying plate is realized, and then the prying plate rotates to separate the steel mold from the concrete.

[0020] Among them, the swinging member includes a positioning motor, a rotating disc, a swinging shaft, a swinging support rod and a connecting shaft. The positioning motor is fixedly installed at the supporting section, and the output end of the positioning motor passes through the supporting section and is fixedly connected to the rotating disc. The output end of the positioning motor is rotatably connected to the supporting section. One end of the swinging shaft is fixedly installed on the side of the rotating disc away from the positioning motor, and the swinging shaft deviates from the center of the rotating disc. One end of the swinging support rod is rotatably sleeved outside the swinging shaft, and the other end of the swinging support rod is rotatably sleeved outside the connecting shaft. The connecting shaft is fixedly installed on the guiding block. By providing the swinging member, the function of pushing the guiding block is realized.

[0021] The present invention has at least the following beneficial effects:

[0022] When the present invention is in use, by connecting the connecting plate to an external robotic arm, when removing the formwork between the steel formwork and the concrete, the external robotic arm moves the connecting plate to the back of the steel formwork to be removed and close to the center position of the formwork. Subsequently, by adjusting the telescopic support mechanism and the moving mechanisms on the two connecting shells, the auxiliary demoulding mechanism can be moved to both sides of the formwork. The four auxiliary demoulding mechanisms assist in fixing the formwork during demoulding. Subsequently, a crowbar is used to separate the side of the formwork in contact with the concrete until the formwork is completely separated from the concrete. Then, the multiple auxiliary demoulding mechanisms stably grasp the formwork, and under the connection of the external robotic arm, the formwork is continuously separated from the multiple steel bars of the concrete, thereby realizing stable demoulding of the formwork while preventing deformation of the formwork and the steel bars, and at the same time realizing the function of protecting the concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 is a top view of the overall structure of the present invention;

[0025] Figure 3 is a side view of the overall structure of the present invention;

[0026] Figure 4 is the present invention Figure 3 Schematic diagram of the enlarged structure of area A;

[0027] Figure 5 is a schematic diagram of the connecting plate structure of the present invention;

[0028] Figure 6 is a schematic diagram of the connecting shell structure of the present invention;

[0029] Figure 7 is a schematic diagram of the bidirectional threaded lead screw structure of the present invention;

[0030] Figure 8 is a schematic diagram of the internal structure of the installation shell of the present invention;

[0031] Figure 9 is a schematic diagram of the support frame structure of the present invention;

[0032] Figure 10 is a schematic diagram of the exploded structure of the swing part of the present invention;

[0033] Figure 11 is a schematic diagram of the fixed frame structure of the present invention;

[0034] Figure 12 is a schematic diagram of the support block structure of the present invention;

[0035] Figure 13 is a schematic diagram of the exploded structure of the pulling part of the present invention;

[0036] Figure 14 This is a schematic structural diagram of the pulling frame of the present invention.

[0037] In the figure: 1, connecting plate; 2, mounting shell; 3, telescopic support mechanism; 31, rotating block; 32, rotating sleeve; 33, rotating mechanism; 331, rotating motor; 332, first rotating gear; 333, second rotating gear; 34, rotating lead screw; 35, connecting block; 36, telescopic rod; 4, connecting shell; 5, moving mechanism; 51, bidirectional threaded lead screw; 52, rotating motor; 53, protective shell; 6, support frame; 61, moving section; 62, supporting section; 63, guiding section; 7, auxiliary demolding mechanism; 71, clamping member; 711, fixing frame; 712, limiting horizontal plate; 713, fixing side plate; 72, guiding block; 73, prying mechanism; 731, supporting block; 732, reinforcing rod; 733, prying plate; 7331, straight section; 7332, inclined prying section; 7333, bent connecting section; 734, pulling member; 7341, pulling cylinder; 7342, pulling rod; 7343, pulling frame; 7344, pulling block; 7345, support shaft; 74, swinging member; 741, positioning motor; 742, rotating disk; 743, swinging shaft; 744, swinging support rod; 745, connecting shaft. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0039] Embodiment 1

[0040] Please refer to Figures 1 to 5 , a steel mold grasping mechanism, including a connecting plate 1 and a mounting shell 2. The connecting plate 1 is connected to an external robotic arm. One end of the mounting shell 2 is fixedly connected to the connecting plate 1. And in this embodiment, a plurality of connecting holes are provided on the connecting plate 1, so as to facilitate the installation and disassembly between the connecting plate 1 and the external robotic arm. A telescopic support mechanism 3 is installed on the mounting shell 2, and connecting shells 4 are respectively installed at both ends of the telescopic support mechanism 3;

[0041] Please refer to Figures 6 to 8, the telescopic support mechanism 3 includes a rotating block 31, a rotating sleeve 32, a rotating mechanism 33, a rotating lead screw 34, a connecting block 35 and a telescopic rod 36. The rotating block 31 is located inside the mounting shell 2 and is cylindrical in shape. There are two rotating sleeves 32, which are respectively located on both sides of the mounting shell 2. The ends of the two rotating sleeves 32 close to each other penetrate the mounting shell 2 and are fixedly connected to the rotating block 31. The rotating sleeve 32 is rotatably connected to the mounting shell 2;

[0042] The rotating mechanism 33 is located inside the mounting shell 2 and is used to drive the rotating block 31;

[0043] One end of the rotating lead screw 34 is located inside the rotating sleeve 32, and the other end of the rotating lead screw 34 is fixedly connected to the connecting block 35. The connecting block 35 is fixedly connected to the connecting shell 4, and one end of the rotating lead screw 34 is threadedly connected to the rotating sleeve 32. The thread directions of the two rotating lead screws 34 are opposite;

[0044] There are four telescopic rods 36, and the four telescopic rods 36 are distributed in pairs on the outer sides of the two rotating lead screws 34. One end of the telescopic rod 36 is fixedly installed on the outer side of the mounting shell 2, and the other ends of the two telescopic rods 36 are both fixedly connected to the corresponding connecting block 35.

[0045] Please refer to Figure 8 , the rotating mechanism 33 includes a rotating motor 331, a first rotating gear 332 and a second rotating gear 333. The rotating motor 331 is fixedly installed inside the mounting shell 2. The output end of the rotating motor 331 is fixedly connected to the first rotating gear 332, and the first rotating gear 332 is meshed with the second rotating gear 333. The second rotating gear 333 is fixedly sleeved on the outer side of the rotating block 31;

[0046] Specific implementation process: When the strength of the concrete reaches the design requirements, it will be connected to one end of an external robotic arm through the connection holes on the connecting plate 1. At the same time, the external robotic arm moves the connecting plate 1 to the outside of the steel formwork to be removed, and close to the central axis of the X-axis and Y-axis of the steel formwork. Subsequently, the rotation motor 331 operates, causing the first rotating gear 332 to drive the second rotating gear 333 to rotate, and then causing the rotating block 31 to rotate. When the rotating block 31 rotates, the two rotating sleeves 32 at both ends thereof further rotate synchronously. When the rotating sleeve 32 rotates, it provides driving force for the rotating lead screw 34. Due to the limiting effect of the connecting block 35 and the two telescopic rods 36 outside it, the rotating lead screw 34 further moves along the direction away from the rotating sleeve 32. At this time, the telescopic rod 36 is in a stretched state until the four clamping members 71 at the auxiliary demoulding mechanism 7 move to both sides of the steel formwork. Then, with the cooperation of the external robotic arm, one side of the fixed side plate 713 of the four clamping members 71 contacts the outside of the steel formwork. At this time, the rotation motor 331 stops operating, and at the same time, the connecting plate 1 is fixed relative to the outside of the steel formwork;

[0047] A moving mechanism 5 is installed on the connecting shell 4, and two support frames 6 are connected to the moving mechanism 5. The support frames 6 are slidably connected to the connecting shell 4;

[0048] Please refer to Figures 6 to 7 , the moving mechanism 5 includes a bidirectional threaded lead screw 51, a rotating motor 52, and a protective shell 53. The bidirectional threaded lead screw 51 is rotatably connected to the connecting shell 4. The rotating motor 52 is installed on one side outside the connecting shell 4, and the output end of the rotating motor 52 is rotatably connected to the bidirectional threaded lead screw 51. The protective shell 53 is located outside the rotating motor 52 and is installed at one end outside the connecting shell 4. The two support frames 6 are respectively threadedly sleeved on both ends of the bidirectional threaded lead screw 51;

[0049] The support frame 6 is composed of a moving section 61, a support section 62, and a guiding section 63. A threaded hole is provided in the moving section 61, and the moving section 61 is threadedly sleeved outside the bidirectional threaded lead screw 51;

[0050] That is, a protective shell 53 is provided outside the rotating motor 52, thereby realizing the function of protecting the rotating motor 52. At the same time, when adjusting the distance between the two support frames 6 of the connecting shell 4, the rotating motor 52 operates, causing the bidirectional threaded lead screw 51 to rotate. When the bidirectional threaded lead screw 51 rotates, it provides driving forces in opposite directions for the two support frames 6. Due to the limiting effect of the connecting shell 4, the two support frames 6 move along the opposite or same direction.

[0051] An auxiliary demoulding mechanism 7 is installed on the support frame 6. The auxiliary demoulding mechanism 7 is used to assist in demoulding between the steel mould and the concrete. After multiple auxiliary demoulding mechanisms 7 make the steel mould separate from the concrete, they grab the steel mould to make the steel mould separate from the concrete. In this example, the steel mould is provided with mounting holes corresponding to the steel bars on the concrete, so as not to affect the auxiliary forming of the concrete by the steel mould. At the same time, in this embodiment, the auxiliary demoulding mechanism 7 is offset from multiple steel bars, so as not to affect the demoulding effect of the steel mould.

[0052] Please refer to Figures 9 to 14 , the auxiliary demoulding mechanism 7 includes a clamping member 71, a guiding block 72, a prying-up mechanism 73 and a swinging member 74. The clamping member 71 is fixedly installed at the guiding section 63 and is used to clamp the steel mould through the clamping member 71. A guiding port is provided at the guiding section 63, and the guiding block 72 slidably penetrates through the guiding port. The side of the guiding block 72 away from the guiding section 63 is connected to the prying-up mechanism 73, and the prying-up mechanism 73 is used to initially separate the steel mould from the concrete;

[0053] The swinging member 74 is installed at the supporting section 62 and is used to drive the guiding block 72.

[0054] The clamping member 71 includes a fixing frame 711, a limiting cross plate 712 and fixing side plates 713. The fixing frame 711 is fixedly installed at the guiding section 63, and the limiting cross plate 712 is fixedly installed on the side of the fixing frame 711 close to the steel mould. There are two fixing side plates 713, and the two fixing side plates 713 are fixedly installed at both ends of the fixing frame 711 and are located on the side of the limiting cross plate 712 away from the support frame 6.

[0055] The prying-up mechanism 73 includes a support block 731, a strengthening rod 732, a prying plate 733 and a pulling member 734. The support block 731 is fixedly connected to the guiding block 72. An opening is provided on the side of the support block 731 close to the concrete, and the prying plate 733 penetrates through the opening. The strengthening rod 732 is fixedly penetrated through one end of the prying plate 733, and both ends of the strengthening rod 732 are rotatably connected to the support block 731. The pulling member 734 is installed on the support block 731, and the pulling member 734 is used to pull the prying plate 733 through the strengthening rod 732.

[0056] Please refer to Figures 12 to 13, the pulling member 734 includes a pulling cylinder 7341, a pulling rod 7342, a pulling frame 7343 and a pulling block 7344. The pulling cylinder 7341 is fixedly installed on one side of the support block 731, and a moving hole is provided on the support block 731. The pulling rod 7342 slidably penetrates one end of the moving hole, and the output end of the pulling cylinder 7341 is fixedly connected to one end of the pulling rod 7342. The end of the pulling rod 7342 outside the moving hole is fixedly connected to the pulling frame 7343. The pulling frame 7343 is U-shaped, and a support shaft 7345 is fixedly installed at one end of the pulling frame 7343. One end of the pulling block 7344 is rotatably sleeved outside the support shaft 7345. Two pulling protrusions are provided at the other end of the pulling block 7344. The two pulling protrusions are respectively located on both sides of the crowbar 733 and are fixedly sleeved outside the reinforcing rod 732.

[0057] Please refer to Figure 10 , the swinging member 74 includes a positioning motor 741, a rotating disk 742, a swinging shaft 743, a swinging support rod 744 and a connecting shaft 745. The positioning motor 741 is fixedly installed at the support section 62, and the output end of the positioning motor 741 passes through the support section 62 and is fixedly connected to the rotating disk 742. The output end of the positioning motor 741 is rotatably connected to the support section 62. One end of the swinging shaft 743 is fixedly installed on the side of the rotating disk 742 away from the positioning motor 741, and the swinging shaft 743 deviates from the center of the rotating disk 742. One end of the swinging support rod 744 is rotatably sleeved outside the swinging shaft 743, and the other end of the swinging support rod 744 is rotatably sleeved outside the connecting shaft 745. The connecting shaft 745 is fixedly installed on the guide block 72.

[0058] Specific implementation process: When demolding and clamping between the steel mold and the cast concrete, one side of each of the two fixed side plates 713 at the two support frames 6 on the connecting shell 4 is in contact with the outside of the steel mold. Thus, the steel mold is limited between the multiple fixed side plates 713 on both sides of the steel mold. At the same time, this setting does not affect the subsequent removal of the steel mold. At the same time, one side of the crowbar 733 at the support frame 6 is in contact with one side of the concrete;

[0059] Subsequently, the positioning motors 741 on multiple support frames 6 all operate. While the positioning motor 741 is operating, the rotating disk 742 rotates. While the rotating disk 742 is rotating, the swing shaft 743 drives the swing support rod 744 to move. And the swing support rod 744 drives the guide block 72 to move through the connecting shaft 745 at the other end. And under the limiting effect of the guide port on the guide block 72, further, the guide block 72 drives the pry plate 733 to move along the steel mold through the support plate. And the side of the pry plate 733 close to the steel mold is set as an inclined surface. Thus, while the pry plate 733 moves along the steel mold, it realizes prying between the steel mold and the concrete. At the same time, when the pry plate 733 contacts one side of the steel mold and one end of the pry plate 733 enters between the steel mold and the concrete, the pulling cylinder 7341 operates, so that the pulling rod 7342 drives the pulling frame 7343 to move along the support block 731. While the pulling frame 7343 is moving, it synchronously drives the pulling block 7344 to rotate. At the same time, the pulling block 7344 drives the reinforcing rod 732 to rotate under the limiting effect of the reinforcing rod 732. And since the pry plate 733 is fixedly installed on the reinforcing rod 732, further, the pry plate 733 rotates on the Y axis of the reinforcing rod 732, so that the inclined surface of the pry plate 733 pries up the steel mold, and further the steel mold is further separated from the concrete.

[0060] And during the process of the steel mold being pried up and separated from the concrete by the pry plate 733, the steel mold can move relative to the four fixed side plates 713 on its outer side, that is, move along the direction of the limiting cross plate 712. At the same time, the limiting cross plate 712 plays a role in limiting the steel mold to prevent the steel mold from bouncing up.

[0061] And subsequently, the two support frames 6 move along the outer side of the steel mold, so that the steel mold is completely separated from the concrete. Then the four fixed side plates 713 on the outer side of the steel mold clamp and fix the steel mold with each other. At the same time, under the support of the four pry plates 733, the steel mold is clamped and taken. Further, the steel mold is stably separated from the concrete and the steel bars on it, realizing the stable removal of the steel mold, and at the same time preventing the steel mold from deforming.

[0062] Embodiment 2

[0063] Please refer to Figures 13 to 14 , Embodiment 2 is a further supplementary description of the pry plate 733 in Embodiment 1. Specifically, the pry plate 733 is composed of a straight surface section 7331, an inclined surface prying section 7332, and a bent connecting section 7333.

[0064] The straight face section 7331 is adjacent to the side of the concrete, and the inclined face prying section 7332 is in the form of a slope, which can pry up the steel form through the inclined face prying section 7332 to separate the steel form from the side of the concrete. At the same time, the bent connecting section 7333 is the connection part with the reinforcing rod 732, so as to ensure the stable connection between the prying plate 733 and the reinforcing rod 732. Also, when the prying plate 733 pries up the steel form, the bent connecting section 7333 never contacts the concrete. The prying plate 733 is made of high-carbon steel material, so the prying plate 733 has high strength and high hardness, ensuring that the prying plate 733 can stably pry up the steel form.

[0065] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0066] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steel mold grasping mechanism, comprising a connecting plate (1) and a mounting shell (2), the connecting plate (1) is connected to an external robotic arm, and one end of the mounting shell (2) is fixedly connected to the connecting plate (1), characterized in that: A telescopic support mechanism (3) is installed on the installation shell (2), and connecting shells (4) are respectively installed at both ends of the telescopic support mechanism (3); A moving mechanism (5) is installed on the connecting shell (4), and two supporting frames (6) are connected to the moving mechanism (5), and the supporting frames (6) are slidably connected to the connecting shell (4); An auxiliary demoulding mechanism (7) is installed on the support frame (6), and the auxiliary demoulding mechanism (7) is used to assist in demoulding between the steel mold and the concrete, and after the steel mold is separated from the concrete, the plurality of auxiliary demoulding mechanisms (7) grab the steel mold to separate the steel mold from the concrete; The support frame (6) is composed of a moving section (61), a supporting section (62) and a guiding section (63); The auxiliary demoulding mechanism (7) comprises a clamping member (71), a guide block (72), a prying mechanism (73) and a swinging member (74); the clamping member (71) is fixedly mounted on the guide section (63) and is used to clamp the steel mold through the clamping member (71); a guide opening is provided at the guide section (63), and the guide block (72) slides through the guide opening; a side of the guide block (72) away from the guide section (63) is connected to the prying mechanism (73), and the prying mechanism (73) is used to initially separate the steel mold from the concrete; The swing member (74) is installed at the supporting section (62), and the swing member (74) is used to drive the guide block (72).

2. The steel mold grasping mechanism according to claim 1, characterized in that: The telescopic support mechanism (3) comprises a rotating block (31), a rotating sleeve (32), a rotating mechanism (33), a rotating screw (34), a connecting block (35) and a telescopic rod (36); the rotating block (31) is located inside the mounting shell (2); two rotating sleeves (32) are provided, and the two rotating sleeves (32) are respectively located on both sides of the mounting shell (2); and the ends of the two rotating sleeves (32) that are close to each other penetrate the mounting shell (2) and are fixedly connected to the rotating block (31); and the rotating sleeves (32) are rotatably connected to the mounting shell (2); The rotating mechanism (33) is located inside the mounting shell (2), and the rotating mechanism (33) is used to drive the rotating block (31); One end of the rotating screw rod (34) is located inside the rotating sleeve (32), and the other end of the rotating screw rod (34) is fixedly connected to the connecting block (35), the connecting block (35) is fixedly connected to the connecting shell (4), and one end of the rotating screw rod (34) is threadedly connected to the rotating sleeve (32), and the thread directions of the two rotating screw rods (34) are opposite; Four telescopic rods (36) are provided, and the four telescopic rods (36) are distributed in pairs on the outside of the two rotating screw rods (34). One end of the telescopic rod (36) is fixedly mounted on the outside of the mounting shell (2), and the other ends of the two telescopic rods (36) are fixedly connected to the corresponding connecting blocks (35).

3. The steel mold grasping mechanism according to claim 2, characterized in that: The rotation mechanism (33) includes a rotation motor (331), a first rotation gear (332) and a second rotation gear (333). The rotation motor (331) is fixedly installed inside the installation shell (2). The output end of the rotation motor (331) is fixedly connected to the first rotation gear (332), and the first rotation gear (332) is meshed with the second rotation gear (333). The second rotation gear (333) is fixedly sleeved on the outside of the rotating block (31).

4. A steel mold grasping mechanism according to claim 1, characterized in that: The moving mechanism (5) includes a bidirectional threaded lead screw (51), a rotation motor (52) and a protective shell (53). The bidirectional threaded lead screw (51) is rotatably connected to the connection shell (4). The rotation motor (52) is installed on one side outside the connection shell (4), and the output end of the rotation motor (52) is rotatably connected to the bidirectional threaded lead screw (51). The protective shell (53) is located outside the rotation motor (52), and the protective shell (53) is installed at one end outside the connection shell (4). Two of the support frames (6) are respectively threadedly sleeved on both ends of the bidirectional threaded lead screw (51).

5. The steel mold grasping mechanism according to claim 4, wherein: A threaded hole is provided at the moving section (61), and the moving section (61) is threadedly sleeved on the outside of the bidirectional threaded lead screw (51).

6. The steel mold grasping mechanism according to claim 1, characterized in that: The clamping member (71) includes a fixed frame (711), a limiting horizontal plate (712) and fixed side plates (713). The fixed frame (711) is fixedly installed at the guiding section (63), and the limiting horizontal plate (712) is fixedly installed on the side of the fixed frame (711) close to the steel mold. There are two fixed side plates (713), and the two fixed side plates (713) are fixedly installed at both ends of the fixed frame (711) and on the side of the limiting horizontal plate (712) away from the support frame (6).

7. The steel mold grasping mechanism according to claim 1, characterized in that: The prying mechanism (73) includes a support block (731), a reinforcing rod (732), a prying plate (733) and a pulling member (734). The support block (731) is fixedly connected to the guiding block (72). An opening is provided on the side of the support block (731) close to the concrete, and the prying plate (733) penetrates through the opening. The reinforcing rod (732) fixedly penetrates through one end of the prying plate (733), and both ends of the reinforcing rod (732) are rotatably connected to the support block (731). The pulling member (734) is installed on the support block (731), and the pulling member (734) is used to pull the prying plate (733) through the reinforcing rod (732).

8. The steel mold grasping mechanism according to claim 7, characterized in that: The pulling member (734) includes a pulling cylinder (7341), a pulling rod (7342), a pulling frame (7343) and a pulling block (7344). The pulling cylinder (7341) is fixedly installed on one side of the support block (731), and a moving hole is provided on the support block (731). One end of the pulling rod (7342) slidably penetrates through the moving hole, and the output end of the pulling cylinder (7341) is fixedly connected to one end of the pulling rod (7342). The end of the pulling rod (7342) located outside the moving hole is fixedly connected to the pulling frame (7343). The pulling frame (7343) is U-shaped, and a support shaft (7345) is fixedly installed at one end of the pulling frame (7343). One end of the pulling block (7344) is rotatably sleeved outside the support shaft (7345). Two pulling protrusions are provided at the other end of the pulling block (7344). The two pulling protrusions are respectively located on both sides of the pry bar (733) and are fixedly sleeved outside the reinforcing rod (732).

9. The steel mold grasping mechanism according to claim 1, characterized in that: The swinging member (74) includes a positioning motor (741), a rotating disk (742), a swinging shaft (743), a swinging support rod (744) and a connecting shaft (745). The positioning motor (741) is fixedly installed at the support section (62), and the output end of the positioning motor (741) passes through the support section (62) and is fixedly connected to the rotating disk (742). The output end of the positioning motor (741) is rotatably connected to the support section (62). One end of the swinging shaft (743) is fixedly installed on the side of the rotating disk (742) away from the positioning motor (741), and the swinging shaft (743) is offset from the center of the rotating disk (742). One end of the swinging support rod (744) is rotatably sleeved outside the swinging shaft (743), and the other end of the swinging support rod (744) is rotatably sleeved outside the connecting shaft (745). The connecting shaft (745) is fixedly installed on the guide block (72).

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