CN105665465A - Novel profile pulling method - Google Patents
Novel profile pulling method Download PDFInfo
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- CN105665465A CN105665465A CN201610137464.6A CN201610137464A CN105665465A CN 105665465 A CN105665465 A CN 105665465A CN 201610137464 A CN201610137464 A CN 201610137464A CN 105665465 A CN105665465 A CN 105665465A
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- section bar
- traction
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- vertical walking
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C35/00—Removing work or waste from extruding presses; Drawing-off extruded work; Cleaning dies, ducts, containers, or mandrels
- B21C35/02—Removing or drawing-off work
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Abstract
The invention provides a novel profile pulling method. A vertical pulling robot is used for pulling a profile. The vertical pulling robot is formed by overlapping and splicing M pulling units in the vertical direction. Each pulling unit is provided with a vertical type walking track and a mechanical arm moving on the vertical type walking track. M is a natural number which is greater than or equal to 2. The mechanical arms of every two adjacent pulling units are hung on the vertical type walking tracks and move in a cooperatively alternating and mutual avoiding mode, so that the profile is pulled in a cooperatively alternating mode. According to the novel profile pulling method, the practicality is high, the pulling speed is high, the profile can be fully automatically pulled in a multi-track mode according to production requirements, and therefore the profile pulling efficiency is improved, an efficient and stable pulling effect can be achieved, full-automatic and intelligent profile pulling processing is achieved, and the novel profile pulling method is suitable for large-scale production.
Description
Technical field
The present invention relates to metal working technical area, more particularly, it relates to a kind of section bar traction method.
Background technology
Pulling out in the processing technique of molding at extruded metal profile, concrete production process is: shape is after extruder extrudes, 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 from distorting, out needed fixture afterwards by mould mouth at shape and draw it and walk along guide rail.
Shape is drawn in the employing of traditional mode of operation manually, after arriving specific length, sawed-off by the cutting machine of discharging opening. This Traditional Man tractive manner not only inefficiency, and security performance is low, it is difficult to ensure the safety operation of personnel.
At present, although some section bar pulling equipments also occur to replace artificial traction, the stub bar of shape is drawn by this pulling equipment toward the outside of mould, thus producing the shape of strip. But, there is following shortcoming in existing section bar traction method:
1, the existing pulling equipment structure complexity realizing traction method and Horizontal flat are put and are caused that area occupied is big on the ground, thus causing device fabrication cost high, too increase the production cost of section bar. Meanwhile, pulling equipment adopts horizontal type structure to be also easily subject to the impact of state of ground, thus being difficult to ensure that linearity and glacing flatness that mechanical arm walks.
2, section bar is drawn by existing section bar traction method only with a dolly with jig arm moved along a straight line, and causes that production efficiency is low.
3, the fixture poor universality of clamping section in existing section bar traction method. Due to the section bar size specification disunity produced, this fixture is only capable of being suitable for the section bar of a kind of caliber specification and clamps, and needs to change fixture for various sizes of shape, thus causing that versatility is strong, clamping effect is poor and cost is high.
4, existing section bar traction method adopts the trailer wagon of carrying jig to realize the traction of section bar mostly, and this fixture adds the simple compound mode very flexible of walking dolly, can only realize walking and the function of clamping.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, a kind of practical and that hauling speed is fast section bar traction method is provided, this section bar traction method not only can be effectively improved the quality of section bar traction, and efficient and stable traction effect can be reached, to realize the traction processing of full-automatic and intelligentized section bar, and be applicable to large-scale production, thus replace traditional manually drawing processing.
In order to achieve the above object, the technical scheme is that: a kind of novel section bar traction method, it is characterized in that: adopt vertical traction robot that section bar is drawn, described vertical traction robot is made up of M the vertical stacking splicing of traction unit, and each traction unit is provided with vertical walking track and the mechanical arm moved at vertical walking track travel; Wherein, M is natural number and M >=2;
The mechanical arm of adjacent two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, it is achieved in the way of cooperative alternative, section bar is drawn.
In such scheme, in such scheme, the traction method of the present invention adopts M traction unit stacking splicing composition, and section bar is drawn by the mechanical arm sling of adjacent two traction units in the way of cooperative alternative, can realize the same time carries out the effect of quick traction to many section bars, thus efficient and stable traction effect not only can be reached, and it is greatly improved the efficiency that section bar draws automatically. Meanwhile, the present invention adopts the actuator not only flexible operation that mechanical arm draws as section bar, and is easy to control.
The present invention adopts vertical traction robot to carry out section bar traction, and track of walking is vertical structure, and mechanical arm consolidates in a hanging manner and is arranged on vertical walking track and is connected with vertical walking slide, move flexibly thus mechanical arm can be realized and walk, greatly extending the traction work space of mechanical arm. Compared with the pulling equipment of horizontal type structure, owing to mechanical arm is suspended from vertical walking track, therefore the run trace of mechanical arm is not easily susceptible to the impact that surface relief is uneven, the present invention adopts the mode that mechanical arm hangs can effectively solve because ground injustice causes the problem of linearity and the glacing flatness that cannot ensure mechanical arm walking movement, thus improving 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 reducing production cost.
Described mechanical arm includes the vertical walking mechanism for being connected and the clamping device for clamping section with vertical walking slide; Described clamping device and vertical walking mechanism are rotatably connected, it is achieved clamping device is folding towards vertical walking orbital direction or is flared out.
Arranging mechanical lock, described mechanical lock opens direction along clamping device and limits the opening angle of clamping device in the way of stop. Clamping device of the present invention is rotatably connected and is arranged in vertical walking mechanism, in clamping device work process, this mechanical lock can limit the angle that clamping device opens or rotates so that clamping device turns to fixed angle, thus improving the quality that section bar is drawn by clamping device.
The mechanical arm of described adjacent two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, realize referring to section bar being carried out traction in the way of cooperative alternative: carry out at discharging station, section bar being clamped by cooperative alternative and in the way of mutually dodging between adjacent two mechanical arms simultaneously, and draw section bar to processing stations; Wherein, discharging station refers to the section bar unloading position in a upper manufacturing procedure; Processing stations refers to the position of section bar next one manufacturing procedure.
Carry out at discharging opening, section bar being clamped by cooperative alternative and in the way of mutually dodging between described adjacent two mechanical arms simultaneously, and section bar traction is referred to processing stations: when adjacent two mechanical arms are walked mobile simultaneously, one of them mechanical arm moves to discharging station from processing stations in a folded fashion and carries out the clamping operation of section bar, and another mechanical arm moves to processing stations from discharging station in the way of opening and carries out the traction operation of section bar;Wherein, folding mode refers to that mechanical arm folds towards the direction of vertical walking track. Clamping device of the present invention is rotatably connected with vertical walking mechanism to be easy to open and section bar is clamped and folding to avoid conflicting mutually with other reciprocating clamping devices to walking mechanism direction, thus playing the effect of dodging.
Coaxial threaded part that the clamping limb that described clamping device includes being rotationally connected with vertical walking mechanism is connected with clamping limb and be respectively sleeved at the clamping plate one on screw element and clamping plate two; Described clamping operation comprises the following steps:
The first step, drives clamping plate one and the folding of clamping plate two, it is achieved section bar is tentatively clamped by clamping device by the mode of oppositely arranged screw element; Wherein, the mode of oppositely arranged screw element refers to that the screw thread rotation of coaxial screw element one and screw element two is in opposite direction;
Second step, is arranged the compressed part being rotatably connected with clamping plate one, section bar is undertaken by rotating compressed part the adjustment of clip position, it is achieved section bar is carried out coupling clamping by clamping device.
Clamping plate one of the present invention are provided with rotating compressing member, therefore this compressing member can carry out flexible according to the section bar of different tube diameters or specification, it is applicable to the section bar of different size carries out firm clamping, thus reaching highly versatile and the strong effect of motility, without the section bar corresponding clamping plate of configuration to different size, production cost so can be substantially reduced. When clamping plate one are pressed downward against, compressed part can be undertaken rotating adjustment by rotating shaft one according to the specification of section bar so that seal face mates laminating with the end face of section bar, so that the section bar that these clamping plate are suitable for all size carries out clamping traction, highly versatile.
Operationally, owing to the screw thread rotation of the screw element one in same rotating shaft and screw element two is in opposite direction, therefore, clamping plate one and the clamping plate two threadeded with screw element one and screw element two respectively can realize open and close movement, thus reaching effect section bar being clamped and unclamping. The present invention drives the mode of clamping plate folding very flexibly with ingenious, the folding of clamping plate only need to can be realized by the screw thread of contrary direction of rotation, not only can simplify mechanical mechanism, and fast driving can be realized and control the effect of clamping plate folding, thus improving the efficiency of processing work. The screw element one of the present invention and the position of screw element two are interchangeable, if the open and close movement that can realize clamping plate one and clamping plate two in opposite direction of both screw thread rotation.
Described traction operation refers to that clamping device realizes the traction of section bar in the way of left-hand thread when walking mobile on vertical walking track by vertical walking mechanism; The mode of described left-hand thread refers to and is provided with clamping mold on clamping plate two, the end face of clamping mold is provided with some oblique sawtooth along its length, the rightabout of every described oblique sawtooth and lead is obliquely installed, it is achieved the left-hand thread effect that tiltedly sawtooth draws with section bar.
The oblique sawtooth design of the present invention is ingenious, every oblique sawtooth 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 being greatly increased clamping dynamics, realize, to the firm clamping traction of section bar, to be so effectively ensured the crudy of section bar.
Described mechanical arm is connected with the side slip of vertical walking track in the way of hanging buckle, it is achieved mechanical arm is suspended on the side of vertical walking track and carries out walking movement.
Described mechanical arm is connected with the side slip of vertical walking track in the way of hanging buckle and refers to: arrange several directive wheels in vertical walking mechanism, the directive wheel bottom being distributed in vertical walking mechanism symmetrical above and below, each described directive wheel is connected to form by axle wheel one and round table-like axle wheel two, being oppositely oriented axle wheel two round table-like in wheel up and down be buckled on the side of vertical walking track and be connected with the side slip of vertical walking track, axle wheel one is connected with the side slip of vertical walking track.
The present invention adopts vertical traction robot that section bar is drawn, and described vertical traction robot is made up of two traction unit stacking splicings, and each traction unit is provided with vertical walking track and the mechanical arm moved at vertical walking track travel;The mechanical arm of two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, it is achieved in the way of cooperative alternative, section bar is drawn;
The clamping device of two traction units is rotatably connected with corresponding vertical walking mechanism respectively in the way of specular.
When this traction robot is made up of two traction unit stacking splicings, the clamping device of two traction units is provided with several benefit in the way of specular: one is owing to the form that two clamping devices are cooperative alternatives carries out section bar traction, therefore conplane two clamping devices are to need mutually to dodge the phenomenon that just can solve to bump against, and two clamping devices adopt the mode of specular to arrange the effect that can play to dodge to realize both linkages. Two is that two clamping devices adopt the mode that specular is arranged to make there are enough spaces between two clamping devices, therefore two clamping devices may be designed as the clamping device that length is equal, so can greatly reduce the difference produced in two clamping device distraction procedure, thus improving the quality that section bar is drawn by traction robot. Three is the problem that the mode then clamping device without additionally designing new construction that two clamping devices adopt specular to arrange solves to bump against, and so can be substantially reduced the production cost of traction robot.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, the section bar traction method that the present invention is novel is practical and hauling speed is fast, it can realize multi-orbit mode according to Production requirement and carry out section bar full-automation traction, thus improving the efficiency of section bar traction and efficient and stable traction effect can being reached, to realize the traction processing of full-automatic and intelligentized section bar, and it is applicable to large-scale production.
2, the section bar traction method that the present invention is novel is by the impact of state of ground, can imitate and solve because ground injustice causes ensureing the problem of linearity that section bar draw and glacing flatness, thus improving the quality that section bar traction is processed; Meanwhile, the equipment of employing not only can reduce floor space, thus reducing production cost.
3, the section bar traction method that the present invention is novel adopts mechanical arm as traction actuator not only flexible operation, and is easy to control.
4, the section bar traction method that the present invention is novel can solve cooperative alternative and realize the phenomenon that reciprocating multiple mechanical arms occur to bump against.
Accompanying drawing explanation
Fig. 1 is the structural representation that the vertical section bar two-orbit that section bar traction method of the present invention adopts draws robot;
Fig. 2 is A place enlarged drawing in Fig. 1;
Fig. 3 is the structural representation of clamping device in the traction robot that section bar traction method of the present invention adopts;
Fig. 4 is clamping plate one structural representation of clamping device in the traction robot that section bar traction method of the present invention adopts;
Fig. 5 is clamping plate two structural representation of clamping device in the traction robot that section bar traction method of the present invention adopts;
Fig. 6 is the structural representation of vertical walking mechanism in the traction robot that section bar traction method of the present invention adopts;
Fig. 7 is the side schematic view of vertical walking mechanism in the traction robot that section bar traction method of the present invention adopts;
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 actuating device two, 1.7 is drum apparatus, 1.8 is hollow-out parts, 1.9 is groove, 1.10 is raised line, 1.11 is mounting seat, 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 one is taken turns for axle, 3.3.2 two are taken turns for axle, 3.4 is installing rack, 3.5 for supporting wheel, 3.6 is connector, 3.7 is mechanical lock, 3.8 is actuating device one, 4 is clamping device, 4.1 is clamping limb, 4.2 is clamping plate, 4.2.1 it is clamping plate one, 4.2.2 it is clamping plate two, 4.3 is driving device one, 4.4 is open-close transmission device, 4.4.1 for rotating shaft two, 4.4.2 it is screw element one, 4.4.3 it is screw element two, 4.5 is compressing member, 4.5.1 it is framework, 4.5.2 it is compressed part, 4.5.3 for rotating shaft one, 4.6 is clamping mold, 4.7 is oblique sawtooth, 4.8 is head part device, 4.9 is guide post, 4.10 is opening, 4.11 is tumbler, 4.12 is driving device two, 5 is controlling organization.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Embodiment one
The present embodiment adopts the vertical section bar two-orbit traction artificial example of machine to being illustrated below with section bar traction method.
If Fig. 1 is to shown in 7, the vertical section bar two-orbit of the present invention draws robot, is for the section bar of discharging opening is drawn. This traction robot includes controlling organization 5 and two traction units, wherein, each traction unit includes vertical walking track 1, draws the mechanical arm of section bar, drive mechanism and the driving mechanism 2 for being connected with drive mechanism for clamping, 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, it is achieved mechanical arm is suspended on the side of vertical walking track 1 and carries out walking movement; Drive mechanism is the actuating device 2 1.6 being respectively provided with on actuating device 1 on the robotic arm and vertical walking track 1, and controlling organization 5 is connected with driving mechanism 2 and mechanical arm signal respectively, and actuating device 1 is helical gears.
Two traction units form this traction robot by vertical walking track 1 stacking splicing, pass through the groove 1.9 being arranged below walking track top between two vertical walking tracks 1 to realize superposing with the raised line 1.10 being disposed over walking rail base, and groove 1.9 and raised line 1.10 match. In two traction units, mechanical arm is suspended on vertical walking track 1 and carries out cooperative alternative walking moves, it is achieved in the way of cooperative alternative, section bar is drawn. And the clamping device 4 of two traction units is rotatably connected with corresponding vertical walking mechanism 3 respectively in the way of specular.
Each mechanical arm of the present invention include for vertical walking track 1 buckle the vertical walking mechanism 3 being 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 be flared out (left and right directions is folding or opens), and driving mechanism 2 and actuating device 1 are arranged in vertical walking mechanism 3.
Each clamping device 4 includes the clamping limb 4.1 being connected with walking mechanism, the clamping plate 4.2 being connected with clamping limb 4.1, it is 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 respectively sleeved on open-close transmission device 4.4, driving device 1 is connected with open-close transmission device 4.4 and is connected with controlling organization 5 signal, 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.
The compressing member 4.5 of the present invention includes the framework 4.5.1 being arranged on clamping plate one 4.2.1 end face and the compressed part 4.5.2 being 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 accommodation space in the middle part of framework 4.5.1, compressed part 5.2 is connected with framework 4.5.1 by rotating shaft one 4.5.3 and is positioned at accommodation space, realize compressed part 4.5.2 to be rotatably provided on clamping plate one 4.2.1, and the seal face of compressed part 4.5.2 is 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 rightabout of every oblique sawtooth 4.7 and lead is obliquely installed. 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 each clamping device of the present invention 3 include rotating shaft two 4.4.1 respectively and are respectively sleeved at screw element one 4.4.2 on same rotating shaft two 4.4.1 and screw element two 4.4.3, wherein, clamping plate one 4.2.1 and clamping plate two 4.2.2 is respectively sleeved on screw element one 4.4.2 and screw element two 4.4.3. 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. Present invention additionally comprises guide post 4.9, clamping plate one 4.2.1 and clamping plate two 4.2.2 to be respectively sleeved on guide post 4.9, and be connected with clamping limb 4.1 by guide post 4.9.
The each vertical walking mechanism 3 of the present invention includes 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, the carriage being provided with on the side for being buckled in vertical walking track 1 bottom support body 1 and being connected with vertical walking track 1 side slip;
The carriage of the present invention is be separately positioned on the directive wheel 3.3 at four drift angle places bottom support body 1, and the same side directive wheel opposing upper and lower 3.3 is for being buckled on vertical walking track 1 side and being 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 taken turns a 3.3.1 by axle and round table-like axle is taken turns two 3.3.2 and connected to form, wherein, in each directive wheel 3.3, round table-like axle takes turns two 3.3.2 for being buckled on vertical walking track 1 side and being connected with vertical walking track 1 side slip, and axle takes turns a 3.3.1 for being connected with vertical walking track 1 side slip. In order to be further ensured that linearity and the glacing flatness of manipulator motion, present invention additionally comprises the installing rack 3.4 being arranged on bottom support body 1, installing rack 3.4 is provided with for positioning to keep four of the spacing of support body 1 and vertical walking track 1 to support wheels 3.5, wherein, each two supports wheel 3.5 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 the driving device 2 4.12 for driving clamping device 4 to rotate, driving device 2 4.12 is connected with controlling organization 5 signal, it is achieved clamping device 4 is folding towards vertical walking track 1 direction or opens; 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 so that clamping limb 4.1 turns to fixed angle, thus improving the quality that section bar is drawn by clamping limb 4.1. 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 includes the opening 4.10 for Holding seat connector 3.6 and 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, and is connected through opening 4.10 with connector 3.6 again through tumbler 4.11, it is achieved the connection of clamping limb 4.1 and vertical walking mechanism 3.
The driving mechanism 2 of the present invention is arranged on support body 1, and actuating device 1 is be arranged on the gear bottom support body 1, for engaging with the actuating device 2 1.6 (tooth bar) on vertical walking track 1. The gear of the present invention is helical gears, for engaging with the diagonal-cut rack on vertical walking track 1. The present invention adopts the mode that helical gears engage with diagonal-cut rack not only can improve the registration of meshing characteristic and tooth, thus improving transmission efficiency; And can further improve the stationarity that vertical walking mechanism 3 moves.
The each vertical walking track 1 of the present invention includes support body 2 1.1, support body 2 1.1 be provided with for vertical walking mechanism 3 buckle the slide rail that is slidably connected, 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 being arranged on support body 2 1.1 side symmetrical above and below and glidepath 1.3, and the upper top of slide rail 1.2 and the bottom of glidepath 1.3 are separately provided for and vertical walking mechanism 3 buckle the slideway 1 that is slidably connected, slideway 1 includes for taking turns two 3.3.2 buckles the spill slideway being slidably connected and for taking turns a 3.3.1 straight slideway being slidably connected with the axle of directive wheel 3.3 with the axle of directive wheel 3.3, and spill slideway peace straight slideway connects side by side. The present invention laterally zygomorphic spill slideway is easy to vertical walking mechanism 3 directive wheel 3.3 opposing upper and lower and is snapped connection, actual 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 slided.
Meanwhile, the opposite face of upper slide rail 1.2 and glidepath 1.3 is provided with for taking turns 3. slideways 2 1.5 being slidably connected with supporting. Slideway 25 of the present invention can provide the space supporting wheel 3.5 slip so that support wheel 3.5 can play location and avoid the walking of vertical walking mechanism 3 phenomenon of deviation occur. Vertical walking track 1 also includes the actuating device 2 1.6 for engaging with the actuating device 1 of vertical walking mechanism 3, and this actuating 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 includes 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. As seen from Figure 1, the drum apparatus 1.7 of the vertical walking track 1 of top is arranged on the upper surface of support body 2 1.1, and the drum apparatus 1.7 of the vertical walking track 1 of lower section is arranged on the side of support body 2 1.1. Tank chain is for protecting the effect of holding wire 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 ensureing in distance walking process, tank chain can move smoothly. Present invention additionally comprises the mounting seat 1.11 of slip used by fitting machine mechanical arm, this mounting seat 1.11 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 alleviating weight. 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 can significantly alleviate the weight of support body 2 1.1 when guarantee overall structure is firm, thus reducing production cost.
The section bar traction method that the present invention is novel, adopt above-mentioned vertical two-orbit to draw robot section bar is drawn, this vertical traction robot is made up of two vertical stacking splicings of traction unit, and each traction unit is provided with vertical walking track 1 and the mechanical arm of movement of walking at vertical walking track 1;The mechanical arm of two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, it is achieved in the way of cooperative alternative, section bar is drawn. And the clamping device 4 of two traction units is rotatably connected with corresponding vertical walking mechanism 3 respectively in the way of specular, it is achieved clamping device 3 is folding towards vertical walking track 1 direction or is flared out.
The method of the present invention arranges mechanical lock 3.7, and mechanical lock 3.7 opens direction along clamping device 3 and limits the opening angle of clamping device 3 in the way of stop. The mechanical arm of two traction units of the present invention is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, realize referring to section bar being carried out traction in the way of cooperative alternative: carry out at discharging station, section bar being clamped by cooperative alternative and in the way of mutually dodging between two mechanical arms simultaneously, and draw section bar to processing stations; Wherein, discharging station refers to the section bar unloading position in a upper manufacturing procedure; Processing stations refers to the position of section bar next one manufacturing procedure. Specifically, when two mechanical arms are walked mobile simultaneously, one of them mechanical arm moves to discharging station from processing stations in a folded fashion and carries out the clamping operation of section bar, and another mechanical arm moves to processing stations from discharging station in the way of opening and carries out the traction operation of section bar; Wherein, folding mode refers to that mechanical arm folds towards the direction of vertical walking track.
The present invention clamps operation and comprises the following steps:
The first step, drives clamping plate one 4.2.1 and the folding of clamping plate two 4.2.2, it is achieved section bar is tentatively clamped by clamping device by the mode of oppositely arranged screw element; Wherein, the mode of oppositely arranged screw element refers to that the screw thread rotation of coaxial screw element one 4.4.2 and screw element two 4.4.3 is in opposite direction;
Second step, is arranged the compressed part 4.5.2 being rotatably connected with clamping plate one 4.2.1, section bar is undertaken by rotating compressed part 4.5.2 the adjustment of clip position, it is achieved section bar is carried out coupling clamping by clamping device 4.
The present invention draws operation and refers to that clamping device 4 realizes the traction of section bar in the way of left-hand thread when walking mobile on vertical walking track 1 by vertical walking mechanism 3, wherein, the mode of left-hand thread refers to and is provided with clamping mold 4.6 on clamping plate two 4.2.2, the end face of clamping mold 4.6 is provided with some oblique sawtooth 4.7 along its length, the rightabout of every oblique sawtooth 4.7 and lead is obliquely installed, it is achieved the left-hand thread effect that tiltedly sawtooth 4.7 draws with section bar.
The mechanical arm of the present invention is connected with the side slip of vertical walking track 1 in the way of hanging buckle, it is achieved mechanical arm is suspended on the side of vertical walking track 1 and carries out walking movement. Mechanical arm is connected with the side slip of vertical walking track in the way of hanging buckle and refers to: arrange several directive wheels 3.3 in vertical walking mechanism 3, directive wheel 3.3 bottom being distributed in vertical walking mechanism 3 symmetrical above and below, each directive wheel 3.3 is taken turns a 3.3.1 by axle and round table-like axle is taken turns two 3.3.2 and connected to form, being oppositely oriented in wheel 3.3 round table-like axle up and down takes turns two 3.3.2 and is buckled on the side of vertical walking track 1 and is connected with the side slip of vertical walking track 1, and axle is taken turns a 3.3.1 and is connected with the side slip of vertical walking track 1.
Embodiment two
The present embodiment and enforcement the difference is that only: the section bar traction method of the present embodiment adopts vertical traction robot that section bar is drawn, this vertical traction robot was formed with last traction unit stacking splicing by three or three, the mechanical arm of adjacent two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, it is achieved in the way of cooperative alternative, section bar is drawn.
In the present embodiment, the structure of each traction unit is consistent with embodiment one.
Embodiment three
The present embodiment and embodiment one the difference is that only: the location swap of the screw element that screw thread is left hand thread one that the present embodiment section bar traction method adopts and screw element two that screw thread is right-handed thread. If the open and close movement that can realize clamping plate one and clamping plate two in opposite direction of the screw thread rotation of present invention screw element one and screw element two.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment four
The present embodiment and embodiment one the difference is that only: the directive wheel that the present embodiment section bar traction method adopts can arrange six or eight etc. according to the specification size of support body one, directive wheel is symmetrical above and below to be distributed in bottom support body one, and directive wheel opposing upper and lower is used for being buckled in vertical walking track side surfaces and being connected with vertical walking slide. The present embodiment directive wheel opposing upper and lower can realize the stabilizing suspended of support body one and be movably walking in buckle vertical rail side.
Equally, the present embodiment section bar traction method adopt support wheel can may also set up according to demand one, two, three or more than, thus play location avoid support body a line to walk the phenomenon of deviation occurs, linearity and the glacing flatness of manipulator motion can be further ensured that.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment five
The present embodiment and embodiment one the difference is that only: the clamping device of the present embodiment and vertical walking mechanism are rotatably connected, connector after the setting direction of base turn 90 degrees, then can realize that clamping device is folding towards vertical walking orbital direction or upward/lower section is opened. Therefore, the traction robot flexible operation of the present invention, can need to correspondingly improve according to occasion, then can realize the effect dodged.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. section bar traction method one kind novel, it is characterized in that: adopt vertical traction robot that section bar is drawn, described vertical traction robot is made up of M the vertical stacking splicing of traction unit, and each traction unit is provided with vertical walking track and the mechanical arm moved at vertical walking track travel; Wherein, M is natural number and M >=2;
The mechanical arm of adjacent two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, it is achieved in the way of cooperative alternative, section bar is drawn.
2. novel section bar traction method according to claim 1, it is characterised in that: described mechanical arm includes the vertical walking mechanism for being connected and the clamping device for clamping section with vertical walking slide; Described clamping device and vertical walking mechanism are rotatably connected, it is achieved clamping device is folding towards vertical walking orbital direction or is flared out.
3. novel section bar traction method according to claim 2, it is characterised in that: arranging mechanical lock, described mechanical lock opens direction along clamping device and limits the opening angle of clamping device in the way of stop.
4. novel section bar traction method according to claim 2, it is characterized in that: the mechanical arm of described adjacent two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, realize referring to section bar being carried out traction in the way of cooperative alternative: carry out at discharging station, section bar being clamped by cooperative alternative and in the way of mutually dodging between adjacent two mechanical arms simultaneously, and draw section bar to processing stations;Wherein, discharging station refers to the section bar unloading position in a upper manufacturing procedure; Processing stations refers to the position of section bar next one manufacturing procedure.
5. novel section bar traction method according to claim 4, it is characterized in that: carry out at discharging opening, section bar being clamped by cooperative alternative and in the way of mutually dodging between described adjacent two mechanical arms simultaneously, and section bar traction is referred to processing stations: when adjacent two mechanical arms are walked mobile simultaneously, one of them mechanical arm moves to discharging station from processing stations in a folded fashion and carries out the clamping operation of section bar, and another mechanical arm moves to processing stations from discharging station in the way of opening and carries out the traction operation of section bar; Wherein, folding mode refers to that mechanical arm folds towards the direction of vertical walking track.
6. novel section bar traction method according to claim 5, it is characterised in that: coaxial threaded part that the clamping limb that described clamping device includes being rotationally connected with vertical walking mechanism is connected with clamping limb and be respectively sleeved at the clamping plate one on screw element and clamping plate two; Described clamping operation comprises the following steps:
The first step, drives clamping plate one and the folding of clamping plate two, it is achieved section bar is tentatively clamped by clamping device by the mode of oppositely arranged screw element; Wherein, the mode of oppositely arranged screw element refers to that the screw thread rotation of coaxial screw element one and screw element two is in opposite direction;
Second step, is arranged the compressed part being rotatably connected with clamping plate one, section bar is undertaken by rotating compressed part the adjustment of clip position, it is achieved section bar is carried out coupling clamping by clamping device.
7. novel section bar traction method according to claim 6, it is characterised in that: described traction operation refers to that clamping device realizes the traction of section bar in the way of left-hand thread when walking mobile on vertical walking track by vertical walking mechanism; The mode of described left-hand thread refers to and is provided with clamping mold on clamping plate two, the end face of clamping mold is provided with some oblique sawtooth along its length, the rightabout of every described oblique sawtooth and lead is obliquely installed, it is achieved the left-hand thread effect that tiltedly sawtooth draws with section bar.
8. novel section bar traction method according to claim 2, it is characterised in that: described mechanical arm is connected with the side slip of vertical walking track in the way of hanging buckle, it is achieved mechanical arm is suspended on the side of vertical walking track and carries out walking movement.
9. novel section bar traction method according to claim 8, it is characterized in that: described mechanical arm is connected with the side slip of vertical walking track in the way of hanging buckle and refers to: arrange several directive wheels in vertical walking mechanism, the directive wheel bottom being distributed in vertical walking mechanism symmetrical above and below, each described directive wheel is connected to form by axle wheel one and round table-like axle wheel two, it is oppositely oriented axle wheel two round table-like in wheel up and down be buckled on the side of vertical walking track and be connected with the side slip of vertical walking track, axle wheel one is connected with the side slip of vertical walking track.
10. novel section bar traction method according to claim 2, it is characterized in that: adopt vertical traction robot that section bar is drawn, described vertical traction robot is made up of two traction unit stacking splicings, and each traction unit is provided with vertical walking track and the mechanical arm moved at vertical walking track travel; The mechanical arm of two traction units is suspended on vertical walking track by cooperative alternative and to carry out walking in the way of mutually dodging mobile, it is achieved in the way of cooperative alternative, section bar is drawn;
The clamping device of two traction units is rotatably connected with corresponding vertical walking mechanism respectively in the way of specular.
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| 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 |
| CN111215465A (en) * | 2018-11-27 | 2020-06-02 | 宝山钢铁股份有限公司 | Traction and straightening integrated system for magnesium alloy extruded material |
| CN111215464A (en) * | 2018-11-27 | 2020-06-02 | 宝山钢铁股份有限公司 | Short-flow production process of magnesium alloy extruded material |
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| CN111215465A (en) * | 2018-11-27 | 2020-06-02 | 宝山钢铁股份有限公司 | Traction and straightening integrated system for magnesium alloy extruded material |
| CN111215464A (en) * | 2018-11-27 | 2020-06-02 | 宝山钢铁股份有限公司 | Short-flow production process of magnesium alloy extruded material |
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