Gantry manipulator device for automatically picking up reinforcing steel bars

Abstract

The utility model provides a gantry manipulator device for automatically picking up reinforcing steel bars, which belongs to the technical field of steel processing and comprises a left gantry support, a right gantry support is arranged on the side of the left gantry support, and a first gantry and a second gantry which are arranged in parallel are arranged between the left gantry support and the right gantry support. Three groups of manipulators are hung on a cantilever beam part of the first gantry, two groups of manipulators are hung on a cantilever beam part of the second gantry, the three groups of manipulators and the two groups of manipulators respectively comprise three mechanical main bodies and two manipulator main bodies, and walking boxes are arranged at two ends of the first gantry and two ends of the second gantry. By arranging the walking box, the machined reinforcing steel bar material can be conveniently driven in a reciprocating mode between the two gantries, the mechanical arm is combined, the mechanical arm can clamp the machined material through the clamping jaw, manual hoisting is not needed, automatic mechanical hoisting is achieved, the labor input is reduced, and the machining precision is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of steel processing technology, specifically to a gantry robot device for automatic steel bar picking. Background Technology

[0002] The steel bar sawing, threading, and bending process involves using a CNC sawing and threading production line to cut and thread the steel bars, then collecting them, and then manually placing the threaded steel bars into a bending machine for bending. After bending, the steel bars are manually lifted out. The steel bar shearing and bending process involves using a bar shearing line to cut the steel bars to a fixed length, collecting them, then manually placing the cut steel bars into a bending machine for bending. After bending, the steel bars are manually lifted out.

[0003] Current steel bar processing technology involves multiple steps, which results in excessive space requirements, a large workforce, high labor intensity, and potential safety risks. The high degree of manual involvement also leads to insufficient coordination between different processes. Utility Model Content

[0004] To overcome the above deficiencies, this utility model provides a gantry robot device for automatic steel bar picking that overcomes or at least partially solves the above technical problems.

[0005] This utility model is implemented as follows:

[0006] This utility model provides a gantry robot device for automatic rebar pickup, including a left gantry support, a right gantry support on the side of the left gantry support, a first gantry and a second gantry arranged in parallel between the left gantry support and the right gantry support, three sets of robots are mounted on the cantilever beam of the first gantry, and two sets of robots are mounted on the cantilever beam of the second gantry. The three sets of robots and the two sets of robots each include three mechanical bodies and two robot body bodies. Traveling boxes are provided at both ends of the first gantry and the second gantry.

[0007] In one embodiment of this utility model, a second traveling rack is fixedly provided on the suspension beam of the first gantry, and a first traveling rack is fixedly provided on the suspension beam of the second gantry.

[0008] In one embodiment of this utility model, the left gantry support and the right gantry support are provided with side travel racks on opposite sides. The two ends of the first gantry and the second gantry are connected to the left gantry support and the right gantry support through the side travel racks. The first gear of the traveling box is meshed with the side travel rack.

[0009] In one embodiment of the present invention, the traveling box includes a box body, the upper part of the box body is provided with an upper traveling wheel, the upper traveling wheel is provided with an upper wheel axle at the center, the upper traveling wheel is movably connected to the box body through the upper wheel axle, and the upper traveling wheel is suspended from the top of the left gantry support and the right gantry support.

[0010] In one embodiment of this utility model, a lower wheel axle is movably provided in the lower half of the interior of the box body, and a first lower hanging wheel is movably provided in the box body through the lower wheel axle. The lower hanging wheel is knotted to the bottom of the cantilever beam of the left gantry support and the right gantry support.

[0011] In one embodiment of this utility model, a first reducer is provided on the housing via a connector, a first motor is provided at one end of the first reducer, the output shaft of the first reducer is connected to the output shaft of the first motor, a first gear is provided on the other end of the output shaft of the first reducer, the first gear meshes with a first traveling rack and a second traveling rack, a second adjusting screw is provided at the bottom of the first reducer on the side of the housing, and a first adjusting screw is provided at the bottom of the housing.

[0012] In one embodiment of this utility model, the main body of the robotic arm includes a slotted telescopic rod. A guide rail is provided on the side of the slotted telescopic rod. An installation plate is movably sleeved on the rod body of the slotted telescopic rod via a slide rail. The installation plate is engaged with the top of the first gantry and the second gantry. A top and bottom motor is provided on one side of the top of the installation plate. A top and bottom reducer is provided on the output shaft side of the top and bottom motor. A top and bottom gear is provided on the output shaft of the top and bottom reducer. A translation motor is provided on the other side of the top of the installation plate via a structural frame. A translation reducer is provided on the output shaft side of the translation motor. A translation gear is provided on the output shaft of the translation reducer. A translation wheel and a lower traveling wheel are provided on the bottom of the installation plate via a movable shaft. A clamping cylinder is provided at the bottom of the telescopic rod. A gripper is provided at the bottom of the clamping cylinder.

[0013] In one embodiment of this utility model, the translation gear is meshed with the first traveling rack and the second traveling rack, the upper and lower gears are meshed with the slotted telescopic rod, and the lower traveling wheel is tightly connected to the smooth part of the slotted telescopic rod.

[0014] The gantry robot device for automatic rebar pickup provided by this utility model has the following beneficial effects:

[0015] 1. By setting up a traveling box, the steel bar material being processed can be reciprocated between the two gantry gates. Combined with a robotic arm, the robotic arm can use grippers to pick up the processed material, eliminating the need for manual hoisting and realizing automated mechanical hoisting, reducing manual input and ensuring processing accuracy.

[0016] 2. By setting up the main body of the robot, the translation gear of the main body of the robot can realize the smooth and stable lateral movement of the gripper, and the upper and lower gears can make the telescopic rod move vertically and stably. Combined with the gripper driven by the clamping cylinder, it can stably pick up and feed steel bars, and realize the automatic feeding, turnover and collection of steel bars. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram provided by an embodiment of the present utility model;

[0019] Figure 2 A schematic diagram of the walking box structure provided for an embodiment of this utility model;

[0020] Figure 3 A perspective view of the walking box provided for an embodiment of this utility model;

[0021] Figure 4 A schematic diagram of the main structure of the robotic arm provided for an embodiment of this utility model.

[0022] In the diagram: 1. Left gantry support; 2. Right gantry support; 201. Side-traveling rack; 3. First gantry; 3001. Three sets of robotic arms; 3002. Robotic arm body; 301. Slotted telescopic rod; 3011. Mounting plate; 302. Guide rail; 303. Upper and lower motors; 304. Upper and lower reducers; 305. Upper and lower gears; 306. Translation motor; 307. Translation reducer; 308. Translation gear; 309. Translation wheels; 310 311. Lower traveling wheel; 312. Clamping cylinder; 313. Gripper; 4. Second gantry; 4001. Two sets of robotic arms; 5. First traveling rack; 6. Second traveling rack; 7. Traveling box; 701. Box body; 702. Upper traveling wheel; 703. Upper wheel axle; 704. First lower traveling wheel; 705. Lower wheel axle; 706. First adjusting screw; 707. First electric motor; 708. First reducer; 709. First gear; 710. Second adjusting screw. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] Example

[0025] Reference Figures 1-4 This technical solution provides a gantry robot device for automatic rebar pickup, comprising a left gantry support 1, a right gantry support 2 on the side of the left gantry support 1, and a first gantry 3 and a second gantry 4 arranged in parallel between the left gantry support 1 and the right gantry support 2. Three sets of robotic arms 3001 are mounted on the cantilever section of the first gantry 3, and two sets of robotic arms 4001 are mounted on the cantilever section of the second gantry 4. The three sets of robotic arms 3001 and the two sets of robotic arms 4001 respectively include three and two robotic arm bodies 3002. Travel boxes 7 are provided at both ends of the first gantry 3 and the second gantry 4. In use, this device is installed between a rebar shearing production line or sawing production line and a bending device. When the rebar... After the raw material is sheared or sawn, the first gantry 3 moves above the rebar that needs to be bent. The three sets of robotic arms descend to grab the rebar and then rise, moving to place the rebar into the bending station. The second gantry 4 continues to grab the next rebar that needs to be bent. The two gantry work together. When clamping, the upper and lower motors 303 are driven, so that the upper and lower gears 305 are meshed and relative to the slotting telescopic rod 301. This causes the slotting telescopic rod 301 and the clamping cylinder 311 to move up and down. The translation motor 306 is driven, and under the action of the translation gear 308, the robotic arm body moves left and right. The clamping cylinder 311 clamps the gripper 312, finally clamping the rebar.

[0026] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that a second traveling rack 6 is fixedly provided on the suspension beam of the first gantry 3, and a first traveling rack 5 is fixedly provided on the suspension beam of the second gantry 4.

[0027] Reference Figures 1-4Based on the same concept as Embodiment 1 above, this embodiment also proposes that the left gantry support 1 and the right gantry support 2 are provided with side walking racks 201 on opposite sides. The two ends of the first gantry 3 and the second gantry 4 are connected to the left gantry support 1 and the right gantry support 2 through the side walking racks 201. The first gear 709 of the walking box 7 is meshed with the side walking racks 201. When clamping, the upper and lower motors 303 are driven, so that the upper and lower gears 305 are relatively displaced with the slotted telescopic rod 301 under the meshing action, so that the slotted telescopic rod 301 and the clamping cylinder 311 move up and down. The translation motor 306 is driven, and the robot body moves left and right under the action of the translation gear 308.

[0028] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that the traveling box 7 includes a box body 701. The upper part of the box body 701 is provided with an upper traveling wheel 702. An upper wheel axle 703 is provided at the center of the upper traveling wheel 702. The upper traveling wheel 702 is movably connected to the box body 701 through the upper wheel axle 703. The upper traveling wheel 702 is suspended from the top of the left gantry support 1 and the right gantry support 2.

[0029] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that the lower half of the inner part of the box 701 is movably provided with a lower wheel axle 705, and the box 701 is movably provided with a first lower hanging wheel 704 through the lower wheel axle 705. The first lower hanging wheel 704 overlaps with the bottom of the cantilever beam of the left gantry support 1 and the right gantry support 2.

[0030] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that a first reducer 708 is provided on the housing 701 via a connecting member, a first motor 707 is provided at the end of the first reducer 708, the output shaft of the first reducer 708 is connected to the output shaft of the first motor 707, a first gear 709 is provided on the other end of the output shaft of the first reducer 708, the first gear 709 is meshed with the first traveling rack 5 and the second traveling rack 6, a second adjusting screw 710 is provided at the bottom of the first reducer 708 located on the side of the housing 701, and a first adjusting screw 706 is provided at the bottom of the housing 701.

[0031] Reference Figures 1-4Based on the same concept as Embodiment 1 above, this embodiment also proposes that the main body 3002 of the robotic arm includes a slotted telescopic rod 301. A guide rail 302 is provided on the side of the slotted telescopic rod 301. A mounting plate 3011 is movably sleeved on the rod body of the slotted telescopic rod 301 via a slide rail. The mounting plate 3011 is engaged with the top of the first gantry 3 and the second gantry 4. A vertical motor 303 is provided on one side of the top of the mounting plate 3011. A vertical reducer 304 is provided on the output shaft side of the vertical motor 303. The output shaft of the machine 304 is equipped with upper and lower gears 305. On the other side of the top of the mounting plate 3011, a translation motor 306 is provided through a structural frame. A translation reducer 307 is provided on the output shaft side of the translation motor 306. A translation gear 308 is provided on the output shaft of the translation reducer 307. The bottom of the mounting plate 3011 is provided with a translation wheel 309 and a walking lower hanging wheel 310 through a movable shaft. A clamping cylinder 311 is provided at the bottom of the slotted telescopic rod 301. A gripper 312 is provided at the bottom of the clamping cylinder 311.

[0032] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that the translation gear 308 is meshed with the first traveling rack 5 and the second traveling rack 6, the upper and lower gears 305 are meshed with the slotted telescopic rod 301, and the traveling lower hanging wheel 310 is tightly connected with the smooth part of the slotted telescopic rod 301.

[0033] Specifically, the working process or principle of this gantry robot for automatic rebar picking is as follows: During use, the device is installed between the rebar shearing or sawing production line and the bending device. After the rebar material is sheared or sawn, the first gantry 3 moves above the rebar to be bent. The three sets of robotic arms descend to grab the rebar and then rise, moving to place the rebar into the bending position. The second gantry 4 continues to grab the next rebar to be bent. The two gantry work together. During the actual clamping process, the upper and lower motors 303 are driven, causing the upper and lower gears 305 to mesh with the slotting telescopic rod 301, resulting in relative displacement. This causes the slotting telescopic rod 301, along with the clamping cylinder 311, to move up and down. The driving translation motor 306, under the action of the translation gear 308, causes the robot body to move left and right. The clamping cylinder 311 clamps the gripper 312, ultimately clamping the rebar.

Claims

1. A gantry robot for automatic rebar pickup, comprising a left gantry support (1), characterized in that, The left gantry support (1) is provided with a right gantry support (2) on its side. A first gantry (3) and a second gantry (4) are provided in parallel between the left gantry support (1) and the right gantry support (2). Three sets of robotic arms (3001) are mounted on the cantilever beam of the first gantry (3), and two sets of robotic arms (4001) are mounted on the cantilever beam of the second gantry (4). The three sets of robotic arms (3001) and the two sets of robotic arms (4001) respectively include three and two robotic arm bodies (3002). Both ends of the first gantry (3) and the second gantry (4) are provided with a traveling box (7).

2. The gantry robot device for automatic rebar pickup according to claim 1, characterized in that, A second traveling rack (6) is fixedly installed on the suspension beam of the first gantry (3), and a first traveling rack (5) is fixedly installed on the suspension beam of the second gantry (4).

3. The gantry robot device for automatic rebar pickup according to claim 2, characterized in that, The left gantry support (1) and the right gantry support (2) are provided with side walking racks (201) on opposite sides. The two ends of the first gantry (3) and the second gantry (4) are connected to the left gantry support (1) and the right gantry support (2) through the side walking racks (201). The first gear (709) of the walking box (7) is meshed with the side walking racks (201).

4. The gantry robot device for automatic rebar pickup according to claim 3, characterized in that, The traveling box (7) includes a box body (701), and the upper part of the box body (701) is provided with an upper traveling wheel (702). The upper traveling wheel (702) is provided with an upper wheel axle (703) at the center. The upper traveling wheel (702) is movably connected to the box body (701) through the upper wheel axle (703). The upper traveling wheel (702) is suspended from the top of the left gantry support (1) and the right gantry support (2).

5. A gantry robot for automatic rebar pickup according to claim 4, characterized in that, The lower part of the box body (701) is movably provided with a lower wheel axle (705), and the box body (701) is movably provided with a first lower hanging wheel (704) through the lower wheel axle (705). The first lower hanging wheel (704) overlaps with the bottom of the cantilever beam of the left gantry support (1) and the right gantry support (2).

6. A gantry robot for automatic rebar pickup according to claim 5, characterized in that, The housing (701) is provided with a first reducer (708) via a connector. The end of the first reducer (708) is provided with a first motor (707). The output shaft of the first reducer (708) is connected to the output shaft of the first motor (707). The other end of the output shaft of the first reducer (708) is provided with a first gear (709). The first gear (709) meshes with a first traveling rack (5) and a second traveling rack (6). The bottom of the first reducer (708) is provided with a second adjusting screw (710) located on the side of the housing (701). The bottom of the housing (701) is provided with a first adjusting screw (706).

7. A gantry robot for automatic rebar pickup according to claim 6, characterized in that, The main body (3002) of the robotic arm includes a slotted telescopic rod (301). A guide rail (302) is provided on the side of the slotted telescopic rod (301). A mounting plate (3011) is movably mounted on the rod body of the slotted telescopic rod (301) via a slide rail. The mounting plate (3011) is engaged with the top of the first gantry (3) and the second gantry (4). An upper and lower motor (303) is provided on one side of the top of the mounting plate (3011). An upper and lower reducer (304) is provided on the output shaft side of the upper and lower motor (303). The output shaft of the upper and lower reducer (304) is provided with an upper... The mounting plate (3011) has a lower gear (305), and a translation motor (306) is mounted on the other side of the top of the mounting plate (3011) via a structural frame. The translation motor (306) has a translation reducer (307) on the output shaft side. The translation reducer (307) has a translation gear (308) on its output shaft. The mounting plate (3011) has a translation wheel (309) and a walking lower wheel (310) on its bottom via a movable shaft. The slotted telescopic rod (301) has a clamping cylinder (311) at its bottom end. The clamping cylinder (311) has a gripper (312) at its bottom.

8. A gantry robot for automatic rebar pickup according to claim 7, characterized in that, The translation gear (308) is meshed with the first traveling rack (5) and the second traveling rack (6), the upper and lower gears (305) are meshed with the slotted telescopic rod (301), and the traveling lower wheel (310) is tightly connected to the smooth part of the slotted telescopic rod (301).

Images