Mechanical arm discharging device for anchor cable tray production

Abstract

The utility model discloses a mechanical arm discharging device for anchor cable tray production. The mechanical arm discharging device comprises a base, a protection assembly and a gripper assembly. According to the mechanical arm discharging device for anchor cable tray production, the clamping height is preliminarily adjusted through the mechanical arm body, meanwhile, a hydraulic cylinder is used for driving a connecting column to move, the connecting column moves to drive an arch-shaped frame and an annular plate to move, and under the action of the annular plate, the annular plate moves to drive a cylinder to move; a cylinder moves to drive a connecting support, an arc-shaped plate and a gripper assembly to move, so that the transverse position of the gripper assembly is conveniently adjusted, a first rotating shaft and the cylinder are driven to rotate under the action of a first motor, and the vertical position of the gripper assembly is further adjusted; and then the transverse position and the vertical position of the gripper assembly are adjusted to grab the materials and place the materials in the proper position, so that the discharging work of the anchor cable tray is completed, the labor intensity of workers is reduced, and the production rate of the anchor cable tray is increased.

Description

Technical Field

[0001] This utility model relates to the field of anchor cable tray unloading technology, specifically to a robotic arm unloading device for anchor cable tray production. Background Technology

[0002] Anchor cable trays are key load-bearing components in geotechnical anchoring engineering. Installed on the exposed end of the anchor cable (or anchor rod), they are used to uniformly transfer the prestress applied by the anchor cable to the surface of the reinforced rock or soil, preventing local crushing and improving the overall support stability. Currently, the production process of anchor cable trays mainly relies on workers to unload the trays into the stamping machine. This not only results in high labor intensity for workers but also low production efficiency and cannot fully guarantee worker safety. Therefore, we propose a robotic arm unloading device for anchor cable tray production. Utility Model Content

[0003] The technical problem this invention aims to solve is to overcome existing defects and provide a robotic arm unloading device for anchor cable tray production. The robotic arm body initially adjusts the gripping height, while a hydraulic cylinder drives a connecting column to move. This movement of the connecting column then moves the bow-shaped frame and the annular plate. Under the action of the annular plate, the movement of the annular plate drives the movement of the cylinder, which in turn moves the connecting bracket, the bow-shaped plate, and the gripper assembly. This facilitates adjustment of the gripper assembly's lateral position. A first motor then drives the first rotating shaft and the cylinder to rotate, further adjusting the gripper assembly's vertical position. Ultimately, adjusting the gripper assembly's lateral and vertical positions allows it to grip and place the material in a suitable location, completing the unloading of the anchor cable tray. This not only reduces manual labor intensity but also increases the production rate of anchor cable trays, effectively solving the problems in the background technology.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm unloading device for anchor cable tray production, comprising a base, a protective assembly, and a gripper assembly;

[0005] A robotic arm body is mounted on the upper surface of the base. A hydraulic cylinder bracket is mounted on the upper end of the robotic arm body. A hydraulic cylinder is installed inside the hydraulic cylinder bracket. Fixed plates are mounted on both sides of the hydraulic cylinder bracket. Sliding grooves are opened on the fixed plates. Sliders are slidably installed in the sliding grooves. A first rotating shaft is mounted on the two sliders. A cylinder is mounted on the first rotating shaft. A motor slot is opened on the side of one slider. A first motor is installed in the motor slot. The output shaft of the first motor is connected to the first rotating shaft through a coupling. Two annular plates are fitted on the cylinder. The cylinder and the annular plates are rotatably connected. A connecting column is installed at the telescopic end of the hydraulic cylinder. An arc-shaped frame is installed at the outer end of the connecting column. The two ends of the arc-shaped frame are respectively connected to the corresponding annular plates. A connecting bracket is installed on the outer surface of the middle part of the cylinder. An arc-shaped plate is installed at the outer end of the connecting bracket. A gripper assembly is installed in the arc-shaped plate. The input end of the first motor is electrically connected to the output end of an external controller.

[0006] Furthermore, the gripper assembly includes a second rotating shaft rotatably mounted on the upper surface of the bow-shaped plate. A first gear is mounted on the upper end of the second rotating shaft. A third rotating shaft and a fourth rotating shaft are symmetrically mounted on the front end of the bow-shaped plate. A second gear is mounted on the upper end of the third rotating shaft, and a third gear is mounted on the upper end of the fourth rotating shaft. The second and third gears are meshed together, as are the first and second gears. A drive assembly is mounted on the inner bottom surface of the bow-shaped plate. The drive assembly is connected to the lower end of the second rotating shaft. Grippers are mounted on both the third and fourth rotating shafts, with their clamping surfaces corresponding to each other. Multiple grooves are evenly distributed on the clamping surfaces of the grippers to form a convex-concave surface. The drive assembly drives the second rotating shaft to rotate, which in turn drives the first gear to rotate. The first gear then drives the second gear to rotate, which in turn drives the third gear to rotate. The rotation of the second and third gears respectively drives the grippers connected to them to rotate, thereby using the two grippers to grasp the material. The convex-concave surface increases friction to effectively prevent material from falling off.

[0007] Furthermore, the protective assembly includes multiple protective posts evenly installed along the circumference of the hydraulic cylinder on the left outer surface of the hydraulic cylinder support, with a disc mounted on the outer ends of the multiple protective posts. The protective net formed by the multiple protective posts and the disc protects the hydraulic cylinder to prevent damage.

[0008] Furthermore, the drive assembly includes a motor bracket mounted on the inner bottom surface of the bow-shaped plate. A second motor is mounted on the motor bracket, and the output shaft of the second motor is connected to the lower end of the second rotating shaft via a coupling. The input end of the second motor is electrically connected to the output end of an external controller. The second motor is controlled by the external controller, and its operation drives the second rotating shaft to rotate, thus completing the rotation of the second rotating shaft electrically.

[0009] Compared with the prior art, the beneficial effects of this utility model are as follows: In use, the robotic arm unloading device for anchor cable tray production initially adjusts the gripping height through the robotic arm body. Simultaneously, a hydraulic cylinder drives the connecting column to move, which in turn moves the bow-shaped frame and the annular plate. Under the action of the annular plate, the movement of the annular plate drives the movement of the cylinder, which in turn moves the connecting bracket, the bow-shaped plate, and the gripper assembly. This facilitates the adjustment of the lateral position of the gripper assembly. Under the action of the first motor, the first rotating shaft and the cylinder rotate, further adjusting the vertical position of the gripper assembly. This adjustment of the lateral and vertical positions of the gripper assembly allows for the gripping and placement of materials in a suitable location, thus completing the unloading of the anchor cable tray. This not only reduces the labor intensity of manual labor but also increases the production rate of anchor cable trays. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of this utility model.

[0011] In the diagram: 1. Base, 2. Robotic arm body, 3. Disc, 4. Hydraulic cylinder, 5. Protective column, 6. Hydraulic cylinder bracket, 7. Fixing plate, 8. Slide groove, 9. Annular plate, 10. Cylinder, 11. Connecting column, 12. Bow-shaped frame, 13. Slider, 14. First motor, 15. First gear, 16. Second gear, 17. Second motor, 18. Motor bracket, 19. Bow-shaped plate, 20. Third gear, 21. Groove, 22. Gripper. Detailed Implementation

[0012] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0013] Please see Figure 1 This embodiment provides a technical solution: a robotic arm unloading device for anchor cable tray production, including a base 1, a protective component and a gripper component;

[0014] A robotic arm body 2 is mounted on the upper surface of the base 1. A hydraulic cylinder support 6 is mounted on the upper end of the robotic arm body 2. A hydraulic cylinder 4 is installed inside the hydraulic cylinder support 6. Fixing plates 7 are mounted on both sides of the hydraulic cylinder support 6. Sliders 13 are slidably mounted in the slides 8. Two sliders 13 are mounted together on a first rotating shaft. A cylinder 10 is mounted on the first rotating shaft. A motor slot is opened on the side of one slider 13. A first motor 14 is installed in the motor slot. The output of the first motor 14 is... The shaft is connected to the first rotating shaft via a coupling. Two annular plates 9 are fitted on the cylinder 10. The cylinder 10 and the annular plates 9 are rotatably connected. A connecting column 11 is installed at the telescopic end of the hydraulic cylinder 4. An arc-shaped frame 12 is installed at the outer end of the connecting column 11. The two ends of the arc-shaped frame 12 are respectively connected to the corresponding annular plates 9. A connecting bracket is installed on the outer surface of the middle part of the cylinder 10. An arc-shaped plate 19 is installed at the outer end of the connecting bracket. A gripper assembly is provided inside the arc-shaped plate 19. The input end of the first motor 14 is electrically connected to the output end of an external controller.

[0015] In use, the gripping height is initially adjusted by the robotic arm body 2. At the same time, the hydraulic cylinder 4 drives the connecting column 11 to move. The movement of the connecting column 11 drives the bow frame 12 and the annular plate 9 to move. Under the action of the annular plate 9, the movement of the annular plate 9 drives the cylinder 10 to move. The movement of the cylinder 10 drives the connecting bracket, the bow frame 19 and the gripper assembly to move, thereby facilitating the adjustment of the lateral position of the gripper assembly. Under the action of the first motor 14, the first rotating shaft and the cylinder 10 are rotated, thereby further adjusting the vertical position of the gripper assembly. In turn, the lateral and vertical positions of the gripper assembly are adjusted to grip and place the material in a suitable position to complete the unloading of the anchor cable tray. This not only reduces the labor intensity of manual labor, but also increases the production rate of the anchor cable tray.

[0016] The gripper assembly includes a second rotating shaft rotatably mounted on the upper surface of the bow-shaped plate 19. A first gear 15 is mounted on the upper end of the second rotating shaft. A third rotating shaft and a fourth rotating shaft are symmetrically mounted on the front end of the bow-shaped plate 19. A second gear 16 is mounted on the upper end of the third rotating shaft, and a third gear 20 is mounted on the upper end of the fourth rotating shaft. The second gear 16 and the third gear 20 are meshed together. The first gear 15 and the second gear 16 are meshed together. A drive assembly is mounted on the inner bottom surface of the bow-shaped plate 19. The drive assembly is connected to the lower end of the second rotating shaft. A gripper 22 is mounted on both the third rotating shaft and the fourth rotating shaft. The clamping surfaces of the two grippers 22 are arranged correspondingly. The clamping surfaces of the grippers 22 are evenly provided with multiple grooves 21 to form a concave-convex surface. The drive component operates to rotate the second shaft, which in turn rotates the first gear 15, which in turn rotates the second gear 16, which in turn rotates the third gear 20. The rotation of the second gear 16 and the third gear 20 respectively rotates the grippers 22 connected to them, thereby using the two grippers 22 to grasp the material. The concave and convex surfaces increase friction to effectively prevent the material from falling off.

[0017] The protective assembly includes multiple protective posts 5 evenly installed along the circumference of the hydraulic cylinder 4 on the left outer surface of the hydraulic cylinder bracket 6. A disc 3 is mounted on the outer end of each of the multiple protective posts 5. The protective net formed by the multiple protective posts 5 and the disc 3 protects the hydraulic cylinder 4 to prevent damage.

[0018] The drive assembly includes a motor bracket 18 mounted on the inner bottom surface of the bow-shaped plate 19. A second motor 17 is mounted on the motor bracket 18. The output shaft of the second motor 17 is connected to the lower end of the second rotating shaft via a coupling. The input end of the second motor 17 is electrically connected to the output end of an external controller. The second motor 17 is controlled by the external controller to operate, and the operation of the second motor 17 drives the second rotating shaft to rotate, thus completing the rotation of the second rotating shaft electrically.

[0019] The working principle of the robotic arm unloading device for anchor cable tray production provided by this utility model is as follows: In use, the clamping height is initially adjusted by the robotic arm body 2, and at the same time, the hydraulic cylinder 4 drives the connecting column 11 to move. The movement of the connecting column 11 drives the bow frame 12 and the annular plate 9 to move. Under the action of the annular plate 9, the movement of the annular plate 9 drives the cylinder 10 to move. The movement of the cylinder 10 drives the connecting bracket, the bow plate 19 and the gripper assembly to move, thereby facilitating the adjustment of the lateral position of the gripper assembly. Under the action of the first motor 14, the first rotating shaft and the cylinder 10 are driven to rotate, thereby further adjusting the vertical position of the gripper assembly. In turn, the lateral and vertical positions of the gripper assembly are adjusted to grip and place the material in a suitable position to complete the unloading of the anchor cable tray. This not only reduces the labor intensity of manual labor, but also improves the production rate of anchor cable trays. The drive assembly rotates the second shaft, which in turn rotates the first gear 15, which in turn rotates the second gear 16, which in turn rotates the third gear 20. The rotation of the second gear 16 and the third gear 20 respectively rotates their connected grippers 22, thus gripping the material. The uneven surfaces increase friction to effectively prevent material from slipping off. A protective net formed by multiple protective pillars 5 and discs 3 protects the hydraulic cylinder 4 from damage. An external controller controls the second motor 17, which in turn rotates the second shaft electrically.

[0020] It is worth noting that in this embodiment, the core chip of the external controller is an STC microcontroller, specifically the STC15W204S. The first motor 14 and the second motor 17 can be freely configured according to the actual application scenario. The external controller controls the operation of the first motor 14 and the second motor 17 using methods commonly used in the prior art, and the content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0021] The above are merely embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A mechanical arm blanking device for anchor cable tray production, characterized in that: It includes base (1), protection assembly and grab hand assembly; The upper surface of the base (1) is provided with a mechanical arm body (2), the upper end of the mechanical arm body (2) is provided with a hydraulic cylinder support (6), the inside of the hydraulic cylinder support (6) is provided with a hydraulic cylinder (4), the two sides of the hydraulic cylinder support (6) are provided with a fixed plate (7), the fixed plate (7) is provided with a sliding groove (8), the sliding groove (8) is provided with a sliding block (13), the two sliding blocks (13) are provided with a first rotating shaft, the first rotating shaft is provided with a cylinder (10), the side of a sliding block (13) is provided with a motor groove, the motor groove is provided with a first motor (14), the output shaft of the first motor (14) is connected with the first rotating shaft through a shaft coupling, the cylinder (10) is provided with two annular plates (9), the cylinder (10) and the annular plate (9) are rotatably connected, the telescopic end of the hydraulic cylinder (4) is provided with a connecting column (11), the outer end of the connecting column (11) is provided with an arc-shaped frame (12), the two ends of the arc-shaped frame (12) are connected with the corresponding annular plates (9), the middle outer surface of the cylinder (10) is provided with a connecting support, the outer end of the connecting support is provided with an arc-shaped plate (19), the arc-shaped plate (19) is provided with a grab hand assembly, and the input end of the first motor (14) is electrically connected with the output end of the external controller.

2. The mechanical arm blanking device for producing an anchor cable tray according to claim 1, characterized in that: The grab hand assembly comprises a second rotating shaft rotatably installed on the upper surface of the arc-shaped plate (19), a first gear (15) installed on the upper end of the second rotating shaft, a third rotating shaft and a fourth rotating shaft rotatably installed on the front end of the arc-shaped plate (19) in a symmetrical manner, a second gear (16) installed on the upper end of the third rotating shaft, a third gear (20) installed on the upper end of the fourth rotating shaft, the second gear (16) and the third gear (20) are in meshing connection, the first gear (15) and the second gear (16) are in meshing connection, a driving assembly is installed on the inner bottom surface of the arc-shaped plate (19), the driving assembly is connected with the lower end of the second rotating shaft, a clamping jaw (22) is installed on the third rotating shaft and the fourth rotating shaft, and the clamping surfaces of the two clamping jaws (22) are correspondingly arranged, a plurality of recesses (21) are uniformly arranged on the clamping surface of the clamping jaw (22) to form a concave-convex surface.

3. The mechanical arm blanking device for producing an anchor cable tray according to claim 1, characterized in that: The protection assembly comprises a plurality of protection columns (5) installed on the left outer surface of the hydraulic cylinder support (6) in a uniform manner along the circumferential direction of the hydraulic cylinder (4), and the outer ends of the plurality of protection columns (5) are jointly provided with a disc (3).

4. The mechanical arm blanking device for producing an anchor cable tray according to claim 2, characterized in that: The driving assembly comprises a motor support (18) installed on the inner bottom surface of the arc-shaped plate (19), a second motor (17) installed on the motor support (18), and the output shaft of the second motor (17) is connected with the lower end of the second rotating shaft through a shaft coupling, and the input end of the second motor (17) is electrically connected with the output end of the external controller.

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