Main reinforcement feeding device

Abstract

The utility model discloses a main reinforcement feeding device. The main reinforcement feeding device comprises a feeding hand part, the feeding hand part comprises a top plate, and a first end plate and a second end plate which are vertically fixed at two ends of the top plate; the output end of the feeding motor penetrates through the top plate and is sleeved with a horizontally-rotating feeding roller. And the other end of the oscillating rod is connected with a limiting roller which rotates horizontally, and the limiting roller is in movable contact with the wheel surface of the feeding roller. The double-shaft cantilever type mechanical arm has the advantages that under the driving of a stepping motor, one rotating shaft rotates, the corresponding driving gear, the corresponding driving chain and the other rotating shaft rotate synchronously, and a main reinforcement is driven by a material stirring tooth piece to be conveyed in the direction of the double-shaft cantilever type mechanical arm, falls to the position of a limiting block along an inclined plane and waits for being clamped; main reinforcements can be conveyed to the two-shaft cantilever type mechanical arm one by one through the feeding machine, the feeding hand can feed the main reinforcements and penetrate the main reinforcements into the seam welder under the driving of the two-shaft cantilever type mechanical arm, and the whole normal process is low in labor intensity and high in production efficiency.

Description

Technical field:

[0001] The utility model relates to the technical field of pipe pile prefabrication equipment, in particular to a main reinforcement feeding device. Background technology:

[0002] During the prefabrication of pipe piles, a steel cage is placed in a mold, and then concrete is poured into the mold for pouring. After the curing is completed, the mold is opened and the prefabricated pipe piles are taken out. Among them, the main reinforcement is an important part of the steel cage. During the production of the steel cage, the secondary reinforcement is wound around the main reinforcement by a roll welding machine and welded. Before welding, the main reinforcement needs to be fed one by one and inserted into the working hole of the roll welding machine. The current feeding method is to manually take the main reinforcement that has been cut to a fixed length and swaged from the feeder, and insert it one by one into the roll welding machine, which has high labor intensity and low production efficiency. Utility model content:

[0003] The utility model aims to provide a main reinforcement feeding device which is beneficial to improving production efficiency and reducing labor intensity.

[0004] The utility model is implemented by the following technical scheme: a main reinforcement feeding device, which includes a feeder, which also includes a two-axis cantilevered mechanical arm, and a feeding hand installed at the end of the two-axis cantilevered mechanical arm; the feeding hand includes a top plate, and a first end plate and a second end plate vertically fixed at both ends of the top plate, the bottom surface of the first end plate is vertically connected to a limiting roller, a connecting rod is swingably provided on the side wall of the first end plate, a connecting plate is fixed to the bottom end of the connecting rod, a supporting wheel is rotatably connected to the connecting plate, and the end surface of the supporting wheel is in active contact with the limiting roller; the top end of the connecting rod is hinged to the telescopic end of the first cylinder, and the cylinder end of the first cylinder It is hinged to the side wall of the first end plate; a feeding motor is fixed on the top surface of the top plate adjacent to the second end plate, and the output end of the feeding motor passes through the top plate and is sleeved with a feeding roller arranged for horizontal rotation; a "Z"-shaped swing rod is rotatably connected to the second end plate, and a second cylinder is fixed to the second end plate, and the cylinder end of the second cylinder is hinged to the second end plate, and the telescopic end of the second cylinder is hinged to one end of the swing rod, and the other end of the swing rod is connected to a horizontally rotating limiting roller, and the limiting roller is in active contact with the wheel surface of the feeding roller, and grooves are provided on the wheel surfaces of the limiting roller and the feeding roller.

[0005] Furthermore, two guide limit blocks with "V"-shaped openings and horizontally oppositely arranged openings are slidably provided on the bottom surface of the top plate between the first end plate and the second end plate, and a driving cylinder with a telescopic end connected to the corresponding guide limit block is fixed on the bottom surface of the top plate.

[0006] Furthermore, a dovetail groove is provided on the bottom surface of the top plate, and the guide limit block is slidably arranged along the dovetail groove.

[0007] Furthermore, the feeder includes a frame and two parallel rotating shafts rotatably connected to the frame, a plurality of groups of driving gears are sleeved and connected to the two rotating shafts, each group of driving gears is transmission-connected to a driving chain, and each driving chain has material-shifting teeth fixed at equal intervals; the end of one of the rotating shafts is transmission-connected to the output shaft of a stepper motor.

[0008] Furthermore, an inclined surface is provided at one end of the frame adjacent to the two-axis cantilever type robotic arm, and a plurality of limit blocks are fixed to the bottom end of the inclined surface along the length direction of the rotating shaft.

[0009] Furthermore, a supporting roller is rotatably provided on the frame adjacent to the inclined side of each limiting block.

[0010] Furthermore, a plurality of limit cylinders with telescopic ends facing upward are fixed on the frame on the side of the inclined surface along the length direction of the rotating shaft, and a limit sleeve is fixed on the telescopic end of the limit cylinder.

[0011] The advantages of the utility model are as follows: under the drive of the stepper motor, one of the rotating shafts rotates, and the corresponding driving gear, driving chain and the other rotating shaft rotate synchronously. At the same time, the main reinforcement is driven by the material-shifting tooth piece to be transported in the direction of the two-axis cantilever mechanical arm, and the main reinforcement falls along the inclined surface to the position of the limit block, waiting to be clamped.

[0012] The two-axis cantilever robot arm drives the loading hand to move in the X direction and the Y direction. The loading hand moves in the X direction to the top of the main reinforcement supported by the support roller, and moves downward in the Y direction to facilitate the clamping of the main reinforcement. After clamping the main reinforcement, the loading hand moves upward in the Y direction, and then moves in the opposite direction in the X direction to the front of the working hole of the seam welding machine, so as to facilitate the feeding into the seam welding machine.

[0013] Therefore, the feeder of the utility model can deliver the main bars one by one to the two-axis cantilever robot arm. The loading hand, driven by the two-axis cantilever robot arm, can load the main bars and insert them into the rolling welding machine. The whole normal process has low labor intensity and high production efficiency. Description of the drawings:

[0014] Figure 1 It is a structural schematic diagram of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the feeder described in the utility model.

[0016] Figure 3 It is a top view of the feeding hand of the utility model.

[0017] Figure 4 for Figure 3 AA section view.

[0018] Figure 5 It is a schematic diagram of the connection structure of the first end plate, the limiting roller, the connecting rod, the connecting plate, the supporting wheel and the first cylinder of the utility model.

[0019] Figure 6 This is a schematic diagram of the connection structure of the guide limit block, the driving cylinder and the dovetail groove of the utility model.

[0020] Figure 7 It is a schematic diagram of the connection structure of the top plate, feeding motor, feeding roller, swing rod and limit roller of the utility model.

[0021] The markings of the components in the accompanying drawings are as follows: two-axis cantilever robot arm 1, loading hand 2, top plate 2.1, first end plate 2.2, second end plate 2.3, limit roller 2.4, connecting rod 2.5, connecting plate 2.6, support wheel 2.7, first cylinder 2.8, feeding motor 2.9, feeding roller 2.10, swing rod 2.11, second cylinder 2.12, limit roller 2.13, guide limit block 2.14, driving cylinder 2.15, dovetail groove 2.16, feeder 3, frame 3.1, rotating shaft 3.2, driving gear 3.3, driving chain 3.4, material shifting tooth piece 3.5, stepping motor 3.6, inclined plane 3.7, limit block 3.8, support roller 3.9, limit cylinder 3.10, limit sleeve 3.11, main rib 4, rolling welder 5. Specific implementation method:

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] In the description of the present invention, it should be noted that the terms "center", "up", "down", "front", "back", "top", "bottom", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0024] like Figures 1 to 7As shown, this embodiment provides a main reinforcement feeding device, which includes a feeder 3, the feeder 3 includes a frame 3.1, and two parallel rotating shafts 3.2 rotatably connected to the frame 3.1, a plurality of groups of driving gears 3.3 are sleeved and connected on the two rotating shafts 3.2, each group of driving gears 3.3 includes a driving wheel and a driven wheel, each group of driving gears 3.3 is transmission-connected with a driving chain 3.4, each driving chain 3.4 is fixed with material-shifting teeth 3.5 at equal intervals, and a main reinforcement 4 is placed on the frame 3.1 between each two adjacent material-shifting teeth 3.5; the end of one of the rotating shafts 3.2 is transmission-connected with the output shaft of a stepper motor 3.6, and the stepper motor 3.6 is intermittently operated. Under the drive of the stepper motor 3.6, one of the rotating shafts 3.2 rotates, and the corresponding driving gear 3.3, the driving chain 3.4 and the other rotating shaft 3.2 rotate synchronously, and at the same time, the main reinforcement 4 is driven forward by the material-shifting teeth 3.5.

[0025] The unloading end of the frame 3.1 is provided with an inclined surface 3.7, and a plurality of limit blocks 3.8 are fixed at the bottom end of the inclined surface 3.7 along the length direction of the rotating shaft 3.2; when the main rib 4 is pushed to the position of the inclined surface 3.7 by the material-shifting tooth piece 3.5, the material-shifting tooth piece 3.5 returns in the opposite direction along the driving chain 3.4, and the main rib 4 falls along the inclined surface 3.7 to the position of the limit block 3.8, waiting to be clamped; a supporting roller 3.9 is rotatably provided on the frame 3.1 on the side of the inclined surface 3.7 adjacent to each limit block 3.8, and the wheel axle of the supporting roller 3.9 is vertically arranged relative to the rotating shaft 3.2, and the main rib 4 falling along the inclined surface 3.7 falls on the supporting roller 3.9 to avoid being stuck in the groove between the limit block 3.8 and the inclined surface 3.7 and affecting the subsequent clamping; the side of the inclined surface 3.7 A plurality of limit cylinders 3.10 with telescopic ends facing upward are fixed on the frame 3.1 of the upper part along the length direction of the rotating shaft 3.2, and a limit sleeve 3.11 is fixed on the telescopic end of the limit cylinder 3.10; the initial state of each limit cylinder 3.10 is an extended state, and the main reinforcement 4 falling along the inclined surface 3.7 is first clamped between the limit sleeve 3.11 and the inclined surface 3.7 of the frame 3.1, and when the main reinforcement 4 on the supporting roller 3.9 is taken away, the limit cylinder 3.10 contracts, and the main reinforcement 4 continues to fall on the supporting roller 3.9 along the inclined surface 3.7, shortening the feeding stroke of the main reinforcement 4, which is beneficial to improving production efficiency; while the main reinforcement 4 at the limit cylinder 3.10 falls, the telescopic rod of the limit cylinder 3.10 extends out to wait for the next main reinforcement 4.

[0026] It also includes a two-axis cantilever robot arm 1 and a feeding hand 2 installed at the end of the two-axis cantilever robot arm 1; the two-axis cantilever robot arm 1 is arranged at the unloading end position adjacent to the feeder 3, and the feeding hand 2 is reciprocatingly placed between two supporting rollers 3.9 and directly in front of the working hole of the roll welding machine 5, so as to facilitate the feeding of the main reinforcement 4 to the roll welding machine 5 after the main reinforcement 4 is clamped; the two-axis cantilever robot arm 1 is a prior art, and the specific structure is not repeated here, which includes driving the feeding hand 2 to move in the X direction and the Y direction, the X direction moves to the main reinforcement 4 supported by the supporting roller 3.9, and the Y direction moves downward, so as to facilitate the clamping of the main reinforcement 4; after clamping the main reinforcement 4, the feeding hand 2 moves upward along the Y direction, and then moves in the opposite direction along the X direction to the front of the working hole of the roll welding machine 5, so as to facilitate the feeding into the roll welding machine 5.

[0027] The feeding hand 2 includes a top plate 2.1, and a first end plate 2.2 and a second end plate 2.3 vertically fixed at both ends of the top plate 2.1. The length direction of the top plate 2.1 is arranged along the axial direction of the rotating shaft 3.2; the bottom surface of the first end plate 2.2 is vertically connected to a limiting roller 2.4, and a connecting rod 2.5 is vertically swingably arranged on the side wall of the first end plate 2.2. A connecting plate 2.6 is fixed to the bottom end of the connecting rod 2.5, and a supporting wheel 2.7 is rotatably connected to the connecting plate 2.6, and the end surface of the supporting wheel 2.7 is in active contact with the limiting roller 2.4; the top end of the connecting rod 2.5 is in contact with the first cylinder 2 .8 is hinged, and the cylinder end of the first cylinder 2.8 is hinged to the side wall of the first end plate 2.2; when the telescopic end of the first cylinder 2.8 is extended, the supporting wheel 2.7 is driven away from the limiting roller 2.4 through the connecting rod 2.5, and when the telescopic end of the first cylinder 2.8 is controlled to be contracted, the supporting wheel 2.7 is driven toward the limiting roller 2.4 through the connecting rod 2.5, and when the end face of the supporting wheel 2.7 is in contact with the limiting roller 2.4, the wheel axle of the supporting wheel 2.7 is perpendicular to the central axis of the limiting roller 2.4, and the supporting wheel 2.7 is used to lift the main rib 4 on the supporting roller 3.9.

[0028] A feeding motor 2.9 is fixed on the top surface of the top plate 2.1 adjacent to the second end plate 2.3. The output end of the feeding motor 2.9 passes through the top plate 2.1 and is sleeved with a feeding roller 2.10 that is horizontally rotatable. The feeding motor 2.9 drives the feeding roller 2.10 to rotate, so as to facilitate the conveying of the main reinforcement 4 to the working hole of the seam welding machine 5. A "Z"-shaped swing rod 2.11 is rotatably connected to the second end plate 2.3, and the vertical section of the swing rod 2.11 is rotatably connected to the second end plate 2.3. A second cylinder 2.12 is fixed on the second end plate 2.3, and the cylinder end of the second cylinder 2.12 is hinged to the second end plate 2.3, and the telescopic end of the second cylinder 2.12 is connected to the swing rod 2.11. One end of the swing arm 2.11 is hinged, and the other end of the swing arm 2.11 is connected to a horizontally rotating limit roller 2.13, which is in active contact with the wheel surface of the feeding roller 2.10, and grooves are provided on the wheel surfaces of the limit roller 2.13 and the feeding roller 2.10; when the telescopic rod of the second cylinder 2.12 is extended, the limit roller 2.13 is driven away from the feeding roller 2.10 through the swing arm 2.11, and when the telescopic rod of the second cylinder 2.12 is controlled to shrink, the limit roller 2.13 is driven toward the feeding roller 2.10 through the swing arm 2.11 until they are fitted, at this time, the groove between the limit roller 2.13 and the feeding roller 2.10 is used to clamp the main rib 4.

[0029] During the working process, the two-axis cantilever robot arm 1 drives the loading hand 2 to move to the main reinforcement 4 supported by the supporting roller 3.9, the second cylinder 2.12 contracts, and drives the limiting roller 2.13 to lean against the feeding roller 2.10 through the swing rod 2.11, and clamps the main reinforcement 4 on the supporting roller 3.9. At the same time, the first cylinder 2.8 contracts, and drives the supporting wheel 2.7 to lean against the limiting roller 2.4 through the connecting rod 2.5 to hold the main reinforcement 4; the two-axis cantilever robot arm 1 drives the loading hand 2 to move to the working hole position of the seam welding machine 5, controls the feeding motor 2.9 to drive the feeding roller 2.10 to rotate, and under the action of friction, the clamped main reinforcement 4 is sent into the working hole position toward the seam welding machine 5; then the two-axis cantilever robot arm 1 drives the loading hand 2 back to the supporting roller 3.9, clamps the next main reinforcement 4, and repeats this process.

[0030] When the main reinforcement 4 on the previous supporting roller 3.9 is taken away, the limiting cylinder 3.10 contracts, and the main reinforcement 4 clamped between the limiting sleeve 3.11 and the inclined surface 3.7 of the frame 3.1 continues to fall onto the supporting roller 3.9 along the inclined surface 3.7, so as to facilitate the next clamping. When the feeding hand 2 inserts the previous main reinforcement 4 into the working hole, the stepping motor 3.6 is activated to drive the chain 3.4 to feed another main reinforcement 4 between the limiting sleeve 3.11 and the inclined surface 3.7 of the frame 3.1.

[0031] Two guide limit blocks 2.14 with V-shaped openings and horizontally opposite openings are slidably provided on the bottom surface of the top plate 2.1 between the first end plate 2.2 and the second end plate 2.3. A driving cylinder 2.15 connected with the corresponding guide limit blocks 2.14 at the telescopic end is fixed on the bottom surface of the top plate 2.1. When the open end surfaces of the two guide limit blocks 2.14 are fitted together, the center of the closed opening is in the same straight line as the center of the closed opening after the limit roller 2.13 and the feeding roller 2.10 are fitted together. 2 moves to the main rib 4 supported by the supporting roller 3.9, firstly, the driving cylinder 2.15 controls the two guide limit blocks 2.14 to approach, and effectively corrects the main rib 4 on the supporting roller 3.9, to ensure that when the second cylinder 2.12 is in action, the main rib 4 can be accurately clamped in the groove by the limit roller 2.13 and the feeding roller 2.10; the bottom surface of the top plate 2.1 is provided with a dovetail groove 2.16, and the guide limit block 2.14 is slidably arranged along the dovetail groove 2.16 to ensure its smooth movement.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A main reinforcement feeding device, comprising a feeder, characterized in that: It also includes a two-axis cantilevered robotic arm, and a loading hand installed at the end of the two-axis cantilevered robotic arm; The loading hand comprises a top plate, and a first end plate and a second end plate vertically fixed at both ends of the top plate, the bottom surface of the first end plate is vertically connected to a limit roller, a connecting rod is swingably provided on the side wall of the first end plate, a connecting plate is fixed at the bottom end of the connecting rod, a supporting wheel is rotatably connected to the connecting plate, and the end surface of the supporting wheel is in active contact with the limit roller; the top end of the connecting rod is hinged to the telescopic end of the first cylinder, and the cylinder end of the first cylinder is hinged to the side wall of the first end plate; A feeding motor is fixed on the top surface of the top plate adjacent to the second end plate, and the output end of the feeding motor passes through the top plate and is sleeved with a feeding roller arranged for horizontal rotation; a "Z"-shaped swing rod is rotatably connected to the second end plate, and a second cylinder is fixed to the second end plate, and the cylinder end of the second cylinder is hinged to the second end plate, and the telescopic end of the second cylinder is hinged to one end of the swing rod, and the other end of the swing rod is connected to a horizontally rotating limiting roller, and the limiting roller is in active contact with the wheel surface of the feeding roller, and grooves are provided on the wheel surfaces of the limiting roller and the feeding roller.

2. A main reinforcement feeding device according to claim 1, characterized in that: Two guide limit blocks with "V"-shaped openings and horizontally oppositely arranged openings are slidably provided on the bottom surface of the top plate between the first end plate and the second end plate, and a driving cylinder with a telescopic end connected to the corresponding guide limit block is fixed on the bottom surface of the top plate.

3. A main reinforcement feeding device according to claim 2, characterized in that: A dovetail groove is provided on the bottom surface of the top plate, and the guide limit block is slidably arranged along the dovetail groove.

4. A main reinforcement feeding device according to claim 1, characterized in that: The feeder includes a frame and two parallel rotating shafts rotatably connected to the frame, a plurality of groups of driving gears are sleeved and connected to the two rotating shafts, each group of driving gears is transmission-connected to a driving chain, and each driving chain is fixed with material-shifting teeth at equal intervals; the end of one of the rotating shafts is transmission-connected to the output shaft of a stepper motor.

5. A main reinforcement feeding device according to claim 4, characterized in that: An inclined surface is provided at one end of the frame adjacent to the two-axis cantilever type mechanical arm, and a plurality of limit blocks are fixed to the bottom end of the inclined surface along the length direction of the rotating shaft.

6. A main reinforcement feeding device according to claim 5, characterized in that: A supporting roller is rotatably provided on the frame adjacent to the inclined surface side of each limiting block.

7. A main reinforcement feeding device according to claim 5, characterized in that: A plurality of limit cylinders with telescopic ends facing upward are fixed on the frame on the side of the inclined surface along the length direction of the rotating shaft, and a limit sleeve is fixed on the telescopic end of the limit cylinder.

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