CN105563456A - Vertical profile single-rail traction robot - Google Patents
Vertical profile single-rail traction robot Download PDFInfo
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- CN105563456A CN105563456A CN201610137932.XA CN201610137932A CN105563456A CN 105563456 A CN105563456 A CN 105563456A CN 201610137932 A CN201610137932 A CN 201610137932A CN 105563456 A CN105563456 A CN 105563456A
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- clamping plate
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- support body
- vertical walking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention provides a vertical profile single-rail traction robot. The vertical profile single-rail traction robot comprises a vertical walking rail, a mechanical arm for clamping and towing a profile, a transmission mechanism, a driving mechanism for connecting with the transmission mechanism, and a control mechanism; the mechanical arm is buckled on the side surface of the vertical walking rail, and is slidingly connected with the side surface of the vertical walking rail to realize walking movement by hanging on the side surface of the vertical walking rail; the transmission mechanism consists of a transmission device 1 arranged on the mechanical arm and a transmission device 2 arranged on the vertical walking rail; and the control mechanism is respectively in signal connection with the driving mechanism and the mechanical arm. The vertical profile single-rail traction robot adopts the mechanical arm as an actuation mechanism for towing the profile, and is flexible in operation and convenient for control. Meanwhile, the vertical profile single-rail traction robot can shrink the floor area to reduce the production cost, and is not influenced by the ground condition to effectively solve the problem of incapability of guaranteeing the profile towing straightness caused by uneven ground so as to improve the profile towing processing quality.
Description
Technical field
The present invention relates to metal working technical area, more particularly, relate to a kind of vertical section bar monorail traction robot.
Background technology
Pull out in shaping processing technology at extruded metal profile, concrete production process is: shape is after extruder extruding, and the aluminium section bar made is from the discharge hole for discharge of extruder.Shape discharging opening front is provided with outfeed platforms, is provided with cutting machine or other process equipment between outfeed platforms and discharging opening.When discharging, in order to prevent shape distortion, out needing fixture at shape afterwards by mould mouth and drawing it and walk along guide rail.
The employing of traditional mode of operation draws shape manually, after arriving specific length, sawed-off by the cutting machine of discharging opening.This Traditional Man mode of traction not only inefficiency, and security performance is low, is difficult to the safety operation of guarantee personnel.
At present, although also occur that some section bar pulling equipments are to replace artificial traction, the outside of the stub bar of shape toward mould is drawn by this pulling equipment, thus produces the shape of strip.But there is following shortcoming in existing pulling equipment:
1, existing pulling equipment complex structure and Horizontal flat are put and are caused area occupied large on the ground, thus cause device fabrication cost high, too increase the production cost of section bar.
2, existing pulling equipment is placed on ground structure owing to adopting Horizontal flat, is therefore easily subject to the impact of state of ground, thus is difficult to the linearity and the glacing flatness that ensure mechanical arm walking.
3, the fixture poor universality that carries of existing pulling equipment.Due to the section bar size specification disunity produced, the section bar that this fixture only can be suitable for a kind of caliber specification clamps, and the shape for different size needs to change fixture, thus causes that versatility is strong, clamping effect is poor and cost is high.
4, existing pulling equipment adopts the trailer wagon of carrying jig to realize the traction of section bar mostly, and this fixture adds the simple combination very flexible of walking dolly, can only realize the function of walking and clamping.
Summary of the invention
The object of the invention is to overcome shortcoming of the prior art with not enough, provide a kind of vertical section bar monorail traction robot of flexible operation, this traction robot not only can reduce floor space, thus reduces production cost; And it is not by the impact of state of ground, effectively can solve the problem causing linearity and the glacing flatness that cannot ensure that section bar draws because ground is uneven, thus improve the quality of section bar traction processing.
In order to achieve the above object, the present invention is achieved by following technical proposals: a kind of vertical section bar monorail traction robot, for drawing the section bar of discharging opening; It is characterized in that: comprise vertical walking track, for clamp the traction mechanical arm of section bar, transmission mechanism, for the driving mechanism that is connected with transmission mechanism and controlling organization; Described mechanical arm is buckled on the side of vertical walking track, and is connected with the side slip of vertical walking track, and realizing side that mechanical arm is suspended on vertical walking track, to carry out walking mobile; Described transmission mechanism is be separately positioned on the transmission device one on mechanical arm and the transmission device two on vertical walking track; Described controlling organization is connected with driving mechanism and mechanical arm signal respectively.
In such scheme, executing agency's not only flexible operation that the present invention adopts mechanical arm to draw as section bar, and be convenient to control.Simultaneously, walking track is vertical structure, and mechanical arm be firmly arranged on vertical walking track in a snap-in manner side on and be connected with the side slip of vertical walking track, thus mechanical arm can be realized move flexibly and walk, greatly extend the traction working space of mechanical arm.Compared with the pulling equipment of horizontal type structure, because mechanical arm is the side being suspended on vertical walking track, therefore the run trace of mechanical arm is not vulnerable to the impact of surface relief injustice, the mode that the present invention adopts mechanical arm to hang can effectively solve because ground injustice causes ensureing the linearity of mechanical arm walking movement and the problem of glacing flatness, thus improves the quality that mechanical arm clamping section carries out drawing.Meanwhile, this walking track adopts vertical structure and mechanical arm to adopt the mode being suspended on vertical walking track also can greatly reduce the occupation of land space of manipulator motion, thus reduces production cost.
Described mechanical arm comprises for vertical walking track buckle and the vertical walking mechanism be slidably connected and the clamping device for clamping section; Described clamping device and vertical walking mechanism are rotatably connected, and realize clamping device and fold towards vertical walking orbital direction or outwards open; Described driving mechanism and transmission device one are all arranged in vertical walking mechanism.
Described clamping device comprise be rotationally connected with vertical walking mechanism clamping limb, the clamping plate be connected with clamping limb, be arranged on the drive unit one on clamping limb and the open-close transmission device for driving clamping plate to move; Described clamping plate are made up of clamping plate one and clamping plate two, and clamping plate one and clamping plate two are set on open-close transmission device respectively; Described drive unit one is connected with open-close transmission device, realizes driving open-close transmission device motion with the folding driving clamping plate one and clamping plate two; Described clamping plate one are provided with rotating compressing member;
Described compressing member comprises the framework being arranged on clamping plate one end face and the compressed part be connected with framework; Described clamping plate one are provided with rotating compressing member and refer to: compressed part is connected with framework by rotating shaft one, realizes compressed part and is rotatably arranged on clamping plate one;
Be provided with spatial accommodation in the middle part of described framework, compressed part to be connected with framework by rotating shaft one and to be positioned at spatial accommodation, and the seal face of compressed part outwardly.
Clamping plate one of the present invention are provided with rotating compressing member, therefore this compressing member can carry out flexible modulation according to the section bar of different tube diameters or specification, be applicable to firmly clamp the section bar of different size, thus reach highly versatile and the strong effect of flexibility, and without the need to configuring corresponding clamping plate to the section bar of different size, greatly production cost can be reduced like this.When clamping plate one are to when pressing down, compressed part can be carried out rotation according to the specification of section bar by rotating shaft one and be regulated, and seal face is mated with the end face of section bar and fits, thus the section bar making these clamping plate can adapt to all size carries out clamping traction, highly versatile.
Described clamping plate two are provided with clamping mold, and the end face of clamping mold is provided with some oblique sawtooth along its length; Described in every bar, the rightabout of oblique sawtooth and lead is obliquely installed;
The middle part of described clamping mold is provided with head part device.
Oblique sawtooth design of the present invention is ingenious, the oblique sawtooth of every bar is all obliquely installed with the rightabout of lead, make in section bar distraction procedure, oblique sawtooth plays the effect of left-hand thread, thus greatly increase clamping dynamics, realize firmly clamping traction to section bar, effectively can ensure the crudy of section bar like this.During work, the section bar workpiece that clamping plate draw can eject by this head part device, and pickup is convenient, efficiently solves section bar pickup difficult problem, can greatly shorten the pickup time, thus improves the efficiency of processing work.
Described open-close transmission device comprises rotating shaft two and the screw element one that is set in respectively in same rotating shaft two and screw element two; Described clamping plate one and clamping plate two are set on screw element one and screw element two respectively; The screw thread of described screw element one and the screw thread of screw element two are respectively right-handed thread and left hand thread;
Also comprise guide post, described clamping plate one and clamping plate two are distinguished on the guide bar sheathed, and are connected with clamping limb by guide post.Guide post of the present invention not only can be used as the effect of clamping plate and clamping limb connector, but also plays the guide effect of clamping plate open and close movement, thus makes clamping plate open and close movement more stable.
Clamping plate one of the present invention and clamping plate two are provided with screw, and both are threaded with the screw element one with right-handed thread and the screw element two with left hand thread respectively by screw.When drive unit one drive shaft two is rotated, because the screw thread rotation direction of the screw element one in same rotating shaft two and screw element two is contrary, therefore, the clamping plate one be threaded with screw element one and screw element two respectively and clamping plate two can realize open and close movement, thus reach the effect clamping section bar and unclamp.The present invention drives the mode of clamping plate folding very flexibly with ingenious, the folding of clamping plate only need can be realized by the screw thread of contrary direction of rotation, not only can simplify mechanical mechanism, and the effect that fast driving controls clamping plate folding can be realized, thus improve the efficiency of processing work.The position of screw element one of the present invention and screw element two is interchangeable, as long as both screw thread rotation directions can realize the open and close movement of clamping plate one and clamping plate two on the contrary.
Described vertical walking mechanism comprises support body one and the base for being connected with clamping device; Described base one end and support body one removably connect, and the other end is connected with clamping device; To be provided with bottom described support body one on the side for being buckled in vertical walking track and the carriage be slidably connected with vertical walking track side surfaces;
Described carriage is several directive wheels be separately positioned on bottom support body one, and directive wheel is symmetrically distributed in bottom support body one up and down, and directive wheel opposing upper and lower to be buckled in vertical walking track side surfaces and to be slidably connected with vertical walking track side surfaces;
Each described directive wheel is connected to form by arbor wheel one and round table-like arbor wheel two; The side that relatively round table-like arbor wheel two is buckled in vertical walking track in directive wheel is up and down connected with the side slip of vertical walking track, and arbor wheel one is connected with the side slip of vertical walking track.
Directive wheel of the present invention can arrange four, six or eight etc. according to the specification size of support body one, and directive wheel opposing upper and lower the slide rail of the vertical walking track side surfaces of buckle can realize the stabilizing suspended of support body one and be movably walking.The present invention utilizes arbor wheel two relatively round table-like to be up and down connected with groove slide rail one buckle of vertical walking track, actually plays the effect clamping vertical rail up and down, realizes the stabilizing suspended of support body one, and adopt arbor wheel one and arbor wheel two to realize being movably walking.Therefore, the mode that support body one of the present invention realizes hanging is very especially ingenious, without the need to too much complicated structure, only needs round table-like arbor wheel about two buckle, not only can ensure support body one stabilizing suspended, and ensure the stability in support body one walking process.
The present invention also comprises the installing rack be arranged on bottom support body one, and installing rack is provided with the support wheel for locating the spacing keeping support body one and vertical rail; Support wheel is between directive wheel opposing upper and lower.Support wheel of the present invention can play location and avoid support body a line to walk to occur the phenomenon of deviation, this support wheel effectively can ensure the distance between support body one and vertical walking track, improve the precision of mass motion, linearity and the glacing flatness of manipulator motion can be ensured further.
Described base is provided with the connector for being connected with clamping device, connector is provided with the locking device for limiting clamping device opening angle, and folding or open towards vertical walking orbital direction to realize clamping device for the drive unit two that drives clamping device to rotate; Described locking device is mechanical lock.Clamping device of the present invention and base are rotatably connected and are arranged in vertical walking mechanism, in the clamping device course of work, this locking device can limit the angle that clamping device opens or rotates, and makes clamping device turn to fixed angle, thus the quality that raising clamping device draws section bar.
Described vertical walking track comprises support body two; Described support body two is provided with for vertical walking mechanism buckle and the slide rail be slidably connected, and slide rail is arranged on the side of support body two along the length direction of support body two;
Described slide rail is the upper slide rail and the glidepath that are symmetricly set on support body two side faces up and down; The described top of upper slide rail and the bottom of glidepath are respectively arranged with directive wheel buckle and the slideway one be slidably connected, slideway one comprises for arbor wheel two buckle with directive wheel and the spill slideway be slidably connected and the straight slideway for being slidably connected with the arbor wheel one of directive wheel, and spill slideway peace straight slideway connects side by side; The opposite face of described upper slide rail and glidepath is provided with the slideway two for being slidably connected with support wheel.
The present invention's laterally zygomorphic spill slideway is convenient to vertical walking mechanism directive wheel buckle opposing upper and lower and is connected, and actually plays the effect clamping vertical rail up and down, realizes the stabilizing suspended of walking mechanism.And straight slideway can improve the area that directive wheel slides, improve the speed of sliding.
Described transmission device two is arranged along support body two length direction, and engages each other with transmission device one;
Also comprise for installing tank chain and ensureing the drum apparatus that tank chain moves; Described drum apparatus is connected with support body two;
Described support body two is provided with the hollow-out parts for weight reduction.
Support body two of the present invention is provided with several hollow-out parts, is separately positioned on front and the side of support body two, then greatly can alleviate the weight of support body two when guarantee overall structure is firm, thus reduce production cost.
Compared with prior art, tool of the present invention has the following advantages and beneficial effect:
1, the vertical section bar monorail of the present invention draws executing agency's not only flexible operation that robot adopts mechanical arm to draw as section bar, and is convenient to control.
2, the present invention's vertical section bar monorail traction robot not only can reduce floor space, thus reduces production cost; And it is not by the impact of state of ground, effectively can solve the problem causing linearity and the glacing flatness that cannot ensure that section bar draws because ground is uneven, thus improve the quality of section bar traction processing.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention's vertical section bar monorail traction robot;
Fig. 2 is A place enlarged drawing in Fig. 1;
Fig. 3 is the structural representation that the present invention draws clamping device in robot;
Fig. 4 is clamping plate one structural representation that the present invention draws clamping device in robot;
Fig. 5 is clamping plate two structural representation that the present invention draws clamping device in robot;
Fig. 6 is the structural representation that the present invention draws vertical walking mechanism in robot;
Fig. 7 is the side schematic view that the present invention draws vertical walking mechanism in robot;
Wherein, 1 is vertical walking track, 1.1 is support body, 1.2 is upper slide rail, 1.3 is glidepath, 1.4 is slideway one, 1.5 is slideway two, 1.6 is transmission device two, 1.7 is drum apparatus, 1.8 is hollow-out parts, 2 is driving mechanism, 3 is vertical walking mechanism, 3.1 is support body one, 3.2 is base, 3.3 is directive wheel, 3.3.1 be arbor wheel one, 3.3.2 be arbor wheel two, 3.4 is installing rack, 3.5 is support wheel, 3.6 is connector, 3.7 is mechanical lock, 3.8 be transmission device one, 4 is clamping device, 4.1 is clamping limb, 4.2 is clamping plate, 4.2.1 be clamping plate one, 4.2.2 be clamping plate two, 4.3 be drive unit one, 4.4 is open-close transmission device, 4.4.1 be rotating shaft two, 4.4.2 be screw element one, 4.4.3 be screw element two, 4.5 is compressing member, 4.5.1 be framework, 4.5.2 be compressed part, 4.5.3 be rotating shaft one, 4.6 is clamping mold, 4.7 be oblique sawtooth, 4.8 be head part device, 4.9 is guide post, 4.10 be opening, 4.11 be tumbler, 4.12 is drive unit two.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
Embodiment one
As shown in Fig. 1 to 7, the present invention's vertical section bar monorail traction robot is for drawing the section bar of discharging opening.This traction robot comprise vertical walking track 1, for clamp the traction mechanical arm of section bar, transmission mechanism, for the driving mechanism 2 that is connected with transmission mechanism and controlling organization (not shown), wherein, mechanical arm is buckled on the side of vertical walking track 1, and be connected with the side slip of vertical walking track 1, realizing side that mechanical arm is suspended on vertical walking track 1, to carry out walking mobile; Transmission mechanism is be separately positioned on the transmission device 1 on mechanical arm and the transmission device 2 1.6 on vertical walking track 1, and controlling organization is connected with driving mechanism 2 and mechanical arm signal respectively, and transmission device 1 is helical gears.
Mechanical arm of the present invention comprises for vertical walking track 1 buckle and the vertical walking mechanism 3 be slidably connected and the clamping device 4 for clamping section, wherein, clamping device 4 and vertical walking mechanism 3 are rotatably connected, realize clamping device 4 fold towards vertical walking track 1 direction or outwards open (left and right directions is folding or open), and driving mechanism 2 and transmission device 1 are all arranged in vertical walking mechanism 3.
Clamping device 4 of the present invention comprises the clamping limb 4.1 be connected with walking mechanism, the clamping plate 4.2 be connected with clamping limb 4.1, be arranged on the pneumatic actuating device 1 on clamping limb 4.1 and the open-close transmission device 4.4 for driving clamping plate 4.2 to move, wherein, clamping plate 4.2 are made up of clamping plate one 4.2.1 and clamping plate two 4.2.2, clamping plate one 4.2.1 and clamping plate two 4.2.2 is set on open-close transmission device 4.4 respectively, drive unit 1 is connected with open-close transmission device 4.4, realize driving open-close transmission device 4.4 to move the folding driving clamping plate one 4.2.1 and clamping plate two 4.2.2, and clamping plate one 4.2.1 is provided with rotating compressing member 4.5.
Compressing member 4.5 of the present invention comprises the framework 4.5.1 being arranged on clamping plate one 4.2.1 end face and the compressed part 4.5.2 be connected with framework 4.5.1, wherein, clamping plate one 4.2.1 is provided with rotating compressing member and refers to: be provided with spatial accommodation in the middle part of framework 4.5.1, compressed part 5.2 to be connected with framework 4.5.1 by rotating shaft one 4.5.3 and to be positioned at spatial accommodation, realize compressed part 4.5.2 to be rotatably arranged on clamping plate one 4.2.1, and the seal face of compressed part 4.5.2 outwardly.Clamping plate two 4.2.2 of the present invention is provided with clamping mold 4.6, and the end face of clamping mold 4.6 is provided with some oblique sawtooth 4.7 along its length.The oblique sawtooth 4.7 of every bar is obliquely installed with the rightabout of lead.In order to effectively solve the problem of section bar pickup difficulty, the middle part of this clamping mold 4.6 is provided with head part device 4.8.
Two open-close transmission devices 4.4 of the present invention comprise rotating shaft two 4.4.1 and screw element one 4.4.2 that is set in respectively on same rotating shaft two 4.4.1 and screw element two 4.4.3 respectively, wherein, clamping plate one 4.2.1 and clamping plate two 4.2.2 is set on screw element one 4.4.2 and screw element two 4.4.3 respectively.In order to control the open and close movement of clamping plate, the screw thread of screw element one 4.4.2 of the present invention is left hand thread, and the screw thread of screw element two 4.4.3 is right-handed thread.The present invention also comprises guide post 4.9, and clamping plate one 4.2.1 and clamping plate two 4.2.2 is set on guide post 4.9 respectively, and is connected with clamping limb 4.1 by guide post 4.9.
The vertical walking mechanism 3 of the present invention comprises support body 1 and the base 3.2 for being connected with clamping device 4; This base 3.2 one end and support body 1 removably connect, and the other end is connected with clamping device 4, are provided with the carriage be connected on the side for being buckled in vertical walking track 1 and with vertical walking track 1 side slip bottom support body 1;
Carriage of the present invention is the directive wheel 3.3 being separately positioned on four drift angle places bottom support body 1, and the same side directive wheel opposing upper and lower 3.3 is for be buckled on vertical walking track 1 side and to be connected with vertical walking track 1 side slip.Directive wheel 3.3 is arranged on four drift angle places bottom support body 3.1 can ensure that support body 3.1 hangs the degree of balance of walking.Specifically, each directive wheel 3.3 is connected to form by arbor wheel one 3.3.1 and round table-like arbor wheel two 3.3.2, wherein, arbor wheel two 3.3.2 round table-like in each directive wheel 3.3 is for be buckled on vertical walking track 1 side and to be connected with vertical walking track 1 side slip, and arbor wheel one 3.3.1 is used for being connected with vertical walking track 1 side slip.In order to ensure linearity and the glacing flatness of manipulator motion further, the present invention also comprises the installing rack 3.4 be arranged on bottom support body 1, installing rack 3.4 is provided with four support wheels 3.5 for locating the spacing keeping support body 1 and vertical walking track 1, wherein, every two support wheels 3.5 are between the directive wheel 3.3 opposing upper and lower of the same side.
Base 3.2 other end of the present invention is provided with the connector 3.6 for connecting clamping device 4, connector 3.6 is provided with the mechanical lock 3.7 for limiting clamping limb 4.1 opening angle, and folding or open towards vertical walking track 1 direction to realize clamping device 4 for the drive unit 2 4.12 that drives clamping device 4 to rotate; This locking device is mechanical lock 3.7.This mechanical lock 3.7 can limit the angle that clamping limb 4.1 opens or rotates, and makes clamping limb 4.1 turn to fixed angle, thus improves the quality of clamping limb 4.1 pairs of section bar tractions.Clamping limb 4.1 of the present invention is provided with position, joint away from one end of clamping plate 4.2, and position, joint and vertical walking mechanism 3 are rotatably connected.Specifically, this position, joint comprises for the opening 4.10 of Holding seat connector 3.6 with for realizing the tumbler 4.11 that position, joint and vertical walking mechanism 3 are rotationally connected.During installation, opening 4.10 clamps the connector 3.6 of vertical walking mechanism 3 base, then is passed opening 4.10 by tumbler 4.11 and be connected with connector 3.6, realizes the connection of clamping limb 4.1 and vertical walking mechanism 3.
Driving mechanism 2 of the present invention is arranged on support body 1, transmission device 1 for being arranged on the gear bottom support body 1, for engaging with the transmission device 2 1.6 (tooth bar) on vertical walking track 1.Gear of the present invention is helical gears, for engaging with the diagonal-cut rack on vertical walking track 1.The mode that the present invention adopts helical gears to engage with diagonal-cut rack not only can improve the registration of meshing characteristic and tooth, thus improves transmission efficiency; And can further improve the stationarity of vertical walking mechanism 3 movement.
The vertical walking track 1 of the present invention comprises support body 2 1.1, and support body 2 1.1 is provided with for vertical walking mechanism 3 buckle and the slide rail be slidably connected, and slide rail is arranged on the side of support body 2 1.1 along the length direction of support body 2 1.1.Wherein, slide rail is the upper slide rail 1.2 and the glidepath 1.3 that are symmetricly set on support body 2 1.1 side up and down, and the top of upper slide rail 1.2 and the bottom of glidepath 1.3 are respectively arranged with for vertical walking mechanism 3 buckle and the slideway 1 be slidably connected, slideway 1 comprises for the arbor wheel two 3.3.2 buckle with directive wheel 3.3 and the spill slideway be slidably connected and the straight slideway for being slidably connected with arbor wheel one 3.3.1 of directive wheel 3.3, and spill slideway peace straight slideway connects side by side.The present invention's laterally zygomorphic spill slideway is convenient to vertical walking mechanism 3 directive wheel 3.3 opposing upper and lower buckle and is connected, actually play the effect clamping vertical walking track 1 up and down, realize the stabilizing suspended of vertical walking mechanism 3, and straight slideway can improve the area that directive wheel 3.3 slides, improve the speed of sliding.
Meanwhile, the opposite face of upper slide rail 1.2 and glidepath 1.3 is provided with the slideway 2 1.5 for being slidably connected with support wheel 3..Slideway 25 of the present invention can provide support the space that wheel 3.5 slides, and makes support wheel 3.5 can play location and avoids the walking of vertical walking mechanism 3 to occur the phenomenon of deviation.Vertical walking track 1 also comprises the transmission device 2 1.6 for engaging with the transmission device 1 of vertical walking mechanism 3, and this transmission device 2 1.6 arranges along support body 2 1.1 length direction and is diagonal-cut rack.
The vertical walking track 1 of the present invention also comprises for installing tank chain and ensureing the drum apparatus 1.7 that tank chain moves, and this drum apparatus 1.7 is connected with support body 2 1.1.Tank chain is used for the effect of guard signal line in manipulator motion, and the vertical walking track 1 of the present invention is provided with the drum apparatus 1.7 for installing tank chain, thus ensures that tank chain can move smoothly in long distance walking process.The present invention also comprises the base (not shown) for fitting machine mechanical arm slip used, and this base is arranged on support body 2 1.1.In order to alleviate the weight of vertical walking track 1, support body 2 1.1 is provided with the hollow-out parts 1.8 for weight reduction.Support body 2 1.1 is provided with several hollow-out parts 1.8, is separately positioned on front and the side of support body 2 1.1, then greatly can alleviate the weight of support body 2 1.1 when guarantee overall structure is firm, thus reduce production cost.
Embodiment two
The present embodiment and embodiment one difference are only: the location swap of screw thread to be the screw element one of left hand thread and screw thread the be screw element two of right-handed thread.As long as the screw thread rotation direction of the present invention's screw element one and screw element two can realize the open and close movement of clamping plate one and clamping plate two on the contrary.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment three
The present embodiment and embodiment one difference are only: directive wheel of the present invention can arrange six or eight etc. according to the specification size of support body one, directive wheel is symmetrically distributed in bottom support body one up and down, and directive wheel opposing upper and lower is used for being buckled in vertical walking track side surfaces and is dynamically connected with vertical walking track sliding.The present embodiment directive wheel opposing upper and lower can realize the stabilizing suspended of support body one and is movably walking in buckle vertical rail side.
Equally, support wheel also can arrange one, two, three or more according to demand, thus plays location and avoid support body a line to walk to occur the phenomenon of deviation, can ensure linearity and the glacing flatness of manipulator motion further.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment four
The present embodiment and embodiment one difference are only: clamping device and the vertical walking mechanism of the present embodiment are rotatably connected, connector after the setting direction of base turn 90 degrees, then can realize clamping device and folding or upward/below open towards vertical walking orbital direction.Therefore, traction robot of the present invention flexible operation, can need correspondingly to improve according to occasion, then can realize the effect of dodging.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. a vertical section bar monorail traction robot, for drawing the section bar of discharging opening; It is characterized in that: comprise vertical walking track, for clamp the traction mechanical arm of section bar, transmission mechanism, for the driving mechanism that is connected with transmission mechanism and controlling organization; Described mechanical arm is buckled on the side of vertical walking track, and is connected with the side slip of vertical walking track, and realizing side that mechanical arm is suspended on vertical walking track, to carry out walking mobile; Described transmission mechanism is be separately positioned on the transmission device one on mechanical arm and the transmission device two on vertical walking track; Described controlling organization is connected with driving mechanism and mechanical arm signal respectively.
2. vertical section bar monorail traction robot according to claim 1, is characterized in that: described mechanical arm comprises for vertical walking track buckle and the vertical walking mechanism be slidably connected and the clamping device for clamping section; Described clamping device and vertical walking mechanism are rotatably connected, and realize clamping device and fold towards vertical walking orbital direction or outwards open; Described driving mechanism and transmission device one are all arranged in vertical walking mechanism.
3. vertical section bar monorail traction robot according to claim 2, is characterized in that: described clamping device comprise be rotationally connected with vertical walking mechanism clamping limb, the clamping plate be connected with clamping limb, be arranged on the drive unit one on clamping limb and the open-close transmission device for driving clamping plate to move; Described clamping plate are made up of clamping plate one and clamping plate two, and clamping plate one and clamping plate two are set on open-close transmission device respectively; Described drive unit one is connected with open-close transmission device, realizes driving open-close transmission device motion with the folding driving clamping plate one and clamping plate two; Described clamping plate one are provided with rotating compressing member;
Described compressing member comprises the framework being arranged on clamping plate one end face and the compressed part be connected with framework; Described clamping plate one are provided with rotating compressing member and refer to: compressed part is connected with framework by rotating shaft one, realizes compressed part and is rotatably arranged on clamping plate one;
Be provided with spatial accommodation in the middle part of described framework, compressed part to be connected with framework by rotating shaft one and to be positioned at spatial accommodation, and the seal face of compressed part outwardly.
4. vertical section bar monorail traction robot according to claim 3, it is characterized in that: described clamping plate two are provided with clamping mold, the end face of clamping mold is provided with some oblique sawtooth along its length; Described in every bar, the rightabout of oblique sawtooth and lead is obliquely installed;
The middle part of described clamping mold is provided with head part device.
5. vertical section bar monorail traction robot according to claim 3, is characterized in that: described open-close transmission device comprises rotating shaft two and the screw element one that is set in respectively in same rotating shaft two and screw element two; Described clamping plate one and clamping plate two are set on screw element one and screw element two respectively; The screw thread of described screw element one and the screw thread of screw element two are respectively right-handed thread and left hand thread;
Also comprise guide post, described clamping plate one and clamping plate two are distinguished on the guide bar sheathed, and are connected with clamping limb by guide post.
6. vertical section bar monorail traction robot according to claim 2, is characterized in that: described vertical walking mechanism comprises support body one and the base for being connected with clamping device; Described base one end and support body one removably connect, and the other end is connected with clamping device; To be provided with bottom described support body one on the side for being buckled in vertical walking track and the carriage be slidably connected with vertical walking track side surfaces;
Described carriage is several directive wheels be separately positioned on bottom support body one, and directive wheel is symmetrically distributed in bottom support body one up and down, and directive wheel opposing upper and lower to be buckled in vertical walking track side surfaces and to be slidably connected with vertical walking track side surfaces;
Each described directive wheel is connected to form by arbor wheel one and round table-like arbor wheel two; The side that relatively round table-like arbor wheel two is buckled in vertical walking track in directive wheel is up and down connected with the side slip of vertical walking track, and arbor wheel one is connected with the side slip of vertical walking track.
7. vertical section bar monorail traction robot according to claim 6, it is characterized in that: also comprise the installing rack be arranged on bottom support body one, installing rack is provided with the support wheel for locating the spacing keeping support body one and vertical rail; Support wheel is between directive wheel opposing upper and lower.
8. vertical section bar monorail traction robot according to claim 6, it is characterized in that: described base is provided with the connector for being connected with clamping device, connector is provided with the locking device for limiting clamping device opening angle, and folding or open towards vertical walking orbital direction to realize clamping device for the drive unit two that drives clamping device to rotate; Described locking device is mechanical lock.
9. vertical section bar monorail traction robot according to claim 6, is characterized in that: described vertical walking track comprises support body two; Described support body two is provided with for vertical walking mechanism buckle and the slide rail be slidably connected, and slide rail is arranged on the side of support body two along the length direction of support body two;
Described slide rail is the upper slide rail and the glidepath that are symmetricly set on support body two side faces up and down; The described top of upper slide rail and the bottom of glidepath are respectively arranged with directive wheel buckle and the slideway one be slidably connected, slideway one comprises for arbor wheel two buckle with directive wheel and the spill slideway be slidably connected and the straight slideway for being slidably connected with the arbor wheel one of directive wheel, and spill slideway peace straight slideway connects side by side; The opposite face of described upper slide rail and glidepath is provided with the slideway two for being slidably connected with support wheel.
10. vertical section bar monorail traction robot according to claim 9, is characterized in that: described transmission device two is arranged along support body two length direction, and engages each other with transmission device one;
Also comprise for installing tank chain and ensureing the drum apparatus that tank chain moves; Described drum apparatus is connected with support body two;
Described support body two is provided with the hollow-out parts for weight reduction.
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| CN201610137932.XA CN105563456B (en) | 2016-03-10 | 2016-03-10 | A kind of vertical section bar monorail traction robot |
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| CN201610137932.XA CN105563456B (en) | 2016-03-10 | 2016-03-10 | A kind of vertical section bar monorail traction robot |
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| CN107139161A (en) * | 2017-06-09 | 2017-09-08 | 杭州亚美利嘉科技有限公司 | Suspension type guide rails of robots, suspension type robot and its runtime |
| CN108906906A (en) * | 2018-08-20 | 2018-11-30 | 佛山市三水区诺尔贝机器人研究院有限公司 | A kind of walking mechanism of vertical profile traction |
| CN108927419A (en) * | 2018-08-20 | 2018-12-04 | 佛山市三水区诺尔贝机器人研究院有限公司 | A kind of vertical section tractor device people |
| CN109406192A (en) * | 2018-12-14 | 2019-03-01 | 长沙开元仪器有限公司 | Spiral sampling prototype |
| CN110422184A (en) * | 2019-08-29 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of intelligent patrol equipment |
| CN114012782A (en) * | 2021-10-11 | 2022-02-08 | 北京华能新锐控制技术有限公司 | Guide wheel device of guide rail robot |
| CN115855168A (en) * | 2023-02-27 | 2023-03-28 | 山东科华电力技术有限公司 | Cable tunnel hangs rail formula and patrols and examines and uses robot with diversified detection function |
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| CN114012782A (en) * | 2021-10-11 | 2022-02-08 | 北京华能新锐控制技术有限公司 | Guide wheel device of guide rail robot |
| CN115855168A (en) * | 2023-02-27 | 2023-03-28 | 山东科华电力技术有限公司 | Cable tunnel hangs rail formula and patrols and examines and uses robot with diversified detection function |
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
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Effective date of registration: 20180929 Address after: 528226 One of six five storeys (1-10 axes) in Area A of the New Light Source Industry Base of Guangdong Province, North of Langsha Avenue, Luocun, Shishan Town, Nanhai District, Foshan City, Guangdong Province Patentee after: Guangdong Tag prestige robot Science and Technology Ltd. Address before: 528100 self compiled E seat No. E203 and E204, complex building B, No. 67 (F3), Zone No. 3, science and Technology Industrial Zone, Sanshui center, Foshan, Guangdong. Patentee before: FOSHAN SANSHUI DISTRICT NUOERBEI ROBOT RESEARCH INSTITUTE CO., LTD. |