Mechanical arm mechanism of angle steel flexible stacking device

Abstract

The utility model provides a mechanical arm mechanism of an angle steel flexible stacking device, and relates to the technical field of angle steel equipment, the mechanical arm mechanism comprises a bottom plate fixed with an external supporting device, the upper surface of the bottom plate is provided with a mechanical arm body, the other end of the mechanical arm body is provided with a rotating disc, and the side surface of the rotating disc is provided with a clamping device. The clamping device comprises a platform plate, and the platform plate is fixed to the rotating disc. According to the mechanical arm mechanism of the angle steel flexible stacking device, angle steel is clamped and stacked by arranging the mechanical claw, in the process that the angle steel is lifted by the electromagnet, the support rotates and drives the lifting plate to move to the position below the angle steel, the lifting plate makes contact with the angle steel under pushing of the hydraulic rod, and the angle steel is prevented from falling off; and the stability of the angle steel in the lifting process is maintained, and the problem that in the prior art, a common angle steel flexible stacking device is unstable in adsorption in the using process, and potential safety hazards exist is solved.

Description

Technical Field

[0001] The utility model relates to a mechanical arm structure, in particular to a mechanical arm mechanism of an angle steel flexible stacking device, belonging to the technical field of angle steel equipment. Background Art

[0002] Angle steel, commonly known as angle iron, is a long strip of steel with two sides perpendicular to each other at an angle. Angle steel can be composed of various load-bearing components according to different structural needs, and can also be used as connectors between components. It is widely used in various building structures and engineering structures. During transportation, angle steel is arranged in multiple rows and overlapped up and down. The openings of the angle steels of the upper and lower adjacent layers are set in reverse and the angle steels of the upper layer are set on both sides of the two angle steels of the lower layer. This takes up less space. After being stacked up and down, it can play the role of layer-by-layer stacking and pressing, with good stability and not easy to tilt or dislocate. After the stacking is completed, it is bundled to realize the subsequent transportation of the angle steel.

[0003] The flexible angle steel stacking device disclosed in the Chinese patent application disclosure CN217894449U is configured by providing a base and an electromagnet inside the base so that the electromagnet can adsorb the angle steel. When the angle steel is adsorbed by the electromagnet, the angle steel moves close to the contact block, and the robotic arm drives the angle steel to move and complete the stacking.

[0004] During the application of the above patent, although the angle steel can be adsorbed by the electromagnet and transported by the robotic arm after the adsorption is completed, it lacks components to assist in supporting the angle steel, so when it adsorbs heavier angle steel, or when the weight of the angle steel is close to its adsorption limit, the robotic arm transports and stacks the angle steel under this condition. The adsorption of the angle steel is unstable and there is a risk of it falling, which poses a safety hazard. At the same time, during the application of the above patent, there is a lack of cleaning process for the contact position during the contact between the electromagnet and the angle steel. Over time, the dust adhered to the outer surface of the angle steel will be transferred to the outer surface of the electromagnet, affecting the adsorption effect of the electromagnet. Utility Model Content

[0005] The utility model proposes a mechanical arm mechanism for a flexible angle steel stacking device to solve the problem of unstable adsorption and potential safety hazards posed by the common flexible angle steel stacking device in the prior art during use, and at the same time solves the problem that dust adhered to the angle steel after long-term use may affect the adsorption effect of the electromagnet.

[0006] The utility model is realized through the following technical solutions: the mechanical arm mechanism of the angle steel flexible stacking device includes a base plate fixed to an external support device, a mechanical arm body is installed on the upper surface of the base plate, a turntable is installed at the other end of the mechanical arm body, a clamping device is installed on the side of the turntable, the clamping device includes a platform plate, the platform plate is fixed to the turntable, and two symmetrically arranged mechanical claws are provided on the right side of the platform plate.

[0007] A groove is provided on the right side of the platform plate, and a plurality of track rods are fixed to the inner wall of the groove. A plurality of track blocks are provided on the right side of the platform plate, and the track rods pass through the track blocks. The track blocks are slidably connected to the grooves, and the track blocks are connected to an external driving device, which drives the track blocks to move and then drives the mechanical claw to move.

[0008] The mechanical claw includes a fixed block, which is fixed to the track block. The two fixed blocks are hingedly connected to a bracket on one side away from each other. The inner wall of the bracket is slidably connected to a lifting plate. A hydraulic rod is installed on the bottom surface of the bracket. The output end of the hydraulic rod is fixed to the lifting plate, and the lifting plate can be driven to rise and fall through the output end of the hydraulic rod.

[0009] The mechanical claw further comprises an electromagnet mounted on the bottom surface of the fixed block, the electromagnet is connected to an external controller, and the electromagnet is controlled by the external controller to adsorb the angle steel.

[0010] The mechanical claw also includes a fixed plate installed on one side of the two fixed blocks close to each other, and a high-pressure nozzle is installed on the bottom surface of the fixed plate. The output end of the high-pressure nozzle is connected to an external high-pressure air pump. The external high-pressure air pump drives high-pressure gas to be ejected from the high-pressure nozzle to blow and clean the outer surface of the angle steel.

[0011] Auxiliary plates are fixed on the left and right sides of the platform plate, and scanning devices are installed on the bottom surfaces of the two auxiliary plates. The scanning devices are connected to the external controller, and the distance from the platform plate to the stacked angle steels can be scanned by the scanning devices.

[0012] A plurality of rubber blocks are installed on the right side of the fixing plate. The size of the rubber blocks is equal to that of the electromagnet. The rubber blocks can provide a certain buffer for the electromagnet when adsorbing the angle steel, reduce the impact of the angle steel on the electromagnet, and extend the service life of the electromagnet.

[0013] The utility model provides a mechanical arm mechanism of an angle steel flexible stacking device, which has the following beneficial effects:

[0014] 1. The mechanical arm mechanism of the angle steel flexible stacking device clamps and stacks the angle steel by setting mechanical claws. When the electromagnet lifts the angle steel, the bracket rotates and drives the lifting plate to move to the bottom of the angle steel. Under the push of the hydraulic rod, the lifting plate contacts the angle steel to prevent the angle steel from falling off, maintaining the stability of the angle steel during the lifting process, and solving the problem of unstable adsorption and safety hazards posed by the common angle steel flexible stacking device in the prior art during use.

[0015] 2. The robotic arm mechanism of the angle steel flexible stacking device is equipped with a high-pressure nozzle. Before the electromagnet contacts the angle steel, an external high-pressure air pump drives high-pressure gas to be ejected from the high-pressure nozzle to blow and clean the outer surface of the angle steel, preventing the adhered dust from affecting the normal operation of the electromagnet. This solves the problem that the dust adhered to the angle steel after long-term use will affect the adsorption effect of the electromagnet. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 It is a side view of the platform plate of the utility model;

[0018] Figure 3 This is a schematic structural diagram of the clamping device of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the mechanical claw of the utility model.

[0020] Description of Reference Numerals

[0021] 1. Base plate; 2. Robotic arm body; 3. Turntable; 4. Clamping device;

[0022] 401, platform plate; 402, mechanical claw; 403, track rod; 404, track block;

[0023] 4021, fixed block; 4022, bracket; 4023, lifting plate; 4024, hydraulic rod; 4025, electromagnet; 4026, fixed plate; 4027, high-pressure nozzle;

[0024] 5. Auxiliary plate; 6. Scanning device; 7. Rubber block. DETAILED DESCRIPTION

[0025] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4 An embodiment of the utility model provides a robotic arm mechanism of a flexible angle steel stacking device, including a base plate 1 fixed to an external support device, a robotic arm body 2 is installed on the upper surface of the base plate 1, a turntable 3 is installed at the other end of the robotic arm body 2, a clamping device 4 is installed on the side of the turntable 3, and the clamping device 4 includes a platform plate 401, which is fixed to the turntable 3, and two symmetrically arranged robotic claws 402 are provided on the right side of the platform plate 401.

[0026] Please refer to Figure 1 、 Figure 2 and Figure 3A groove is provided on the right side of the platform plate 401, and a plurality of track rods 403 are fixed on the inner wall of the groove. A plurality of track blocks 404 are provided on the right side of the platform plate 401, and the track rod 403 passes through the track block 404, and the track block 404 is slidably connected to the groove. The track block 404 is connected to an external driving device, and the track block 404 is driven by the external driving device to move, thereby driving the mechanical claw 402 to move. The mechanical claw 402 includes a fixed block 4021, which is fixed to the track block 404, and the side surfaces of the two fixed blocks 4021 away from each other are hinged with a bracket 4022, and the inner wall of the bracket 4022 is slidably connected to the lifting plate 4023, and a hydraulic rod 4024 is installed on the bottom surface of the bracket 4022. The output end of the hydraulic rod 4024 is fixed to the lifting plate 4023, and the lifting plate 4023 can be driven to rise and fall by the output end of the hydraulic rod 4024.

[0027] Please refer to Figure 2 、 Figure 3 and Figure 4 The mechanical claw 402 also includes an electromagnet 4025 installed on the bottom surface of the fixed block 4021, and the electromagnet 4025 is connected to an external controller. The electromagnet 4025 is controlled by the external controller to adsorb the angle steel. The mechanical claw 402 also includes a fixed plate 4026 installed on one side of the two fixed blocks 4021 close to each other. A high-pressure nozzle 4027 is installed on the bottom surface of the fixed plate 4026. The output end of the high-pressure nozzle 4027 is connected to an external high-pressure air pump. The external high-pressure air pump drives high-pressure gas to be ejected from the high-pressure nozzle 4027 to blow and clean the outer surface of the angle steel.

[0028] Please refer to Figure 2 、 Figure 3 and Figure 4 Auxiliary plates 5 are fixed on the left and right sides of the platform plate 401, and scanning devices 6 are installed on the bottom surfaces of the two auxiliary plates 5. The scanning devices 6 are connected to the external controller. The scanning devices 6 can scan the distance from the platform plate 401 to the stacked angle steels. A plurality of rubber blocks 7 are installed on the right side of the fixed plate 4026. The size of the rubber blocks 7 is equal to the size of the electromagnet 4025. The rubber blocks 7 can provide a certain buffer for the electromagnet 4025 when adsorbing the angle steel, reduce the impact of the angle steel on the electromagnet 4025, and extend the service life of the electromagnet 4025.

[0029] Working principle: During use, the clamping device 4 is driven to move by the robotic arm body 2, and the movement of the clamping device 4 drives the mechanical claw 402 to move. The movement of the mechanical claw 402 makes the fixed block 4021 close to the angle steel, and the distance between the angle steel and the platform plate 401 is scanned by the scanning device 6. Before the electromagnet 4025 comes into contact with the angle steel, the external high-pressure air pump drives high-pressure gas to be ejected from the high-pressure nozzle 4027 to blow and clean the outer surface of the angle steel, so as to avoid the adhered dust affecting the normal operation of the electromagnet 4025, and solves the problem that the dust adhered to the angle steel after long-term use will affect the adsorption effect of the electromagnet 4025.

[0030] The angle steel is adsorbed by the electromagnet 4025, and the rubber block 7 can provide a certain buffer for the electromagnet 4025 when adsorbing the angle steel, thereby reducing the impact of the angle steel on the electromagnet 4025 and extending the service life of the electromagnet 4025. In the process of the electromagnet 4025 driving the angle steel to lift, the scanning device 6 determines the distance between the platform plate 401 and the angle steel stacked outside by scanning. When the distance is greater than the sum of the lengths of the hydraulic rod 4024 and the bracket 4022, the control device controls the bracket 4022 to rotate, and the bracket 4022 rotates to the bottom of the angle steel and drives the lifting plate 4023 to move to the bottom of the angle steel. At the same time, the control device controls the output end of the hydraulic rod 4024 to drive the lifting plate 4023 to rise, and the lifting plate 4023 contacts the angle steel to prevent the angle steel from falling off, thereby maintaining the stability of the angle steel during the lifting process, and solving the problem of unstable adsorption and safety hazards of the common angle steel flexible stacking device in the prior art during use.

[0031] After the robotic arm transfers the angle steel to the stacking position, as the angle steel descends, the scanning device 6 scans the distance between the angle steel and the platform plate 401 at the stacking position, and controls the hydraulic cylinder to descend through the control device to release the contact between the lifting plate 4023 and the angle steel. At the same time, the control device controls the bracket 4022 to reset to prevent the bracket 4022 from affecting the stacking of the angle steel, and the electromagnet 4025 releases the adsorption of the angle steel to complete the stacking operation of the angle steel.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm mechanism of a flexible angle steel stacking device, comprising a base plate (1) fixed to an external support device, characterized in that: A robotic arm body (2) is mounted on the upper surface of the base plate (1), a turntable (3) is mounted on the other end of the robotic arm body (2), a clamping device (4) is mounted on the side of the turntable (3), and the clamping device (4) comprises a platform plate (401), the platform plate (401) is fixed to the turntable (3), and two symmetrically arranged robotic claws (402) are provided on the right side of the platform plate (401); A groove is provided on the right side of the platform plate (401), a plurality of track rods (403) are fixed to the inner wall of the groove, a plurality of track blocks (404) are provided on the right side of the platform plate (401), the track rods (403) pass through the track blocks (404), the track blocks (404) are slidably connected to the groove, and the track blocks (404) are connected to an external drive device; The mechanical claw (402) includes a fixed block (4021), the fixed block (4021) is fixed to the track block (404), and the two fixed blocks (4021) are hingedly connected to a bracket (4022) on a side that is away from each other, and the inner wall of the bracket (4022) is slidably connected to a lifting plate (4023), and a hydraulic rod (4024) is installed on the bottom surface of the bracket (4022), and the output end of the hydraulic rod (4024) is fixed to the lifting plate (4023); The mechanical claw (402) further comprises an electromagnet (4025) mounted on the bottom surface of the fixed block (4021), and the electromagnet (4025) is connected to an external controller; The mechanical claw (402) further includes a fixing plate (4026) mounted on a side surface close to the two fixing blocks (4021), a high-pressure nozzle (4027) being mounted on the bottom surface of the fixing plate (4026), and an output end of the high-pressure nozzle (4027) being connected to an external high-pressure air pump.

2. The mechanical arm mechanism of the angle steel flexible stacking device according to claim 1, characterized in that: Auxiliary plates (5) are fixed to the left and right sides of the platform plate (401), and scanning devices (6) are installed on the bottom surfaces of the two auxiliary plates (5). The scanning devices (6) are connected to an external controller.

3. The mechanical arm mechanism of the angle steel flexible stacking device according to claim 1, characterized in that: A plurality of rubber blocks (7) are installed on the right side of the fixing plate (4026), and the size of the rubber blocks (7) is equal to the size of the electromagnet (4025).

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