Stepless distance-adjusting gripping device and system for laminated reinforcing meshes

Abstract

The utility model provides a stepless distance-adjusting gripping device and a stepless distance-adjusting gripping system for laminated reinforcing meshes. An auxiliary frame is assembled inside a main frame in a sliding mode in the longitudinal direction, and the auxiliary frame is a door-shaped frame; the clamping manipulators are assembled in a sliding mode along the center line of the auxiliary frame, and a distance adjusting mechanism is arranged between any two adjacent manipulators. The two rib combing roller sets are arranged on the two sides of the auxiliary frame respectively and driven in the longitudinal direction of the auxiliary frame through a first driving piece, each rib combing roller set comprises a plurality of rib combing rollers corresponding to the manipulators one to one, and a distance adjusting mechanism is arranged between any two adjacent rib combing rollers. A manipulator is arranged at the top, bar combing rollers are arranged on the two sides of the manipulator, overall grabbing of the multiple stacked T-beam web reinforcing meshes is achieved, the bar combing rollers and the grabbing manipulator are installed on a stepless distance adjusting device, the stepless distance adjusting device is driven by an air cylinder, and distance adjustment of the reinforcing meshes can be achieved through a distance adjusting mechanism. The bar combing rollers on the two sides can comb the steel bar meshes through longitudinal movement, and the perpendicularity of the steel bars is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of bridge construction, and particularly relates to a stepless distance-adjustable grasping device and system for laminated steel bar meshes. Background Technique

[0002] Prefabricated construction is widely used in bridge engineering. Its main or all components are processed and formed in a prefabricated component factory, and then transported to the construction site for splicing into the main body of the bridge. At present, the main forms of the main girders of highway bridges are mainly T-shaped girders and small box girders. The steel bar binding jigs generally used are fixed structures assembled by welding. Different cross-sectional sizes and different beam types require corresponding steel bar binding jigs with different sizes.

[0003] When the web steel bar mesh is installed in the buffer rack, due to reasons such as insufficient stiffness of the steel bars and transportation, the perpendicularity of the steel bar mesh during grasping does not meet the requirements, the top of the steel bar deviates from the original position, and even the tops of multiple steel bar meshes lean against each other, resulting in difficulty in grasping the overall steel bar mesh.

[0004] Therefore, an improved technical solution is needed to address the above deficiencies in the prior art. Content of the Utility Model

[0005] [[ID=1�]]The purpose of the utility model is to overcome the above deficiencies in the prior art. The utility model provides a stepless distance-adjustable grasping device and system for laminated steel bar meshes.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] A stepless distance-adjustable grasping device for laminated steel bar meshes, comprising:

[0008] A main frame, inside which a sub-frame is slidably assembled longitudinally. The sub-frame is a portal frame;

[0009] A clamping mechanism, which includes a plurality of manipulators spaced apart at the top of the portal frame. The manipulators are slidably assembled along the midline of the sub-frame, and a distance-adjusting mechanism is provided between any two adjacent manipulators;

[0010] Two groups of steel bar combing roller sets are respectively arranged on both sides of the sub-frame and are longitudinally driven along the sub-frame by a first driving member. Each group of steel bar combing roller sets includes a plurality of steel bar combing rollers corresponding to the manipulators one by one, and a distance-adjusting mechanism is provided between any two adjacent steel bar combing rollers.

[0011] Preferably, the distance adjustment mechanism is a scissors brace. The manipulator and the steel bar combing roller are respectively fixed on a connecting plate. Two symmetrically distributed hinge holes are provided on the connecting plate. The scissors brace located at the same end of the same connecting plate is hinged in the hinge hole through the same hinge shaft.

[0012] Preferably, at least one end of the auxiliary frame is provided with a plurality of second driving members respectively corresponding to the steel bar combing roller group or the clamping mechanism.

[0013] Preferably, the connecting plate is double-layered. The scissors brace is located between the two layers of the connecting plate. Both ends of the connecting plate are fixed on sliders;

[0014] A slide rail corresponding to the slider is provided on the auxiliary frame.

[0015] Preferably, slide bars are provided at both ends of the auxiliary frame and are distributed longitudinally along it. The slide rail corresponding to the steel bar combing roller group is slidably assembled along the slide bars through a slide seat. A guide groove horizontally distributed along the width direction of the auxiliary frame is provided on the slide seat. The slide rail is slidably assembled in the guide groove through a guide rod;

[0016] A third driving member drives the slide rail along a direction parallel to the guide groove, and a first driving member drives the slide rail along a direction parallel to the slide bar.

[0017] Preferably, the manipulator includes a clamping plate and a pressing plate. The two clamping plates are fixed in the middle of the connecting plate through a clamping cylinder. A clamping station corresponding to the steel bar is provided at the lower end of the clamping plate;

[0018] The two pressing plates are respectively located at both ends of the connecting plate. Their lower ends are bent towards the middle of the connecting plate to form an extrusion surface corresponding to the steel bar and located above the clamping station of the clamping plate.

[0019] Preferably, the slide rail is plate-shaped, and both sides are bent towards the middle to form a chute corresponding to the slider.

[0020] Preferably, the steel bar combing roller includes two roller shafts, and the distance between the two roller shafts is adapted to the diameter of the steel bar.

[0021] Preferably, a plurality of longitudinally distributed racks are provided on the outer side of the auxiliary frame, and a plurality of first stepping motors corresponding to the racks one by one through driving gears are provided on the main frame.

[0022] A stepless distance-adjustable grabbing system for stacked steel bar meshes includes any one of the above-mentioned grabbing devices, and further includes a traveling rail and a gantry. The gantry is provided on the traveling rail, and the gantry horizontally extends to one side of the traveling rail to form a picking and placing track;

[0023] A rack perpendicular to the traveling track is provided on the picking and placing track, and a second stepping motor meshing with the rack through a driving gear is provided on the main frame.

[0024] Beneficial effects: A manipulator is provided at the top, and combing rollers are provided on both sides to realize the overall grasping of the multi-layered T-beam web steel bar meshes. The combing rollers and the grasping manipulator are installed on a stepless distance adjustment device, which is driven by a cylinder, and the distance between the steel bar meshes can be adjusted through a distance adjustment mechanism. The combing rollers on both sides can comb the steel bar meshes through longitudinal movement to ensure the perpendicularity of the steel bars. Description of the Drawings

[0025] The specification drawings forming a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments and descriptions of the present utility model are used to explain the present utility model and do not constitute an improper limitation to the present utility model. Among them:

[0026] Figure 1 It is a structural schematic diagram of the grasping device in the specific embodiment provided by the present utility model;

[0027] Figure 2 It is a sectional schematic diagram of the grasping device in the specific embodiment provided by the present utility model;

[0028] Figure 3 It is an installation schematic diagram of the manipulator in the specific embodiment provided by the present utility model;

[0029] Figure 4 It is an installation schematic diagram of the combing roller in the specific embodiment provided by the present utility model;

[0030] Figure 5 It is a structural schematic diagram of the grasping system in the specific embodiment provided by the present utility model.

[0031] In the figure: 1, main frame; 2, sub-frame; 3, clamping plate; 4, combing roller; 5, slide rail; 6, second driving member; 7, slide bar; 8, slide seat; 9, third driving member; 10, rack; 11, second stepping motor; 12, scissors brace; 13, connecting plate; 14, first driving member; 15, hinge hole; 16, slider; 17, pressing plate; 18, pulley; 19, gantry; 20, traveling track; 21, first stepping motor. Detailed Embodiments

[0032] The technical solutions in the embodiments of the present utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present utility model.

[0033] In the description of the present utility model, the orientation or positional relationship indicated by terms such as "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and does not require the present utility model to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. The terms "connected" and "connected to" used in the present utility model should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate component. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] The present utility model will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0035] As Figures 1-5 shown, in order to realize the picking and placing of multiple web steel bar meshes simultaneously, the present application designs a stepless adjustable distance grasping device for stacked steel bar meshes, which includes a main frame 1, a clamping mechanism, and 4 groups of bar combing rollers. The main frame 1 is a square frame, and its shape is adapted to the shape of the cache rack slot. Generally, the cache rack can cache up to 25 T-beam web steel bar meshes at a time. The present application can realize the one-time picking and placing of all T-beam web steel bar meshes through the main frame 1 with a matching shape.

[0036] A sub-frame 2 is slidably assembled longitudinally inside the main frame 1. The sub-frame 2 is a portal frame. The sub-frame 2 is used for installing the clamping mechanism and 4 groups of bar combing rollers. Specifically, the clamping mechanism is arranged in the middle of the sub-frame 2 and extends along its center line. The two groups of bar combing rollers are respectively located on both sides of the sub-frame 2, so as to realize the all-round clamping of the steel bar mesh. The sub-frame 2 is lifted and lowered longitudinally to realize the picking and placing of the steel bar mesh. The clamping mechanism includes a plurality of manipulators spaced apart on the top of the portal frame. The manipulators are used to grasp the steel bars on the top of the steel bar mesh. The manipulators are slidably assembled along the center line of the sub-frame 2. A distance adjusting mechanism is provided between any two adjacent manipulators, so that the distance between the manipulators can be adjusted according to actual needs, so as to adapt to the picking and placing of steel bar meshes with different distances. The two groups of bar combing rollers are respectively arranged on both sides of the sub-frame 2. The two groups of bar combing rollers are driven longitudinally along the sub-frame 2 by a first driving member 14. The bar combing rollers on both sides can comb the steel bar mesh through longitudinal movement to ensure the perpendicularity of the steel bars.

[0037] Each group of bar combing rollers includes a plurality of bar combing rollers 4 corresponding to the manipulators one by one. A distance adjusting mechanism is provided between any two adjacent bar combing rollers 4, that is, one manipulator and two groups of bar combing rollers are used to pick and place one steel bar mesh, so as to ensure the stability of the steel bar mesh during the picking and placing process.

[0038] In an alternative embodiment, the distance adjusting mechanism is a scissors brace 12. The manipulator and the reinforcing bar combing roller 4 are respectively connected to the auxiliary frame 2 through connecting plates 13. Correspondingly, the manipulator and the reinforcing bar combing roller 4 are respectively fixed to the corresponding connecting plates 13. The connecting plates 13 are square, and two symmetrically distributed hinge holes 15 are provided on the connecting plates 13 for connecting the two ends on the same side of the scissors brace 12. The scissors braces 12 located at the same end of the same connecting plate 13 are hinged in the hinge holes 15 through the same hinge shaft. Through continuous hinging, a plurality of scissors braces 12 form a whole. By utilizing the characteristics of the scissors brace 12, the angles of the scissors braces 12 are ensured to be the same, so as to ensure that the distances between each connecting plate 13 are the same. Furthermore, the distance adjustment is realized by driving one end of the clamping mechanism or the group of reinforcing bar combing rollers 4, and this adjustment can be stepless adjustment.

[0039] In an alternative embodiment, at least one end of the auxiliary frame 2 is provided with a plurality of second driving members 6 respectively corresponding to the group of reinforcing bar combing rollers 4 or the clamping mechanism.

[0040] For example, the manipulator corresponding to one end of the clamping mechanism and the group of reinforcing bar combing rollers 4 or the connecting plate 13 corresponding to the reinforcing bar combing roller 4 is fixed to the end of the slide rail 5, and a push plate extending out of the slide rail 5 is provided on the connecting plate 13 corresponding to the manipulator or the reinforcing bar combing roller 4 at the other end. A sliding hole extending along the length direction of the slide rail 5 is provided on the slide rail 5. After the push plate extends out of the sliding hole, it correspondingly connects to the second driving member 6. The second driving member 6 can be a cylinder, an oil cylinder or a ball screw, so as to adjust the distance of the clamping mechanism and the group of reinforcing bar combing rollers 4.

[0041] For another example, second driving members 6 are provided at both ends of the slide rail 5. Correspondingly, push plates extending out of the slide rail 5 are provided on the connecting plates 13 corresponding to the manipulators or the reinforcing bar combing rollers 4 at both ends of the clamping mechanism and the group of reinforcing bar combing rollers 4. A sliding hole extending along the length direction of the slide rail 5 is provided on the slide rail 5. After the push plate extends out of the sliding hole, it correspondingly connects to the second driving member 6.

[0042] In this embodiment, the main body of the slide rail 5 is plate-shaped, and both sides are bent towards the middle to form sliding grooves corresponding to the sliders 16. It is formed by bending or welding steel plates, so as to form a sliding channel corresponding to both ends of the connecting plate 13. Pulleys 18 can be provided at both ends of the connecting plate 13, and the pulleys 18 slide along the sliding grooves, so as to ensure the smoothness of the sliding.

[0043] In an alternative embodiment, the connecting plate 13 is double-layered. Sliders 16 are respectively fixed at both ends of the double-layer connecting plate 13. The distance between the double-layer connecting plates 13 is adapted to the two ends of the hinged shear braces. Two adjacent scissors braces 12 extend between the two layers of connecting plates 13 and are hinged through the same hinge shaft. Both ends of the hinge shaft respectively extend out of the hinge holes 15 of the two connecting plates 13. A slide rail 5 corresponding to the slider 16 is provided on the auxiliary frame 2, and both sides of the slide rail 5 are bent inwards to form sliding grooves corresponding to the slider 16.

[0044] In an alternative embodiment, the connecting plate 13 is double-layered. Pulley 18 is respectively connected to both ends of the connecting plate 13 corresponding to the comb bar roller 4, so as to slide with the chute.

[0045] In an alternative embodiment, sliding strips 7 are provided at both ends of the secondary frame 2 along its longitudinal direction. The sliding strips 7 are preferably dovetail grooves. The slide rails 5 corresponding to the comb bar roller 4 group are slidably assembled along the sliding strips 7 through the slide seats 8, so as to ensure the running track of the comb bar roller 4 group. Guide grooves are provided on the slide seats 8 horizontally along the width direction of the secondary frame 2. The guide grooves are preferably dovetail grooves. Guide rods are fixed to both ends of the slide rails 5 through bolts. The guide rails have dovetail-shaped guiding parts. Thus, the slide rails 5 are slidably assembled in the guide grooves through the guide rods, realizing driving the slide rails 5 in the horizontal direction and meeting the purpose of adjusting the comb bar roller 4 group in the width direction.

[0046] The slide rails 5 are driven in parallel by a third driving member 9. The third driving member 9 can be any one of a cylinder, an oil cylinder or a ball screw, so as to drive the slide rails 5 in the direction parallel to the guide grooves. The first driving member 14 drives the slide rails 5 in the direction parallel to the sliding strips 7. The first driving member 14 can be any one of a cylinder, an oil cylinder or a ball screw. The first driving member 14 is correspondingly connected to the slide seat 8, so as to drive the comb bar roller 4 group longitudinally.

[0047] In another alternative embodiment, the manipulator includes a clamping plate 3 and a pressing plate 17. The clamping plate 3 can be a flat plate or an L-shaped plate. A clamping station corresponding to the steel bar is provided at the lower end of the clamping plate 3, so as to stably clamp the steel bar. The two clamping plates 3 are fixed to the middle of the connecting plate 13 through a clamping cylinder. The two clamping plates 3 are located on both sides of the manipulator corresponding to the length direction of the secondary frame 2, realizing automatic clamping.

[0048] The two pressing plates 17 are respectively located at both ends of the connecting plate 13. Specifically, the pressing plate 17 is plate-shaped, and its lower end is bent towards the middle of the connecting plate 13 to form an extrusion surface corresponding to the steel bar above the clamping station of the clamping plate 3, driving the steel bar longitudinally through extrusion and providing a driving force for the steel bar, so that the steel bar can be smoothly clamped into the card slot at the position to be placed.

[0049] In an alternative embodiment, the comb bar roller 4 includes two roller shafts. When the roller shafts move longitudinally, they can perform rolling friction with the steel bar, improving the straightening effect and at the same time avoiding the steel bar being taken out of position by the roller shafts due to sliding friction. The distance between the two roller shafts is adapted to the diameter of the steel bar.

[0050] In an alternative embodiment, a plurality of racks 10 are provided on the outside of the secondary frame 2 along the longitudinal direction. Specifically, 2-3 evenly distributed racks 10 can be provided on each side of the secondary frame 2. The length of the racks 10 is adapted to the height of the secondary frame one-to-one. A plurality of first stepping motors 21 corresponding to the racks 10 through driving gears are provided on the main frame 1. The first stepping motors 21 drive the driving gears, so as to drive the secondary frame 2 longitudinally.

[0051] In another alternative embodiment, the present application further provides a stepless adjustable distance grasping system for laminated steel bar meshes, including any one of the above-mentioned grasping devices. The grasping system includes a traveling rail 20 and a gantry 19. The traveling rail 20 is a railway track, which moves between the steel bar placement station and the steel bar mesh buffer rack in the processing site. A gantry 19 is provided on the traveling rail 20. The bottom of the gantry 19 is provided with driving wheels corresponding to the traveling rail 20. The gantry 19 horizontally extends a cross beam to one side of the traveling rail 20, and a pick-and-place track is formed between the cross beams, so that steel bars can be picked and placed laterally on the traveling rail 20. A rack 10 perpendicular to the traveling rail 20 is provided on the pick-and-place track, specifically above the cross beam of the gantry 19. A second stepping motor 11 that meshes with the rack 10 through a driving gear is provided on the main frame 1, thereby realizing the driving of the main frame 1.

[0052] The grasping process of this system is as follows:

[0053] (1) When grasping the steel bar mesh, the system as a whole descends. The descending height is such that the side combing rollers 4 can accurately insert into the gaps of the steel bar mesh when pushed inward, and at the same time, the top grasping manipulator is 10 mm away from the top surface of the steel bar mesh.

[0054] (2) After descending in place, the side combing rollers 4 are pushed inward and inserted into the gaps of the steel bar mesh, and then the combing rollers 4 move upward as a whole along the built-in lifting device. During the moving process, the steel bar meshes with non-compliant verticality are combed upright.

[0055] (3) After the combing rollers 4 move upward to 30 mm below the top of the steel bar mesh and stop (at this time, the grasping manipulator set at the top of the system is in the open state), the gripper system moves downward by 30 mm. After ensuring that the top of the steel bar mesh is inside the top manipulator, the top manipulator clamps the steel bar mesh.

[0056] (4) After the side combing rollers 4 move downward to the bottom of the system, the gripper system is lifted as a whole, and multiple steel bar meshes are lifted out of the buffer rack as a whole, realizing the grasping work of multiple steel bar meshes.

[0057] (5) When the designed spacing of the steel bar mesh is 150 mm, after the gripper system lifts the steel bar mesh out of the buffer rack, the stepless adjustable distance device works, the cylinder extends, and the layout spacing of the steel bar mesh is adjusted to 150 mm.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. A stepless adjustable distance grasping device for laminated steel bar meshes, characterized in that, Including: A main frame, inside which a sub-frame is slidably assembled longitudinally. The sub-frame is a portal frame; A clamping mechanism, which includes a plurality of manipulators spaced apart at the top of the portal frame. The manipulators are slidably assembled along the center line of the sub-frame, and a distance adjusting mechanism is provided between any two adjacent manipulators; Two groups of steel bar combing roller sets are respectively arranged on both sides of the sub-frame and are longitudinally driven along the sub-frame by a first driving member. Each group of steel bar combing roller sets includes a plurality of steel bar combing rollers corresponding one by one to the manipulators, and a distance adjusting mechanism is provided between any two adjacent steel bar combing rollers.

2. The stepless adjustable distance grabbing device for laminated steel bar meshes according to claim 1, characterized in that, The distance adjusting mechanism is a scissors brace. The manipulator and the steel bar combing roller are respectively fixed on a connecting plate. Two symmetrically distributed hinge holes are provided on the connecting plate. The scissors braces at the same end of the same connecting plate are hinged in the hinge holes through the same hinge shaft.

3. The stepless pitch-adjustable gripping device for laminated steel bar meshes according to claim 2, characterized in that, At least one end of the sub-frame is provided with a plurality of second driving members respectively corresponding to the steel bar combing roller sets or the clamping mechanism.

4. The stepless pitch-adjustable grasping device for laminated steel bar meshes according to claim 2, wherein, The connecting plate is double-layered. The scissors brace is located between the two layers of the connecting plate. Both ends of the connecting plate are fixed on sliders; A slide rail corresponding to the slider is provided on the sub-frame.

5. The stepless pitch-adjustable grasping device for laminated steel bar meshes according to claim 4, characterized in that, Sliding strips are provided at both ends of the sub-frame along its longitudinal direction. The slide rail corresponding to the steel bar combing roller set is slidably assembled along the sliding strip through a sliding seat. A guide groove horizontally distributed along the width direction of the sub-frame is provided on the sliding seat. The slide rail is slidably assembled in the guide groove through a guide rod; A third driving member drives the slide rail along a direction parallel to the guide groove, and the first driving member drives the slide rail along a direction parallel to the sliding strip.

6. The stepless pitch-adjustable gripping device for laminated steel bar meshes according to claim 4, wherein The manipulator includes a clamping plate and a pressing plate. The two clamping plates are fixed in the middle of the connecting plate through a clamping cylinder. A clamping station corresponding to the steel bar is provided at the lower end of the clamping plate; The two pressing plates are respectively located at both ends of the connecting plate, and their lower ends are bent towards the middle of the connecting plate to form a pressing surface corresponding to the steel bar above the clamping station of the clamping plate.

7. The stepless adjustable distance grasping device for laminated steel bar mesh according to claim 4, characterized in that, The slide rail is plate-shaped, and both sides are bent towards the middle to form a chute corresponding to the slider.

8. The stepless pitch-adjustable grasping device for laminated steel bar mesh according to claim 1, characterized in that, The steel bar combing roller includes two roller shafts, and the distance between the two roller shafts is adapted to the diameter of the steel bar.

9. The stepless pitch-adjustable gripping device for laminated steel bar meshes according to claim 1, wherein, A plurality of longitudinally distributed racks are provided outside the sub-frame, and a plurality of first stepping motors corresponding one by one to the racks through driving gears are provided on the main frame.

10. A stepless adjustable distance grasping system for a laminated steel bar mesh, comprising the grasping device according to any one of claims 1-9, characterized in that, It further includes a traveling rail and a gantry. The gantry is provided on the traveling rail, and the gantry horizontally extends to one side of the traveling rail to form a picking and placing track; A rack perpendicular to the traveling rail is provided on the picking and placing track, and a second stepping motor meshing with the rack through a driving gear is provided on the main frame.

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