CN101913145A - Manipulator device - Google Patents
Manipulator device Download PDFInfo
- Publication number
- CN101913145A CN101913145A CN 201010238208 CN201010238208A CN101913145A CN 101913145 A CN101913145 A CN 101913145A CN 201010238208 CN201010238208 CN 201010238208 CN 201010238208 A CN201010238208 A CN 201010238208A CN 101913145 A CN101913145 A CN 101913145A
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- China
- Prior art keywords
- hydraulic cylinder
- handgrip
- open
- rail
- close mechanism
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Abstract
The invention provides a manipulator device which is used for railway steel rail transport systems. The manipulator device comprises an upper part unit (A) and a lower part unit (B) which rise and fall along vertical direction, wherein the upper part unit (A) is used for grabbing a steel rail (10), and the lower part unit (B) is used for supporting the steel rail (10). The upper part unit (A) comprises an opening and closing mechanism (5), an upper hydraulic cylinder (1), a left hydraulic cylinder (2) and a right hydraulic cylinder (3), wherein the opening and closing mechanism (5) utilizes left tongs (5a) and right tongs (5b) to grab the steel rail (10); the upper hydraulic cylinder (1) causes the opening and closing mechanism (5) to rise and fall along vertical direction; the left hydraulic cylinder (2) causes the left tongs (5a) of the opening and closing mechanism (5) to swing to open and close; and the right hydraulic cylinder (3) causes the right tongs (5b) of the opening and closing mechanism (5) to swing to open and close. The lower part unit (B) comprises a support part (6) and a lower hydraulic cylinder (4), wherein the support part (6) supports the steel rail (10), and the lower hydraulic cylinder (4) causes the support part (6) to rise and fall along the vertical direction.
Description
Technical field
The present invention relates to a kind of robot device, relate in particular to the clamping mechanical arm device that not changed by the rail shaped position in the long steel rail push-pull continuous conveying system with adaptation function.
Background technology
Now, in the utilization of the old rail of railway, old rail shaping technique has all obtained positive high praise at home and abroad.Here, so-called old rail shaping technique promptly is that pin is milled in surface, the side of the old rail of changing on the railway, remove aging fatigue layer, make its use of reaching the standard grade once more of demoting, the great advantage of this technology is can obtain considerable economic by the shaping to old rail, and is consistent with target that the energy-saving and emission-reduction that China carries out are built a resource-conserving society.Therefore develop old rail shaping equipment, meet the demand of the construction and the development of China railways with independent intellectual property right.
Yet owing to the long-term abrasion of changing from railway of old rail process, it is asymmetric that its profile may become, and therefore robot device possibly can't clamp rail effectively when the shaping milling, thereby the shaping milling operation is caused harmful effect.And, because the variation of transfer position may cause robot device can clamp rail effectively too.In sum, in the prior art, because the asymmetric abrasion of old rail distortion and the variation of transfer position in shaping milling course of conveying, thereby exist and to carry out the technical problem that effectively clamps fast to rail.
Summary of the invention
The object of the present invention is to provide a kind ofly when carrying out old rail shaping milling, can carry out adaptive automatic clamping mechanical arm device corresponding to the transfer position and the profile asymmetry change of old rail.
For solving the problems of the technologies described above, robot device of the present invention is used for the railway track induction system, comprise: respectively lifting vertically be used to the lower unit that grasps the upper unit of rail and be used for supporting rail, described upper unit comprises: utilize its left handgrip and right handgrip to come the promptly open-and-close mechanism of rail; Make the last hydraulic cylinder of described open-and-close mechanism lifting vertically; The described left handgrip of described open-and-close mechanism is shaken to realize the left hydraulic cylinder of folding; And the described right handgrip that makes described open-and-close mechanism shakes to realize the right hydraulic cylinder of folding, the following hydraulic cylinder that described lower unit comprises the support portion of supporting rail and makes the lifting vertically of described support portion.
According to robot device of the present invention, because described left hydraulic cylinder shakes the described left handgrip of described open-and-close mechanism and right hydraulic cylinder shakes the described right handgrip of described open-and-close mechanism, therefore can control shaking independently of left and right sides handgrip respectively, can transfer position and the profile asymmetry change that be adapted to rail be grasped thus.
In addition, described upward hydraulic cylinder is controlled the lifting of described open-and-close mechanism by piston rod, described hydraulic cylinder is down controlled the lifting of described support portion by piston rod, described left hydraulic cylinder is controlled shaking of described left handgrip by piston rod, and described right hydraulic cylinder is controlled shaking of described right handgrip by piston rod.
Description of drawings
Fig. 1 is the front view of the explanation embodiment of the invention.
(symbol description)
The A upper unit
The B lower unit
Hydraulic cylinder on 1
1a the 1st piston rod
2 left hydraulic cylinders
2a the 2nd piston rod
3 right hydraulic cylinders
3a the 3rd piston rod
4 times hydraulic cylinders
4a the 4th piston rod
5 open-and-close mechanisms
5a left side handgrip
The right handgrip of 5b
6 support portions
10 rail
The specific embodiment
Below the specific embodiment of the present invention is elaborated.Following embodiment only is an example of technical solution of the present invention, should not be interpreted as the qualification to protection domain of the present invention.
Robot device in the present embodiment is used for the railway track induction system, and as shown in Figure 1, it comprises: lifting vertically is used to the lower unit B that grasps the upper unit A of rail 10 and be used for supporting rail 10 respectively.
Upper unit A mainly comprises open-and-close mechanism 5, goes up hydraulic cylinder 1, left hydraulic cylinder 2 and right hydraulic cylinder 3.
Open-and-close mechanism 5 comprises left handgrip 5a and right handgrip 5b, and utilizes it to realize the extracting of rail 10.Last hydraulic cylinder 1 makes open-and-close mechanism 5 lifting vertically.
Left hydraulic cylinder shakes with 2 of realization folding the left handgrip 5a of open-and-close mechanism 5, and right hydraulic cylinder 3 shakes to realize folding the right handgrip 5b of open-and-close mechanism 5.
Lower unit B comprises the support portion 6 of supporting rail 10 and the following hydraulic cylinder 4 that makes support portion 6 lifting vertically.
In addition, last hydraulic cylinder 1 is by the lifting of the 1st piston rod 1a control open-and-close mechanism 5, left hydraulic cylinder 2 is controlled shaking of left handgrip 5a by the 2nd piston rod 2a, and right hydraulic cylinder 3 is controlled shaking of right handgrip 5b by the 3rd piston rod 3a, and following hydraulic cylinder 4 is by the lifting of the 4th piston rod 4a control support portion 6.
Robot device according to present embodiment, because left hydraulic cylinder 2 shakes the left handgrip 5a of open-and-close mechanism 5 and right hydraulic cylinder 3 shakes the right handgrip 5b of open-and-close mechanism 5, therefore can control left and right sides handgrip 5a, shaking independently of 5b respectively, can transfer position and the profile asymmetry change that be adapted to rail 10 be grasped thus.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present invention.
Claims (2)
1. a robot device is used for the railway track induction system, it is characterized in that, comprising:
The upper unit that is used to grasp rail (10) (A) of lifting vertically and the lower unit (B) that is used for supporting rail (10) respectively,
Described upper unit (A) comprising: utilize its left handgrip (5a) and right handgrip (5b) to come the promptly open-and-close mechanism (5) of rail (10);
Make the last hydraulic cylinder (1) of described open-and-close mechanism (5) lifting vertically;
The described left handgrip (5a) of described open-and-close mechanism (5) is shaken to realize the left hydraulic cylinder (2) of folding; And
The described right handgrip (5b) of described open-and-close mechanism (5) is shaken realizing the right hydraulic cylinder (3) of folding,
Described lower unit (B) comprises the support portion (6) of supporting rail (10) and the following hydraulic cylinder (4) that makes described support portion (6) lifting vertically.
2. robot device as claimed in claim 1 is characterized in that,
The described hydraulic cylinder (1) of going up is controlled the lifting of described open-and-close mechanism (5) by the 1st piston rod (1a),
Described left hydraulic cylinder (2) shakes by the 2nd piston rod (2a) the described left handgrip of control (5a),
Described right hydraulic cylinder (3) shakes by the 3rd piston rod (3a) the described right handgrip of control (5b),
Described hydraulic cylinder (4) is down controlled the lifting of described support portion (6) by the 4th piston rod (4a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010238208 CN101913145A (en) | 2010-07-27 | 2010-07-27 | Manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010238208 CN101913145A (en) | 2010-07-27 | 2010-07-27 | Manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101913145A true CN101913145A (en) | 2010-12-15 |
Family
ID=43320861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010238208 Pending CN101913145A (en) | 2010-07-27 | 2010-07-27 | Manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101913145A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846484A (en) * | 2014-03-31 | 2014-06-11 | 浙江博雷重型机床制造有限公司 | Rack steel blank milling machine with steering mechanical hands |
| CN103846480A (en) * | 2014-03-31 | 2014-06-11 | 浙江博雷重型机床制造有限公司 | Rack steel billet milling machine with automatic positioning device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61222653A (en) * | 1985-03-27 | 1986-10-03 | Ishikawajima Harima Heavy Ind Co Ltd | Manipulater for forging |
| JPH08155875A (en) * | 1994-12-07 | 1996-06-18 | Kikkoman Corp | Robot hand |
| JPH09155779A (en) * | 1995-12-14 | 1997-06-17 | Japan Idea:Kk | Robot hand simultaneously moving number of hands through links |
| CN2589419Y (en) * | 2002-04-02 | 2003-12-03 | 机械工业部西安重型机械研究所 | Mechanical arm apparatus for tubular product discharging |
| CN2696944Y (en) * | 2004-04-14 | 2005-05-04 | 王�义 | Hydraulic automatic normally closed rail clamping device |
-
2010
- 2010-07-27 CN CN 201010238208 patent/CN101913145A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61222653A (en) * | 1985-03-27 | 1986-10-03 | Ishikawajima Harima Heavy Ind Co Ltd | Manipulater for forging |
| JPH08155875A (en) * | 1994-12-07 | 1996-06-18 | Kikkoman Corp | Robot hand |
| JPH09155779A (en) * | 1995-12-14 | 1997-06-17 | Japan Idea:Kk | Robot hand simultaneously moving number of hands through links |
| CN2589419Y (en) * | 2002-04-02 | 2003-12-03 | 机械工业部西安重型机械研究所 | Mechanical arm apparatus for tubular product discharging |
| CN2696944Y (en) * | 2004-04-14 | 2005-05-04 | 王�义 | Hydraulic automatic normally closed rail clamping device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846484A (en) * | 2014-03-31 | 2014-06-11 | 浙江博雷重型机床制造有限公司 | Rack steel blank milling machine with steering mechanical hands |
| CN103846480A (en) * | 2014-03-31 | 2014-06-11 | 浙江博雷重型机床制造有限公司 | Rack steel billet milling machine with automatic positioning device |
| CN103846484B (en) * | 2014-03-31 | 2016-06-08 | 浙江博雷重型机床制造有限公司 | A kind of tooth bar steel billet milling machine with steering mechanical hand |
| CN103846480B (en) * | 2014-03-31 | 2017-02-15 | 浙江博雷重型机床制造有限公司 | Rack steel billet milling machine with automatic positioning device |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20101215 |