Adjustable sliding mechanical clamping device for box-type bridge assembly
By designing the box-type bridge assembly and adjustable sliding mechanical clamping device, the accurate positioning and movement problems in traditional cross-divider welding are solved, multi-dimensional precise adjustment is achieved, and welding accuracy and efficiency are improved.
Patent Information
- Application Number
- CN202421680783.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-07-16
AI Technical Summary
There are problems with accurate positioning and movement during the welding of traditional cross-divider plates, which affects the welding quality and is difficult to adapt to the complex bridge structure requirements.
A box-type bridge assembled adjustable sliding mechanical clamping device is designed, including a distorted assembly and multiple multi-dimensional adjustment devices, which can achieve precise position adjustment in horizontal, vertical and angular directions, and is suitable for cross-dividing plates of different structures and sizes.
It improves welding accuracy and operational convenience, adapts to the needs of different bridge structures, reduces human errors, and significantly improves the efficiency and quality of bridge manufacturing.
Smart Images
Figure CN222999945U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of steel structure bridge welding, and particularly relates to an adjustable sliding mechanical clamping device for box girder bridge assembly. Background Art
[0002] In the field of steel structure manufacturing, especially during the welding process of steel box girders, the accurate positioning and movement of diaphragms have always been technical problems in the manufacturing process. Traditional fixation of diaphragms can usually only achieve limited-dimensional adjustment and cannot meet the requirements of complex bridge structures. Since welding is the core link in bridge manufacturing, the accurate positioning and movement of diaphragms have a direct impact on welding quality. The limitations of traditional clamping systems restrict the positioning and movement of diaphragms, making it difficult to adapt to diverse bridge structures and sizes. Therefore, a more flexible and multi-dimensionally adjustable mechanical clamping system is needed to meet the requirements of different application scenarios.
[0003] During the traditional diaphragm welding process, due to the complexity of bridge structures, the position adjustment of diaphragms usually requires a large amount of manpower and time. Moreover, due to the different structures and sizes of diaphragms, a large number of people are required for spot welding and correction during the traditional diaphragm welding process, making it difficult to meet the requirements of both high-precision welding and production efficiency simultaneously. In addition, the single-dimensional adjustment of traditional diaphragm welding often cannot meet the diversity of bridge structures, easily leading to errors and quality problems during the welding process.
[0004] Therefore, in order to solve the problems of accurate positioning and movement existing in traditional diaphragm welding, a mechanical clamping system with multi-dimensional adjustment functions is needed. This system needs to be able to achieve precise position adjustment in the horizontal, vertical, and angular directions to ensure that the diaphragm can be highly accurately positioned before welding. At the same time, the system needs to be flexible and controllable, adapt to diaphragms of different structures and sizes, improve production efficiency, and reduce human errors. Therefore, the utility model proposes an innovative multi-dimensionally adjustable mechanical clamping system to address the limitations of the prior art and improve the precision and efficiency of bridge structure manufacturing. Summary of the Utility Model
[0005] The purpose of the utility model is to solve the problem that the accurate positioning and movement of diaphragms cannot be achieved in existing diaphragm welding, and further provide an adjustable sliding mechanical clamping device for box girder bridge assembly.
[0006] The technical solution of the utility model is as follows:
[0007] An adjustable sliding mechanical clamping device for box girder assembly, which comprises a traveling component and a plurality of multi-dimensional adjustment devices. The traveling component includes a guide rail 16, a cross beam 15, two balancing devices 3, two machine frames, two sets of traveling wheel sets and two electric drive devices. The cross section of the guide rail 16 is U-shaped. Two parallel arranged sliding grooves 18 are formed in the upper parts of the two side wings of the guide rail 16 along the extendable direction of the guide rail. The two balancing devices 3 are respectively slidably installed in the two sliding grooves 18. The two machine frames are respectively arranged above the two sliding grooves 18. The bottoms of the two machine frames are respectively connected with the upper parts of the two balancing devices 3. The two sets of traveling wheel sets are respectively rotatably installed on the two machine frames. The pulleys in the two sets of traveling wheel sets are in rolling cooperation with the upper surfaces of the two side wings of the guide rail 16. The two electric drive devices are respectively installed on the two machine frames. The output ends of the transmission mechanism mounting frames are respectively connected with the pulley shafts of the two sets of traveling wheel sets. The cross beam 15 is horizontally arranged above the guide rail 16. The two ends of the cross beam 15 are respectively connected with the two machine frames. A plurality of multi-dimensional adjustment devices are slidably installed on the cross beam 15. Each multi-dimensional adjustment device includes a robotic arm 21 and a manipulator. The upper part of the robotic arm 21 is slidably connected with the cross beam 15. The lower part of the robotic arm 21 is connected with the upper part of the manipulator.
[0008] Further, the balancing device 3 includes a slider and two longitudinal beams. The cross section of the sliding groove 18 is an inverted T shape. A slidable slider is arranged at the lower part of the sliding groove 18. Two vertically arranged and parallel longitudinal beams are slidably arranged at the upper part of the sliding groove 18. The lower ends of the two longitudinal beams are both connected with the upper end of the slider. The upper ends of the two longitudinal beams extend upward outside the guide rail 16 and are connected with the lower ends of the corresponding machine frames. Two parallel arranged pulley shaft mounting holes one are respectively formed in the side walls of the two longitudinal beams along the horizontal direction.
[0009] Further, the machine frame includes a machine frame body and two fixing fasteners 5. The machine frame body is a T-shaped block structure. A gear shaft mounting hole one is formed in the middle of the lower plate of the machine frame body. A rectangular through groove is formed in the upper end surface of the upper block structure of the machine frame body along the length direction of the cross beam 15. Coaxial fastener connection threaded holes are formed in the two side walls of the upper block structure along the width direction of the cross beam 15. The end of the cross beam 15 is inserted into the rectangular through groove. The fixing fastener 5 includes a bolt part and a top block detachably connected to the end of the bolt part. The top block is vertically arranged between the side wall of the rectangular through groove and the cross beam 15. The bolt part of the fixing fastener 5 is screwed into the fastener connection threaded hole from the outside and extends into the rectangular through groove to be detachably connected with the top block.
[0010] Further, the running wheel set includes a gear shaft, two pulley shafts, two V-shaped fasteners 8, two gears 11, four pulleys 10 and multiple stoppers 12. The two V-shaped fasteners 8 are symmetrically arranged on both sides of the lower plate member of the frame body, with the openings of the V-shaped fasteners 8 facing downward. A pair of coaxially arranged gear shaft mounting holes II are respectively provided in the middle parts of the two V-shaped fasteners 8, and two pairs of coaxially arranged pulley shaft mounting holes II are respectively provided at both ends of the two V-shaped fasteners 8. The gear shaft is rotatably mounted in the gear shaft mounting hole I of the lower plate member of the frame body through a bearing. A gear 11 is provided between each V-shaped fastener 8 and the lower plate member of the frame body. The gear 11 is mounted on the gear shaft through a flat key. External threads are processed at both ends of the gear shaft. The stopper 12 is a nut, and two stoppers 12 are respectively screwed on both ends of the gear shaft. The two pulley shafts are respectively rotatably mounted in the pulley shaft mounting holes I of the two longitudinal beams of the balancing device 3 through two bearings. Two pulleys 10 are respectively provided between both ends of each V-shaped fastener 8 and the two longitudinal beams of the balancing device 3. The two pulleys 10 are respectively mounted on the two pulley shafts through two flat keys. External threads are processed at both ends of each pulley shaft, and two stoppers 12 are respectively screwed on both ends of the pulley shaft. The gear 11 provided in the middle of each V-shaped fastener 8 meshes with the two pulleys 10 provided at both ends of the V-shaped fastener 8.
[0011] Further, the pulley 10 is integrally of a cylindrical structure. A shaft hole is processed at the center of the pulley 10, and a plurality of evenly arranged tooth grooves are processed on the side surface of the pulley 10 along the circumferential direction. The plurality of tooth grooves correspond one by one to the teeth on the gear 11.
[0012] Further, the electric drive device includes a motor 1 and a worm and worm gear reducer 2. The rotating shaft of the motor 1 is connected to the end of the worm of the worm and worm gear reducer 2 through a coupling. The rotating shaft of the worm gear of the worm and worm gear reducer 2 is connected to the rotating shaft of the gear 10. The housing of the motor 1 is connected to the housing of the worm and worm gear reducer 2 through a flange connection member. The housing of the motor 1 is connected to the frame through a buckle 7.
[0013] Further, two symmetrically arranged wheel grooves are respectively processed along the length direction on both sides of the cross beam 15. The cross section of the wheel groove is in the shape of a combination of a horizontally placed isosceles trapezoid and a rectangle, and stop protrusions are respectively provided on the upper and lower sides outside the wheel groove.
[0014] Further, the robotic arm 21 includes a crossbeam robotic arm connecting bracket, a robotic arm connecting shaft, two blocking screws, two fasteners 20, two pulleys 9, and two robotic arm locking screws 25. The upper part of the crossbeam robotic arm connecting bracket is a U-shaped pulley mounting bracket. Two coaxially arranged pulley shaft mounting holes are respectively machined on the two wing plates of the U-shaped pulley mounting bracket. The crossbeam 15 is embedded between the two wing plates of the U-shaped pulley mounting bracket. The two pulleys 9 are slidably mounted in the wheel grooves on both sides of the crossbeam 15. The rotating shafts of the two pulleys 9 are respectively rotatably mounted in the pulley shaft mounting holes on the two wing plates of the U-shaped pulley mounting bracket through two bearings. Two robotic arm locking threaded holes perpendicular to the crossbeam 15 are provided on the side wall of the U-shaped pulley mounting bracket. The two robotic arm locking screws 25 are respectively screwed into the two robotic arm locking threaded holes from the outside to the inside. The lower part of the crossbeam robotic arm connecting bracket is two robotic arm connecting ear plates. Two coaxially arranged robotic arm connecting shaft holes 1 are respectively machined on the two robotic arm connecting ear plates. The middle part of the robotic arm connecting shaft is connected to the upper part of the robotic arm. The two ends of the robotic arm connecting shaft are respectively rotatably inserted into the robotic arm connecting shaft holes 1 on the two robotic arm connecting ear plates and extend outside the robotic arm connecting ear plates. One end of each of the two ends of the robotic arm connecting shaft is machined with external threads. The fasteners 20 are nuts. The two fasteners 20 are respectively screwed onto the two ends of the robotic arm connecting shaft. The robotic arm connecting shaft and the pulley shaft are perpendicularly arranged. A blocking threaded hole perpendicular to and communicating with the robotic arm connecting shaft hole 1 is provided on the side of each robotic arm connecting ear plate. The blocking screw is screwed into the blocking threaded hole. The length of the blocking threaded hole is less than the length of the blocking screw.
[0015] Further, the robotic arm includes a robotic arm body, a clamping jaw fixture 1 6, a clamping jaw fixture 2 22, a T-shaped plug, and a fixture tightening screw 24. A T-shaped through groove is provided on the lower end surface of the robotic arm body along the length direction of the crossbeam 15. The clamping jaw fixture 1 6 and the clamping jaw fixture 2 22 are arranged side by side and opposite to each other below the cuboid fixture connecting part. Among them, the upper end of the clamping jaw fixture 1 6 is fixedly connected to the cuboid fixture connecting part. The upper end of the clamping jaw fixture 2 22 is machined with a T-shaped connecting block. The T-shaped connecting block is slidably mounted in the T-shaped through groove at the lower end of the cuboid fixture connecting part. A T-shaped plug is installed at the end of the T-shaped through groove. The T-shaped plug is connected to the T-shaped connecting block through a connecting piece. A fixture tightening threaded hole 23 is machined on the T-shaped plug. The fixture tightening screw 24 is screwed into the fixture tightening threaded hole 23 from the outside to the inside and extends into the T-shaped through groove.
[0016] Furthermore, the manipulator body is of a split structure. The manipulator body includes a cylindrical upper arm and a cuboid lower arm 4. A rectangular insert block is provided at the upper part of the cylindrical upper arm. A second manipulator arm connecting shaft hole is opened on the rectangular insert block. Keyways are opened on both the rectangular insert block and the manipulator arm connecting shaft. The middle part of the manipulator arm connecting shaft is inserted into the second manipulator arm connecting shaft hole. The manipulator arm connecting shaft and the rectangular insert block are connected by a flat key. A circular step is machined at the lower part of the cylindrical upper arm. A connecting arm bearing is sleeved on the circular step. External threads are machined on the bottom side of the circular step. A cover plate with an internal threaded hole is provided below the circular step. The cover plate is spirally installed at the lower end of the circular step. The cuboid lower arm 4 is of a split structure. The cuboid lower arm 4 is formed by snap-fitting two equal-sized lower arm parts. The two lower arm parts are connected by a connecting piece. A stepped shaft hole is opened on the upper end face of the cuboid lower arm 4. The circular step and the cover plate at the lower part of the cylindrical upper arm are rotatably installed in the stepped shaft hole.
[0017] The utility model has the following effects compared with the prior art:
[0018] 1. The box-type bridge assembly adjustable sliding mechanical clamping device of the utility model designs a special clamping mechanism, realizing multi-dimensional precise adjustment, including position adjustment in the horizontal, vertical and angular directions. The manipulator arm is responsible for moving the manipulator, and the manipulator is the gripper. The gripper adopts a clamp structure and can firmly clamp the diaphragm. The device of the utility model is applicable to diaphragms of steel box girders with different structures and sizes, and has high versatility through ingenious design, providing a more flexible solution for bridge manufacturing projects. The introduction of this device is expected to significantly improve welding accuracy and operation convenience, bring a higher level to the manufacturing technology of bridge structures, reduce human errors, and provide a more efficient working tool for engineers and welders.
[0019] 2. Aiming at the problems of accurate positioning and movement of diaphragms in traditional diaphragm welding, the system design aims to provide an efficient and accurate welding solution. This innovative multi-dimensional adjustable mechanical clamping system introduces more advanced and efficient technology to the field of bridge welding. By improving welding accuracy, operation convenience and adaptability, the system is expected to promote the entire bridge manufacturing industry to a higher level. Its highly accurate positioning, flexible multi-dimensional adjustment, intelligent control unit and the ability to adapt to different structures make the system an innovative, efficient and reliable welding tool, providing a better operation experience and work efficiency for engineers and welders.
[0020] 3. Different from traditional clamping devices, the device of the present utility model allows precise position adjustment in horizontal, vertical, and angular directions. This multi-dimensional adjustment function enables the diaphragm to achieve more accurate positioning and movement, providing greater flexibility for welding operations. It includes a horizontal adjustment part, a vertical adjustment part, and an angular adjustment part. The horizontal adjustment part includes a cross beam, a cross beam manipulator connecting frame of the robotic arm, and pulleys for horizontal movement; the vertical adjustment part includes a cross beam manipulator connecting frame, a robotic arm connecting shaft, and a manipulator for vertically moving the clamping mechanism; the angular adjustment part includes a cylindrical upper arm, a cuboid lower arm, and a connecting arm bearing for adjusting the angle of the clamping mechanism. The device of the present utility model realizes precise position adjustment in all directions, enabling the diaphragm to be highly accurately positioned and easily moved.
[0021] 4. The device of the present utility model can be applied to steel box girder diaphragms with different structures and sizes. Its high versatility enables the system to play a role in different bridge manufacturing projects, thereby improving production efficiency. This device can not only adapt to diaphragms of different shapes and sizes but also be flexibly applied in different types of bridge structures. Brief Description of the Drawings
[0022] Figure 1 is a schematic structural view of the adjustable sliding mechanical clamping device for box girder assembly of the present utility model;
[0023] Figure 2 is a schematic structural view of the electric-driven mechanical gear sliding device of the present utility model;
[0024] Figure 3 is an axonometric view of the electric-driven mechanical gear sliding device of the present utility model;
[0025] Figure 4 is a left view of the multi-dimensional adjustable manipulator of the present utility model;
[0026] Figure 5 is a right view of the multi-dimensional adjustable manipulator of the present utility model;
[0027] Figure 6 is an internal structure view of the multi-dimensional adjustable manipulator of the present utility model. Detailed Description of the Invention
[0028] Detailed Description of the Invention One: In combination with Figures 1 to 6To describe this embodiment, a box - type bridge assembly adjustable sliding mechanical clamping device of this embodiment includes a traveling component and multiple multi - dimensional adjustment devices. The traveling component includes a guide rail 16, a cross - beam 15, two balancing devices 3, two frames, two sets of traveling wheel sets, and two electric driving devices. The cross - section of the guide rail 16 is U - shaped. On the upper parts of the two wing plates of the guide rail 16, two side - by - side arranged sliding grooves 18 are opened along the extendable direction of the guide rail. The two balancing devices 3 are respectively slidably installed in the two sliding grooves 18. The two frames are respectively arranged above the two sliding grooves 18. The bottoms of the two frames are respectively connected to the upper parts of the two balancing devices 3. The two sets of traveling wheel sets are respectively rotatably installed on the two frames. The pulleys in the two sets of traveling wheel sets are in rolling contact with the upper surfaces of the two wing plates of the guide rail 16. The two electric driving devices are respectively installed on the two frames. The output ends of the transmission mechanism mounting frames are respectively connected to the pulley shafts of the two sets of traveling wheel sets. The cross - beam 15 is horizontally arranged above the guide rail 16. The two ends of the cross - beam 15 are respectively connected to the two frames. A plurality of multi - dimensional adjustment devices are slidably installed on the cross - beam 15. Each multi - dimensional adjustment device includes a robotic arm 21 and a manipulator. The upper part of the robotic arm 21 is slidably connected to the cross - beam 15, and the lower part of the robotic arm 21 is connected to the upper part of the manipulator.
[0029] Among them, the balancing device 3 is slidably connected to the sliding grooves 18 on the upper parts of the two wing plates of the guide rail 16, and the cross - beam 15 is slidably connected to the multi - dimensional adjustment devices, which can achieve good moving and supporting effects.
[0030] Specific embodiment two: Combining Figures 1 to 6 To describe this embodiment, the balancing device 3 of this embodiment includes a slider and two longitudinal beams. The cross - section of the sliding groove 18 is an inverted T - shape. A slidable slider is provided at the lower part of the sliding groove 18, and two slidable and vertically side - by - side arranged longitudinal beams are provided at the upper part of the sliding groove 18. The lower ends of the two longitudinal beams are both connected to the upper end of the slider. The upper ends of the two longitudinal beams extend upward outside the guide rail 16 and are connected to the lower ends of the corresponding frames. Two pulley shaft mounting holes one are horizontally opened side - by - side on the side walls of the two longitudinal beams respectively. With such a setting, the guide rail 16 is used to fix the robotic arm, and the slider of the balancing device 3 slides on the sliding groove 18 to move the robotic arm. The guide rail 16 cooperates with the pulley 10 in the traveling wheel set to ensure a good moving and supporting effect and enable the smooth movement of the robotic arm. Other compositions and connection relationships are the same as those in specific embodiment one.
[0031] Specific embodiment three: Combining Figures 1 to 6To describe this embodiment, the frame of this embodiment includes a frame body and two fixing fasteners 5. The frame body is a T-shaped block structure. A first gear shaft mounting hole is formed in the middle of the lower plate member of the frame body. A rectangular through groove is formed in the upper end surface of the upper block structure of the frame body along the length direction of the cross beam 15. Fastener connection threaded holes are formed in the two side walls of the upper block structure along the width direction of the cross beam 15 and are coaxially arranged. The end of the cross beam 15 is inserted into the rectangular through groove. The fixing fastener 5 includes a bolt part and a top block detachably connected to the end of the bolt part. The top block is vertically arranged between the side wall of the rectangular through groove and the cross beam 15. The bolt part of the fixing fastener 5 is spirally installed into the fastener connection threaded hole from the outside to the inside and extends into the rectangular through groove to be detachably connected to the top block. With such a setting, the fixing fastener 5 is used to fix the cross beam 15 and the frame body. The other components and connection relationships are the same as those in the first or second specific embodiment.
[0032] Among them, the sliding part is slidably connected to the upper chute 18 on both wing plates of the guide rail 16, and good moving and supporting effects can be achieved.
[0033] Specific embodiment four: Combine Figures 1 to 6 To describe this embodiment, the traveling wheel set of this embodiment includes a gear shaft, two pulley shafts, two V-shaped fasteners 8, two gears 11, four pulleys 10 and multiple blocking blocks 12. The two V-shaped fasteners 8 are symmetrically arranged on both sides of the lower plate member of the frame body respectively. The V-shaped fasteners 8 are arranged with their openings facing downwards. A pair of second gear shaft mounting holes are coaxially arranged in the middle of the two V-shaped fasteners 8 respectively. Two pairs of second pulley shaft mounting holes are coaxially arranged at both ends of the two V-shaped fasteners 8 respectively. The gear shaft is rotatably installed in the first gear shaft mounting hole of the lower plate member of the frame body through a bearing. A gear 11 is provided between each V-shaped fastener 8 and the lower plate member of the frame body. The gear 11 is installed on the gear shaft through a flat key. External threads are processed at both ends of the gear shaft. The blocking blocks 12 are nuts. Two blocking blocks 12 are spirally installed at both ends of the gear shaft respectively. The two pulley shafts are rotatably installed in the first pulley shaft mounting holes of the two longitudinal beams of the balancing device 3 through two bearings respectively. Two pulleys 10 are respectively arranged between both ends of each V-shaped fastener 8 and the two longitudinal beams of the balancing device 3. The two pulleys 10 are respectively installed on the two pulley shafts through two flat keys. External threads are processed at both ends of each pulley shaft. Two blocking blocks 12 are spirally installed at both ends of the pulley shaft respectively. The gear 11 arranged in the middle of each V-shaped fastener 8 meshes with the two pulleys 10 arranged at both ends of the V-shaped fastener 8. With such a setting, the pulley 10 is used to slide the manipulator 21 on the cross beam 15. The blocking block 12 is to prevent the pulley 10 from falling off and has a fixing function at the same time. The V-shaped fastener 8 plays a role in fixing the pulley 10, and the blocking block 12 plays a role in fixing the pulley 10. The other components and connection relationships are the same as those in the first, second or third specific embodiment.
[0034] Specific Embodiment Five: Combined with Figures 1 to 6 Describe this embodiment. The pulley 10 of this embodiment is integrally of a cylindrical structure. A shaft hole is machined at the center of the pulley 10, and a plurality of evenly arranged tooth grooves are machined on the side surface of the pulley 10 along the circumferential direction. The plurality of tooth grooves correspond one by one to the teeth on the gear 11. The other components and connection relationships are the same as those in Specific Embodiments One, Two, Three, or Four.
[0035] Specific Embodiment Six: Combined with Figures 1 to 6 Describe this embodiment. The electric drive device of this embodiment includes a motor 1 and a worm and worm gear reducer 2. The rotating shaft of the motor 1 is connected to the end of the worm of the worm and worm gear reducer 2 through a coupling. The rotating shaft of the turbine of the worm and worm gear reducer 2 is connected to the rotating shaft of the gear 10. The housing of the motor 1 is connected to the housing of the worm and worm gear reducer 2 through a flange connector. The housing of the motor 1 is connected to the frame through a buckle 7. With such a setting, the buckle 7 plays a role in fixing the electric drive device. The other components and connection relationships are the same as those in Specific Embodiments One, Two, Three, Four, or Five.
[0036] Specific Embodiment Seven: Combined with Figures 1 to 6 Describe this embodiment. Two symmetrically arranged wheel grooves are machined on both sides of the crossbeam 15 of this embodiment along the length direction. The cross-section of the wheel groove is a shape combined by a horizontally placed isosceles trapezoid and a rectangle. Stop protrusions are respectively arranged on the upper and lower sides outside the wheel groove. With such a setting, the pulley 9 is installed in the wheel groove from the side of the crossbeam 15, and the stop protrusions are used to limit the pulley 9 to prevent the pulley 9 from detaching from the crossbeam 15. The other components and connection relationships are the same as those in Specific Embodiments One, Two, Three, Four, Five, or Six.
[0037] Specific Embodiment Eight: Combined with Figures 1 to 6Description of this embodiment: The robotic arm 21 of this embodiment includes a crossbeam manipulator connecting frame, a robotic arm connecting shaft, two blocking screws, two fasteners 20, two pulleys 9, and two robotic arm locking screws 25. The upper part of the crossbeam manipulator connecting frame is a U-shaped pulley mounting frame. Two coaxially arranged pulley shaft mounting holes are respectively machined on the two wing plates of the U-shaped pulley mounting frame. The crossbeam 15 is embedded between the two wing plates of the U-shaped pulley mounting frame. The two pulleys 9 are slidably mounted in the wheel grooves on both sides of the crossbeam 15. The rotating shafts of the two pulleys 9 are respectively rotatably mounted in the pulley shaft mounting holes on the two wing plates of the U-shaped pulley mounting frame through two bearings. Two robotic arm locking threaded holes perpendicular to the crossbeam 15 are provided on the side wall of the U-shaped pulley mounting frame. The two robotic arm locking screws 25 are respectively screwed into the two robotic arm locking threaded holes from the outside to the inside. The lower part of the crossbeam manipulator connecting frame is two manipulator connecting ear plates. Two coaxially arranged robotic arm connecting shaft holes 1 are respectively machined on the two manipulator connecting ear plates. The middle part of the robotic arm connecting shaft is connected to the upper part of the manipulator. The two ends of the robotic arm connecting shaft are respectively rotatably inserted into the robotic arm connecting shaft holes 1 of the two manipulator connecting ear plates and extend outside the manipulator connecting ear plates. One end of each of the two ends of the robotic arm connecting shaft is machined with external threads. The fastener 20 is a nut. The two fasteners 20 are respectively screwed onto the two ends of the robotic arm connecting shaft. The robotic arm connecting shaft is perpendicular to the pulley shaft. A blocking threaded hole perpendicular to and communicating with the robotic arm connecting shaft hole 1 is provided on the side of each manipulator connecting ear plate. A blocking screw is screwed into the blocking threaded hole. The length of the blocking threaded hole is less than the length of the blocking screw. With such a setting, by manually adjusting the robotic arm 21, the robotic arm 21 can move horizontally along the wheel grooves on both sides of the crossbeam 15 under the action of the pulleys 9, thereby realizing the position adjustment of the manipulator for clamping the diaphragm. When the diaphragm moves to the appropriate position, by screwing the robotic arm locking screw 25 inward, the end of the robotic arm locking screw 25 abuts against the side wall of the crossbeam 15, so as to realize the relative fixation of the position between the crossbeam manipulator connecting frame and the crossbeam 15. When it is necessary to adjust the position of the robotic arm 21 on the crossbeam 15 through the pulley 9, the robotic arm locking screw 25 is screwed outwards so that the end of the robotic arm locking screw 25 does not contact the side wall of the crossbeam 15. At this time, the pulley 9 can smoothly move along the wheel grooves on both sides of the crossbeam 15 under the action of an external force. The upper part of the manipulator is rotatably connected to the two manipulator connecting ear plates through the robotic arm connecting shaft, thereby realizing the swinging of the manipulator. When the manipulator rotates to the appropriate position around the robotic arm connecting shaft, the robotic arm connecting shaft is tightened by screwing in the blocking screw, thereby fixing the position of the manipulator. The other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.
[0038] Among them, the pulley 9 is slidably connected to the wheel grooves on both sides of the crossbeam 15, which can achieve good moving and supporting effects.
[0039] Specific embodiment nine: CombiningFigures 1 to 6 Regarding this embodiment, the manipulator of this embodiment includes a manipulator body, a clamping fixture 1, a clamping fixture 22, a T-shaped plug, and a fixture tightening screw 24. A T-shaped through groove is provided on the lower end surface of the manipulator body along the length direction of the cross beam 15. The clamping fixture 1 and the clamping fixture 22 are arranged side by side and oppositely below the cuboid fixture connecting portion. Among them, the upper end of the clamping fixture 1 is fixedly connected to the cuboid fixture connecting portion, and a T-shaped connecting block is processed on the upper end of the clamping fixture 22. The T-shaped connecting block is slidably installed in the T-shaped through groove at the lower end of the cuboid fixture connecting portion. A T-shaped plug is installed at the end of the T-shaped through groove. The T-shaped plug is connected to the T-shaped connecting block through a connecting piece. A fixture tightening threaded hole 23 is processed on the T-shaped plug. The fixture tightening screw 24 is spirally installed into the fixture tightening threaded hole 23 from the outside to the inside and extends into the T-shaped through groove. With such a setting, the device is specifically designed with a clamping mechanism responsible for reliably clamping and moving the diaphragm. The structure of the clamping mechanism ensures that the diaphragm can be firmly fixed before welding, thereby improving the welding accuracy. The gripper adopts a clamping structure, which can not only firmly clamp the diaphragm but also has sufficient flexibility to adapt to diaphragms of different sizes and shapes. The clamping fixture 1 and the clamping fixture 22 play the role of clamping objects. Among them, the clamping fixture 1 is a fixed fixture, and the clamping fixture 22 is a movable fixture. The clamping fixture 22 moves through the relationship between the fixture tightening screw 24 and the fixture tightening threaded hole 23, and then plays a clamping role. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, or eighth specific embodiments.
[0040] Among them, the T-shaped connecting block is slidably connected to the T-shaped through groove at the lower end of the cuboid fixture connecting portion, which can achieve good movement and support effects.
[0041] Specific embodiment ten: In combination with Figures 1 to 6Describe this embodiment. The robot body of this embodiment is a split structure. The robot body includes a cylindrical upper arm and a rectangular lower arm 4. A rectangular plug-in block is provided on the upper part of the cylindrical upper arm, and two robot arm connecting shaft holes are opened on the rectangular plug-in block. Flat key slots are opened on the rectangular plug-in block and the robot arm connecting shaft. The middle part of the robot arm connecting shaft is inserted into the second robot arm connecting shaft hole, and the robot arm connecting shaft is connected to the rectangular plug-in block by a flat key. A circular step is processed at the lower part of the cylindrical upper arm, and a connecting arm bearing is sleeved on the circular step. The bottom side of the circular step is processed with an external thread, and a cover plate with an internal threaded hole is provided under the circular step, and the cover plate is spirally installed at the lower end of the circular step. The rectangular lower arm 4 is a split structure. The rectangular lower arm 4 is formed by two equal-sized lower arms that are buckled together. The two lower arms are connected by a connecting piece. A stepped shaft hole is opened on the upper end face of the rectangular lower arm 4, and the circular step and cover plate at the lower part of the cylindrical upper arm can be rotatably installed in the stepped shaft hole. With such arrangement, by manually rotating the rectangular lower arm 4, the rectangular lower arm 4 and the cylindrical upper arm can achieve relative rotation, thereby adjusting the angle of the manipulator, and the manipulator can be rotated 360°. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.
[0042] Combination Figures 1 to 6 The working principle of the utility model box-type bridge assembly adjustable sliding mechanical clamping device is described as follows:
[0043] 1. The movement process of the clamping mechanism in the front and rear directions:
[0044] The motor 1 drives the worm of the worm gear reducer 2 to rotate, which drives the turbine shaft to rotate, and then the gear 11 rotates to make the whole body move forward and backward. The rotation of the gear 11 rotates the pulley 10, so that the pulley 10 rolls on the guide rail 16. The balancing device 3 is placed in the slide groove 18 to prevent the pulley 10 from leaving the guide rail 16.
[0045] 2. The movement process of the clamping mechanism in the horizontal direction:
[0046] By manually adjusting the mechanical arm 21, the mechanical arm 21 can achieve horizontal movement along the wheel grooves on both sides of the beam 15 under the action of the pulley 9, thereby achieving position adjustment of the mechanical arm clamping the diaphragm.
[0047] 3. The swing process of the clamping mechanism in the vertical direction:
[0048] The upper part of the manipulator is rotatably connected to the two manipulator connecting ear plates through the manipulator arm connecting shaft, thereby realizing the swing of the manipulator. When the manipulator rotates to a suitable position with the manipulator arm connecting shaft as the center, the manipulator arm connecting shaft is tightened by screwing in the blocking screw, thereby fixing the position of the manipulator.
[0049] IV. Adjustment process of the clamping mechanism in the angular direction:
[0050] By manually rotating the cuboid lower arm 4, relative rotation between the cuboid lower arm 4 and the cylindrical upper arm is achieved, thereby realizing the adjustment of the angle of the manipulator, and the manipulator can be rotated 360°.
[0051] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. An adjustable sliding mechanical clamping device for assembling a box-type bridge, characterized in that: It includes a profiling component and multiple multi-dimensional adjustment devices. The profiling component includes a guide rail (16), a cross beam (15), two balancing devices (3), two machine frames, two sets of traveling wheel sets, and two electric drive devices. The cross-section of the guide rail (16) is U-shaped. On the upper parts of the two wing plates of the guide rail (16), there are two sliding grooves (18) arranged side by side along the extendable direction of the guide rail. The two balancing devices (3) are respectively slidably installed in the two sliding grooves (18). The two machine frames are respectively arranged above the two sliding grooves (18). The bottoms of the two machine frames are respectively connected to the upper parts of the two balancing devices (3). The two sets of traveling wheel sets are respectively rotatably installed on the two machine frames. The pulleys in the two sets of traveling wheel sets are in rolling cooperation with the upper surfaces of the two wing plates of the guide rail (16). The two electric drive devices are respectively installed on the two machine frames. The output ends of the transmission mechanism mounting brackets are respectively connected to the pulley shafts of the two sets of traveling wheel sets. The cross beam (15) is horizontally arranged above the guide rail (16). The two ends of the cross beam (15) are respectively connected to the two machine frames. Multiple multi-dimensional adjustment devices are slidably installed on the cross beam (15). Each multi-dimensional adjustment device includes a robotic arm (21) and a robot hand. The upper part of the robotic arm (21) is slidably connected to the cross beam (15), and the lower part of the robotic arm (21) is connected to the upper part of the robot hand.
2. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 1 is characterized in that: The balancing device (3) includes a slider and two longitudinal beams. The cross-section of the sliding groove (18) is an inverted T shape. A slidable slider is provided at the lower part of the sliding groove (18). Two slidable and vertically arranged side-by-side longitudinal beams are provided at the upper part of the sliding groove (18). The lower ends of the two longitudinal beams are both connected to the upper end of the slider. The upper ends of the two longitudinal beams extend upward outside the guide rail (16) and are connected to the lower ends of the corresponding machine frames. Two pulley shaft mounting holes one are horizontally arranged side by side on the side walls of the two longitudinal beams respectively.
3. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 2 is characterized in that: The machine frame includes a machine frame body and two fixing fasteners (5). The machine frame body is a T-shaped block structure. A gear shaft mounting hole one is provided in the middle of the lower plate of the machine frame body. A rectangular through groove is provided on the upper end surface of the upper block structure of the machine frame body along the length direction of the cross beam (15). Coaxial fastener connection threaded holes are provided on the two side walls of the upper block structure along the width direction of the cross beam (15). The end of the cross beam (15) is inserted into the rectangular through groove. The fixing fastener (5) includes a bolt part and a top block detachably connected to the end of the bolt part. The top block is vertically arranged between the side wall of the rectangular through groove and the cross beam (15). The bolt part of the fixing fastener (5) is spirally installed from the outside to the inside in the fastener connection threaded hole and extends into the rectangular through groove to be detachably connected to the top block.
4. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 3 is characterized in that: The running wheel assembly comprises a gear shaft, two pulley shafts, two V-shaped buckles (8), two gears (11), four pulleys (10) and a plurality of blocking blocks (12). The two V-shaped buckles (8) are symmetrically arranged on both sides of the lower plate of the frame body, and the opening of the V-shaped buckles (8) is arranged downward. A pair of coaxially arranged gear shaft mounting holes are respectively opened in the middle of the two V-shaped buckles (8). Two coaxially arranged pulley shaft mounting holes are respectively opened at both ends of the two V-shaped buckles (8). The gear shaft is rotatably mounted in the gear shaft mounting hole 1 of the lower plate of the frame body through a bearing. A gear (11) is arranged between each V-shaped buckle (8) and the lower plate of the frame body. The gear (11) is mounted on the frame body through a flat key. On the gear shaft, both ends of the gear shaft are processed with a section of external thread, the block (12) is a nut, and two blocks (12) are respectively spirally installed at both ends of the gear shaft. The two pulley shafts are rotatably installed in one of the pulley shaft installation holes of the two longitudinal beams of the balancing device (3) through two bearings. Two pulleys (10) are respectively arranged between the two ends of each V-shaped buckle (8) and the two longitudinal beams of the balancing device (3). The two pulleys (10) are respectively installed on the two pulley shafts through two flat keys. Each pulley shaft has a section of external thread processed at both ends. Two blocks (12) are respectively spirally installed at both ends of the pulley shaft. The gear (11) arranged in the middle of each V-shaped buckle (8) is meshed with the two pulleys (10) arranged at both ends of the V-shaped buckle (8).
5. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 4 is characterized in that: The pulley (10) is a cylindrical structure as a whole, with an axial hole processed in the center of the pulley (10), and a plurality of tooth grooves evenly arranged along the circumferential direction processed on the side of the pulley (10), wherein the plurality of tooth grooves correspond one by one to the plurality of locking teeth on the gear (11).
6. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 5 is characterized in that: The electric drive device comprises a motor (1) and a worm gear reducer (2); the motor (1) rotating shaft is connected to the worm end of the worm gear reducer (2) via a coupling; the turbine rotating shaft of the worm gear reducer (2) is connected to the rotating shaft of a gear (10); the motor (1) housing is connected to the worm gear reducer (2) housing via a flange connection; and the motor (1) housing is connected to a frame via a buckle (7).
7. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 6 is characterized in that: Two symmetrically arranged wheel grooves are processed on both sides of the crossbeam (15) along the length direction. The cross section of the wheel groove is a combination of a horizontally placed isosceles trapezoid and a rectangle. Stop protrusions are respectively arranged on the upper and lower sides of the outer side of the wheel groove.
8. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 7 is characterized in that: The mechanical arm (21) comprises a crossbeam mechanical arm connecting frame, a mechanical arm connecting shaft, two blocking screws, two fasteners (20), two pulleys (9) and two mechanical arm locking screws (25). The upper part of the crossbeam mechanical arm connecting frame is a U-shaped pulley mounting frame. Two coaxially arranged pulley shaft mounting holes are respectively processed on the two side wing plates of the U-shaped pulley mounting frame. The crossbeam (15) is embedded between the two side wing plates of the U-shaped pulley mounting frame. The two pulleys (9) can be slidably mounted in the wheel grooves on both sides of the crossbeam (15). The rotating shafts of the two pulleys (9) are rotatably mounted in the pulley shaft mounting holes of the two side wing plates of the U-shaped pulley mounting frame through two bearings. The side wall of the U-shaped pulley mounting frame is provided with two mechanical arm locking threaded holes arranged perpendicular to the crossbeam (15). The two mechanical arm locking screws (25) are respectively spirally installed from the outside to the inside. In the two robot arm locking threaded holes, the lower part of the crossbeam robot arm connecting frame is two robot arm connecting ear plates, and the two robot arm connecting ear plates are respectively processed with two coaxially arranged robot arm connecting shaft holes, the middle part of the robot arm connecting shaft is connected to the upper part of the robot, and the two ends of the robot arm connecting shaft can be rotatably inserted in the robot arm connecting shaft holes of the two robot arm connecting ear plates and extend to the outside of the robot arm connecting ear plates. The two ends of the robot arm connecting shaft are respectively processed with one end of the external thread, a fastener (20) nut, and the two fasteners (20) are respectively screwed on the two ends of the robot arm connecting shaft. The robot arm connecting shaft is arranged vertically with the pulley shaft. Each robot arm connecting ear plate has a side opening with a blocking threaded hole that is vertically connected to the robot arm connecting shaft hole, and a blocking screw is screwed in the blocking threaded hole. The length of the blocking threaded hole is less than the length of the blocking screw.
9. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 8 is characterized in that: The manipulator comprises a manipulator body, a clamp-shaped clamp 1 (6), a clamp-shaped clamp 2 (22), a T-shaped block and a clamp tightening screw (24); the manipulator body has a T-shaped through slot on the lower end surface of the manipulator body along the length direction of the cross beam (15); the clamp-shaped clamp 1 (6) and the clamp-shaped clamp 2 (22) are arranged side by side and opposite to each other below the rectangular clamp connecting part, wherein the upper end of the clamp-shaped clamp 1 (6) is fixedly connected to the rectangular clamp connecting part, and the upper end of the clamp-shaped clamp 2 (22) is processed with a T-shaped connecting block, and the T-shaped connecting block can be slidably installed in the T-shaped through slot at the lower end of the rectangular clamp connecting part, and a T-shaped block is installed at the end of the T-shaped through slot, and the T-shaped block is connected to the T-shaped connecting block through a connecting piece, and a clamp tightening threaded hole (23) is processed on the T-shaped block, and the clamp tightening screw (24) is spirally installed in the clamp tightening threaded hole (23) from the outside to the inside and extends to the inside of the T-shaped through slot.
10. The adjustable sliding mechanical clamping device for assembling a box-type bridge according to claim 9, characterized in that: The robot body is a split structure, the robot body comprises a cylindrical upper arm and a rectangular lower arm (4), the upper part of the cylindrical upper arm is provided with a rectangular plug-in block, the rectangular plug-in block is provided with two robot arm connecting shaft holes, the rectangular plug-in block and the robot arm connecting shaft are provided with flat key grooves, the middle part of the robot arm connecting shaft is inserted into the two robot arm connecting shaft holes, the robot arm connecting shaft machine and the rectangular plug-in block are connected by a flat key, the lower part of the cylindrical upper arm is processed with a circular step, the circular step is sleeved with a connecting arm bearing, the bottom side of the circular step is processed with an external thread, a cover plate with an internal thread hole is provided below the circular step, the cover plate is spirally installed at the lower end of the circular step, the rectangular lower arm (4) is a split structure, the rectangular lower arm (4) is formed by two equal-sized lower arm splits buckled together, the two lower arm splits are connected by a connecting piece, the upper end surface of the rectangular lower arm (4) is provided with a stepped shaft hole, the circular step and the cover plate at the lower part of the cylindrical upper arm can be rotatably installed in the stepped shaft hole.