A pre-buried channel type steel grabbing and transferring device

Abstract

The utility model belongs to clamping transfer equipment technical field discloses a kind of pre-buried channel section steel grabbing transfer device, including the clamping assembly for being clamped from two sides to middle section steel body, at least two are a group synchronous and carry out grabbing transfer operation;Further include walking assembly for three-point support movement, walking assembly one end is equipped with the mechanical arm for multi-joint bending adjustment clamping position, clamping assembly is installed at the top end of mechanical arm;Walking assembly includes walking frame, two drive mechanisms are symmetrically installed walking frame bottom surface one end, universal wheel is installed walking frame bottom surface away from drive mechanism one end, battery is installed walking frame on away from drive mechanism one end.The utility model of a kind of pre-buried channel section steel grabbing transfer device, walking assembly uses the three-point support structure of double drive wheel+middle universal wheel, load capacity and flexible steering are considered, cooperate the collaborative control of mechanical arm accurate positioning and double-point synchronous clamping, solve the problem that pre-buried channel section steel takes transfer and is limited.

Description

Technical Field

[0001] This utility model belongs to the technical field of clamping and transferring equipment, and in particular relates to a pre-embedded channel steel gripping and transferring device. Background Technology

[0002] Pre-embedded channel steel is a special type of steel formed using a hot-rolling process. Its cross-section is C-shaped or U-shaped, and anchor legs are riveted or welded to its surface. This design allows it to mechanically interlock with the concrete substrate, achieving secondary fixation through chemical anchors or T-bolts, combining strength and flexibility. The machining of pre-embedded channel steel is a crucial step in ensuring its performance, involving multiple processes such as material forming, precision control, and surface treatment, directly affecting the load-bearing capacity and durability of the final product. This necessitates the rapid handling and transfer of the pre-embedded channel steel.

[0003] Comparing with Chinese Patent No. CN219885483U, a pre-embedded channel steel gripping and transfer device is disclosed, comprising: a blank channel storage rack with several spaced supports on the rack, each support having a receiving groove with an inclined bottom; a clamping device including a lifting and unloading rack, a clamping assembly, and a telescopic component; the lifting and unloading rack driving the clamping assembly to rise and fall; the clamping assembly clamping the channel; the clamping assembly and the lifting and unloading rack are hinged; the clamping end of the clamping assembly can rotate in a vertical plane; both ends of the telescopic component are respectively hinged to the clamping assembly and the lifting and unloading rack, and the extension and retraction of the telescopic component drives the clamping end of the clamping assembly to rotate. Through the inclined receiving groove, several channels are arranged as a whole under their own weight, and through the tiltable and swingable clamping device, the channel steel can be clamped more stably and quickly, thereby achieving mechanized rapid transfer and improving the production efficiency of channel steel.

[0004] However, the aforementioned patent is limited by the track and can only perform pre-embedded channel steel grabbing and transfer within a limited range, which greatly limits the flexibility of grabbing and transfer. Therefore, a new device needs to be designed. Utility Model Content

[0005] The purpose of this utility model is to provide a pre-embedded channel steel gripping and transfer device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A pre-embedded channel steel gripping and transferring device includes a clamping assembly for gripping the steel body from both sides towards the middle, with at least two assemblies performing gripping and transferring operations simultaneously; it also includes a walking assembly for three-point support movement, with a robotic arm for multi-joint bending and adjusting the clamping position mounted at one end of the walking assembly, and the clamping assembly mounted on the top of the robotic arm; the walking assembly includes a walking frame, with two drive mechanisms symmetrically mounted on one end of the bottom surface of the walking frame, universal wheels mounted on the bottom surface of the walking frame away from the drive mechanisms, and a battery mounted on the end of the walking frame away from the drive mechanisms; the robotic arm includes a rotating base, with a third motor disposed below the rotating base, a first motor mounted on the rotating base, a first arm mounted on the output end of the first motor, a second motor mounted on the top of the first arm, and a second arm mounted on the output end of the second motor; the clamping assembly includes a swing frame, with a force-applying mechanism for providing clamping power disposed on the top of the swing frame, with two clamping plates symmetrically disposed on the force-applying mechanism, and a fourth motor disposed on one side of the bottom of the swing frame.

[0008] Furthermore, the drive mechanism includes two symmetrically arranged walking motors, and walking wheels are installed at the output ends of the walking motors.

[0009] Furthermore, the casters are mounted on the central axis of the traveling frame.

[0010] Furthermore, the rotating seat has a double-arm structure, is connected to the bearing of the traveling frame, and is located on the central axis of the traveling frame.

[0011] Furthermore, the third motor is mounted on the bottom surface of the walking frame, and its output end passes through the walking frame and is connected to the rotating seat via a key.

[0012] Furthermore: the force application mechanism includes a positive and negative threaded screw installed in the middle of the swing frame, a fifth motor is provided at one end of the positive and negative threaded screw, two threaded sleeve sliders are symmetrically installed on the positive and negative threaded screw, and the clamping plate is vertically installed on the threaded sleeve sliders.

[0013] Furthermore: the swing frame is T-shaped, and the fourth motor is horizontally mounted on the top of the second support arm.

[0014] Furthermore, anti-slip pads are attached to the opposite surfaces of the two clamping plates.

[0015] Compared with existing technologies, the beneficial effects are:

[0016] 1. The walking component adopts a three-point support structure of dual drive wheels + central omnidirectional wheel, which takes into account both load capacity and flexible steering. Combined with the precise positioning of the robotic arm and the coordinated control of dual-point synchronous clamping, it solves the problem of limited loading and unloading of steel sections in the pre-embedded channel and improves the flexibility of grasping and unloading.

[0017] 2. It adopts a dual-device synchronous operation mode, which uses two sets of clamping components to simultaneously clamp the steel from both sides, significantly improving the gripping efficiency and avoiding deformation of the steel caused by single-point force. It is especially suitable for the transfer of long steel sections.

[0018] 3. The robotic arm adopts a multi-joint design (rotary seat + double arm structure), and with the coordinated control of three motors, it can realize multi-degree-of-freedom adjustment of the gripping components in the horizontal, vertical and circumferential directions, and can quickly adapt to the gripping position requirements of steel profiles at different heights and angles; the central axis layout of the rotary seat combined with the three-point support of the universal wheels ensures the stability of movement and turning, and prevents the device from tipping over when the robotic arm moves.

[0019] 4. The clamping assembly drives the symmetrical clamping plates to move synchronously in opposite directions through positive and negative threaded screws, resulting in uniform and adjustable clamping force; the anti-slip pad design enhances friction, prevents the steel profile from slipping, and avoids scratching the surface of the steel profile on the clamping surface; the T-shaped swing frame structure provides rigid support, and the fourth motor drives the rapid adjustment of the clamping angle to ensure that the clamping plate is accurately inserted into the gap of the steel profile. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the pre-embedded channel steel gripping and transferring device described in this utility model;

[0021] Figure 2 This is a top-view axonometric drawing of the walking component of the pre-embedded channel steel gripping and transferring device described in this utility model;

[0022] Figure 3 This is a bottom-view axonometric drawing of the walking component of the pre-embedded channel steel gripping and transferring device described in this utility model;

[0023] Figure 4 This is a schematic diagram of the robotic arm of the pre-embedded channel steel gripping and transfer device described in this utility model;

[0024] Figure 5 This is a right axonometric view of the clamping component of the pre-embedded channel steel gripping and transferring device described in this utility model;

[0025] Figure 6 This is a left-side axonometric view of the clamping component of the pre-embedded channel steel gripping and transferring device described in this utility model.

[0026] In the attached diagram, the following are the reference numerals: 101, walking frame; 102, walking motor; 103, walking wheel; 104, caster wheel; 105, battery; 201, swivel seat; 202, first motor; 203, first support arm; 204, second motor; 205, second support arm; 206, third motor; 301, swing frame; 302, fourth motor; 303, positive and negative threaded screw; 304, fifth motor; 305, threaded sleeve slider; 306, clamping plate; 307, anti-slip pad; 4, steel body. Detailed Implementation

[0027] 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.

[0028] Please see Figures 1-6 A pre-embedded channel steel gripping and transfer device includes a clamping assembly for gripping the steel body 4 from both sides to the middle, with two assemblies performing gripping and transfer operations simultaneously; it also includes a walking assembly for three-point support movement, with a robotic arm for multi-joint bending adjustment of the clamping position installed at one end of the walking assembly, and the clamping assembly installed at the top of the robotic arm.

[0029] In this embodiment: the walking assembly includes a walking frame 101, with two drive mechanisms symmetrically mounted on one end of the bottom surface of the walking frame 101, and casters 104 mounted on the end of the bottom surface of the walking frame 101 away from the drive mechanisms. A battery 105 is mounted on the end of the walking frame 101 away from the drive mechanisms. The drive mechanism includes two walking motors 102 symmetrically arranged, with walking wheels 103 mounted on the output end of the walking motors 102. The casters 104 are mounted on the central axis of the walking frame 101. When moving, the battery 105 provides power, and the walking frame 101 supports the walking motors 102 to drive the walking wheels 103 to rotate, thereby driving the entire assembly to move and turn under the support of the casters 104.

[0030] In this embodiment: the robotic arm includes a rotating base 201, a third motor 206 is disposed below the rotating base 201, a first motor 202 is mounted on the rotating base 201, a first support arm 203 is mounted on the output end of the first motor 202, a second motor 204 is mounted on the top of the first support arm 203, and a second support arm 205 is mounted on the output end of the second motor 204; the rotating base 201 has a double-arm structure, is connected to the walking frame 101 by a bearing, and is disposed on the central axis of the walking frame 101; the third motor 206 is mounted on the bottom surface of the walking frame 101, and its output end passes through the walking frame 101 and is connected to the rotating base 201 by a key; the walking frame 101 supports the third motor 206 to drive the rotating base 201 to rotate, thereby causing the first support arm 203 to rotate circumferentially, the first motor 202 drives the first support arm 203 to swing, and at the same time the second motor 204 drives the second support arm 205 to swing, thereby adjusting the clamping position;

[0031] In this embodiment: the clamping assembly includes a swing frame 301, with a force-applying mechanism at the top of the swing frame 301 for providing clamping power. Two clamping plates 306 are symmetrically arranged on the force-applying mechanism. A fourth motor 302 is located on one side of the bottom of the swing frame 301. The force-applying mechanism includes a positive and negative threaded screw 303 installed in the middle of the swing frame 301. A fifth motor 304 is located at one end of the positive and negative threaded screw 303. Two threaded sleeve sliders 305 are symmetrically installed on the positive and negative threaded screw 303. The clamping plates 306 are vertically arranged... On the threaded sleeve slider 305; the swing frame 301 is T-shaped, and the fourth motor 302 is horizontally installed at the top of the second support arm 205; anti-slip pads 307 are pasted on the opposite surfaces of the two clamping plates 306; the fourth motor 302 drives the swing frame 301 to rotate, so that the clamping plates 306 are vertically inserted into both sides of the steel body 4, and then the swing frame 301 supports the fifth motor 304 to drive the positive and negative threaded screws 303 to rotate, pushing the threaded sleeve slider 305 to drive the clamping plates 306 to move closer to each other, and the steel body 4 is fixed by clamping it with anti-slip pads 307.

[0032] Working principle: When moving, the storage battery 105 supplies power, the walking frame 101 supports the walking motor 102 to drive the walking wheel 103 to rotate, and under the support of the caster wheel 104, it drives the whole to move and turn, so that the two devices move to one end of the steel body 4 respectively.

[0033] During the gripping process, the two devices operate synchronously. The walking frame 101 supports the third motor 206, which drives the rotating seat 201 to rotate, causing the first arm 203 to rotate circumferentially. The first motor 202 drives the first arm 203 to swing, while the second motor 204 drives the second arm 205 to swing. In conjunction with the fourth motor 302, the swing frame 301 rotates, causing the clamping plate 306 to be vertically inserted into both sides of the steel body 4. Then, the swing frame 301 supports the fifth motor 304, which drives the positive and negative threaded screws 303 to rotate, pushing the screw sleeve slider 305 to bring the clamping plates 306 closer together. The steel body 4 is clamped and fixed by the anti-slip pad 307. Then, the robotic arm operates in reverse order according to the above steps to grip the steel body 4 and move it to the top for transfer.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pre-embedded channel section steel grabbing and transferring device, comprising a clamping assembly for clamping a section steel body (4) from both sides to the middle, characterized in that: At least two are used as a group to perform grasping and transfer operations simultaneously; it also includes a walking component for three-point support movement, one end of which is equipped with a robotic arm for multi-joint bending and adjusting the gripping position, and the gripping component is installed at the top of the robotic arm; The walking assembly includes a walking frame (101), two drive mechanisms are symmetrically installed on one end of the bottom surface of the walking frame (101), a caster wheel (104) is installed on the bottom surface of the walking frame (101) away from the drive mechanism, and a battery (105) is installed on the walking frame (101) away from the drive mechanism. The robotic arm includes a rotating base (201), a third motor (206) is disposed below the rotating base (201), a first motor (202) is mounted on the rotating base (201), a first arm (203) is mounted on the output end of the first motor (202), a second motor (204) is mounted on the top of the first arm (203), and a second arm (205) is mounted on the output end of the second motor (204). The clamping assembly includes a swing frame (301), the top of which is provided with a force-applying mechanism for providing clamping power, and two clamping plates (306) are symmetrically arranged on the force-applying mechanism. A fourth motor (302) is provided on one side of the bottom of the swing frame (301).

2. The steel gripping and transferring device with pre-embedded channel as described in claim 1, characterized in that: The drive mechanism includes two symmetrically arranged walking motors (102), and walking wheels (103) are installed at the output end of the walking motors (102).

3. The steel gripping and transferring device with pre-embedded channel as described in claim 2, characterized in that: The caster wheel (104) is mounted on the central axis of the traveling frame (101).

4. The steel gripping and transferring device with pre-embedded channel as described in claim 1, characterized in that: The rotating seat (201) is a double-arm structure, which is connected to the walking frame (101) by bearings and is located on the central axis of the walking frame (101).

5. The steel gripping and transferring device with pre-embedded channel as described in claim 4, characterized in that: The third motor (206) is mounted on the bottom surface of the walking frame (101), and its output end is connected to the rotating seat (201) via a key.

6. The pre-embedded channel section steel grabbing and transferring device according to claim 1, characterized in that: The force-applying mechanism includes a positive and negative threaded screw (303) installed in the middle of the swing frame (301), a fifth motor (304) is provided at one end of the positive and negative threaded screw (303), two threaded sleeve sliders (305) are symmetrically installed on the positive and negative threaded screw (303), and the clamping plate (306) is vertically installed on the threaded sleeve sliders (305).

7. The steel gripping and transferring device for pre-embedded channel sections according to claim 6, characterized in that: The swing frame (301) is T-shaped, and the fourth motor (302) is horizontally mounted on the top of the second support arm (205).

8. The steel gripping and transferring device with pre-embedded channel as described in claim 1, characterized in that: Anti-slip pads (307) are attached to the opposite surfaces of the two clamping plates (306).

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