CN204135266U - A kind of Novel steel rail conveying mechanical arm - Google Patents

Abstract

A new type of rail conveying manipulator, including a traversing car body set on the ground, a longitudinal moving car body set on the traversing car body, a guide column, a fixed plate and a rotating plate, through the lateral movement of the traversing car body, the longitudinal movement The longitudinal movement of the moving car body and the fixed plate driving device drive the fixed plate to move upwards, and finally the heated rail is located in groove I and groove II, and then the clamping mechanism clamps the rail. Then the rail is transported to the side of the press through the lateral movement of the traversing car body, and then the rail is driven to rotate by the rotating plate driving device, and the fixed plate is driven to move up and down by the fixed plate driving device so that the head end of the rail is aligned with the shape of the mold cavity. Finally, the rail is inserted into the mold through the longitudinal movement of the longitudinally moving car body along the transversely moving car body, so as to realize the automatic feeding of the hot forging of the rail, which improves the production efficiency and reduces the manufacturing cost.

Description

A new type of rail conveying manipulator

technical field

The utility model relates to the technical field of manipulators, in particular to a rail conveying manipulator. the

Background technique

At present, the hot forging of rails mainly relies on manual turning, loading and unloading, which has the problems of low production efficiency and high manufacturing cost. 

Utility model content

In order to overcome the deficiencies of the above technologies, the utility model provides a new type of rail conveying manipulator for automatic loading and unloading of rail hot forging with high efficiency.

The technical solution adopted by the utility model to overcome its technical problems is:

The new rail conveying manipulator includes:

The traversing car body set on the ground, which moves laterally relative to the horizontal ground through the traversing car body driving device;

The vertical moving vehicle body arranged on the horizontal moving vehicle body moves longitudinally relative to the lateral moving vehicle body through the longitudinal moving vehicle body driving device;

guide column, which is installed vertically on the longitudinally moving car body;

The fixed plate is installed on the guide column by sliding up and down, and is driven to slide up and down along the guide column by the fixed plate driving device;

The rotating plate is installed on the fixed plate in rotation, and its rotation axis is perpendicular to the fixed plate;

a rotating plate driving device, which drives the rotating plate to rotate relative to the fixed plate;

The fixed plate and the rotating plate are respectively provided with grooves I and II corresponding to the outer dimensions of the rail, and the groove II is provided with a clamping mechanism for clamping and fixing the rail when the rotating plate rotates.

The above-mentioned clamping mechanism includes the oil cylinder I fixed on the rotating plate, the movable frame fixed on the head end of the piston rod of the oil cylinder I, the pin shaft II arranged at the left and right ends of the movable frame respectively, and two oppositely arranged and hingedly installed on the bottom through the pin shaft I. The claws on the rotating plate are respectively provided with long holes, and the two claws are respectively slidably installed on the pin shafts II at the left and right ends of the movable frame through the long holes. When the cylinder I piston rod is fully retracted When returning, the movable frame drives the two clamping jaws to open, and the opening size between the two clamping jaws is larger than the outer dimension of the rail.

The drive device for the fixed plate includes an oil cylinder II vertically fixed on the longitudinally moving car body, and the head end of the piston rod of the oil cylinder II is connected to the fixed plate.

The rotating plate driving device includes a hydraulic motor installed on the fixed plate, a gear V installed on the output shaft of the hydraulic motor, and a gear I arranged on the rotating plate, and the gear V and I are meshed.

The above-mentioned traversing car body driving device includes a number of wheels I installed under the traversing car body, a reducer I installed on the traversing car body, a motor I connected to the input end of the reducer I, and a gear installed at the output end of the reducer I. III. A number of rails I arranged horizontally on the horizontal ground and a rack I arranged horizontally on the horizontal ground. The wheels I sit on the rails I and roll along the rails I. The gears III mesh with the racks I .

The driving device for the above-mentioned longitudinal moving car body includes a number of wheels II installed under the longitudinal moving car body, a reducer II installed on the longitudinal moving car body, a motor II connected to the input end of the reducer II, and a gear installed at the output end of the reducer II. Ⅳ. A number of rails II installed longitudinally on the traversing car body and a rack II installed longitudinally on the longitudinal moving car body. The wheels II are located on the rails II and roll along the rails II. Bar II meshes.

In order to improve the fixing firmness of the guide column, it also includes a guide column bracket arranged on the longitudinally moving vehicle body, and the top end of the guide column bracket is connected with the top end of the guide column.

In order to conveniently detect whether the jaws are clamped, it also includes two travel switches fixed on the fixed plate and located at the upper and lower ends of the movable frame. When the piston rod of the oil cylinder I is fully retracted or fully extended, the movable frame respectively Trigger the limit switch on the lower or upper end.

In order to detect the rotation angle for feedback, it also includes a rotary encoder fixed on the fixed plate, and a gear II installed on the rotating shaft of the rotary encoder, and the gear II meshes with the gear I.

In order to detect the lifting height for feedback, it also includes a displacement sensor vertically arranged on the longitudinally moving vehicle body, and the fixed plate is connected to the displacement sensor.

The beneficial effects of the utility model are: through the lateral movement of the traversing car body, the longitudinal movement of the longitudinal moving car body and the fixed plate driving device driving the fixed plate to move upward, the heated rail is finally located in the groove I and the groove II, The clamping mechanism then clamps the rail. Then the rail is transported to the side of the press through the lateral movement of the traversing car body, and then the rail is driven to rotate by the rotating plate driving device, and the fixed plate is driven to move up and down by the fixed plate driving device so that the head end of the rail is aligned with the shape of the mold cavity. Finally, through the vertical movement of the car body along the transverse movement, the rail is inserted into the mold to realize the automatic feeding of the rail hot forging. After the hot forging is completed, the steel rail is removed through the longitudinal movement of the longitudinal movement car body and the lateral movement of the sway movement car body. After the clamping mechanism is released, the steel rail can be taken out, which realizes the automation of blanking and improves the production efficiency , reducing the manufacturing cost.

Description of drawings

Fig. 1 is the main view structure schematic diagram of the utility model;

Fig. 2 is the rear view structural representation of the utility model;

Fig. 3 is a side view sectional structure schematic diagram of the utility model;

Fig. 4 is the top view structure schematic diagram of the utility model;

Fig. 5 is a schematic diagram of the structure of the jaws of the present invention;

Fig. 6 is a structural schematic diagram of the vehicle lateral movement mechanism of the present invention;

Fig. 7 is a structural schematic diagram of the vehicle longitudinal movement mechanism of the present invention;

In the figure, 1. Hydraulic motor 2. Gear Ⅰ 3. Fixed plate 4. Rotating plate 5. Oil cylinder Ⅰ 6. Clamping mechanism 7. Oil cylinder Ⅱ 8. Guide column 9. Rotary encoder 10. Displacement sensor 11. Travel switch 12 .Active frame 13. Pin shaft Ⅰ 14. Pin shaft Ⅱ 15. Claw 16. Gear Ⅱ 17. Groove Ⅰ 18. Groove Ⅱ 19. Traversing car body 20. Track Ⅰ 21. Wheel Ⅰ 22. Motor Ⅰ 23 .Reducer Ⅰ 24. Gear Ⅲ 25. Rack Ⅰ 26. Longitudinal moving car body 27. Wheel Ⅱ 28. Track Ⅱ 29. Motor Ⅱ 30. Reducer Ⅱ 31. Rack Ⅱ 32. Gear Ⅳ.

Detailed ways

Below in conjunction with accompanying drawing 1 to accompanying drawing 7 the utility model is described further.

The new rail conveying manipulator includes:

The traversing car body 19 arranged on the ground moves horizontally relative to the horizontal ground through the traversing car body driving device; the longitudinal moving car body 26 arranged on the traversing car body 19 moves relatively to Traversing car body 19 moves longitudinally; guide column 8, which is vertically installed on longitudinally moving car body 26; Sliding up and down; the rotating plate 4, which is installed on the fixed plate 3 in rotation, and its rotation axis is perpendicular to the fixed plate 3; the rotating plate driving device, which drives the rotating plate 4 to rotate relative to the fixed plate 3; the fixed plate 3 and the rotating plate 4 Groove I 17 and groove II 18 corresponding to the outer dimensions of the rail are respectively provided, and the groove II 18 is provided with a clamping mechanism 6 for clamping and fixing the rail when the rotating plate 4 rotates. During use, through the lateral movement of the traversing car body 19, the longitudinal movement of the longitudinal moving car body 26, and the fixed plate driving device drives the fixed plate to move upwards, and finally the heated rail is in the groove I 17 and the groove II 18, and then The clamping mechanism 6 clamps the rail. Then, the steel rail is transported to the side of the press through the lateral movement of the traversing car body 19, and then the steel rail is driven to rotate by the rotating plate driving device, and the fixed plate is driven to move up and down by the fixed plate driving device so that the head end of the steel rail is aligned with the mold. cavity. Finally, by vertically moving the car body 26 along the traversing car body 19, the rail is inserted into the mould, thereby realizing the automatic feeding of the rail hot forging. After the hot forging is completed, the steel rail is removed through the longitudinal movement of the longitudinal moving car body 26 and the lateral movement of the traversing car body 19, and the steel rail can be taken out after the clamping mechanism 6 is released, realizing the automation of blanking and improving the Improve production efficiency and reduce manufacturing costs.

As shown in Figure 5, the clamping mechanism 6 includes the oil cylinder I 5 fixed on the rotating plate 4, the movable frame 12 fixed on the head end of the piston rod of the oil cylinder I 5, the pin shaft II 14 respectively arranged at the left and right ends of the movable frame 12, and Two opposite jaws 15 with bottom hingedly mounted on the rotating plate 4 through the pin shaft I 13, two jaws 15 are respectively provided with elongated holes, and the two jaws 15 are respectively slidably installed on the movable frame 12 through the elongated holes On the pin shaft II 14 at the left and right ends, when the cylinder I 5 piston rod is fully retracted, the movable frame 12 drives the two jaws 15 to open, and the opening size between the two jaws 15 is larger than the outer dimension of the rail. When the oil cylinder I 5 drives the movable frame 12 to move upward, the two jaws 15 slide along the pin shaft II 14 through the long hole, and the bottom ends of the two jaws 15 are hinged and fixed on the rotating plate 4 through the pin shaft I 13, so The head ends of the two clamping jaws 15 are relatively moved towards the inside, and finally the rail is clamped. When the oil cylinder I 5 drives the movable frame 12 to move downward, the two jaws 15 are relatively opened to the outside, and now the rail can be taken out from the opening between the jaws 15.

As shown in accompanying drawing 3, the fixed plate driving device can be the following structure, and it comprises the oil cylinder II 7 that is vertically fixed on the longitudinally moving vehicle body 26, and the piston rod head end of the oil cylinder II 7 is connected to the fixed plate 3. The piston rod of oil cylinder II 7 moves up and down, and it drives the fixed plate 3 to slide up and down along the guide column 8.

As shown in Figure 4, the rotating plate driving device can have the following structure, which includes a hydraulic motor 1 mounted on the fixed plate 3, a gear V mounted on the output shaft of the hydraulic motor 1, and a gear I mounted on the rotating plate 4 2. Gear V and I 2 are in mesh. The hydraulic motor 1 rotates to drive the gear Ⅴ to rotate, and the gear Ⅴ drives the rotating plate 4 to rotate through the gear Ⅰ 2. The structure is simple, the assembly is easy, and the reliability is high.

As shown in accompanying drawing 6, the driving device for the traversing car body can be the following structure, which includes a number of wheels I 21 that are rotatably installed under the traversing car body 19, a speed reducer I 23 installed on the traversing car body 19, connected to The motor I 22 at the input end of the reducer I 23, the gear III 24 installed at the output end of the reducer I 23, several rails I 20 horizontally arranged on the horizontal ground, and the rack I 25 horizontally arranged on the horizontal ground, and the wheels I 21 are located On the track I 20 and it rolls along the track I 20, the gear III 24 meshes with the rack I 25. After the motor I 22 rotates and is decelerated by the reducer I 23 to amplify the torque, the drive gear III 24 rotates. Since the gear III 24 is meshed with the rack I 25, the vehicle body 19 traverses through the wheels I 21 along the horizontal track I 20 Lateral movement has achieved the purpose of lateral movement.

As shown in accompanying drawing 7, the driving device of the longitudinal movement car body can be the following structure, and it comprises the wheel II 27 that is rotatably installed under the longitudinal movement car body 26, the speed reducer II 30 installed on the longitudinal movement car body 26, is connected to The motor II 29 at the input end of the reducer II 30, the gear IV 32 installed at the output end of the reducer II 30, several rails II 28 longitudinally installed on the laterally moving car body 19, and the rack II longitudinally installed on the longitudinally moving car body 26 31, the wheel II 27 is located on the track II 28 and it rolls along the track II 28, and the gear IV 32 is meshed with the rack II 31. After the motor II 29 rotates and the reducer II 30 decelerates and amplifies the torque, the gear IV 32 is driven to rotate. Since the gear IV 32 meshes with the rack II 31, the vertically moving vehicle body 26 passes through the wheel II 27 and sets the track II 28 horizontally Longitudinal movement realizes the purpose of longitudinal movement.

As shown in FIG. 3 , it may also include a guide column bracket arranged on the longitudinally moving vehicle body 26 , and the top end of the guide column bracket is connected with the top end of the guide column 8 . The bottom of the guide column 8 is connected and fixed with the longitudinally moving car body 26, and its top is connected and fixed with the guide column bracket, thus improving the fixing firmness of the guide column 8 and preventing the guide column from being damaged due to force when the fixed plate 3 slides up and down along the guide column 8. 8. Deformation damage occurs.

As shown in accompanying drawing 1, it can also include two travel switches 11 fixed on the fixed plate 3 and respectively located at the upper and lower ends of the movable frame 12. When the piston rod of the oil cylinder I 5 is fully retracted or fully stretched out, the movable frame 12 trigger the travel switch 11 of lower end or upper end respectively. By arranging two travel switches 11, when the movable frame 12 is at the top dead center or the bottom dead center state, that is, when the two jaws 15 are in the clamped or loosened state, a trigger signal is generated by triggering the travel switch 11 to trigger The signal is fed back to the PLC to ensure that the system knows the state of the gripper 15, and ensures that the gripper 15 clamps the rail when the rail is turned over, preventing the dangerous situation that the gripper 15 is not clamped and the rail falls off during rotation. .

As shown in accompanying drawing 1 and accompanying drawing 4, can also comprise the rotary encoder 9 that is fixed on the fixed plate 3, the gear II 16 that is installed on the rotating shaft of rotary encoder 9, gear II 16 meshes with gear I 2. When the hydraulic motor 1 drives the rotary plate 2 to rotate, the rotary encoder 9 is synchronously driven to rotate through the meshing gear II 16 and gear I 2, so the rotation angle is measured by the rotary encoder 9 in real time, and the rotary encoder 9 feeds back the pulse signal to PLC, after PLC calculation and processing, can precisely control the rotating plate 2 to stop after turning to a specified angle, which improves the control accuracy.

As shown in FIG. 2 , a displacement sensor 10 vertically arranged on the longitudinally moving vehicle body 26 may also be included, and the fixed plate 3 is connected to the displacement sensor 10 . When the oil cylinder II 7 drives the fixed plate 3 to move up and down along the guide column 8, its moving distance can be determined by the displacement sensor 10, and the displacement sensor 10 feeds back the real-time measured displacement value to the PLC, and the PLC controls the oil cylinder II 7 to stop in place, realizing the fixed High precision control of plate 3 movement. the

Claims (10)

1. A novel rail conveying manipulator, characterized in that: comprising: The traversing car body set on the ground, which moves laterally relative to the horizontal ground through the traversing car body driving device; The vertical moving vehicle body arranged on the horizontal moving vehicle body moves longitudinally relative to the lateral moving vehicle body through the longitudinal moving vehicle body driving device; guide column, which is installed vertically on the longitudinally moving car body; The fixed plate is installed on the guide column by sliding up and down, and is driven to slide up and down along the guide column by the fixed plate driving device; The rotating plate is installed on the fixed plate in rotation, and its rotation axis is perpendicular to the fixed plate; a rotating plate driving device, which drives the rotating plate to rotate relative to the fixed plate; The fixed plate and the rotating plate are respectively provided with grooves I and II corresponding to the outer dimensions of the rail, and the groove II is provided with a clamping mechanism for clamping and fixing the rail when the rotating plate rotates. 2. The new rail conveying manipulator according to claim 1, characterized in that: the clamping mechanism includes the oil cylinder I fixed on the rotating plate, the movable frame fixed on the head end of the piston rod of the oil cylinder I, and the movable frame is respectively arranged on the left and right sides of the movable frame. Pin shaft II at both ends and two jaws that are arranged oppositely and hingedly mounted on the rotating plate at the bottom through pin shaft I, the two jaws are respectively provided with long holes, and the two jaws slide through the long holes Installed on the pin shaft II at the left and right ends of the movable frame, when the piston rod of the oil cylinder I is fully retracted, the movable frame drives the two jaws to open, and the opening size between the two jaws is larger than the outer dimension of the rail. 3. The new rail conveying manipulator according to claim 1, characterized in that: the fixed plate drive device includes an oil cylinder II vertically fixed on the longitudinal moving car body, and the head end of the piston rod of the oil cylinder II is connected to the fixed plate. 4. The novel rail conveying manipulator according to claim 1, characterized in that: the rotating plate driving device includes a hydraulic motor mounted on the fixed plate, a gear V mounted on the output shaft of the hydraulic motor, and a gear V mounted on the rotating plate. The gear I, the gear V meshes with I. 5. The new type of rail conveying manipulator according to claim 1, characterized in that: the driving device of the traversing car body includes a number of wheels I that are rotatably installed under the traversing car body, and a reducer I installed on the traversing car body , the motor I connected to the input end of the reducer I, the gear III installed on the output end of the reducer I, several rails I arranged horizontally on the horizontal ground, and the rack I arranged horizontally on the horizontal ground, the wheels I are located on the track I and it rolls along the track I, and the gear III meshes with the rack I. 6. The new rail conveying manipulator according to claim 1, characterized in that: the driving device of the longitudinal moving car body includes a number of wheels II that are rotatably installed under the longitudinal moving car body, and a speed reducer II installed on the longitudinal moving car body , the motor II connected to the input end of the reducer II, the gear IV installed at the output end of the reducer II, a number of rails II installed longitudinally on the traversing vehicle body and rack II longitudinally installed on the longitudinally moving vehicle body, the wheels II sits on track II and it rolls along track II, said gear IV meshes with rack II. 7. The novel rail conveying manipulator according to any one of claims 1 to 6, characterized in that: it also includes a guide column support arranged on the longitudinally moving vehicle body, the top end of the guide column support and the top end of the guide column connected. 8. The new rail conveying manipulator according to claim 2, characterized in that: it also includes two travel switches fixed on the fixed plate and located at the upper and lower ends of the movable frame, when the piston rod of the oil cylinder I is fully retracted or fully When stretching out, the movable frame respectively triggers the travel switch at the lower end or the upper end. 9. The new rail conveying manipulator according to claim 4, characterized in that it also includes a rotary encoder fixed on the fixed plate, and a gear II mounted on the rotating shaft of the rotary encoder, the gear II meshes with the gear I . 10. The novel rail conveying manipulator according to claim 9, further comprising a displacement sensor vertically arranged on the longitudinally moving car body, and the fixed plate is connected to the displacement sensor.