Gantry manipulator device for automatically picking up reinforcing steel bars

Abstract

The invention provides a gantry manipulator device for automatically picking up reinforcing steel bars, which belongs to the technical field of steel processing and comprises a left gantry bracket, a right gantry bracket is arranged on the side part of the left gantry bracket, and a first gantry and a second gantry which are arranged in parallel are arranged between the left gantry bracket and the right gantry bracket; three groups of manipulators are hung on a cantilever beam part of the first gantry, two groups of manipulators are hung on a cantilever beam part of the second gantry, the three groups of manipulators and the two groups of manipulators respectively comprise three mechanical main bodies and two manipulator main bodies, and walking boxes are arranged at two ends of the first gantry and two ends of the second gantry. By arranging the walking box, the machined reinforcing steel bar material can be conveniently driven in a reciprocating mode between the two gantries, the mechanical arm is combined, the mechanical arm can clamp the machined material through the clamping jaw, manual hoisting is not needed, automatic mechanical hoisting is achieved, the labor input is reduced, and the machining precision is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of steel processing, and in particular to a gantry manipulator device for automatically picking up steel bars. Background Art

[0002] The steel bar sawing, threading and bending process is to use a CNC sawing and threading production line to cut and thread the steel bars, then collect them, and then manually put the threaded steel bars into the bending machine for bending and forming, and manually lift the steel bars out after bending. The steel bar shearing and bending process is to use a bar shearing line to cut the steel bars to a fixed length, then collect them, and then manually put the cut steel bars into the bending machine for bending and forming, and manually lift the steel bars out after bending.

[0003] The current steel bar processing technology is a process-based processing method, which has the problems of excessive site occupation, high manpower input, high construction intensity of workers and prone to safety risks. The high degree of manual participation leads to insufficient connection between the various processes. Summary of the invention

[0004] In order to make up for the above deficiencies, the present invention provides a gantry manipulator device for automatic picking of steel bars, which overcomes the above technical problems or at least partially solves the above problems.

[0005] The present invention is achieved in that:

[0006] The present invention provides a gantry manipulator device for automatic picking of steel bars, comprising a left gantry bracket, a right gantry bracket being provided on the side of the left gantry bracket, a first gantry and a second gantry being provided in parallel between the left gantry bracket and the right gantry bracket, three groups of manipulators being mounted on the suspension beam of the first gantry, two groups of manipulators being mounted on the suspension beam of the second gantry, the three groups of manipulators and the two groups of manipulators respectively comprising three mechanical bodies and two manipulator bodies, and walking boxes being provided at both ends of the first gantry and the second gantry.

[0007] In one embodiment of the present invention, a second traveling rack is fixedly provided on the suspension beam of the first gantry, and a first traveling rack is fixedly provided on the suspension beam of the second gantry.

[0008] In one embodiment of the present invention, side walking racks are provided on the opposite sides of the left gantry bracket and the right gantry bracket, both ends of the first gantry and the second gantry are connected to the left gantry bracket and the right gantry bracket through the side walking racks, and the first gear of the walking box is meshed and connected with the side walking racks.

[0009] In one embodiment of the present invention, the traveling box includes a box body, the upper inner half of the box body is provided with an upper traveling wheel, the center of the upper traveling wheel is provided with an upper wheel axle, the upper traveling wheel is movably connected to the box body through the upper wheel axle, and the upper traveling wheel is suspended on the top of the left gantry bracket and the right gantry bracket.

[0010] In one embodiment of the present invention, a lower axle is movably provided on the inner lower half of the box body, and the box body is movably provided with a first lower hanging wheel through the lower axle, and the lower hanging wheel is tied to the bottom of the suspension beam of the left gantry bracket and the right gantry bracket.

[0011] In one embodiment of the present invention, a first reducer is provided on the box body through a connecting piece, a first motor is provided at the end of the first reducer, the output shafts of the first reducer are respectively connected to the output shafts of the first motor, a first gear is provided on the output shaft at the other end of the first reducer, the first gear is meshed and connected with the first traveling rack and the second traveling rack, a second adjustment wire is provided at the bottom of the first reducer located on the side of the box body, and a first adjustment wire is provided at the bottom of the box body.

[0012] In one embodiment of the present invention, the manipulator body includes a slotted telescopic rod, a guide rail is provided on the side of the slotted telescopic rod, a mounting plate is provided on the rod body of the slotted telescopic rod through a movable sleeve of the slide rail, the mounting plate is clamped with the top of the first gantry and the second gantry, an upper and lower motor is provided on one side of the top of the mounting plate, an upper and lower reducer is provided on the output shaft side of the upper and lower motors, and an upper and lower gear is provided on the output shaft of the upper and lower reducer, and a translation motor is provided on the other side of the top of the mounting plate through a structural frame, a translation reducer is provided on the output shaft side of the translation motor, and a translation gear is provided on the output shaft of the translation reducer, and a translation walking wheel and a walking lower hanging wheel are provided at the bottom of the mounting plate through a movable shaft, a tightening cylinder is provided at the bottom of the tightening cylinder, and a clamp is provided at the bottom of the tightening cylinder.

[0013] In one embodiment of the present invention, the translation gear is meshedly connected with the first traveling rack and the second traveling rack, the upper and lower gears are meshedly connected with the slots of the slotted telescopic rod, and the traveling lower hanging wheel is tightly overlapped with the smooth part of the slotted telescopic rod.

[0014] The invention provides a gantry manipulator device for automatically picking up steel bars, and its beneficial effects include:

[0015] 1. By setting up a walking box, it is convenient to drive the processed steel bar material back and forth between the two gantries. Combined with the manipulator, the manipulator can use the clamp to clamp the processed material, eliminating the need for manual lifting, realizing automated mechanical lifting, reducing labor input, and ensuring processing accuracy.

[0016] 2. By setting up the main body of the manipulator, the translation gear of the main body of the manipulator can realize the smooth and stable horizontal movement of the clamping claws, and the upper and lower gears can make the telescopic rod move steadily in the vertical direction. Combined with the clamping claws driven by the tightening cylinder, the steel bars can be stably picked up and fed, and the automatic loading, turnover and collection of steel bars can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be 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 paying creative work.

[0018] Figure 1 It is a structural schematic diagram provided by an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the structure of a traveling box provided in an embodiment of the present invention;

[0020] Figure 3 A three-dimensional diagram of a traveling box provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the main structure of a manipulator provided in an embodiment of the present invention.

[0022] In the figure: 1, left gantry bracket; 2, right gantry bracket; 201, side walking rack; 3, first gantry; 3001, three sets of manipulators; 3002, manipulator body; 301, slotted telescopic rod; 3011, mounting plate; 302, guide rail; 303, upper and lower motors; 304, upper and lower reducers; 305, upper and lower gears; 306, translation motor; 307, translation reducer; 308, translation gear; 309, translation travel wheel; 310 , walking lower hanging wheel; 311, tightening cylinder; 312, clamping claw; 4, second gantry; 4001, two sets of manipulators; 5, first walking rack; 6, second walking rack; 7, walking box; 701, box body; 702, upper walking wheel; 703, upper wheel axle; 704, first lower hanging wheel; 705, lower wheel axle; 706, first adjusting wire; 707, first motor; 708, first reducer; 709, first gear; 710, second adjusting wire. DETAILED DESCRIPTION

[0023] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example

[0025] Reference Figure 1-Figure 4 The present technical scheme provides a gantry manipulator device for automatic picking of steel bars, which includes a left gantry bracket 1, a right gantry bracket 2 is arranged on the side of the left gantry bracket 1, a first gantry 3 and a second gantry 4 arranged in parallel are arranged between the left gantry bracket 1 and the right gantry bracket 2, three groups of manipulators 3001 are mounted on the cantilever beam of the first gantry 3, and two groups of manipulators 4001 are mounted on the cantilever beam of the second gantry 4. The three groups of manipulators 3001 and the two groups of manipulators 4001 include three and two manipulator bodies 3002 respectively, and walking boxes 7 are arranged at both ends of the first gantry 3 and the second gantry 4. When in use, the present device is installed in the middle of a steel bar shearing production line or a sawing production line and a bending device. When the steel bar After the raw material is sheared or sawed, the first gantry 3 moves to the top of the steel bar that needs to be bent, and the three groups of robotic arms will descend to grab the steel bar and then rise, move the steel bar into the bending station, and the second gantry 4 continues to grab the next steel bar that needs to be bent. The two gantries work together. When clamping, the upper and lower motors 303 are driven, so that the upper and lower gears 305 are relatively displaced with the slotted telescopic rod 301 under the action of meshing, so that the slotted telescopic rod 301 moves up and down together with the tightening cylinder 311, and the translation motor 306 is driven to move the robot body left and right under the action of the translation gear 308, and the tightening cylinder 311 tightens the clamping jaws 312 with themselves, and finally clamps the steel bar.

[0026] Reference Figure 1-Figure 4 Based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that a second traveling rack 6 is fixedly provided on the suspension beam of the first gantry 3, and a first traveling rack 5 is fixedly provided on the suspension beam of the second gantry 4.

[0027] Reference Figure 1-Figure 4Based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that side walking racks 201 are provided on the opposite sides of the left gantry bracket 1 and the right gantry bracket 2, and both ends of the first gantry 3 and the second gantry 4 are connected to the left gantry bracket 1 and the right gantry bracket 2 through the side walking racks 201. The first gear 709 of the walking box 7 is meshed and connected with the side walking rack 201. When clamping is performed, the upper and lower motors 303 are driven so that the upper and lower gears 305 are relatively displaced with the slotted telescopic rod 301 under the meshing action, so that the slotted telescopic rod 301 moves up and down together with the tightening cylinder 311, and the translation motor 306 can be driven to move the manipulator body left and right under the action of the translation gear 308.

[0028] Reference Figure 1-Figure 4 Based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that the walking box 7 includes a box body 701, and the upper half of the inner part of the box body 701 is provided with an upper walking wheel 702, and the center of the upper walking wheel 702 is provided with an upper wheel axle 703. The upper walking wheel 702 is movably connected to the box body 701 through the upper wheel axle 703, and the upper walking wheel 702 is suspended on the top of the left gantry bracket 1 and the right gantry bracket 2.

[0029] Reference Figure 1-Figure 4 Based on the same concept as the above-mentioned embodiment 1, this embodiment also proposes that the lower half of the interior of the box body 701 is movably provided with a lower wheel axle 705, and the box body 701 is movably provided with a first lower hanging wheel 704 through the lower wheel axle 705, and the first lower hanging wheel 704 is overlapped with the bottom of the suspension beam of the left gantry bracket 1 and the right gantry bracket 2.

[0030] Reference Figure 1-Figure 4 Based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that a first reducer 708 is provided on the box body 701 through a connecting piece, a first motor 707 is provided at the end of the first reducer 708, the output shafts of the first reducer 708 are respectively connected with the output shafts of the first motor 707, a first gear 709 is provided on the output shaft at the other end of the first reducer 708, the first gear 709 is meshed and connected with the first traveling rack 5 and the second traveling rack 6, a second adjusting wire 710 located at the side of the box body 701 is provided at the bottom of the first reducer 708, and a first adjusting wire 706 is provided at the bottom of the box body 701.

[0031] Reference Figure 1-Figure 4Based on the same concept as the above-mentioned embodiment 1, the present embodiment further proposes that the manipulator body 3002 includes a slotted telescopic rod 301, a guide rail 302 is provided on the side of the slotted telescopic rod 301, a mounting plate 3011 is provided on the rod body of the slotted telescopic rod 301 through a movable sleeve of the slide rail, the mounting plate 3011 is clamped with the top of the first gantry 3 and the second gantry 4, an upper and lower motor 303 is provided on one side of the top of the mounting plate 3011, and an upper and lower reducer 304 is provided on the output shaft side of the upper and lower motor 303, and the upper and lower reducers The output shaft of the machine 304 is provided with upper and lower gears 305, and a translation motor 306 is provided on the other side of the top of the mounting plate 3011 through a structural frame, a translation reducer 307 is provided on the output shaft side of the translation motor 306, and a translation gear 308 is provided on the output shaft of the translation reducer 307. A translation walking wheel 309 and a walking lower hanging wheel 310 are provided at the bottom of the mounting plate 3011 through a movable shaft, a tightening cylinder 311 is provided at the bottom end of the slotted telescopic rod 301, and a clamping claw 312 is provided at the bottom of the tightening cylinder 311.

[0032] Reference Figure 1-Figure 4 Based on the same concept as the above-mentioned embodiment 1, this embodiment also proposes that the translation gear 308 is meshedly connected with the first traveling rack 5 and the second traveling rack 6, the upper and lower gears 305 are meshedly connected with the slots of the slotted telescopic rod 301, and the traveling lower hanging wheel 310 is tightly overlapped with the smooth part of the slotted telescopic rod 301.

[0033] Specifically, the working process or working principle of the gantry manipulator device for automatic picking up of steel bars is as follows: when in use, the device is installed between the steel bar shearing production line or the sawing production line and the bending device. When the steel bar raw material is sheared or the sawing process is completed, the first gantry 3 moves to the top of the steel bar that needs to be bent, and the three groups of mechanical arms will descend to grab the steel bar and then rise, move the steel bar into the bending station, and the second gantry 4 continues to grab the next steel bar that needs to be bent. The two gantries work together. When clamping, the upper and lower motors 303 are driven, so that the upper and lower gears 305 are relatively displaced with the slotted telescopic rod 301 under the action of meshing, so that the slotted telescopic rod 301 moves up and down together with the tightening cylinder 311, and the translation motor 306 is driven to move the manipulator body left and right under the action of the translation gear 308, and the tightening cylinder 311 tightens the clamping jaws 312 with itself, and finally clamps the steel bar.

Claims

1. A gantry manipulator device for automatically picking up steel bars, comprising a left gantry support (1), characterized in that: A right gantry bracket (2) is provided on the side of the left gantry bracket (1); a first gantry (3) and a second gantry (4) are provided between the left gantry bracket (1) and the right gantry bracket (2) and are arranged in parallel; three groups of manipulators (3001) are mounted on the cantilevered beam of the first gantry (3); two groups of manipulators (4001) are mounted on the cantilevered beam of the second gantry (4); the three groups of manipulators (3001) and the two groups of manipulators (4001) respectively include three and two manipulator bodies (3002); and walking boxes (7) are provided at both ends of the first gantry (3) and the second gantry (4).

2. A gantry manipulator device for automatic steel bar picking according to claim 1, characterized in that: A second traveling rack (6) is fixedly provided on the suspension beam of the first gantry (3), and a first traveling rack (5) is fixedly provided on the suspension beam of the second gantry (4).

3. A gantry manipulator device for automatic steel bar picking according to claim 2, characterized in that: Side walking racks (201) are provided on opposite sides of the left gantry support (1) and the right gantry support (2); both ends of the first gantry (3) and the second gantry (4) are connected to the left gantry support (1) and the right gantry support (2) via the side walking racks (201); and the first gear (709) of the walking box (7) is meshedly connected to the side walking racks (201).

4. A gantry manipulator device for automatic steel bar picking according to claim 3, characterized in that: The travel box (7) comprises a box body (701), an upper travel wheel (702) is provided in the upper inner half of the box body (701), an upper wheel shaft (703) is provided at the center of the upper travel wheel (702), the upper travel wheel (702) is movably connected to the box body (701) via the upper wheel shaft (703), and the upper travel wheel (702) is suspended on the top of the left gantry bracket (1) and the right gantry bracket (2).

5. A gantry manipulator device for automatic steel bar picking according to claim 4, characterized in that: A lower axle (705) is movably provided in the lower half of the interior of the box body (701), and a first lower hanging wheel (704) is movably provided in the box body (701) via the lower axle (705), and the first lower hanging wheel (704) is overlapped with the bottom of the suspension beam of the left gantry support (1) and the right gantry support (2).

6. A gantry manipulator device for automatic steel bar picking according to claim 5, characterized in that: A first reducer (708) is provided on the box body (701) through a connecting piece, a first motor (707) is provided at the end of the first reducer (708), an output shaft of the first reducer (708) is respectively connected to the output shaft of the first motor (707), a first gear (709) is provided on the output shaft at the other end of the first reducer (708), the first gear (709) is meshedly connected with the first running rack (5) and the second running rack (6), a second adjustment wire (710) located at the side of the box body (701) is provided at the bottom of the first reducer (708), and a first adjustment wire (706) is provided at the bottom of the box body (701).

7. A gantry manipulator device for automatic steel bar picking according to claim 6, characterized in that: The manipulator body (3002) comprises a slotted telescopic rod (301), a guide rail (302) is provided on the side of the slotted telescopic rod (301), a mounting plate (3011) is provided on the rod body of the slotted telescopic rod (301) through a movable sleeve of a slide rail, the mounting plate (3011) is clamped with the top of the first gantry (3) and the second gantry (4), an upper and lower motor (303) is provided on one side of the top of the mounting plate (3011), an upper and lower reducer (304) is provided on the output shaft side of the upper and lower motor (303), and the output shaft of the upper and lower reducer (304) is provided with an upper The mounting plate (3011) is provided with a translation motor (306) on the other side of the top thereof through a structural frame, a translation reducer (307) is provided on the output shaft side of the translation motor (306), a translation gear (308) is provided on the output shaft of the translation reducer (307), a translation walking wheel (309) and a walking lower hanging wheel (310) are provided at the bottom of the mounting plate (3011) through a movable shaft, a tightening cylinder (311) is provided at the bottom end of the slotted telescopic rod (301), and a clamping claw (312) is provided at the bottom of the tightening cylinder (311).

8. A gantry manipulator device for automatic steel bar picking according to claim 7, characterized in that: The translation gear (308) is meshedly connected with the first travel rack (5) and the second travel rack (6), the upper and lower gears (305) are meshedly connected with the slots of the slotted telescopic rod (301), and the travel lower hanging wheel (310) is tightly overlapped with the smooth part of the slotted telescopic rod (301).

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