Automatic feeding and discharging manipulator for punching of iron tower angle steel

Abstract

The application belongs to the technical field of manipulators and discloses an automatic feeding and discharging manipulator for punching of iron tower angle steel, which comprises a main beam, a U-shaped vehicle frame is slidably installed on the main beam, an electric walking assembly is installed on the U-shaped vehicle frame, and a lifting driving assembly is fixedly installed on the U-shaped vehicle frame; a double longitudinal beam is connected to the telescopic end of the lifting driving assembly, the length direction of the double longitudinal beam is perpendicular to the length direction of the main beam, a right-angle double-sided folding mechanism is installed at the front end and the rear end of the double longitudinal beam respectively, each right-angle double-sided folding mechanism is provided with two opposite swing ends, a strip-shaped electromagnetic chuck is fixedly installed on each swing end, a supporting and clamping assembly is installed on the left side and the right side of the double longitudinal beam, and the supporting and clamping assembly is used for supporting the bottom edge of the angle steel from below after the strip-shaped electromagnetic chuck adsorbs the angle steel; the application utilizes magnetic adsorption and mechanical lifting to form double actions and offset the gravity bending moment of the long angle steel due to the dead weight.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically, it relates to an automatic loading and unloading robotic arm for punching angle steel for iron towers. Background Technology

[0002] The purpose of punching angle steel for power transmission towers is to create connection holes. These holes allow for the installation of fastening bolts, enabling safe and reliable connections between various structural components of the tower and facilitating on-site installation. During punching, a robotic arm grips the long angle steel and a servo drive system precisely feeds it into the punching station. Simultaneously, V-shaped rollers are used to precisely position the angle steel's edges, ensuring the punching position remains in the preset standard posture. Subsequently, the punching and shearing machine drives multiple independent punching cylinders according to a pre-input processing program, applying pressure from different directions such as the front and sides to instantly complete the cold punching. Due to the unique L-shaped cross-section of the angle steel, a cantilevered die is often used to punch a single leg, or, when punching two legs simultaneously, opposing double punch dies are embedded at the edges. Precise misalignment calculations prevent interference between the punches. For angle steels with excessively large specifications or thicknesses, conventional punching dies cannot be used. In such cases, CNC laser cutting or plasma cutting, or other thermal processing methods, are employed for high-precision hole forming.

[0003] The aforementioned punching process mainly involves a robotic arm to handle the angle steel, transferring it from the storage rack to the punching and shearing machine's stamping station.

[0004] Chinese utility model patent application number CN201720399331.6 discloses a fully automatic angle steel feeding and stamping unloading system, including an automatic feeding device, a blanking device, a punching and stacking device, a first six-axis robot, and a second six-axis robot; the blanking device is located in front of the automatic feeding device, and the punching and stacking device is located in front of the blanking device; the first six-axis robot is located between the blanking device and the punching and stacking device.

[0005] The aforementioned existing angle steel loading and unloading systems add an electromagnet chuck to the end of a six-axis robot to pick up L-shaped angle steel from the rack. In this process, the electromagnet chuck is typically designed as a flat surface, while the L-shaped angle steel has a 90-degree angular cross-section. With the contact angle not adjustable, the chuck cannot adaptively fit the two limbs of the angle steel, and can only barely adhere to the plane or edge of one limb. This results in a significant spatial offset between the adsorption point and the center of gravity of the angle steel. When the robot lifts the angle steel from the rack, the long angle steel generates a huge gravitational moment due to its length. Furthermore, because angle steel is a slender rod with high elastic modulus, under the cantilever beam effect of several meters, the bending moment generated by gravity is sufficient to cause significant elastic flexural deformation at the end of the angle steel. At this point, the localized area adsorbed by the electromagnet bears a large eccentric load, and the bending caused by the angle steel's toughness further causes the chuck to detach from the workpiece surface, creating an air gap. This easily leads to the angle steel falling off, causing the loading or unloading operation to fail. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic loading and unloading robot for punching angle steel for iron towers. The main beam is erected above the long angle steel storage rack and the punching and shearing machine's stamping station. An electric walking component drives a U-shaped trolley to reciprocate between the two. During loading, the lifting drive component moves the double longitudinal beams downward, bringing the right-angle double-sided folding mechanisms at their front and rear ends closer to the angle steel on the rack. Each right-angle double-sided folding mechanism adjusts the angles of two opposing strip electromagnetic chucks to closely fit the two limbs of the angle steel. After the workpiece is magnetically attracted and lifted, the clamping component immediately moves to support the two bottom edges of the long angle steel from below, effectively suppressing the bending deformation caused by the long angle steel's own weight and toughness, ensuring that it remains straight until the U-shaped trolley smoothly transfers the angle steel to the stamping station, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An automatic loading and unloading robot for punching angle steel for iron towers includes a main beam, which is mounted above a long angle steel storage rack and a stamping station. A U-shaped frame is slidably mounted on the main beam, and an electric walking component is mounted on the U-shaped frame to reciprocate along the length of the main beam. A lifting drive component is fixedly mounted on the U-shaped frame. The telescopic end of the lifting drive component is connected to a double longitudinal beam, which is used to drive the double longitudinal beam to lift vertically. The length direction of the double longitudinal beam is perpendicular to the length direction of the main beam. Right-angle double-sided folding mechanisms are installed at the front and rear ends of the double longitudinal beams, and each right-angle double-sided folding mechanism has two opposing swing ends. A strip electromagnetic chuck is fixedly mounted on each swing end. A clamping component is installed on the left and right sides of the double longitudinal beams to support the bottom edge of the angle steel from below after it is attracted by the strip electromagnetic chuck.

[0008] The following are further optimizations of the above technical solution by the present invention: The right-angle double-sided folding mechanism includes a C-shaped platform fixedly installed at the ends of the double longitudinal beams. Guide rods are vertically slidably installed on both sides of the bottom of the C-shaped platform. The upper and lower ends of the guide rods are respectively fixedly connected to an upper short beam and a lower short beam. The bottom end of the C-shaped platform is fixedly installed on both sides of the lower short beam. Two convex leaf plates are symmetrically hinged to the lower end of the outer leaf plates. Connecting plates are fixedly installed on the bottom surface of the convex leaf plates. Strip electromagnetic chucks are respectively fixedly installed on the bottom surface of the connecting plates.

[0009] Further optimization: The top of the C-shaped platform is equipped with an automatic telescopic rod for driving the upper short beam to move up and down. A pin groove connection structure is provided between the lower short beam and the convex leaf plate. When the lower short beam moves down, the pin groove connection structure is used to drive the convex leaf plate and the connecting plate to swing downward.

[0010] Further optimization: The pin groove connection structure includes a convex plate integrally formed on the top of the convex plate. The convex plate has an outwardly inclined and upwardly extending groove. The bottom surface of the lower short beam is integrally connected to two lugs at positions corresponding to each convex plate. A short pin that passes through the groove is installed between the two lugs. The short pin slides in conjunction with the groove.

[0011] Further optimization: The bottom end of the outer carrier plate is provided with a notch at the position between the two convex leaf plates. The notch is used to accommodate the top edge of the angle steel after magnetic attraction.

[0012] Further optimization: The clamping assembly includes an H-shaped frame mounted on the top of the double longitudinal beams. Automatic telescopic rods are hinged to both sides of the H-shaped frame. Long shafts are mounted on both sides of the double longitudinal beams via vertical bearing seats. Both ends of the long shafts are fixedly mounted with drag arms. The lower end of the telescopic rod is hinged to the drag arm. The lower end of the drag arm is provided with a hook for supporting the bottom edge of the angle steel.

[0013] Further optimization: A trailing steel beam is set on each side of the double longitudinal beam. The trailing steel beam is arranged parallel to the long axis, and the two ends of the trailing steel beam are fixedly connected to the corresponding two trailing arms.

[0014] Further optimization: The tow arm has a triangular boss integrally formed at the middle section of the outer wall on the side away from the double longitudinal beams. A fisheye connector is hinged to the triangular boss, and the other end of the fisheye connector is fixedly connected to the lower end of the telescopic end of the automatic telescopic rod II.

[0015] Further optimization: The electric walking component includes guide rails fixedly installed on both sides of the main beam. The guide rails are arranged along the length of the main beam. Multiple guide wheels are respectively set on the upper and lower sides of the guide rails. The guide wheels are rotatably installed on the U-shaped frame. A walking motor is fixedly installed on one outer wall of the U-shaped frame. The power output end of the walking motor is connected to one of the guide wheels.

[0016] Further optimization: The lifting drive assembly includes an automatic lifting rod installed at the center of the bottom of the U-shaped frame, with the lower end of the telescopic end of the automatic lifting rod fixedly connected to the top of the double longitudinal beams; guide sleeves are installed on both sides of the bottom of the U-shaped frame on the automatic lifting rod, and vertical guide columns that slide in cooperation with the guide sleeves are installed on the double longitudinal beams.

[0017] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1. This invention utilizes a right-angle double-sided folding mechanism set at the front and rear ends of the double longitudinal beams to drive two opposing strip electromagnetic chucks to adjust their angles. This means that no matter how the specifications and dimensions of the angle steel change, the chucks can actively find and closely fit the two limbs of the L-shaped cross-section, so that the adsorption point accurately falls near the centroid of the workpiece. This eliminates the huge torque generated by traditional eccentric adsorption, and the magnetic attraction force can be applied evenly and vertically to the surface of the angle steel, ensuring sufficient adsorption strength. At the same time, the four strip electromagnetic chucks act on the front and rear ends of the angle steel respectively, forming a distributed adsorption layout. This allows the angle steel, which is several meters long, to be subjected to multiple balanced vertical tensions at the moment of lifting, thereby effectively suppressing the sagging problem under the cantilever beam effect.

[0018] 2. In this invention, after the angle steel is magnetically lifted, the clamping assembly actively supports the two bottom edges of the long angle steel from below. In the past, when relying solely on electromagnet adsorption, the elastic bending of the middle section of the angle steel due to gravity was effectively counteracted by this lifting force, so that the long angle steel can always maintain a nearly straight posture, avoiding plastic deformation or internal stress caused by repeated bending during the transfer process, thus protecting the straightness and surface integrity of the raw materials. Attached Figure Description

[0019] Figure 1 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 1 ; Figure 2 This is a front view of the overall structure in an embodiment of the present invention; Figure 3 This is a side view of the overall structure in an embodiment of the present invention; Figure 4 This is a three-dimensional sectional view of the overall structure in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure at the location of the right-angle double-sided folding mechanism in an embodiment of the present invention; Figure 6 for Figure 5 A magnified view of a section at point A in the middle; Figure 7 This is a schematic diagram of the structure at the location of the convex leaf plate in an embodiment of the present invention; Figure 8 This is an exploded view of the clamping assembly and the double longitudinal beams in an embodiment of the present invention; Figure 9 for Figure 8 A magnified view of a section at point B in the middle; Figure 10 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 2 .

[0020] In the diagram: 1-Main beam; 2-U-shaped frame; 3-Electric walking assembly; 31-Guide rail; 32-Guide wheel; 33-Walking motor; 4-Double longitudinal beam; 5-Lifting drive assembly; 51-Automatic lifting rod; 52-Guide sleeve; 53-Vertical guide column; 6-Right-angle double-sided folding mechanism; 61-C-shaped platform; 62-Automatic telescopic rod one; 63-Guide rod; 64-Upper short beam; 65-Lower short beam; 651-Ear platform; 652-Short pin; 66-Outer carrier plate; 661-Notch; 67-Convex leaf plate; 671-Convex plate; 672-Slanted groove; 68-Connecting plate; 7-Strip electromagnetic chuck; 8-Clip assembly; 81-H-shaped carrier; 82-Long shaft; 83-Trailer arm; 831-Triangular boss; 832-Fisheye joint; 84-Trailer steel beam; 85-Automatic telescopic rod two. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Depend on Figures 1 to 4 As shown, an automatic loading and unloading robot for punching angle steel for iron towers includes a main beam 1, which is mounted above a long angle steel storage rack and a stamping station. A U-shaped frame 2 is slidably mounted on the main beam 1. An electric walking component 3 is mounted on the U-shaped frame 2 to move it back and forth along the length of the main beam 1. A lifting drive component 5 is fixedly mounted on the U-shaped frame 2. The telescopic end of the lifting drive component 5 is connected to a double longitudinal beam 4, which is used to drive the double longitudinal beam 4 to move vertically. The length direction of the double longitudinal beam 4 is perpendicular to the length direction of the main beam 1. Right-angle double-sided folding mechanisms 6 are installed at the front and rear ends of the double longitudinal beam 4, respectively. Each right-angle double-sided folding mechanism 6 has two opposing swing ends, and a strip electromagnetic chuck 7 is fixedly mounted on each swing end. A clamping component 8 is installed on the left and right sides of the double longitudinal beam 4. The clamping component 8 is used to support the bottom edge of the angle steel from below after the strip electromagnetic chuck 7 adsorbs the angle steel.

[0023] In this embodiment, the main beam 1 provides rigid support and precise travel trajectory for the U-shaped frame 2, ensuring the straightness and repeatability of the long angle steel when it is transferred between the storage rack and the stamping station. It is made of high-strength steel.

[0024] The electric walking assembly 3 includes guide rails 31 fixedly installed on both sides of the main beam 1. The guide rails 31 are laid out along the length of the main beam 1 and are made of high-rigidity wear-resistant rails.

[0025] Multiple guide wheels 32 are respectively provided on the upper and lower sides of the guide rail 31. The guide wheels 32 are rotatably mounted on the U-shaped frame 2. A travel motor 33 is fixedly installed on one outer wall of the U-shaped frame 2. The power output end of the travel motor 33 is connected to one of the guide wheels 32.

[0026] With this design, the walking motor 33 outputs rotational torque after receiving the operation command from the central control box, which drives one of the guide wheels 32 to rotate. Through the cooperation of multiple guide wheels 32 and guide rail 31, the U-shaped frame 2 can move forward or backward along the length of the main beam 1. The encoder built into the walking motor 33 feeds back the number of rotations to the central control box in real time, realizing closed-loop control of the walking distance of the U-shaped frame 2.

[0027] The lifting drive assembly 5 includes an automatic lifting rod 51 installed at the center of the bottom of the U-shaped frame 2, and the lower end of the telescopic end of the automatic lifting rod 51 is fixedly connected to the top of the double longitudinal beams 4.

[0028] The bottom of the U-shaped frame 2 is located on both sides of the automatic lifting rod 51, and guide sleeves 52 are installed respectively. Vertical guide columns 53 are fixedly installed on the double longitudinal beams 4 at positions corresponding to the guide sleeves 52. The upper ends of the vertical guide columns 53 slide in cooperation with the corresponding guide sleeves 52.

[0029] With this design, the vertical guide column 53 and the guide sleeve 52 slide together to constrain the lifting trajectory of the double longitudinal beam 4, thereby improving the stability of the double longitudinal beam 4 during lifting and moving. The automatic lifting rod 51 is used to drive the double longitudinal beam 4 and the load installed on it to lift and move, making it convenient to use.

[0030] In this embodiment, the automatic lifting rod 51 can be one of a hydraulic cylinder, an electric telescopic rod, or a telescopic cylinder.

[0031] In this embodiment, the robotic arm also needs to be equipped with an external control box. The external control box is equipped with electrical components such as a programmable logic controller, an industrial touch screen, various relays and communication modules to receive the start command from the operator according to the preset logic program, and to send action commands to the electric walking component 3, the lifting drive component 5, the right-angle double-sided folding mechanism 6, the strip electromagnetic chuck 7, and the clamping component 8 through the communication bus. In this embodiment, the electrical components and control principles in the control box are all existing technologies, and will not be described in detail here.

[0032] Depend on Figure 5 , Figure 6 and Figure 7 As shown, the right-angle double-sided folding mechanism 6 includes a C-shaped platform 61 fixedly installed at the ends of the double longitudinal beams 4. Guide rods 63 are vertically slidably installed on both sides of the bottom of the C-shaped platform 61. The upper and lower ends of the guide rods 63 are respectively fixedly connected to an upper short beam 64 and a lower short beam 65. The bottom end of the C-shaped platform 61 is located on both sides of the lower short beam 65, and an outer carrier plate 66 is fixedly installed. Two convex leaf plates 67 are symmetrically hinged to the lower end of the outer carrier plate 66. A connecting plate 68 is fixedly installed on the bottom surface of each convex leaf plate 67. Strip electromagnetic chucks 7 are respectively fixedly installed on the bottom surface of the connecting plate 68.

[0033] The top of the C-shaped platform 61 is equipped with an automatic telescopic rod 62 for driving the upper short beam 64 to move up and down. A pin groove connection structure is provided between the lower short beam 65 and the convex leaf plate 67. When the lower short beam 65 moves down, the pin groove connection structure is used to drive the convex leaf plate 67 and the connecting plate 68 to swing downward.

[0034] In this embodiment, the automatic telescopic rod 62 is vertically arranged. The mounting end of the automatic telescopic rod 62 is fixedly installed on the top of the C-shaped platform 61, and the telescopic end of the automatic telescopic rod 62 is vertically downward and slides through the top of the C-shaped platform 61 before being fixedly connected to the upper short beam 64.

[0035] When the lifting drive assembly 5 is activated to drive the double longitudinal beams 4 and the right-angle double-sided folding mechanism 6 to move downwards and approach the long angle steel, the operator activates the automatic telescopic rod 62. The automatic telescopic rod 62 drives the upper short beam 64, guide rod 63 and lower short beam 65 to move downwards. The two convex leaf plates 67 on the left and right rotate relative to each other around the lower hinge axis of the outer carrier plate 66 under the drive of the pin groove connection structure until the strip electromagnetic chuck 7 installed on the connecting plate 68 reaches complete surface contact with the limb surface of the angle steel. In this way, the limitation that the fixed chuck cannot fit the corner of the angle steel is broken by the swingable double-sided structure, so that the same set of mechanisms can be compatible with angle steel of different specifications and sizes.

[0036] The pin-groove connection structure includes a convex plate 671 integrally formed on the top of the convex leaf plate 67. The convex plate 671 has an outwardly inclined and upwardly extending groove 672. The bottom surface of the lower short beam 65 is integrally connected to two lugs 651 at positions corresponding to each convex plate 671. A short pin 652 that passes through the groove 672 is installed between the two lugs 651. The short pin 652 slides in conjunction with the groove 672.

[0037] The bottom end of the outer plate 66 is provided with a notch 661 located between the two convex plates 67. The notch 661 is used to accommodate the top edge of the angle steel after magnetic attraction.

[0038] When the short beam 65 is driven to move downward, the lower end of the ear platform 651 will force the convex leaf plate 67 and convex plate 671 to deflect around the hinge axis at the lower end of the outer carrier plate 66 through the short pin 652 and the inclined groove 672; when the short beam 65 moves upward to reset, the two convex leaf plates 67 on the left and right, the connecting plate 68, and the strip electromagnetic chuck 7 will also deflect upward to reset under the action of the short pin 652 and the inclined groove 672.

[0039] In this embodiment, the automatic telescopic rod 62 can be one of a hydraulic cylinder, an electric telescopic rod, or a telescopic cylinder.

[0040] Depend on Figure 8 , Figure 9 and Figure 10 As shown, the clamping assembly 8 includes an H-shaped carrier 81 mounted on the top of the double longitudinal beams 4. Automatic telescopic rods 85 are hinged to both sides of the H-shaped carrier 81. Long shafts 82 are mounted on both sides of the double longitudinal beams 4 through vertical bearing seats. Both ends of the long shafts 82 are fixedly mounted with drag arms 83. The lower end of the telescopic end of the automatic telescopic rod 85 is hinged to the drag arm 83. The lower end of the drag arm 83 is provided with a hook for supporting the bottom edge of the angle steel.

[0041] On both sides of the double longitudinal beam 4, there are drag steel beams 84. The drag steel beams 84 are arranged parallel to the long axis 82, and the two ends of the drag steel beams 84 are fixedly connected to the two corresponding drag arms 83.

[0042] In this embodiment, the side of the drag beam 84 near the double longitudinal beam 4 is in the same plane as the end face of the hook portion at the lower end of the drag arm 83.

[0043] The tow arm 83 has a triangular boss 831 integrally formed at the middle section of the outer wall on the side away from the double longitudinal beams 4. A fisheye connector 832 is hinged to the triangular boss 831. The other end of the fisheye connector 832 is fixedly connected to the lower end of the telescopic end of the automatic telescopic rod 85.

[0044] After the strip electromagnetic chuck 7 successfully picks up and lifts the angle steel, the central control box controls the automatic telescopic rod 85 to start and extend its telescopic end. At this time, the telescopic end of the automatic telescopic rod 85 drives the drag arm 83 to swing downward around the long axis 82, thereby moving the hook part at the lower end of the drag arm 83 to directly below the two bottom edges of the angle steel and making it fit tightly. This allows the drag beam 84 to form continuous mechanical support within the length of the angle steel. When the angle steel is transported to the stamping station to be released, the automatic telescopic rod 85 first retracts the drag arm 83 and the drag beam 84 to make room for the stable placement of the angle steel.

[0045] The clamping assembly 8 effectively neutralizes the downward bending moment caused by the weight of the middle section of the long angle steel by actively lifting the bottom edge of the angle steel from below, thus creating a dual effect of magnetic attraction and mechanical lifting.

[0046] In this embodiment, the automatic telescopic rod 85 can be one of a hydraulic cylinder, an electric telescopic rod, or a telescopic cylinder.

[0047] Depend on Figures 1-10 As shown, during use, the electric walking component 3 is first activated to drive the U-shaped frame 2 to move smoothly along the track on the main beam 1 from one side of the stamping station towards the long angle steel storage rack until the U-shaped frame 2 reaches directly above the predetermined material picking position. Then, the lifting drive component 5 starts to move, driving the double longitudinal beam 4 to move vertically downward as a whole. When the right-angle double-sided folding mechanism 6 set at the front and rear ends of the double longitudinal beam 4 gradually approaches the end of the angle steel on the rack, the staff observes the relative position of the right-angle double-sided folding mechanism 6 and the angle steel to ensure that the two right-angle double-sided folding mechanisms 6 are aligned with the two ends of the angle steel respectively.

[0048] The working principle of the electric walking component 3 is as follows: the walking motor 33 starts and drives one of the guide wheels 32 to rotate. Through the cooperation of multiple guide wheels 32 and guide rail 31, the U-shaped frame 2 can move forward or backward along the length of the main beam 1, thereby realizing the switching movement between the long angle steel storage rack and the stamping station.

[0049] The working principle of the lifting drive assembly 5 is as follows: the automatic lifting rod 51 is activated to extend or retract its telescopic end. At this time, the telescopic end of the automatic lifting rod 51 drives the double longitudinal beam 4 to drive the right-angle double-sided folding mechanism 6 to perform lifting and lowering actions. At this time, the vertical guide column 53 and the guide sleeve 52 slide together to constrain the lifting trajectory of the double longitudinal beam 4 and improve the stability of the double longitudinal beam 4 during lifting and lowering.

[0050] When the right-angle double-sided folding mechanism 6 reaches the fitting position, each right-angle double-sided folding mechanism 6 automatically drives two opposing strip electromagnetic chucks 7 to swing according to the specific specifications of the current angle steel until the working surface of the strip electromagnetic chuck 7 is completely and tightly attached to the two limb surfaces of the angle steel. Then the strip electromagnetic chuck 7 is energized to generate a strong magnetic force to firmly hold the long angle steel.

[0051] The working principle of the right-angle double-sided folding mechanism 6 is as follows: the lifting drive assembly 5 is used to drive the double longitudinal beams 4 and the right-angle double-sided folding mechanism 6 to move downward and approach the long angle steel. Then, the automatic telescopic rod 62 is activated to drive the upper short beam 64, the guide rod 63 and the lower short beam 65 to move downward. During the downward movement of the lower short beam 65, the lower end of the ear platform 651 forces the convex leaf plate 67 and the convex plate 671 to deflect around the hinge axis at the lower end of the outer carrier plate 66 through the short pin 652 and the inclined groove 672. At this time, the convex leaf plate 67 drives the strip electromagnetic chuck 7 installed on the connecting plate 68 to achieve complete surface contact with the limb surface of the angle steel. Thus, the limitation that the fixed chuck cannot fit the corner of the angle steel is broken by the swingable double-sided structure.

[0052] After confirming that the magnetic attraction is reliable, the lifting drive component 5 reverses its action, lifting the double longitudinal beam 4 to smoothly lift the long angle steel from the storage rack. After the angle steel is completely off the rack, the clamping component 8 responds and extends from under the double longitudinal beam 4 to actively support the two bottom edges of the long angle steel.

[0053] The working principle of the clamping assembly 8 is as follows: when the automatic telescopic rod 85 is activated, its telescopic end extends. At this time, the telescopic end of the automatic telescopic rod 85 drives the drag arm 83 to swing downward around the long axis 82, thereby moving the hook part at the lower end of the drag arm 83 to directly below the two bottom edges of the angle steel and fitting tightly together, so that the drag beam 84 forms continuous mechanical support within the length range of the angle steel.

[0054] Then, the electric walking component 3 is activated to drive the U-shaped frame 2, which carries the long angle steel that is double-fixed by magnetic attraction and mechanical clamping, to move along the track of the main beam 1 towards the punching and shearing machine's stamping station. When the U-shaped frame 2 reaches above the stamping station, the lifting drive component 5 moves down again to place the long angle steel smoothly on the positioning fixture of the stamping machine. Then, the clamping component 8 retracts to release the bottom support, the strip electromagnetic chuck 7 is de-energized and demagnetized, the right-angle double-sided folding mechanism 6 is released and reset, and then the stamping machine automatically positions and clamps the long angle steel, and the U-shaped frame 2 returns to the starting position unloaded.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic loading and unloading robot for punching angle steel for iron towers, characterized in that: Includes a main beam (1), which is erected above the long angle steel storage rack and the stamping station. A U-shaped frame (2) is slidably installed on the main beam (1). An electric walking component (3) is installed on the U-shaped frame (2) to make it reciprocate along the length of the main beam (1). A lifting drive component (5) is fixedly installed on the U-shaped frame (2). The telescopic end of the lifting drive component (5) is connected to a double longitudinal beam (4). The lifting drive component (5) is used to drive the double longitudinal beam (4) to lift vertically. The length direction of the double longitudinal beam (4) is perpendicular to the length direction of the main beam (1). Right-angle double-sided folding mechanism (6) is installed at the front and rear ends of the double longitudinal beam (4). Each right-angle double-sided folding mechanism (6) has two opposing swing ends. A strip electromagnetic chuck (7) is fixedly installed on each swing end. A clamping assembly (8) is installed on the left and right sides of the double longitudinal beam (4). The clamping assembly (8) is used to support the bottom edge of the angle steel from below after the strip electromagnetic chuck (7) adsorbs the angle steel.

2. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 1, characterized in that: The right-angle double-sided folding mechanism (6) includes a C-shaped platform (61) fixedly installed at the end of the double longitudinal beams (4). Guide rods (63) are vertically slidably installed on both sides of the bottom of the C-shaped platform (61). The upper and lower ends of the guide rods (63) are respectively fixedly connected to the upper short beam (64) and the lower short beam (65). The bottom end of the C-shaped platform (61) is located on both sides of the lower short beam (65) and an outer carrier plate (66) is fixedly installed. Two convex leaf plates (67) are symmetrically hinged to the lower end of the outer carrier plate (66). A connecting plate (68) is fixedly installed on the bottom surface of the convex leaf plates (67). Strip electromagnetic chucks (7) are respectively fixedly installed on the bottom surface of the connecting plate (68).

3. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 2, characterized in that: The top of the C-shaped platform (61) is equipped with an automatic telescopic rod (62) for driving the upper short beam (64) to move up and down. A pin groove connection structure is provided between the lower short beam (65) and the convex leaf plate (67). When the lower short beam (65) moves down, the pin groove connection structure is used to drive the convex leaf plate (67) and the connecting plate (68) to swing down.

4. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 3, characterized in that: The pin groove connection structure includes a convex plate (671) integrally formed on the top of the convex leaf plate (67). The convex plate (671) has an outwardly inclined and upwardly extending groove (672). The bottom surface of the lower short beam (65) is integrally connected to two ear platforms (651) at positions corresponding to each convex plate (671). A short pin (652) that passes through the groove (672) is installed between the two ear platforms (651). The short pin (652) slides in conjunction with the groove (672).

5. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 4, characterized in that: The bottom end of the outer carrier plate (66) is provided with a notch (661) located between the two convex leaf plates (67), and the notch (661) is used to accommodate the top edge of the angle steel after magnetic attraction.

6. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 5, characterized in that: The clamp assembly (8) includes an H-shaped frame (81) mounted on the top of the double longitudinal beams (4). Automatic telescopic rods (85) are hinged on both sides of the H-shaped frame (81). Long shafts (82) are mounted on both sides of the double longitudinal beams (4) through vertical bearing seats. Both ends of the long shafts (82) are fixedly mounted with drag arms (83). The lower end of the telescopic end of the automatic telescopic rod (85) is hinged to the drag arm (83). The lower end of the drag arm (83) is provided with a hook for supporting the bottom edge of the angle steel.

7. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 6, characterized in that: The two sides of the double longitudinal beam (4) are respectively provided with a drag steel beam (84). The drag steel beam (84) is arranged parallel to the long axis (82), and the two ends of the drag steel beam (84) are respectively fixedly connected to the two corresponding drag arms (83).

8. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 7, characterized in that: The tow arm (83) has a triangular boss (831) integrally formed at the middle section of the outer wall on the side away from the double longitudinal beams (4). A fisheye connector (832) is hinged on the triangular boss (831). The other end of the fisheye connector (832) is fixedly connected to the lower end of the telescopic end of the automatic telescopic rod (85).

9. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 8, characterized in that: The electric walking assembly (3) includes guide rails (31) fixedly installed on both sides of the main beam (1). The guide rails (31) are arranged along the length of the main beam (1). Multiple guide wheels (32) are respectively provided on the upper and lower sides of the guide rails (31). The guide wheels (32) are rotatably installed on the U-shaped frame (2). A walking motor (33) is fixedly installed on one side of the outer wall of the U-shaped frame (2). The power output end of the walking motor (33) is connected to one of the guide wheels (32) for transmission.

10. The automatic loading and unloading robot for punching angle steel for iron towers according to claim 9, characterized in that: The lifting drive assembly (5) includes an automatic lifting rod (51) installed at the center of the bottom of the U-shaped frame (2). The lower end of the telescopic end of the automatic lifting rod (51) is fixedly connected to the top of the double longitudinal beam (4). The bottom end of the U-shaped frame (2) is equipped with guide sleeves (52) on both sides of the automatic lifting rod (51). The double longitudinal beam (4) is equipped with vertical guide columns (53) that slide with the guide sleeves (52).

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