gripping device

Abstract

This utility model belongs to the field of wire mesh transportation technology and discloses a gripping device, including a support platform, a first carrier frame, a first drive mechanism, a second carrier frame, a second drive mechanism, a gripper mechanism, and a third drive mechanism. The first carrier frame is disposed on the support platform. The first drive mechanism is configured to drive the first carrier frame to rotate relative to the support platform about a first direction. The second carrier frame is disposed on the first carrier frame. The second drive mechanism is configured to drive the second carrier frame to move relative to the first carrier frame along a second direction. The gripper mechanism is disposed on the second carrier frame. The third drive mechanism is configured to drive the gripper mechanism to move relative to the second carrier frame along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. In this utility model, the first drive mechanism, the second drive mechanism, and the third drive mechanism cooperate to precisely adjust the orientation and position of the gripper mechanism. The adjustment process is time-saving, labor-saving, efficient, and has high adjustment accuracy.

Description

Technical Field

[0001] This utility model relates to the field of mesh transfer technology, and in particular to a gripping device. Background Technology

[0002] Box girders are a special structural form of beams in bridge engineering. They are closed box-shaped beams composed of a top plate, bottom plate, web plate, and transverse and longitudinal diaphragms. Their hollow design can significantly improve torsional stiffness and is suitable for long-span bridges. The mesh in the steel reinforcement structure of the box girder that acts as a positioning and tensioning conduit is called the positioning mesh. The positioning mesh consists of multiple mesh pieces, and during transportation and use, a gripping device is needed to grip and stack the mesh pieces.

[0003] In related technologies, due to the large variety of specifications of wire mesh, before the gripping device can grip a particular type of wire mesh, it is necessary to manually adjust the orientation of the gripper mechanism on the gripping device for that type of wire mesh. The adjustment process is time-consuming, cumbersome, inefficient, and has a large adjustment error. Utility Model Content

[0004] The purpose of this invention is to provide a gripping device that can precisely adjust the orientation and position of the gripper mechanism.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The gripping device includes:

[0007] Support platform;

[0008] A first support frame is disposed on the support platform;

[0009] A first drive mechanism is configured to drive the first support frame to rotate relative to the support platform about a first direction;

[0010] The second support frame is disposed on the first support frame;

[0011] The second drive mechanism is configured to drive the second support frame to move relative to the first support frame in a second direction;

[0012] The gripper mechanism is disposed on the second support frame;

[0013] The third drive mechanism is configured to drive the gripper mechanism to move relative to the second support frame along a third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

[0014] Preferably, the first support frame includes a first support beam, which is elongated and extends along the second direction, and the second support frame is slidably connected to the first support beam.

[0015] Preferably, the first support frame includes two first support beams, and a first slide rail is provided on one side of each of the two first support beams facing each other. The first slide rail extends along the second direction, and the second support frame is slidably connected to the two first slide rails.

[0016] Preferably, the first support frame includes a connecting plate, two first support beams are installed on one side of the connecting plate, and the support platform is installed on the other side of the connecting plate.

[0017] Preferably, the second support frame includes a transverse slider and a second support beam connected to each other. The transverse slider is slidably connected to the first support frame along the second direction. The second support beam is elongated and extends along the third direction. The gripper mechanism is disposed on the second support beam.

[0018] Preferably, the second drive mechanism includes:

[0019] The second driver is fixedly mounted on the first support frame;

[0020] A transverse screw is connected to the output end of the second driver, and the second support frame is screwed to the transverse screw.

[0021] Preferably, the transverse screw is provided with two transverse threaded sections with opposite helical directions, and each transverse threaded section is screwed with a second support frame, and both second support frames are provided with the gripper mechanism.

[0022] Preferably, the first support frame includes two end plates, and the transverse screw is rotatably mounted between the two end plates.

[0023] Preferably, the third drive mechanism includes:

[0024] The third drive is fixedly mounted on the second support frame;

[0025] A longitudinal screw is connected to the output end of the third driver, and the gripper mechanism is screwed to the longitudinal screw.

[0026] Preferably, the longitudinal screw is provided with two longitudinal threaded sections with opposite helical directions, and each longitudinal threaded section is screwed with a gripper mechanism.

[0027] The beneficial effects of this utility model are:

[0028] The first drive mechanism can drive the first support frame to rotate relative to the support platform around a first direction, so that the first support frame can drive the gripper mechanism to adjust its orientation through the second support frame. The second drive mechanism can drive the second support frame to move relative to the first support frame along a second direction. The third drive mechanism can drive the gripper mechanism to move relative to the second support frame along a third direction. The second and third drive mechanisms cooperate to enable the gripper mechanism to adjust its position within a set plane. The cooperation of the first, second, and third drive mechanisms can accurately adjust the orientation and position of the gripper mechanism. The adjustment process is time-saving, labor-saving, efficient, and has high adjustment accuracy. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the gripping device described in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the first type of mesh described in an embodiment of the present utility model;

[0031] Figure 3 This is a schematic diagram of the gripping device described in this embodiment of the present invention when gripping the first type of mesh.

[0032] Figure 4 This is a schematic diagram of the second type of mesh sheet described in an embodiment of this utility model;

[0033] Figure 5 This is a schematic diagram of the gripping device described in this embodiment of the present invention when gripping the second type of mesh.

[0034] Figure 6 This is a schematic diagram of the third type of mesh described in an embodiment of the present utility model;

[0035] Figure 7 This is a schematic diagram of the gripping device described in this embodiment of the present invention when gripping a third type of mesh.

[0036] Figure 8 This is a schematic diagram of the fourth type of mesh described in this embodiment of the utility model;

[0037] Figure 9 This is a schematic diagram of the gripping device described in this embodiment of the present invention when gripping the fourth type of mesh.

[0038] Figure 10 This is a schematic diagram of the fifth type of mesh described in this embodiment of the utility model;

[0039] Figure 11 This is a schematic diagram of the gripping device described in this embodiment of the present invention after the first adjustment when gripping the fifth type of mesh.

[0040] Figure 12 This is a schematic diagram of the gripping device described in this embodiment of the present invention after the second adjustment when gripping the fifth type of mesh.

[0041] Figure 13 This is a schematic diagram of the gripping device described in this embodiment of the invention after the third adjustment when gripping the fifth type of mesh.

[0042] In the picture:

[0043] 1. Support platform;

[0044] 2. First support frame; 21. First support beam; 22. First slide rail; 23. Connecting plate; 24. End plate;

[0045] 3. First drive mechanism;

[0046] 4. Second support frame; 41. Transverse slider; 42. Second support beam;

[0047] 5. Second drive mechanism; 51. Second driver; 52. Transverse screw;

[0048] 6. Gripper mechanism; 61. Longitudinal slider; 62. Pneumatic gripper;

[0049] 7. Third drive mechanism; 71. Third drive unit;

[0050] 100. Mesh; 101. Horizontal reinforcement; 102. Longitudinal reinforcement. Detailed Implementation

[0051] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0052] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0053] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0054] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0055] like Figures 1 to 13 As shown, this utility model provides a gripping device, including a support platform 1, a first carrier frame 2, a first drive mechanism 3, a second carrier frame 4, a second drive mechanism 5, a gripper mechanism 6, and a third drive mechanism 7. The first carrier frame 2 is disposed on the support platform 1. The first drive mechanism 3 is configured to drive the first carrier frame 2 to rotate relative to the support platform 1 about a first direction. The second carrier frame 4 is disposed on the first carrier frame 2. The second drive mechanism 5 is configured to drive the second carrier frame 4 to move relative to the first carrier frame 2 along a second direction. The gripper mechanism 6 is disposed on the second carrier frame 4. The third drive mechanism 7 is configured to drive the gripper mechanism 6 to move relative to the second carrier frame 4 along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0056] In this invention, the first drive mechanism 3 can drive the first support frame 2 to rotate relative to the support platform 1 around a first direction, so that the first support frame 2 can drive the gripper mechanism 6 to adjust its orientation through the second support frame 4. The second drive mechanism 5 can drive the second support frame 4 to move relative to the first support frame 2 along a second direction. The third drive mechanism 7 can drive the gripper mechanism 6 to move relative to the second support frame 4 along a third direction. The second drive mechanism 5 and the third drive mechanism 7 cooperate to enable the gripper mechanism 6 to adjust its position within a set plane. The cooperation of the first drive mechanism 3, the second drive mechanism 5 and the third drive mechanism 7 can accurately adjust the orientation and position of the gripper mechanism 6. The adjustment process is time-saving, labor-saving, efficient and highly accurate.

[0057] In this embodiment, the first direction is the vertical direction, and the second and third directions are the horizontal directions.

[0058] In other embodiments, the first direction can also be tilted as needed.

[0059] Specifically, the support platform 1 is a conventional hollow rotating platform in the field, and the first bearing frame 2 is connected to the support platform 1.

[0060] More specifically, the first drive mechanism 3 includes a first driver, which is a servo motor or a stepper motor.

[0061] In this embodiment, the support platform 1 is provided with a driving gear and a driven gear that mesh with each other. The output end of the first drive mechanism 3 is connected to the driving gear, and the first support frame 2 is connected to the driven gear. When the first drive mechanism 3 is activated, it can drive the driving gear to rotate around its own axis. When the driving gear rotates, it drives the driven gear to rotate around its own axis. When the driven gear rotates, it drives the first support frame 2 to rotate.

[0062] In other embodiments, the support platform 1 is provided with a meshing worm gear, the output end of the first drive mechanism 3 is connected to the worm, and the first support frame 2 is connected to the worm gear.

[0063] Specifically, the first support frame 2 includes a first support beam 21, which is elongated and extends along a second direction. The second support frame 4 is slidably connected to the first support beam 21. This arrangement allows the second support frame 4 to move stably along the first direction.

[0064] More specifically, the first support frame 2 includes two first support beams 21, and each of the two first support beams 21 has a first slide rail 22 on one side facing each other. The first slide rail 22 extends along a second direction, and the second support frame 4 is slidably connected to the two first slide rails 22. The above arrangement allows the second support frame 4 to be more safely confined within the first support frame 2.

[0065] In this embodiment, the first support frame 2 includes a connecting plate 23, two first support beams 21 are installed on one side of the connecting plate 23, and the support platform 1 is installed on the other side of the connecting plate 23. This arrangement allows the first support frame 2 to be more reliably connected to the support platform 1.

[0066] Specifically, the second support frame 4 includes a transverse slider 41 and a second support beam 42 connected to each other. The transverse slider 41 is slidably connected to the first support frame 2 along a second direction. The second support beam 42 is elongated and extends along a third direction. A gripper mechanism 6 is disposed on the second support beam 42. The above arrangement allows the second support frame 4 to be more reliably connected to the first support frame 2.

[0067] In this embodiment, the transverse slider 41 is sandwiched between the two first bearing beams 21 and is slidably connected to the two first slide rails 22.

[0068] Specifically, the second drive mechanism 5 includes a second driver 51 and a transverse screw 52. The second driver 51 is fixedly mounted to the first support frame 2, the transverse screw 52 is connected to the output end of the second driver 51, and the second support frame 4 is screwed to the transverse screw 52. This arrangement enables the second drive mechanism 5 to stably and accurately drive the second support frame 4 to move.

[0069] More specifically, the transverse screw 52 is provided with two transverse threaded sections with opposite helical directions. Each transverse threaded section is screwed with a second support frame 4, and both second support frames 4 are provided with gripper mechanisms 6. By providing two transverse threaded sections with opposite helical directions, when the second driver 51 drives the transverse screw 52 to rotate, the transverse screw 52 can drive the two second support frames 4 to move synchronously towards or away from each other, so that the second drive mechanism 5 can more efficiently adjust the distance between the two sets of gripper mechanisms 6.

[0070] More specifically, the first support frame 2 includes two end plates 24, and the transverse screw 52 is rotatably mounted between the two end plates 24. This arrangement allows the transverse screw 52 to rotate more stably.

[0071] In this embodiment, the two ends of the two first bearing beams 21 are connected by end plates 24 respectively. The two first bearing beams 21 and the two end plates 24 are assembled to form a rectangular structure. The connecting plate 23 is fixedly connected to the upper side of the rectangular structure. The transverse screw 52 is rotatably mounted between the two end plates 24. The second driver 51 is a servo motor, which is fixedly installed on the side of one end plate 24 away from the other end plate 24. The transverse slider 41 is located between the two first bearing beams 21 and is screwed to a transverse threaded section. The second bearing beam 42 is located on the lower side of the rectangular structure.

[0072] Specifically, the third drive mechanism 7 includes a third driver 71 and a longitudinal screw. The third driver 71 is fixedly mounted on the second support frame 4, the longitudinal screw is connected to the output end of the third driver 71, and the gripper mechanism 6 is screwed to the longitudinal screw. This arrangement allows the third drive mechanism 7 to drive the gripper mechanism 6 to move more stably and precisely.

[0073] More specifically, the longitudinal screw has two longitudinal threaded sections with opposite helical directions, and each longitudinal threaded section is screwed with a gripper mechanism 6. By setting two longitudinal threaded sections with opposite helical directions, when the third drive 71 drives the longitudinal screw to rotate, the longitudinal screw can drive the two gripper mechanisms 6 to move synchronously towards or away from each other, making the spacing adjustment of the two gripper mechanisms 6 in each group more efficient by the third drive mechanism 7.

[0074] In this embodiment, a second slide rail extending in a third direction is provided on the second bearing beam 42. The gripper mechanism 6 includes a longitudinal slider 61 and a pneumatic gripper 62 connected to each other. The longitudinal slider 61 is slidably connected to the second slide rail and screwed to a longitudinal threaded section. The pneumatic gripper 62 is a conventional device in the art.

[0075] In the gripping device of this embodiment, each second support frame 4 is provided with two gripper mechanisms 6 of a third drive mechanism 7. The gripper mechanisms 6 can grip the rod extending along the second direction. The gripper mechanisms 6 on the same side of the two second support frames 4 cooperate to grip a rod.

[0076] When using the gripping device to grip the mesh 100, the following steps are performed:

[0077] Step 1: Place the gripping device directly above the mesh panel 100 using a hoisting device equipped with a lifting motor.

[0078] Step 2: The first drive mechanism 3 operates, driving the first support frame 2 to rotate relative to the support platform 1 to the corresponding angle, and the grippers of the gripper mechanism 6 are in the open state.

[0079] Step 3: The second drive mechanism 5 operates, driving the two second support frames 4 to move towards or away from each other to the set position.

[0080] Step 4: The third drive mechanism 7 operates, driving the two gripper mechanisms 6 to move towards or away from each other to the set position, so that the gripper mechanism 6 is aligned with the position of the mesh 100 below it to be gripped.

[0081] Step 5: The hoisting device drives the gripping device to descend, so that the steel bars at the gripping position of the mesh 100 extend into the grippers of the gripping mechanism 6.

[0082] Step 6: The gripper mechanism 6 operates to grip the steel bar at the desired gripping position on the mesh 100.

[0083] Step 7: The hoisting device drives the gripping device to rise, and the gripper mechanism 6 simultaneously drives the mesh 100 to rise.

[0084] Step 8: The hoisting device moves the captured mesh 100 to the required position.

[0085] Step 9: The gripper mechanism 6 releases the mesh sheet 100 to complete the palletizing.

[0086] Repeat the above operations to continuously grab and stack the mesh 100.

[0087] The advantages of the gripping device and using it to grip the mesh 100 are:

[0088] like Figure 2 and Figure 3 As shown, for the first type of mesh, when the angle between the longitudinal ribs 102 and the transverse ribs 101 in the mesh 100 is a right angle, the gripping device can grip directly without adjustment.

[0089] like Figure 4 and Figure 5 As shown, for the second type of mesh, when the angle between the longitudinal ribs 102 and the transverse ribs 101 in the mesh 100 is not a right angle, the gripping device can be adjusted in step two to drive the first bearing frame 2 to rotate relative to the support platform 1, as follows. Figure 5 As shown by the middle arrow, this allows the gripper mechanism 6 to properly grip the reinforcing bars in the mesh 100.

[0090] When the spacing of longitudinal ribs 102 or transverse ribs 101 in different specifications and types of wire mesh 100 changes, the gripping device can adjust the position of the gripper mechanism 6 through step three or four, so that the gripper mechanism 6 can grip the steel bars in the wire mesh 100 of different specifications and types. Figure 6 and Figure 7 As shown, for the third type of mesh, when the spacing of the longitudinal ribs 102 in the mesh 100 increases, the gripping device adjusts the position of the gripper mechanism 6 in step three, such as... Figure 7 As indicated by the middle arrow. Figure 8 and Figure 9 As shown, for the fourth type of mesh, when the spacing of the transverse ribs 101 in mesh 100 increases, the gripping device adjusts the position of the gripper mechanism 6 in step four, such as... Figure 9 As indicated by the middle arrow.

[0091] like Figures 10 to 13 As shown, for the fifth type of mesh, when the angle between the longitudinal ribs 102 and the transverse ribs 101 in the mesh 100 changes, the spacing of the transverse ribs 101 increases, and the spacing of the longitudinal ribs 102 increases, the gripping device proceeds through step two (as shown in the diagram). Figure 11 (as shown), Step 3 (as shown) Figure 12 (as shown) and step four (as shown) Figure 13 (As shown), adjust the position of the gripper mechanism 6. Figures 11 to 13 The middle arrow indicates the adjustment direction of the gripper mechanism 6.

[0092] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. Gripping device, characterized in that include: Support platform (1); The first support frame (2) is disposed on the support platform (1); The first drive mechanism (3) is configured to drive the first support frame (2) to rotate about a first direction relative to the support platform (1); The second support frame (4) is disposed on the first support frame (2); The second drive mechanism (5) is configured to drive the second support frame (4) to move relative to the first support frame (2) in a second direction; A gripper mechanism (6) is provided on the second support frame (4); The third drive mechanism (7) is configured to drive the gripper mechanism (6) to move relative to the second support frame (4) along a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other.

2. The gripping device according to claim 1, characterized in that The first support frame (2) includes a first support beam (21), which is elongated and extends along the second direction. The second support frame (4) is slidably connected to the first support beam (21).

3. The gripping device according to claim 2, characterized in that The first support frame (2) includes two first support beams (21), and each of the two first support beams (21) is provided with a first slide rail (22) on one side facing each other. The first slide rail (22) extends along the second direction, and the second support frame (4) is slidably connected to the two first slide rails (22).

4. The gripping device according to claim 3, characterized in that The first support frame (2) includes a connecting plate (23), two first support beams (21) are installed on one side of the connecting plate (23), and the support platform (1) is installed on the other side of the connecting plate (23).

5. The gripping device of claim 1, wherein The second support frame (4) includes a transverse slider (41) and a second support beam (42) connected to each other. The transverse slider (41) is slidably connected to the first support frame (2) along the second direction. The second support beam (42) is elongated and extends along the third direction. The gripper mechanism (6) is disposed on the second support beam (42).

6. The gripping device according to claim 1, characterized in that, The second drive mechanism (5) includes: The second driver (51) is fixedly installed on the first support frame (2); A transverse screw (52) is connected to the output end of the second driver (51), and the second support frame (4) is screwed to the transverse screw (52).

7. The gripping device according to claim 6, characterized in that, The transverse screw (52) is provided with two transverse threaded sections with opposite helical directions. Each transverse threaded section is screwed with a second bearing frame (4). Both second bearing frames (4) are provided with the gripper mechanism (6).

8. The gripping device according to claim 6, characterized in that, The first support frame (2) includes two end plates (24), and the transverse screw (52) is rotatably mounted between the two end plates (24).

9. The gripping device according to any one of claims 1-8, characterized in that, The third drive mechanism (7) includes: The third driver (71) is fixedly installed on the second support frame (4); A longitudinal screw is connected to the output end of the third driver (71), and the gripper mechanism (6) is screwed to the longitudinal screw.

10. The gripping device according to claim 9, characterized in that, The longitudinal screw is provided with two longitudinal threaded sections with opposite helical directions, and each longitudinal threaded section is screwed with a gripper mechanism (6).

Images