Full-automatic carrying manipulator for floor support plate truss

Abstract

The invention discloses a full-automatic carrying manipulator for a floor support plate truss, and relates to the technical field of floor support plate truss production. The carrying assembly comprises a mounting frame, a ventilation part and a clamping part; a lifting device is mounted on the moving device, the lifting device is used for driving the mounting frame to ascend and descend, and the mounting frame is an I-shaped frame body; the clamping part comprises a cylinder body and two clamping jaws, the clamping part is used for clamping a steel bar truss, and the moving device and the lifting device are used in cooperation to carry the steel bar truss to a steel bar mesh; the steel bar truss comprises web member ribs and an upper chord rib, the web member ribs are steel bars with V-shaped cross sections, the upper chord rib is a cylinder, and the two web member ribs are fixed on the side surface of the upper chord rib in parallel; the cylinder body is fixed to the bottom of the mounting frame and used for driving the clamping jaw to clamp the steel bar truss. Full-automatic carrying of the steel bar truss can be achieved, the burden of repeated manual carrying or multi-person carrying can be relieved, and therefore the machining efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of floor deck truss production, and in particular to a fully automatic handling manipulator for floor deck trusses. Background Art

[0002] The floor deck truss is also called the steel truss. The steel truss is usually composed of upper chords, lower chords and web bars, and the steel truss is an indispensable component of the truss floor deck. Multiple steel trusses are combined with steel meshes for welding to facilitate the casting of the floor deck in the later stage. The steel trusses are usually transported manually and stacked together with the steel meshes. The efficiency of manual transportation is low and the position of the steel trusses and steel meshes needs to be adjusted frequently, which increases the workload and reduces work efficiency. Summary of the invention

[0003] The embodiment of the present application solves the problems in the prior art of low efficiency of manual handling and the need to frequently adjust the positions of steel trusses and steel meshes by providing a fully automatic handling robot for floor deck trusses.

[0004] The embodiment of the present application provides a fully automatic handling manipulator for a floor deck truss, including a moving device and a handling assembly; The handling assembly includes a mounting frame, a venting portion, and a clamping portion; The moving device is equipped with a lifting device, which is used to drive the mounting frame to move up and down, and the mounting frame is an I-shaped frame; The clamping part includes a cylinder and two clamping claws, and the clamping part is used to clamp the steel bar truss. The moving device and the lifting device cooperate to move the steel bar truss to the steel bar mesh. The steel truss comprises a web bar and an upper chord bar, wherein the web bar is a steel bar with a V-shaped cross section, and the upper chord bar is a cylinder, and there are two web bars fixed in parallel on the side of the upper chord bar; The cylinder body is fixed to the bottom of the mounting frame, and the cylinder body is used to drive the clamping claws to clamp the steel bar truss; Each of the clamping jaws is provided with an open semicircular hole, and the axis of the semicircular hole coincides with the axis of the upper chord rib, and the inner wall of the semicircular hole of the clamping jaw contacts the side surface of the upper chord rib; A gas bag is fixed in the middle of each clamping jaw, and a frosted sheet is fixed on one side of the gas bag close to the web rib; The air bag is inflated through the vent portion, so that the air bag expands and tightly wraps the connection between the belly bar rib and the upper chord rib.

[0005] Furthermore, there are six steel bar trusses, and the bottom of the mounting frame has two parallel clamping parts, and the two parallel clamping parts form a group; The clamping parts are provided with six groups at the bottom of the mounting frame, and one group of clamping parts is located above one steel bar truss; Each of the gas soft bags has a plurality of frosted sheets, and gaps are provided between the plurality of frosted sheets.

[0006] Further, the ventilation part includes an air inlet pipe and a distribution pipe; The air inlet end of the air inlet pipe is connected to the air pump, and a branch pipe is fixed on the air outlet end of the air inlet pipe; There are two distribution pipes, one distribution pipe is fixed on one side of the long side of the mounting frame, and the branch pipe has two gas outlet ends, and one gas outlet end of the branch pipe extends into one distribution pipe; A plurality of air guide tubes are fixed on one of the distribution tubes near the clamping claws, and the remaining end of one of the air guide tubes extends into a gas soft bag.

[0007] Furthermore, the transport assembly further comprises a plurality of dust cleaning parts, one dust cleaning part being fixed on one clamping part; The dust cleaning part includes two ventilators, one of which is fixed on one side of the clamping jaw, and the two ventilators are parallel to the upper chord rib; An air supply pipe is fixed on each of the ventilators, the air inlet end of the air supply pipe extends into the air guide pipe, a valve is fixed on each air guide pipe, and the valve is located below the air inlet end of the air supply pipe, and the air outlet end of the air supply pipe extends into the ventilator; The vent cylinder is a cylinder with a hollow interior and openings at both ends, and jet pipes are fixed at both ends. The jet pipe is a cylinder with a hollow interior and an opening close to one end of the vent cylinder, and an opening of one jet pipe coincides with an opening of the vent cylinder; A plurality of jet parts are fixed on the jet pipe and the ventilator near the web reinforcement, and the jet parts are metal nozzles and are used for cleaning the welding area of ​​the web reinforcement.

[0008] Furthermore, the steel mesh comprises metal cross bars and metal longitudinal bars; A plurality of bending parts are formed on the web reinforcement near the steel mesh by a bending device, the bending parts are in conflict with the metal longitudinal rods, and each jet part is located above the conflict between the bending parts and the metal longitudinal rods.

[0009] Furthermore, the jet pipe is a retractable tube body composed of multiple hollow tubes, and the multiple hollow tubes are sealed and sleeved in sequence from large to small from close to the ventilator according to their diameters, and a jet part is located on a hollow tube away from the clamping claw.

[0010] Furthermore, the jet part is an annular rubber capsule and a telescopic tube is fixed on its side, the free end of the telescopic tube extends into the hollow tube, and an annular connecting ring is fixed on the free end of the jet part; A brush is fixed to the free end of the connecting ring, and the air-intake part expands after air is introduced into the air-injection part, which can drive the brush to contact the bent part of the web reinforcement.

[0011] Furthermore, a protective plate is fixed on the side of each of the clamping jaws away from the air guide tube, and the protective plate is a rectangular body with a hollow interior and an opening on the side close to the upper chord rib; A limiting bag is fixed in the protective plate, a ventilation pipe is fixed on the air guide pipe, the ventilation pipe is located below the valve, and the free end of the ventilation pipe extends into the limiting bag. After air is taken into the limiting bag, it expands and presses against the upper chord rib.

[0012] Furthermore, the ash cleaning unit further comprises a hot air pipe, which is fixed on the cylinder body near the air guide pipe, and a plurality of heat conducting pipes are fixed on the hot air pipe near the cylinder body, and one heat conducting pipe is in conflict with one cylinder body; The air inlet end of each air supply pipe extends into the hot air pipe, and the free end of an air supply pipe extends into a ventilator; The heat conducting pipe is a metal pipe and is used to transfer the heat from the cylinder to the hot air pipe; The hot air pipe and the distribution pipe are connected via a connecting pipe.

[0013] Furthermore, the heat conducting pipe is a hollow tube body, and a heat sink is fixed inside the tube body, one end of the heat sink is in contact with the cylinder body, and the remaining end of the heat sink extends into the hot air pipe; A plurality of spoiler strips are fixed on the free ends of the heat sink, and the spoiler strips are metal strips and can increase the air flow velocity in the hot air pipe.

[0014] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: Through the set moving device and handling components, multiple steel trusses can be clamped and carried at the same time, and the steel trusses can be placed on the steel mesh. There is no need to frequently adjust the position of the steel trusses after transportation. The steel trusses can be fully automatically transported, which can reduce the burden of manual transportation in multiple times or by multiple people, thereby improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of a fully automatic handling robot for floor deck trusses of the present invention; Figure 2 It is a structural schematic diagram of the positional relationship between the mounting frame and the clamping part of the fully automatic handling robot for the floor deck truss of the present invention; Figure 3 It is a structural schematic diagram of the connection relationship between the air guide pipe and the clamping claw of the fully automatic handling robot for the floor deck truss of the present invention; Figure 4It is a structural schematic diagram of the positional relationship between the gripper and the gas soft bag of the fully automatic handling manipulator for the floor deck truss of the present invention; Figure 5 This is a schematic structural diagram of a state in which the upper chord is clamped by the clamping claws of the fully automatic handling robot of the floor deck truss of the present invention; Figure 6 It is a structural schematic diagram of the positional relationship between the upper chord and the clamping claws of the fully automatic handling manipulator for the floor deck truss of the present invention; Figure 7 It is a structural schematic diagram of the positional relationship between the clamping part and the dust cleaning part of the fully automatic handling robot for the floor deck truss of the present invention; Figure 8 It is a structural schematic diagram of the connection relationship between the ventilator and the jet pipe of the fully automatic handling manipulator for the floor deck truss of the present invention; Fig. 9 It is a schematic diagram of the exploded three-dimensional structure of the web reinforcement and the metal longitudinal rod of the fully automatic handling manipulator for the floor deck truss of the present invention; Fig.10 It is a structural schematic diagram of the positional relationship between the air jet pipe and the air jet part of the fully automatic handling robot for the floor deck truss of the present invention; Fig.11 It is a schematic diagram of the side structure of the air injection pipe and the air injection part of the fully automatic handling robot for the floor deck truss of the present invention; Fig.12 It is a schematic structural diagram of the state in which the jet part of the fully automatic handling robot for the floor deck truss of the present invention is expanded; Fig.13 It is a three-dimensional structural schematic diagram of the connection relationship between the protective plate and the ventilation pipe of the fully automatic handling robot for the floor deck truss of the present invention; Fig.14 It is a three-dimensional structural schematic diagram of the positional relationship between the hot air pipe and the distribution pipe of the fully automatic handling robot for the floor deck truss of the present invention; Fig.15 It is a structural schematic diagram of the connection relationship between the ventilator and the heat delivery pipe of the fully automatic handling manipulator for the floor deck truss of the present invention; Fig.16 It is a structural schematic diagram of the connection relationship between the heat pipe and the hot air pipe of the fully automatic handling robot for the floor deck truss of the present invention; Fig.17 It is a structural schematic diagram of the connection relationship between the heat sink and the spoiler strip of the fully automatic handling robot for the floor deck truss of the present invention.

[0016] In the figure: 100, conveying device; 110, placing table; 120, steel truss; 121, web bar; 122, upper chord bar; 130, steel mesh; 131, metal cross bar; 132, metal longitudinal bar; 140, moving device; 141, lifting device; 142, bracket; 200, handling assembly; 210, mounting frame; 220, ventilation part; 2201, air inlet pipe; 221, branch pipe; 222, distribution pipe; 2221, air guide pipe; 2222, air delivery pipe; 2223, ventilation pipe; 230, clamping part; 231, cylinder body; 232, clamping claw; 2321, gas soft bag; 2322, frosting sheet; 233, protective plate; 2331, limit bag; 240, dust cleaning unit; 241, air cylinder; 242, jet pipe; 2421, jet unit; 2422, connecting ring; 2423, brush; 243, hot air pipe; 2431, heat conducting pipe; 2433, connecting pipe; 2434, heat sink; 2435, spoiler. DETAILED DESCRIPTION

[0017] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0018] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0020] like Figures 1 to 6 As shown, the present application proposes a fully automatic handling manipulator for floor deck trusses, including a conveying device 100, a steel truss 120, a steel mesh 130, a bracket 142, and also includes a moving device 140 and a handling assembly 200. The moving device 140 moves forward and backward on the bracket 142, and the handling assembly 200 is used to carry the steel truss 120; The transport assembly 200 includes a mounting frame 210, a ventilating portion 220 and a clamping portion 230; The moving device 140 is provided with a lifting device 141, which moves left and right on the moving device 140. The lifting device 141 is used to drive the mounting frame 210 to move up and down. The mounting frame 210 is an I-shaped frame, and the clamping portion 230 is fixed at the bottom of the mounting frame 210. The clamping part 230 includes a cylinder 231 and two clamping claws 232. The clamping part 230 is used to clamp the steel truss 120. The moving device 140 and the lifting device 141 cooperate to move the steel truss 120 to the steel mesh 130. The steel mesh 130 is located on the conveying device 100, and the steel truss 120 is located on the placement table 110. After the steel truss 120 is moved to the steel mesh 130, the combined product is transported to the welding station through the conveying device 100. The steel truss 120 includes a web bar 121 and an upper chord bar 122. The web bar 121 is a steel bar with a V-shaped cross section. The upper chord bar 122 is a cylinder. There are two web bars 121 fixed in parallel to the side of the upper chord bar 122. The web bars 121 and the upper chord bar 122 are welded and fixed. The cylinder 231 is fixed to the bottom of the mounting frame 210 , and the cylinder 231 is used to drive the clamp 232 to clamp the steel bar truss 120 , and the clamp 232 is located on the side of the upper chord 122 ; Each of the clamping jaws 232 is provided with an open semicircular hole, and the axis of the semicircular hole coincides with the axis of the upper chord rib 122, and the inner wall of the semicircular hole of the clamping jaw 232 contacts the side of the upper chord rib 122, that is, the clamping jaw 232 can clamp and fix the upper chord rib 122; A gas bag 2321 is fixed in the middle of each of the clamping jaws 232. The gas bag 2321 is located at the connection between the web reinforcement 121 and the upper chord reinforcement 122. The clamping jaw 232 is located on the side of the upper chord reinforcement 122. A frosted sheet 2322 is fixed on the side of the gas bag 2321 close to the web reinforcement 121. The frosted sheet 2322 can increase the contact strength with the steel truss 120 to ensure the stability of the clamping, and at the same time can protect the gas bag 2321 and reduce the loss of the gas bag 2321. The air bag 2321 is inflated through the vent 220 to expand and tightly wrap the connection between the web rib 121 and the upper chord rib 122. That is, the frosted sheet 2322 is in close contact with the connection between the web rib 121 and the upper chord rib 122 to increase the contact strength.

[0021] It should be noted that the connection between the web reinforcement 121 and the upper chord reinforcement 122 is uneven, and the contact area is large during transportation, so the clamping and transportation between the two is more stable. The set gas bag 2321 can well tighten the connection between the two and better maintain the stability of the clamping of the steel truss 120.

[0022] Specifically, if Figures 1 to 6As shown, there are six steel trusses 120, and two parallel clamping parts 230 are provided at the bottom of the mounting frame 210. The two parallel clamping parts 230 form a group, and the two parallel clamping parts 230 are respectively located at two positions in the longitudinal direction of the steel truss 120 to ensure the balance of clamping. Six groups of clamping parts 230 are provided at the bottom of the mounting frame 210, and one group of clamping parts 230 is located above one steel truss 120, that is, one group of clamping parts 230 is used to clamp one steel truss 120; There are multiple frosted sheets 2322 on each of the gas soft bags 2321. There are gaps between the multiple frosted sheets 2322, and the gaps are between 0.5 mm and 0.6 mm. That is to say, the frosted sheets 2322 on the gas soft bags 2321 are of split design, which increases the contact force through the frosted sheets 2322 without affecting the expansion and contraction of the gas soft bags 2321.

[0023] It is worth mentioning that in the initial state, multiple steel trusses 120 exist independently. Through the multiple clamping parts 230, multiple steel trusses 120 can be clamped and transported at the same time in one clamping action. Through the preset transport path of the terminal control device, the moving device 140 and the lifting device 141 are controlled to cooperate with each other on the designated path to transport the steel trusses 120 to the steel mesh 130. There is no need to frequently adjust the position of the steel trusses 120 after transportation, thereby reducing the burden of manual transportation in multiple times or transportation by multiple people.

[0024] Specifically, if Figures 2 to 6 As shown, the ventilation portion 220 includes an air inlet pipe 2201 and a distribution pipe 222; The air inlet end of the air inlet pipe 2201 is connected to the air pump, and the air pump is fixed on the mounting frame 210. The branch pipe 221 is fixed on the air outlet end of the air inlet pipe 2201, and the branch pipe 221 is connected to the inside of the air inlet pipe 2201. There are two distribution pipes 222, one distribution pipe 222 is fixed on one side of the mounting frame 210 in the long direction, and the branch pipe 221 has two gas outlet ends, one gas outlet end of the branch pipe 221 extends into one distribution pipe 222, that is, the gas in the branch pipe 221 can enter the distribution pipe 222; A plurality of air tubes 2221 are fixed on one of the distribution tubes 222 near the clamp 232. The air tubes 2221 are hoses that can adapt to the clamping action of the clamp 232. The free end of an air tube 2221 extends into a gas bag 2321. The connection between the air tube 2221 and the gas bag 2321 is airtight and fixed, and the air tube 2221 is located on the side of the clamp 232 and does not affect the clamping movement of the clamp 232.

[0025] It is easy to understand that by taking air into the air intake pipe 2201 , the gas enters each air guide pipe 2221 through the distribution pipe 222 to inflate the gas bag 2321 , so that the gas bag 2321 of each clamping part 230 expands at the same time to clamp the steel truss 120 .

[0026] In the above embodiment, the moving device 140 first moves on the bracket 142, and then the lifting device 141 moves on the moving device 140 toward the placement platform 110, so that the clamping part 230 is located above the steel truss 120, and the clamping part 230 is driven down by the lifting device 141. At this time, the gas soft bag 2321 is located at the connection between the web reinforcement 121 and the upper chord reinforcement 122, and the upper chord reinforcement 122 is clamped by the clamping claw 232. At the same time, air is introduced into the air intake pipe 2201, and the gas soft bag 2321 is inflated through the air guide pipe 2221, so that it expands rapidly to tightly wrap the connection between the frosting sheet 2322 and the web reinforcement 121 and the upper chord reinforcement 122, thereby completing the clamping of the steel truss 120; Then, the lifting device 141 drives the steel truss 120 to rise and move toward the conveying device 100, so that the steel truss 120 is located at the specified position above the steel mesh 130. Then, the lifting device 141 drives the steel truss 120 to descend and puts the steel truss 120 on the steel mesh 130. After the steel truss 120 and the steel mesh 130 are combined, the air in the air intake pipe 2201 is evacuated to drive the gas bag 2321 to shrink and reset, and the clamping claw 232 is reset at the same time, and the above clamping and carrying movements are repeated for the next cyclic carrying. The safe carrying of the steel truss 120 can be achieved, not only the blank area of ​​the upper chord 122 can be clamped and fixed, but also the connection between the web bar 121 and the upper chord 122 can be clamped and fixed, and the automation efficiency is high, and there is no need to frequently adjust the position of the steel truss 120 and the steel mesh 130, thereby improving the processing efficiency.

[0027] In some embodiments of the present application, considering that resistance butt welding is usually adopted when welding the steel truss 120 and the steel mesh 130, since the web reinforcement 121 and the upper chord reinforcement 122 need to be welded and fixed before the steel truss 120 is assembled, pollutants such as dust generated during welding and debris generated by cutting are easily attached to the surface of the steel truss 120, resulting in a large contact resistance when welding the web reinforcement 121 and the steel mesh 130, and the problem of cold welding is easy to occur, affecting the welding quality. Therefore, further improvements are made to the above problems, specifically, as follows: Figures 7 to 9 As shown; The handling assembly 200 further includes a plurality of cleaning parts 240, which are used to clean the welding area of ​​the web reinforcement 121 to improve the welding quality. One cleaning part 240 is fixed to one clamping part 230, that is, one cleaning part 240 cleans the welding area of ​​one steel bar truss 120; The dust cleaning part 240 includes two air cylinders 241, one of which is fixed to one side of the clamping claw 232, and the two air cylinders 241 are parallel to the upper chord rib 122, and the air cylinders 241 do not affect the clamping movement of the clamping part 230; An air supply pipe 2222 is fixed on each of the ventilators 241, and the air inlet end of the air supply pipe 2222 extends into the air guide pipe 2221. A valve is fixed on each of the air guide pipes 2221, and the valve is located below the air inlet end of the air supply pipe 2222. The valve is used to control the air intake amount in the air guide pipe 2221, and the opening and closing of the valve does not affect the air intake amount in the air supply pipe 2222. The air outlet end of the air supply pipe 2222 extends into the ventilator 241; The vent cylinder 241 is a cylinder with a hollow interior and openings at both ends, and jet pipes 242 are fixed at both ends. The jet pipe 242 is a cylinder with a hollow interior and an opening close to one end of the vent cylinder 241. The opening of one jet pipe 242 coincides with an opening of the vent cylinder 241, which means that both jet pipes 242 are connected to the interior of the vent cylinder 241. A plurality of jet parts 2421 are fixed on the jet pipe 242 and the vent cylinder 241 near the web reinforcement 121 . One jet part 2421 is located above a welding area of ​​the web reinforcement 121 . The jet part 2421 is a metal nozzle and is used to clean the welding area of ​​the web reinforcement 121 .

[0028] It is worth noting that when the air intake in the air guide tube 2221 inflates the gas bag 2321, the valve on the air guide tube 2221 opens, and the gas enters the ventilator 241 from the air supply pipe 2222. When the gas bag 2321 wraps the connection between the abdominal bar rib 121 and the upper chord rib 122, the valve on the air guide tube 2221 closes, and the gas continues to enter the jet pipe 242 and no longer enters the gas bag 2321. When the air in the air guide tube 2221 starts to be exhausted, the valve on the air guide tube 2221 opens again, and this cycle repeats.

[0029] Specifically, if Figures 7 to 9 As shown, the steel mesh 130 includes a metal cross bar 131 and a metal longitudinal bar 132, and the metal cross bar 131 and the metal longitudinal bar 132 are welded in an interlaced manner to form a mesh frame; A plurality of bending portions are formed on the web reinforcement 121 near the steel mesh 130 by a bending device, and the bending portions are in conflict with the metal longitudinal rod 132. Each jet portion 2421 is located above the contact between the bending portion and the metal longitudinal rod 132, that is, the contact point between a bending portion and the metal longitudinal rod 132 is a welding point.

[0030] It should be noted that the length of the air jet pipe 242 can cover the bent portion of the web reinforcement 121 , and the bent portion of each steel bar truss 120 can be cleaned through the air jet portion 2421 .

[0031] Specifically, if Figures 10 to 12 As shown, the jet pipe 242 is a retractable tube body composed of a plurality of hollow tubes. The plurality of hollow tubes are sealed and sleeved in order from large to small, starting from a position close to the ventilator 241, according to their diameters, and the end of the hollow tube with the smallest diameter away from the clamp 232 is a closed end, to ensure that the gas in the jet pipe 242 does not leak. An jet portion 2421 is located on a hollow tube away from the clamp 232, that is, the jet portion 2421 does not affect the contraction of the plurality of hollow tubes, and the jet pipe 242 can be contracted to a minimum length when contracted.

[0032] It is worth noting that, in the working state, the jet pipe 242 is stretched outward, and after being stretched to the maximum limit, the steel truss 120 is started to be moved. When not working, the jet pipe 242 is retracted to reduce the occupied space and facilitate packaging and transportation.

[0033] On the basis of the above embodiment, when the air intake in the air guide tube 2221 inflates the gas bag 2321, the valve on the air guide tube 2221 is opened, and the gas enters the ventilator 241 from the air supply pipe 2222, and a strong airflow is ejected through the jet part 2421 to clean the welding area of ​​the web reinforcement 121, and remove the dust and debris on its surface. When the gas bag 2321 tightly wraps the connection between the web reinforcement 121 and the upper chord reinforcement 122, the valve on the air guide tube 2221 is closed. During the transportation of the steel truss 120, the gas is continuously ejected from the jet part 2421 to clean the welding point of the web reinforcement 121. When the steel truss 120 is close to the steel mesh 130, the welding area of ​​the steel mesh 130 can be cleaned, and the welding area of ​​the steel truss 120 can be cleaned during the transportation process, and the welding area of ​​the steel mesh 130 can be cleaned at the same time, thereby improving the welding quality.

[0034] In some embodiments of the present application, Figures 7 to 9 As shown, the jet part 2421 is an annular rubber bladder and a telescopic tube is fixed on its side. The telescopic tube can expand and contract with the expansion of the jet part 2421. The free end of the telescopic tube extends into the hollow tube. The hollow tube and the jet part 2421 are connected through the telescopic tube. The gas in the jet tube 242 enters the jet part 2421 through the rubber tube, so that the jet part 2421 is inflated and expands, and approaches the bending part of the web rib 121. The free end of the jet part 2421 is fixed with an annular connecting ring 2422. The gas in the jet tube 242 passes through the jet part 2421 and is ejected from the connecting ring 2422. A brush 2423 is fixed to the free end of the connecting ring 2422 . The air-intaken air in the air-injecting portion 2421 expands and can drive the brush 2423 to contact the bent portion of the web reinforcement 121 .

[0035] It should be noted that the conveying device 100 is a roller conveying device, the welding area of ​​the steel mesh 130 is located in the gap between the rollers, and the brush 2423 can clean the upper and lower surfaces of the steel mesh 130.

[0036] On the basis of the above-mentioned embodiment, when the bent part of the web reinforcement 121 is jet-cleaned, the air intake in the jet part 2421 expands, so that the brush 2423 contacts the bent part of the web reinforcement 121, and at the same time, the brush 2423 can extend under the web reinforcement 121. Under the action of the airflow, the brush 2423 continuously swings, thereby increasing the contact force with the bent part of the web reinforcement 121, and better cleaning the upper and lower surfaces of the welding area of ​​the web reinforcement 121. When the steel truss 120 is close to the steel mesh 130, the upper and lower surfaces of the welding area of ​​the steel mesh 130 are cleaned, thereby further improving the cleaning effect and improving the welding quality.

[0037] In some embodiments of the present application, Fig.13 As shown, a protective plate 233 is fixed to each of the clamping jaws 232 on a side away from the air guide tube 2221. The protective plate 233 is a rectangular body with a hollow interior and an opening on a side close to the upper chord rib 122. A limiting bag 2331 is fixed in the protective plate 233, and a ventilation pipe 2223 is fixed on the air guide tube 2221. The ventilation pipe 2223 is located below the valve, which means that the valve can control the air intake of the limiting bag 2331 and the gas bag 2321 at the same time, and the remaining end of the ventilation pipe 2223 extends into the limiting bag 2331, and the connection between the ventilation pipe 2223 and the limiting bag 2331 is airtight and fixed. After air is taken in, the limiting bag 2331 expands and rests on the upper chord 122.

[0038] In the above embodiment, when air is taken into the air guide tube 2221, the gas soft bag 2321 expands and the limiting bag 2331 expands at the same time. The limiting bag 2331 clamps the upper chord 122 to increase the contact area with the steel truss 120, further increasing the stability of transportation, preventing skewing during transportation, and improving the safety of transportation.

[0039] In some embodiments of the present application, Figures 14 to 16 As shown, the cleaning part 240 further includes a hot air pipe 243, which is fixed on the cylinder 231 near the air pipe 2221, and a plurality of heat conducting pipes 2431 are fixed on the hot air pipe 243 near the cylinder 231, and one heat conducting pipe 2431 conflicts with one cylinder 231; The air inlet end of each air supply pipe 2222 extends into the hot air pipe 243, and the free end of an air supply pipe 2222 extends into a ventilator 241; The heat pipe 2431 is a metal pipe and is used to transfer the heat from the cylinder 231 to the hot air pipe 243. The heat pipe 2431 is preferably a copper pipe, or other metal pipes with good thermal conductivity. The hot air pipe 243 and the distribution pipe 222 are connected via a connecting pipe 2433 , and the gas in the distribution pipe 222 enters the hot air pipe 243 through the connecting pipe 2433 .

[0040] It is worth noting that when the clamping jaws 232 repeatedly perform clamping movements, the cylinder body 231 will generate a large amount of heat, usually generating an operating temperature between 90°C and 105°C. This heat can be used to preheat the welding points of the steel truss 120, shortening the welding time from 3s to 2.5s, thereby improving welding efficiency.

[0041] Specifically, if Fig.16 and Fig.17 As shown, the heat conducting pipe 2431 is a hollow tube body, and a heat sink 2434 is fixed inside the tube body, one end of the heat sink 2434 contacts the cylinder body 231, and the remaining end of the heat sink 2434 extends into the hot air pipe 243; A plurality of spoiler strips 2435 are fixed to the free ends of the heat sink 2434 . The spoiler strips 2435 are metal strips and can increase the air flow velocity in the hot air pipe 243 .

[0042] It is worth noting that the spoiler strip 2435 can further transfer the heat on the heat sink 2434 to the hot air pipe 243. Multiple spoiler strips 2435 are staggered with each other. The flow velocity of the flowing gas in the hot air pipe 243 is increased when passing through the spoiler strip 2435, and the surrounding airflow is turbulently moved, thereby avoiding heat concentration and better driving the heat at the heat sink 2434.

[0043] On the basis of the above embodiment, the heat at the cylinder 231 is sent into the hot air pipe 243 through the heat sink 2434. As the gas in the distribution pipe 222 enters the hot air pipe 243, it is sent into the ventilator 241 through the air supply pipe 2222. The hot air is ejected from the jet pipe 242 to preheat the welding area of ​​the web reinforcement 121. When the steel truss 120 is close to the steel mesh 130, the welding area of ​​the steel mesh 130 can be preheated. Not only can the welding area of ​​the web reinforcement 121 and the steel mesh 130 be preheated, but the cylinder 231 can also be cooled, thereby improving the service life and welding efficiency.

[0044] The above description is only a preferred embodiment of the present invention and is 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 fully automatic handling manipulator for floor deck trusses, characterized in that: It comprises a moving device (140) and a transport component (200); The transport assembly (200) comprises a mounting frame (210), a ventilating portion (220) and a clamping portion (230); The moving device (140) is equipped with a lifting device (141), the lifting device (141) is used to drive the mounting frame (210) to move up and down, and the mounting frame (210) is an I-shaped frame body; The clamping part (230) comprises a cylinder (231) and two clamping claws (232); the clamping part (230) is used to clamp the steel bar truss (120); the moving device (140) and the lifting device (141) cooperate to move the steel bar truss (120) onto the steel bar mesh (130); The steel bar truss (120) comprises a web bar (121) and an upper chord bar (122), wherein the web bar (121) is a steel bar with a V-shaped cross section, and the upper chord bar (122) is a cylinder, and there are two web bar bars (121) fixed in parallel to the side of the upper chord bar (122); The cylinder body (231) is fixed to the bottom of the mounting frame (210), and the cylinder body (231) is used to drive the clamping claw (232) to clamp the steel bar truss (120); Each of the clamping jaws (232) is provided with an open semicircular hole, and the axis of the semicircular hole coincides with the axis of the upper chord rib (122), and the inner wall of the semicircular hole of the clamping jaw (232) abuts against the side surface of the upper chord rib (122); A gas bladder (2321) is fixed in the middle of each clamping jaw (232), and a frosted sheet (2322) is fixed on one side of the gas bladder (2321) close to the web rib (121); The gas soft bag (2321) is inflated through the vent (220), so that the gas soft bag (2321) expands and tightly wraps the connection between the web rib (121) and the upper chord rib (122).

2. The fully automatic handling robot for floor deck trusses according to claim 1, characterized in that: There are six steel bar trusses (120), and the bottom of the mounting frame (210) has two parallel clamping parts (230), and the two parallel clamping parts (230) form a group; Six groups of the clamping parts (230) are provided at the bottom of the mounting frame (210), and one group of the clamping parts (230) is located above a steel bar truss (120); There are a plurality of frosted sheets (2322) on each of the gas soft bags (2321), and gaps exist between the plurality of frosted sheets (2322).

3. The fully automatic handling robot for floor deck trusses according to claim 1, characterized in that: The ventilation portion (220) comprises an air inlet pipe (2201) and a distribution pipe (222); The air inlet end of the air inlet pipe (2201) is connected to the air pump, and the branch pipe (221) is fixed on the air outlet end of the air inlet pipe (2201); There are two distribution pipes (222), one distribution pipe (222) is fixed to one side of the mounting frame (210) in the long side direction, the branch pipe (221) has two gas outlet ends, and one gas outlet end of the branch pipe (221) extends into one distribution pipe (222); A plurality of air guide tubes (2221) are fixed on one of the distribution tubes (222) near the clamping claw (232), and the remaining end of an air guide tube (2221) extends into a gas soft bag (2321).

4. The fully automatic handling robot for floor deck trusses according to claim 1, characterized in that: The transport assembly (200) further comprises a plurality of cleaning portions (240), wherein one cleaning portion (240) is fixed on one clamping portion (230); The dust cleaning portion (240) comprises a ventilator (241), wherein there are two ventilators (241), one of which is fixed to one side of the clamping claw (232), and the two ventilators (241) are parallel to the upper chord rib (122); An air supply pipe (2222) is fixed to each of the ventilating cylinders (241), the air inlet end of the air supply pipe (2222) extends into the air guide pipe (2221), a valve is fixed to each of the air guide pipes (2221), and the valve is located below the air inlet end of the air supply pipe (2222), and the air outlet end of the air supply pipe (2222) extends into the ventilating cylinder (241); The vent cylinder (241) is a cylindrical body with a hollow interior and openings at both ends, and jet pipes (242) are fixed at both ends. The jet pipe (242) is a cylindrical body with a hollow interior and an opening close to one end of the vent cylinder (241), and an opening of one jet pipe (242) overlaps with an opening of the vent cylinder (241); A plurality of air jet portions (2421) are fixed on the air jet pipe (242) and the ventilator (241) near the web reinforcement (121). The air jet portions (2421) are metal nozzles and are used to clean the welding area of ​​the web reinforcement (121).

5. The fully automatic handling robot for floor deck trusses according to claim 1, characterized in that: The steel mesh (130) comprises a metal cross bar (131) and a metal longitudinal bar (132); A plurality of bent portions are formed on the web reinforcement (121) near the steel mesh (130) by a bending device, and the bent portions are in contact with the metal longitudinal rod (132), and each air jet portion (2421) is located above the contact between the bent portion and the metal longitudinal rod (132).

6. The fully automatic handling robot for floor deck trusses according to claim 4, characterized in that: The jet pipe (242) is a retractable tube body composed of a plurality of hollow tubes. The plurality of hollow tubes are sealed and sleeved in order from large to small, starting from a location close to the ventilator (241) according to their diameters. An jet portion (2421) is located on a hollow tube away from the clamping jaw (232).

7. The fully automatic handling robot for floor deck trusses according to claim 4, characterized in that: The jet part (2421) is an annular rubber capsule and a telescopic tube is fixed to the side thereof, the free end of the telescopic tube extends into the hollow tube, and an annular connecting ring (2422) is fixed to the free end of the jet part (2421); A brush (2423) is fixed to the free end of the connecting ring (2422), and the air-intake portion (2421) expands and can drive the brush (2423) to contact the bent portion of the web rib (121).

8. The fully automatic handling robot for floor deck trusses according to claim 1, characterized in that: A protective plate (233) is fixed to a side of each clamping jaw (232) away from the air guide tube (2221); the protective plate (233) is a rectangular body with a hollow interior and an opening on a side close to the upper chord rib (122); A limiting bag (2331) is fixed in the protective plate (233), a ventilation pipe (2223) is fixed on the air guide pipe (2221), the ventilation pipe (2223) is located below the valve, and the free end of the ventilation pipe (2223) extends into the limiting bag (2331), and the limiting bag (2331) expands after air is taken in and abuts against the upper chord rib (122).

9. The fully automatic handling robot for floor deck trusses according to claim 4, characterized in that: The ash cleaning section (240) further comprises a hot air pipe (243), the hot air pipe (243) being fixed on the cylinder body (231) near the air guide pipe (2221), a plurality of heat conduction pipes (2431) being fixed on the hot air pipe (243) near the cylinder body (231), and one heat conduction pipe (2431) being in contact with one cylinder body (231); The air inlet end of each air supply pipe (2222) extends into the hot air pipe (243), and the remaining end of an air supply pipe (2222) extends into a ventilator (241); The heat conducting pipe (2431) is a metal pipe and is used to transfer heat from the cylinder body (231) to the hot air pipe (243); The hot air pipe (243) and the distribution pipe (222) are connected via a connecting pipe (2433).

10. The fully automatic handling robot for floor deck trusses according to claim 9, characterized in that: The heat conducting pipe (2431) is a hollow pipe body, and a heat sink (2434) is fixed inside the pipe body. One end of the heat sink (2434) contacts the cylinder body (231), and the remaining end of the heat sink (2434) extends into the hot air pipe (243). A plurality of spoiler strips (2435) are fixed to the free ends of the heat sink (2434); the spoiler strips (2435) are metal strips and are capable of increasing the airflow velocity in the hot air pipe (243).

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