CN111591657A - Finishing line flaw detection sample rod storing and taking robot system - Google Patents
Finishing line flaw detection sample rod storing and taking robot system Download PDFInfo
- Publication number
- CN111591657A CN111591657A CN202010559141.2A CN202010559141A CN111591657A CN 111591657 A CN111591657 A CN 111591657A CN 202010559141 A CN202010559141 A CN 202010559141A CN 111591657 A CN111591657 A CN 111591657A
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- Prior art keywords
- guide rail
- rack
- robot system
- finishing line
- gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a finishing line flaw detection sample bar storing and taking robot system which comprises a left truss (1) and a right truss (1) which are arranged side by side, wherein a first sliding seat (3) capable of translating back and forth is arranged on the trusses (1), a supporting cross beam (4) is arranged between the left first sliding seat and the right first sliding seat (3), two second sliding seats (6) capable of translating left and right are arranged on the supporting cross beam (4), a lifting vertical beam (8) capable of lifting up and down is arranged on the second sliding seat (6), a lifting cross beam (10) is arranged between the bottoms of the left lifting vertical beam and the right lifting vertical beam (8), and a plurality of hooks (11) are sequentially arranged on the lifting cross beam (10) from left to right. The finishing line flaw detection sample rod storing and taking robot system can realize automatic feeding and discharging of flaw detection sample rods, greatly reduces labor intensity of workers and effectively ensures operation safety of the workers.
Description
Technical Field
The invention relates to a finishing line flaw detection sample rod storing and taking robot system, and belongs to the technical field of metallurgical equipment.
Background
The process flow of the finishing line of the bar mill is as follows:
(annealed material → offline multi-roll straightener) or black leather material → feeding table → shot blasting → two-roll straightener → chamfering → steel divider → flaw detection (outer detection + inner detection) → finished product conveying chain (counting) → collection, bundling → weighing → card hanging → warehousing.
At present, the storage and the taking work of the sample rods are usually completed in a factory in a finishing line flaw detection station stage in a driving and manual matching mode, the labor intensity is high, certain potential safety hazards exist, and the efficiency and the automation degree can be further improved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a finishing line flaw detection sample rod storing and taking robot system aiming at the prior art, which can realize automatic feeding and discharging of flaw detection sample rods, greatly reduce the labor intensity of workers and effectively ensure the operation safety of the workers.
The technical scheme adopted by the invention for solving the problems is as follows: the utility model provides a finishing line flaw detection appearance stick access robot system, it is including controlling two trusss of arranging side by side, be provided with the first slide of translation around can on the truss, control and be provided with supporting beam between two first slides, the last second slide that is provided with translation about two of supporting beam, but be provided with the lift of oscilaltion on the second slide and erect the roof beam, control two lifts and erect and be provided with lifting beam between the roof beam bottom, lifting beam is last to have set gradually a plurality of couples from left to right.
Optionally, a first guide rail is arranged at the top of the truss along the front-back direction, and the first sliding seat is arranged on the first guide rail.
Optionally, a first rack is arranged on one side of the first guide rail, the first rack is arranged in parallel with the first guide rail, a first motor is arranged on the first sliding seat, a first gear is arranged at the output end of the first motor, and the first gear is matched with the first rack.
Optionally, a second guide rail is arranged on the supporting beam along the left-right direction, and the second sliding seat is arranged on the second guide rail.
Optionally, a second rack is arranged on one side of the second guide rail, the second rack is arranged in parallel with the second guide rail, a second motor is arranged on the second sliding seat, a second gear is arranged at the output end of the second motor, and the second gear is matched with the second rack.
Optionally, a plurality of sliding blocks are sequentially arranged on the second sliding seat from top to bottom, a third guide rail is vertically arranged on the lifting vertical beam, and the third guide rail is matched with the sliding blocks.
Optionally, a third rack is arranged on one side of the third guide rail, the third rack is arranged in parallel with the third guide rail, a third motor is further arranged on the second sliding seat, a third gear is arranged at the output end of the third motor, and the third gear is matched with the third rack.
Optionally, the top of the hook is provided with a rotating shaft, the hook is hinged to the lifting beam through the rotating shaft, a fourth gear is arranged on the rotating shaft, a telescopic cylinder is transversely arranged on the lifting beam along the upper edge, a telescopic rack is connected to the end of a piston rod of the telescopic cylinder, and the fourth gear is matched with the telescopic rack.
Optionally, a sample library is arranged between the left truss and the right truss; the sample warehouse comprises a plurality of material storage frames which are arranged in parallel from front to back, and a plurality of rows of product support frames are sequentially arranged on the front side and the back side of each material storage frame from top to bottom.
Optionally, each row of product support frame is provided with a correlation photoelectric switch.
Compared with the prior art, the invention has the advantages that:
1. the automatic feeding and discharging device can realize automatic feeding and discharging of flaw detection sample rods, greatly reduce the labor intensity of workers and effectively ensure the operation safety of personnel;
2. the sample rod storing and taking method is reliable, and can ensure that the sample rod cannot be inclined and fall off in the storing and taking process;
3. the invention can ensure that the sample rod is not bent and deformed after being stored for a long time, and the surface is not damaged in the storing and taking process;
4. the device is convenient to overhaul and maintain and low in failure rate;
5. the invention can effectively control the sample rod to be accessed and positioned and eliminate the accumulated error in the accessing process;
6. the manipulator is additionally provided with the 180-degree rotating mechanism, so that material taking on two sides can be realized.
Drawings
Fig. 1 is a schematic structural diagram of a finishing line flaw detection sample rod storing and taking robot system according to the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a top view of fig. 2.
Fig. 4 is a side view of fig. 2.
Wherein:
A first slide 3
Supporting cross beam 4
Lifting vertical beam 8
Hook 11
First electric machine 13
Second electric machine 16
Third electric machine 19
Storage rack 25.1
Product support 25.2
Opposed-emitting photoelectric switch 25.3
Supporting block 25.4
V-shaped supporting groove 25.5
The guard rail 27.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
Referring to fig. 1 to 4, the finishing line flaw detection sample bar storing and taking robot system according to the present invention includes a left truss and a right truss which are arranged side by side, the top of the truss 1 is provided with a first guide rail 2 along the front-back direction, the first guide rail 2 is provided with a first sliding seat 3, a supporting beam 4 is arranged between the left first sliding seat 3 and the right first sliding seat 3, a second guide rail 5 is arranged on the supporting beam 4 along the left-right direction, a left second sliding seat 6 and a right second sliding seat 6 are arranged on the second guide rail 5, a plurality of sliding blocks 7 are sequentially arranged on the second sliding seat 6 from top to bottom, a lifting vertical beam 8 is arranged between the upper sliding block 7 and the lower sliding block 7, a third guide rail 9 is vertically arranged on each lifting vertical beam 8, the third guide rail 9 is matched with the sliding block 7, a lifting cross beam 10 is arranged between the bottoms of the left lifting vertical beam 8 and the right lifting vertical beam 8, and a plurality of hooks 11 are sequentially arranged on the lifting cross beam 10 from left to right;
a first rack 12 is arranged on one side of the first guide rail 2, the first rack 12 is arranged in parallel with the first guide rail 2, a first motor 13 is arranged on the first sliding seat 3, a first gear 14 is arranged at the output end of the first motor 13, and the first gear 14 is matched with the first rack 12;
a second rack 15 is arranged on one side of the second guide rail 5, the second rack 15 is arranged in parallel with the second guide rail 5, a second motor 16 is arranged on the second sliding seat 6, a second gear 17 is arranged at the output end of the second motor 16, and the second gear 17 is matched with the second rack 15;
a third rack 18 is arranged on one side of the third guide rail 9, the third rack 18 and the third guide rail 9 are arranged in parallel, a third motor 19 is further arranged on the second sliding seat 6, a third gear 20 is arranged at the output end of the third motor 19, and the third gear 20 is matched with the third rack 18;
a rotating shaft 21 is arranged at the top of the hook 11, the hook 11 is hinged with the lifting beam 10 through the rotating shaft 21, a fourth gear 22 is arranged on the rotating shaft 21, a telescopic cylinder 23 is transversely arranged on the lifting beam 10, a telescopic rack 24 is connected to the piston rod end of the telescopic cylinder 23, and the fourth gear 22 is matched with the telescopic rack 24;
a sample warehouse 25 is arranged between the left truss 1 and the right truss 1;
the sample warehouse 25 comprises a plurality of material storage racks 25.1 which are arranged in parallel from front to back, and a plurality of rows of product support frames 25.2 are sequentially arranged on the front side and the back side of each material storage rack 25.1 from top to bottom;
a correlation photoelectric switch 25.3 is arranged at the position of 25.2 of each row of product supporting frames;
the product supporting frame 25.2 comprises a plurality of supporting blocks 25.4 which are arranged at intervals from left to right, and V-shaped supporting grooves 25.5 are formed in the tops of the supporting blocks 25.4;
the outer sides of the left truss and the right truss 1 are respectively provided with an overhaul platform 26;
In addition, the present invention also includes other embodiments, and any technical solutions formed by equivalent transformation or equivalent replacement should fall within the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a finishing line appearance stick access robot system of detecting a flaw which characterized in that: it is including controlling two truss (1) of arranging side by side, be provided with first slide (3) of translation around can on truss (1), control and be provided with between two first slide (3) supporting beam (4), be provided with two second slide (6) of translation about can on supporting beam (4), but be provided with lift vertical beam (8) of oscilaltion on second slide (6), control two lifts and be provided with between vertical beam (8) bottom and lift crossbeam (10), a plurality of couples (11) have set gradually from left to right on lift crossbeam (10).
2. The finishing line inspection sample bar storing and taking robot system according to claim 1, characterized in that: the truss is characterized in that a first guide rail (2) is arranged at the top of the truss (1) along the front-back direction, and a first sliding seat (3) is arranged on the first guide rail (2).
3. The finishing line inspection sample bar storing and taking robot system according to claim 2, characterized in that: first guide rail (2) one side is provided with first rack (12), first rack (12) and first guide rail (2) parallel arrangement, be provided with first motor (13) on first slide (3), first motor (13) output is provided with first gear (14), first gear (14) cooperate with first rack (12).
4. The finishing line inspection sample bar storing and taking robot system according to claim 1, characterized in that: and a second guide rail (5) is arranged on the supporting beam (4) along the left-right direction, and the second sliding seat (6) is arranged on the second guide rail (5).
5. The finishing line inspection sample bar storing and taking robot system according to claim 4, characterized in that: second rack (15) are arranged on one side of second guide rail (5), second rack (15) and second guide rail (5) parallel arrangement, second motor (16) is arranged on second slide (6), second gear (17) is arranged at the output end of second motor (16), and second gear (17) is matched with second rack (15).
6. The finishing line inspection sample bar storing and taking robot system according to claim 1, characterized in that: a plurality of sliding blocks (7) are sequentially arranged on the second sliding seat (6) from top to bottom, a third guide rail (9) is vertically arranged on the lifting vertical beam (8), and the third guide rail (9) is matched with the sliding blocks (7).
7. The finishing line inspection sample bar storing and taking robot system according to claim 6, characterized in that: third guide rail (9) one side is provided with third rack (18), third rack (18) and third guide rail (9) parallel arrangement, still be provided with third motor (19) on second slide (6), third motor (19) output is provided with third gear (20), third gear (20) cooperate with third rack (18).
8. The finishing line inspection sample bar storing and taking robot system according to claim 1, characterized in that: couple (11) top is provided with pivot (21), couple (11) are articulated mutually with lifting beam (10) through pivot (21), be provided with fourth gear (22) on pivot (21), lifting beam (10) are gone up along transversely being provided with telescopic cylinder (23), telescopic cylinder (23) piston rod end is connected and is provided with telescopic rack (24), fourth gear (22) cooperate with telescopic rack (24).
9. The finishing line inspection sample bar storing and taking robot system according to claim 1, characterized in that: a sample library (25) is arranged between the left truss (1) and the right truss (1); the sample storehouse (25) comprises a plurality of material storage frames (25.1) which are arranged in parallel from front to back, and a plurality of rows of product support frames (25.2) are sequentially arranged on the front side and the back side of each material storage frame (25.1) from top to bottom.
10. The finishing line inspection sample bar storing and taking robot system according to claim 9, characterized in that: a correlation photoelectric switch (25.3) is arranged at the position of each row of product supporting frames (25.2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010559141.2A CN111591657A (en) | 2020-06-18 | 2020-06-18 | Finishing line flaw detection sample rod storing and taking robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010559141.2A CN111591657A (en) | 2020-06-18 | 2020-06-18 | Finishing line flaw detection sample rod storing and taking robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111591657A true CN111591657A (en) | 2020-08-28 |
Family
ID=72188122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010559141.2A Pending CN111591657A (en) | 2020-06-18 | 2020-06-18 | Finishing line flaw detection sample rod storing and taking robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111591657A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112239039A (en) * | 2020-09-23 | 2021-01-19 | 江苏集萃华科智能装备科技有限公司 | Overweight special steel flaw detection sample bar intelligent storage system with cooperation of double heavy-load truss robots |
| CN112934969A (en) * | 2021-01-25 | 2021-06-11 | 太原科技大学 | Intelligent finishing operation system for bar |
| CN113942001A (en) * | 2021-11-25 | 2022-01-18 | 山东德晟机器人股份有限公司 | Unloader on oil casing pipe truss manipulator |
| CN115092592A (en) * | 2022-05-06 | 2022-09-23 | 华中科技大学 | Intelligent flaw detection method and system for special steel sample bar robot |
| CN115649800A (en) * | 2022-12-28 | 2023-01-31 | 广州普华灵动机器人技术有限公司 | Automatic intelligent storage system |
| CN115676289A (en) * | 2022-12-28 | 2023-02-03 | 广州普华灵动机器人技术有限公司 | Intelligent temporary storage system and method for automatic transfer of coil stock |
-
2020
- 2020-06-18 CN CN202010559141.2A patent/CN111591657A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112239039A (en) * | 2020-09-23 | 2021-01-19 | 江苏集萃华科智能装备科技有限公司 | Overweight special steel flaw detection sample bar intelligent storage system with cooperation of double heavy-load truss robots |
| CN112934969A (en) * | 2021-01-25 | 2021-06-11 | 太原科技大学 | Intelligent finishing operation system for bar |
| CN113942001A (en) * | 2021-11-25 | 2022-01-18 | 山东德晟机器人股份有限公司 | Unloader on oil casing pipe truss manipulator |
| CN115092592A (en) * | 2022-05-06 | 2022-09-23 | 华中科技大学 | Intelligent flaw detection method and system for special steel sample bar robot |
| CN115649800A (en) * | 2022-12-28 | 2023-01-31 | 广州普华灵动机器人技术有限公司 | Automatic intelligent storage system |
| CN115676289A (en) * | 2022-12-28 | 2023-02-03 | 广州普华灵动机器人技术有限公司 | Intelligent temporary storage system and method for automatic transfer of coil stock |
| CN115676289B (en) * | 2022-12-28 | 2023-11-24 | 广州普华灵动机器人技术有限公司 | Automatic roll transferring intelligent temporary storage system and method |
| CN115649800B (en) * | 2022-12-28 | 2023-12-19 | 广州普华灵动机器人技术有限公司 | Automatic intelligent storage system |
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