CN220975768U - Grabbing device - Google Patents
Grabbing device Download PDFInfo
- Publication number
- CN220975768U CN220975768U CN202323097570.0U CN202323097570U CN220975768U CN 220975768 U CN220975768 U CN 220975768U CN 202323097570 U CN202323097570 U CN 202323097570U CN 220975768 U CN220975768 U CN 220975768U
- Authority
- CN
- China
- Prior art keywords
- cross beam
- manipulators
- movable
- underframe
- fixed cross
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000001174 ascending effect Effects 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 abstract description 25
- 230000009471 action Effects 0.000 abstract description 8
- 229910000831 Steel Inorganic materials 0.000 description 31
- 239000010959 steel Substances 0.000 description 31
- 238000000034 method Methods 0.000 description 6
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 241001669679 Eleotris Species 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Abstract
The utility model discloses a grabbing device, which belongs to the technical field of automatic equipment and comprises an upright post, wherein a gantry beam is arranged on the upright post, and a movable grabbing mechanism is arranged on the gantry beam; the grabbing mechanism comprises a fixing frame, the upper end of the fixing frame can be movably connected to the gantry beam, the lower end of the fixing frame is connected with a lifting underframe, one side of the bottom of the underframe is fixedly connected with a fixed cross beam, the setting direction of the fixed cross beam is perpendicular to the gantry beam, the other side of the bottom of the underframe is movably connected with a movable cross beam, and the distance between the movable cross beam and the fixed cross beam can be adjusted through the movement of the movable cross beam; a plurality of groups of manipulators are arranged on the movable cross beam and the fixed cross beam, each group of manipulators comprises a plurality of mechanical claws, and the mechanical claws of the same group of manipulators are located at the same height; the mechanical claw on the movable cross beam is arranged opposite to the mechanical claw on the fixed cross beam. Through the structure, the stable grabbing and transferring actions of the reinforcement cage can be realized.
Description
Technical Field
The utility model relates to the technical field of automation equipment, in particular to a grabbing device.
Background
In industrial production, various fields need to carry out steel bar grabbing and transferring, such as railway sleeper steel bar cage production, production of concrete plates and beam components for buildings, and especially in the production process of high-speed railway track slab steel bar cages, different steel bar components need to be transferred to preset positions for the next procedure. The reinforcing steel bar grabbing device in the prior art can not grab a plurality of reinforcing steel bars at one time, and is low in efficiency.
In view of the above problems of the prior art, the present utility model combines years of design and experience in use with the related art, and aided with the strong expertise, designs and manufactures a gripping device to overcome the above drawbacks.
Disclosure of utility model
For the problems existing in the prior art, the grabbing device provided by the utility model can realize stable grabbing and transferring actions of the reinforcement cage.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the grabbing device comprises an upright post, wherein a gantry beam is arranged on the upright post, and a movable grabbing mechanism is arranged on the gantry beam;
The grabbing mechanism comprises a fixing frame, the upper end of the fixing frame can be movably connected to the gantry beam, the lower end of the fixing frame is connected with a lifting chassis, one side of the bottom of the chassis is fixedly connected with a fixed cross beam, the setting direction of the fixed cross beam is perpendicular to the gantry beam, the other side of the bottom of the chassis is movably connected with a movable cross beam, and the distance between the movable cross beam and the fixed cross beam can be adjusted through the movement of the movable cross beam;
A plurality of groups of mechanical arms are arranged on the movable cross beam and the fixed cross beam, each group of mechanical arms comprises a plurality of mechanical claws, and the mechanical claws of the same group of mechanical arms are positioned at the same height;
The mechanical claws on the movable cross beam are arranged opposite to the mechanical claws on the fixed cross beam.
Preferably, the multiple groups of manipulators on the movable cross beam are respectively located at different heights, and the multiple groups of manipulators on the fixed cross beam are respectively located at different heights.
Preferably, two groups of manipulators are arranged on the fixed cross beam and the movable cross beam, and the two groups of manipulators are arranged up and down.
Preferably, a plurality of mounting plates are arranged on the fixed cross beam and the movable cross beam, each of the two sides of the mounting plates is provided with a mechanical claw, and the heights of the two mechanical claws of the mounting plates are different.
Preferably, the fingers of the mechanical claws are connected with steel bar clamping claws, and the steel bar clamping claws are provided with V-shaped clamping grooves.
Preferably, the fixing frame comprises a vertical beam, a horizontal beam is fixedly connected to the lower end of the vertical beam, a screw rod lifter is arranged on the horizontal beam, and the underframe is fixedly connected to the lower end of a screw rod of the screw rod lifter;
lifting guide structures are arranged between the two ends of the horizontal beam and the underframe.
Preferably, the lifting guide structure comprises two guide rods, the lower ends of the two guide rods are fixedly connected to the underframe, linear bearings are arranged at two ends of the horizontal beam, and the linear bearings are matched with the guide rods;
An upper limit table is arranged at the upper end of the guide rod, and the upper limit table is contacted with the horizontal beam to limit the descending position of the underframe;
and a lower limiting table is arranged above the underframe, and the lower limiting table is contacted with the horizontal beam to limit the ascending position of the underframe.
Preferably, the underframe is in sliding connection with the movable cross beam through a guide rail sliding block;
The movable cross beam is connected with a driving cylinder, and the end part of a cylinder rod of the driving cylinder is fixedly connected to the fixed cross beam.
Preferably, the height of the driving cylinder is larger than the height of the uppermost group of manipulators of the fixed cross beam or the movable cross beam.
Preferably, the gantry beam is provided with a sliding rail and a rack, the upper end of the grabbing mechanism is provided with a sliding block matched with the sliding rail and a driving motor with a gear, and the grabbing mechanism is driven to move along the sliding rail through the driving motor and the rack and the gear which are mutually kneaded.
The utility model has the advantages that:
1. According to the utility model, the mechanical claw on the fixed cross beam is moved to one side of the reinforcement cage and is grabbed by utilizing the movement of the vertical beam on the gantry beam, after the mechanical claw on the fixed cross beam is grabbed in place, the movable cross beam is driven by the driving cylinder to drive the mechanical claw to move to the other side of the reinforcement cage for grabbing, and then the mechanical claw and the reinforcement cage are driven by the liftable underframe for transferring; as the movable cross beam and the fixed cross beam are respectively provided with a plurality of groups of manipulators, and the heights of each group of manipulators are different, the manipulators formed by a plurality of mechanical claws can simultaneously grasp a plurality of positions of the reinforcement cage for transferring, so that the stability of the transferring process is ensured.
2. The utility model is also suitable for grabbing and transferring work of a plurality of steel bars, the actions of the utility model are that the steel bars are grabbed by mechanical claws on a fixed beam through the movement of a vertical beam on a gantry beam and the lifting action of a bottom frame, then the movable beam is driven by a driving cylinder or driven by the vertical beam to grab other steel bars, finally the movable beam is driven by the vertical beam to be transferred to the upper part of a steel bar placing frame, the position of the movable beam is firstly adjusted by the driving cylinder according to the placing position of the steel bars on the steel bar placing frame, then the bottom frame descends to finish the placing of the steel bars on the mechanical claws of the beam, and if a plurality of groups of mechanical arms with different heights are arranged on the beam, the placing of the steel bars on another group of mechanical arms can be finished through the lifting of the bottom frame and the translation of the vertical beam.
3. According to the utility model, the two mechanical claws are respectively arranged at two sides of the mounting plate and at different heights, so that the height adjustment of the mechanical claws is facilitated, and the utility model is applicable to grabbing reinforcement cages of more types.
Drawings
FIG. 1 is a schematic view of a gripping device;
FIG. 2 is a schematic view of the grabbing mechanism of the present utility model;
FIG. 3 is an enlarged schematic view of the gripping mechanism I of the present utility model;
fig. 4 is a partial schematic view of the present utility model at the drive cylinder.
In the figure: 1-upright post, 2-Long Menliang, 3-vertical beam, 4-screw rod lifter, 5-horizontal beam, 6-underframe, 7-fixed beam, 8-movable beam, 9-upper limit table, 10-guide rod, 11-linear bearing, 12-lower limit table, 13-mounting plate, 14-mechanical claw, 15-driving cylinder and 16-guide rail slide block.
Detailed Description
The present utility model is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
As shown in fig. 1 to 4, a grabbing device comprises a stand column 1, wherein a gantry beam 2 is arranged on the stand column 1, a movable grabbing mechanism is arranged on the gantry beam 2, grabbing of a reinforcement cage is completed through the grabbing mechanism, and then the grabbing mechanism moves on the gantry beam 2 to transfer the reinforcement cage. The gantry beam 2 is provided with a sliding rail and a rack, the upper end of the grabbing mechanism is provided with a sliding block matched with the sliding rail and a driving motor with a gear, and the grabbing mechanism is driven to move along the sliding rail through the driving motor and the rack and the gear which are mutually kneaded.
The grabbing mechanism specifically comprises a fixing frame, the upper end of the fixing frame can be movably connected to the gantry beam 2, the lower end of the fixing frame is connected with a lifting underframe 6, one side of the bottom of the underframe 6 is fixedly connected with a fixed cross beam 7, the setting direction of the fixed cross beam 7 is perpendicular to the gantry beam 2, the other side of the bottom of the underframe 6 is movably connected with a movable cross beam 8, and the movement of the movable cross beam 8 can adjust the distance between the movable cross beam 8 and the fixed cross beam 7.
The movable cross beam 8 and the fixed cross beam 7 are respectively provided with a plurality of groups of manipulators, the plurality of groups of manipulators on the movable cross beam 8 are respectively positioned at different heights, the plurality of groups of manipulators on the fixed cross beam 7 are respectively positioned at different heights, each group of manipulators comprises a plurality of mechanical claws 14, the mechanical claws 14 of the same group of manipulators are respectively positioned at the same height, and the mechanical claws 14 on the movable cross beam 8 are oppositely arranged with the mechanical claws 14 on the fixed cross beam 7.
When the steel reinforcement cage is particularly operated, firstly, the mechanical claw 14 on the fixed cross beam 7 is moved to one side of the steel reinforcement cage and is grabbed by utilizing the movement of the vertical beam 3 on the gantry beam 2, after the mechanical claw 14 on the fixed cross beam 7 is grabbed in place, the mechanical claw 14 is driven by the movable cross beam 8 to move to a position close to the other side of the steel reinforcement cage and to grasp the steel reinforcement on the other side of the steel reinforcement cage, and then the mechanical claw 14 and the steel reinforcement cage are driven by the aid of the liftable underframe 6 to transfer; because the movable cross beam 8 and the fixed cross beam 7 are respectively provided with a plurality of groups of manipulators, and the heights of the manipulators in each group are different, the manipulator formed by the plurality of mechanical claws 14 can simultaneously grasp a plurality of positions of the reinforcement cage for transferring, so that the stability of the transferring process is ensured.
The utility model is also applicable to grabbing and transferring work of a plurality of reinforcing bars, the sequence of actions of the vertical beam 3, the movable cross beam 8 and the underframe 6 is required to be reasonably adjusted according to grabbing positions when the reinforcing bars are grabbed, and the sequence of actions of the vertical beam 3, the movable cross beam 8 and the underframe 6 is required to be reasonably adjusted according to placing positions when the reinforcing bars are placed.
In this embodiment, two groups of manipulators are respectively arranged on the fixed beam 7 and the movable beam 8, the two groups of manipulators are arranged up and down, specifically, a plurality of mounting plates 13 are respectively arranged on the fixed beam 7 and the movable beam 8, two sides of each mounting plate 13 are respectively provided with a gripper 14, the heights of the two grippers 14 of the mounting plates 13 are different, and the height of each gripper 14 can be adjusted by adjusting the positions of the grippers 14 on the mounting plates 13, so that the utility model is applicable to grabbing reinforcement cages of more types.
The fingers of the mechanical claw 14 are preferably connected with steel bar clamping claws, and the steel bar clamping claws are provided with V-shaped clamping grooves so as to ensure the stability when clamping steel bars.
The fixing frame specifically comprises a vertical beam 3, a horizontal beam 5 is fixedly connected to the lower end of the vertical beam 3, a screw rod lifter 4 is arranged on the horizontal beam 5, a bottom frame 6 is fixedly connected to the lower end of a screw rod of the screw rod lifter 4, the screw rod lifter is driven by a servo motor, so that accurate lifting action of the bottom frame 6 is realized, and lifting guide structures are arranged between the two ends of the horizontal beam 5 and the bottom frame 6 to further ensure lifting precision.
The lifting guide structure specifically comprises two guide rods 10, the lower ends of the two guide rods 10 are fixedly connected to the underframe 6, the two ends of the horizontal beam 5 are provided with linear bearings 11, and the linear bearings 11 are matched with the guide rods 10; in order to ensure the ascending height and descending height of the underframe 6, the upper end of the guide rod 10 is provided with an upper limiting table 9, the upper limiting table 9 is in contact with the horizontal beam 5 to limit the descending position of the underframe 6, a lower limiting table 12 is arranged above the underframe 6, and the lower limiting table 12 is in contact with the horizontal beam 5 to limit the ascending position of the underframe 6.
The movement of the movable cross beam 8 of the utility model is realized by the following structure: specifically, the underframe 6 is slidably connected with the movable cross beam 8 through a guide rail sliding block 16, a driving cylinder 15 is connected to the movable cross beam 8, and the end part of a cylinder rod of the driving cylinder 15 is fixedly connected to the fixed cross beam 7. In order to avoid interference between the driving cylinder 15 and the reinforcement cage to be grabbed, the height of the driving cylinder 15 is larger than that of the uppermost group of manipulators of the fixed cross beam 7 or the movable cross beam 8.
The utility model grabs the concrete working process when transferring the reinforcement cage
The grabbing mechanism moves on the gantry beam 2, the underframe 6 descends, the mechanical claw 14 on the fixed cross beam 7 moves to one side of the reinforcement cage and grabs, and at the moment, after the mechanical claw 14 on the fixed cross beam 7 grabs in place, the movable cross beam 8 drives the mechanical claw 14 to move to a position close to the other side of the reinforcement cage and grabs the reinforcement on the other side of the reinforcement cage.
Then the lifting underframe 6 drives the mechanical claw 14 and the reinforcement cage to transfer; because the movable cross beam 8 and the fixed cross beam 7 are respectively provided with a plurality of groups of manipulators, and the heights of the manipulators in each group are different, the manipulator formed by the plurality of mechanical claws 14 can simultaneously grasp a plurality of positions of the reinforcement cage for transferring, so that the stability of the transferring process is ensured.
The utility model has the following specific working procedures when a plurality of reinforcing steel bars are grabbed and transferred:
Firstly, the mechanical claws 14 on the fixed cross beam 7 grab the steel bars through the movement of the vertical beam 3 on the gantry beam 2 and the lifting action of the underframe 6;
Then the movable cross beam 8 is driven by the driving cylinder 15 or driven by the vertical beam 3 to grab other reinforcing steel bars;
Finally, the steel bar is driven by the vertical beam 3 to be transferred to the upper part of the steel bar placing frame;
According to the placement position of the steel bars on the steel bar placement frame, the position of the movable cross beam 8 can be adjusted by driving the air cylinder 15, then the underframe 6 descends, and meanwhile, the placement of the steel bars on all the cross beam mechanical claws 14 is completed;
If the beams are provided with a plurality of groups of manipulators with different heights, after the steel bars are placed by one group of manipulators below, the steel bars on the other group of manipulators can be placed by lifting the underframe 6 and translating the vertical beam 3.
It should be understood that these examples are for the purpose of illustrating the utility model only and are not intended to limit the scope of the utility model. Furthermore, it is to be understood that various changes, modifications and/or variations may be made by those skilled in the art after reading the technical content of the present utility model, and that all such equivalents are intended to fall within the scope of the present utility model as defined in the appended claims.
Claims (10)
1. The grabbing device is characterized by comprising an upright post (1), wherein a gantry beam (2) is arranged on the upright post (1), and a movable grabbing mechanism is arranged on the gantry beam (2);
The grabbing mechanism comprises a fixing frame, the upper end of the fixing frame can be movably connected to the gantry beam (2), the lower end of the fixing frame is connected with a lifting chassis (6), one side of the bottom of the chassis (6) is fixedly connected with a fixed cross beam (7), the setting direction of the fixed cross beam (7) is perpendicular to the gantry beam (2), the other side of the bottom of the chassis (6) is movably connected with a movable cross beam (8), and the distance between the movable cross beam (8) and the fixed cross beam (7) can be adjusted through the movement of the movable cross beam (8);
A plurality of groups of manipulators are arranged on the movable cross beam (8) and the fixed cross beam (7), each group of manipulators comprises a plurality of mechanical claws (14), and the mechanical claws (14) of the same group of manipulators are located at the same height;
The mechanical claw (14) on the movable cross beam (8) is arranged opposite to the mechanical claw (14) on the fixed cross beam (7).
2. A gripping device according to claim 1, characterized in that the groups of manipulators on the movable cross beam (8) are located at different heights, respectively, and the groups of manipulators on the fixed cross beam (7) are located at different heights, respectively.
3. A gripping device according to claim 1, characterized in that two groups of manipulators are arranged on the fixed beam (7) and on the movable beam (8), the manipulators being arranged up and down.
4. A gripping device according to claim 3, characterized in that the fixed cross beam (7) and the movable cross beam (8) are provided with a plurality of mounting plates (13), each mounting plate (13) is provided with a gripper (14) on both sides, and the heights of the two grippers (14) of the mounting plates (13) are different.
5. A gripping device according to claim 1, characterised in that the fingers of the gripper (14) are each connected with a bar clamp jaw, the bar clamp jaw being provided with a V-shaped clamping groove.
6. The grabbing device according to claim 1, wherein the fixing frame comprises a vertical beam (3), a horizontal beam (5) is fixedly connected to the lower end of the vertical beam (3), a screw rod lifter (4) is arranged on the horizontal beam (5), and the underframe (6) is fixedly connected to the lower end of a screw rod of the screw rod lifter (4);
lifting guide structures are arranged between the two ends of the horizontal beam (5) and the underframe (6).
7. The grabbing device according to claim 6, wherein the lifting guide structure comprises two guide rods (10), the lower ends of the two guide rods (10) are fixedly connected to the underframe (6), linear bearings (11) are arranged at two ends of the horizontal beam (5), and the linear bearings (11) are matched with the guide rods (10);
an upper limit table (9) is arranged at the upper end of the guide rod (10), and the upper limit table (9) is contacted with the horizontal beam (5) to limit the descending position of the underframe (6);
A lower limiting table (12) is arranged above the underframe (6), and the lower limiting table (12) is contacted with the horizontal beam (5) to limit the ascending position of the underframe (6).
8. A gripping device according to claim 1, characterized in that the underframe (6) is slidingly connected with the movable cross beam (8) by means of a guide rail slider (16);
The movable cross beam (8) is connected with a driving air cylinder (15), and the end part of an air cylinder rod of the driving air cylinder (15) is fixedly connected to the fixed cross beam (7).
9. A gripping device according to claim 8, characterised in that the position height of the driving cylinder (15) is greater than the height of the uppermost group of manipulators of the fixed (7) or movable (8) cross-beam.
10. The grabbing device according to claim 1, wherein the gantry beam (2) is provided with a sliding rail and a rack, the upper end of the grabbing mechanism is provided with a sliding block matched with the sliding rail and a driving motor with a gear, and the grabbing mechanism is driven to move along the sliding rail through the driving motor and the rack and the gear which are mutually kneaded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323097570.0U CN220975768U (en) | 2023-11-16 | 2023-11-16 | Grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323097570.0U CN220975768U (en) | 2023-11-16 | 2023-11-16 | Grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220975768U true CN220975768U (en) | 2024-05-17 |
Family
ID=91059637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323097570.0U Active CN220975768U (en) | 2023-11-16 | 2023-11-16 | Grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220975768U (en) |
-
2023
- 2023-11-16 CN CN202323097570.0U patent/CN220975768U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102717382B (en) | Synchronous clawing mechanism with multiple manipulators | |
| CN203473916U (en) | Electrically pneumatic carrying device | |
| CN220975768U (en) | Grabbing device | |
| CN104986677A (en) | Material grasping, lifting and translating device for joist barrow | |
| CN205870107U (en) | Automatic loading and unloading mechanism | |
| CN219988000U (en) | Box girder steel bar binding workbench | |
| CN202684914U (en) | Shifting manipulator special for battery assembly line | |
| CN112974712A (en) | Servo synchronous drive's ten automatic handling devices | |
| CN114211764B (en) | Automatic system suitable for installation of aerated brick production line net cage buckle | |
| CN112607607B (en) | Automatic arrangement system, cache vehicle and lifting demoulding system | |
| CN214110860U (en) | Automatic mold placing system for PC component production line | |
| CN115256432A (en) | Truss mechanical carrying hand and method | |
| CN112173736A (en) | Stacking manipulator capable of shaping stack body and orderly stacking method | |
| CN114131586A (en) | High-automation truss machine | |
| CN221021003U (en) | Truss robot | |
| CN219652154U (en) | Material frame lifting mechanism | |
| CN221289305U (en) | Conveying device | |
| CN220844441U (en) | Feeding and discharging mechanical arm device and production line | |
| CN216917775U (en) | Brick-making setting machine | |
| CN110899607A (en) | Automatic change material feeding unit | |
| CN216888795U (en) | Battery positioning and grabbing device | |
| CN212333944U (en) | PC component skeleton automatically regulated grabbing device | |
| CN217807334U (en) | High-load truss carrying device | |
| CN212580947U (en) | Bearing grabbing device | |
| CN219688376U (en) | Cylinder transfer mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |