CN205630601U - Vertical section bar list track hauling robot - Google Patents

Abstract

The utility model provides a vertical section bar list track hauling robot, including vertical walking track, be used for the centre gripping draw the section bar arm, drive mechanism, be used for the actuating mechanism and the control mechanism that are connected with drive mechanism, the arm buckle is on vertical walking orbital side to with the orbital side sliding connection of vertical walking, realize that the arm hangs in the removal of walking of vertical walking orbital side, drive mechanism is respectively setting up the transmission no. 2 on transmission no. 1 and the vertical walking track on the arm, control mechanism respectively with actuating mechanism and arm signal connection. The utility model discloses an arm is as the trailing actuating mechanism of section bar flexible operation not only, the control of being convenient for moreover. It is reducible area not only to reduction in production cost, and its influence that does not receive ground condition, can effectively solve the problem that leads to the peaceful straightness of the trailing straightness accuracy of unable assurance section bar because of the ground injustice to improve the quality that the section bar pull processing.

Description

A kind of vertical section bar monorail draws robot

Technical field

This utility model relates to metal working technical area, more particularly, it relates to a kind of vertical section bar single track Road traction robot.

Background technology

In the processing technique of extruded metal profile pull-out molding, concrete production process is: shape warp After extruder extruding, the aluminium section bar made is from the discharge hole for discharge of extruder.Shape discharging opening front sets There is outfeed platforms, cutting machine or other process equipment are installed between outfeed platforms and discharging opening.In discharging Time, in order to prevent shape from distorting, needed fixture at shape the most afterwards by mould mouth and draw its edge Guide rail is walked.

Shape is drawn in the employing of traditional mode of operation manually, after arriving specific length, by discharging The cutting machine of mouth is sawed-off.This Traditional Man tractive manner not only inefficiency, and security performance is low, It is difficult to ensure that the safety operation of personnel.

At present, although also occurring that some section bar pulling equipments replace manually drawing, this pulling equipment is by metal The stub bar of section bar is toward the outside traction of mould, thus produces the shape of strip.But, existing There is following shortcoming in pulling equipment:

1, existing pulling equipment structure is complicated and Horizontal flat is put and caused area occupied big on the ground, thus makes Forming apparatus manufacturing cost is high, too increases the production cost of section bar.

2, existing pulling equipment is owing to using Horizontal flat to be placed on ground structure, is therefore easily subject to ground The impact of situation, thus it is difficult to ensure that the linearity and glacing flatness that mechanical arm walks.

3, the fixture poor universality that existing pulling equipment carries.Section bar size specification owing to producing is not united One, this fixture is only capable of being suitable for the section bar of a kind of caliber specification and clamps, for various sizes of shape Need to change fixture, thus cause that versatility is strong, clamping effect difference and cost high.

4, existing pulling equipment mostly use the trailer wagon of carrying jig to realize the traction of section bar, this folder Tool adds walking dolly simple compound mode very flexible, can only realize walking and the function of clamping.

Utility model content

The purpose of this utility model is to overcome shortcoming of the prior art with not enough, it is provided that a kind of flexible operation Vertical section bar monorail traction robot, this traction robot not only can reduce floor space, thus reduce Production cost；And it is not affected by state of ground, can effectively solve because ground injustice causes ensureing The linearity of section bar traction and the problem of glacing flatness, thus improve the quality of section bar traction processing.

In order to achieve the above object, this utility model is achieved by following technical proposals: a kind of vertical type Material monorail draws robot, for drawing the section bar of discharging opening；It is characterized in that: include vertical Walking track, for clamp traction the mechanical arm of section bar, drive mechanism, for driving of being connected with drive mechanism Motivation structure and controlling organization；Described mechanical arm is buckled on the side of vertical walking track, and with vertical walking The side slip of track connects, it is achieved mechanical arm is suspended on the side of vertical walking track and carries out walking movement； Described drive mechanism is the transmission dress being respectively provided with on actuating device one on the robotic arm and vertical walking track Put two；Described controlling organization is connected with drive mechanism and mechanical arm signal respectively.

In such scheme, the actuator that this utility model uses mechanical arm to draw as section bar not only operates Flexibly, and be easy to control.Meanwhile, walking track is vertical structure, and mechanical arm is with the side of buckle Formula consolidates on the side being arranged on vertical walking track and is connected with the side slip of vertical walking track, thus Mechanical arm can be realized move flexibly and walk, greatly extend the traction work space of mechanical arm.With horizontal The pulling equipment of structure is compared, owing to mechanical arm is suspended from the side of vertical walking track, therefore mechanical arm Run trace be not easily susceptible to the impact that surface relief is uneven, this utility model uses the mode that mechanical arm hangs Can effectively solve because ground injustice causes ensureing the linearity of mechanical arm walking movement and asking of glacing flatness Topic, thus improve the quality that mechanical arm clamping section carries out drawing.Meanwhile, this walking track uses vertical knot Structure and mechanical arm use the mode being suspended on vertical walking track also can greatly reduce the occupation of land of manipulator motion Space, thus reduce production cost.

Described mechanical arm includes the vertical walking mechanism for vertical walking track buckle and being slidably connected and use Clamping device in clamping section；Described clamping device is rotatably connected with vertical walking mechanism, it is achieved clamping Mechanism folds towards vertical walking orbital direction or is flared out；Described drive mechanism and actuating device one are respectively provided with In vertical walking mechanism.

Described clamping device includes the folder that the clamping limb being rotationally connected with vertical walking mechanism is connected with clamping limb Plate, the driving means one being arranged on clamping limb and for the open-close transmission device driving clamping plate to move；Described Clamping plate are made up of clamping plate one and clamping plate two, and clamping plate one and clamping plate two are respectively sleeved on open-close transmission device；Institute State driving means one to be connected with open-close transmission device, it is achieved drive open-close transmission device to move to drive clamping plate one Folding with clamping plate two；Described clamping plate one are provided with rotating compressing member；

Described compressing member includes the framework being arranged on clamping plate end face and the compressed part being connected with framework；Described folder Plate one is provided with rotating compressing member and refers to: compressed part is connected with framework by rotating shaft one, it is achieved compressed part It is rotatably provided on clamping plate one；

Being provided with receiving space in the middle part of described framework, compressed part is connected with framework by rotating shaft one and is positioned at receiving In space, the seal face of compressed part is outwardly.

This utility model clamping plate one are provided with rotating compressing member, and therefore this compressing member can be according to different tube diameters Or the section bar of specification carries out flexible, it is adaptable to the section bar of different size is carried out firm clamping, thus reaches To the effect that highly versatile and motility are strong, and without the section bar of different size is configured corresponding clamping plate, this Sample can be substantially reduced production cost.When clamping plate one are pressed downward against, compressed part can be according to the specification of section bar by turning Axle one carries out rotating regulation so that seal face mates laminating with the end face of section bar, so that these clamping plate can be fitted The section bar answering all size carries out clamping traction, highly versatile.

Described clamping plate two are provided with clamping mold, and the end face of clamping mold is provided with the most some Tiltedly sawtooth；Every described oblique sawtooth is obliquely installed with the rightabout of lead；

The middle part of described clamping mold is provided with head part device.

Oblique sawtooth of the present utility model design is ingenious, every oblique sawtooth all with the rightabout inclination of lead Arrange so that in section bar distraction procedure, oblique sawtooth plays the effect of left-hand thread, thus is greatly increased chucking power Degree, it is achieved clamping traction firm to section bar, so can be effectively ensured the crudy of section bar.During work, should The section bar workpiece that clamping plate draw can be ejected by head part device, and pickup is convenient, efficiently solves section bar pickup difficulty Problem, is substantially shorter the pickup time, thus improves the efficiency of processing work.

Described open-close transmission device includes rotating shaft two and screw element one He being respectively sleeved in same rotating shaft two Screw element two；Described clamping plate one and clamping plate two are respectively sleeved on screw element one and screw element two；Described screw thread The screw thread of part one and the screw thread of screw element two are respectively right-handed thread and left hand thread；

Also include that guide post, described clamping plate one and clamping plate two are respectively sleeved on guide post, and pass through guide post It is connected with clamping limb.Guide post of the present utility model can be used as the effect of clamping plate and clamping limb connector, But also play the guide effect of clamping plate open and close movement, so that clamping plate open and close movement is more stable.

Clamping plate one of the present utility model and clamping plate two are provided with screw, both by screw respectively with the right side The screw element one of rotation screw thread and the screw element two with left hand thread are threaded.Drive in driving means one and turn When axle two rotates, owing to the screw thread rotation of the screw element one in same rotating shaft two 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 reach effect section bar being clamped and unclamping.This utility model drives the mode of clamping plate folding very Flexibly with ingenious, only need to can be realized the folding of clamping plate 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 improve the effect of processing work Rate.The position of screw element one of the present utility model and screw element two is interchangeable, if both screw thread rotation sides To realizing clamping plate one and the open and close movement of clamping plate two on the contrary.

Described vertical walking mechanism includes support body one and for the base being connected with clamping device；Described base one End removably connects with support body one, and the other end is connected with clamping device；Be provided with bottom described support body one for The carriage being buckled on the side of vertical walking track and be slidably connected with vertical walking track side surfaces；

Described carriage is to be separately positioned on several directive wheels bottom support body one, and directive wheel is symmetrical above and below Be distributed in bottom support body one, directive wheel opposing upper and lower be buckled in vertical walking track side surfaces and with vertical row Walk track side surfaces to be slidably connected；

Each described directive wheel is made up of axle wheel one and round table-like axle wheel two connection；It is oppositely oriented up and down in wheel Round table-like axle wheel two is buckled on the side of vertical walking track and with the side slip of vertical walking track even Connecing, axle wheel one is connected with the side slip of vertical walking track.

Directive wheel of the present utility model can arrange four, six or eight etc. according to the specification size of support body one, Directive wheel opposing upper and lower the slide rail of buckle vertical walking track side surfaces can realize the stabilizing suspended of support body one and move Dynamic walking.This utility model utilizes the groove slide rail of the most round table-like axle wheel two and vertical walking track One snaps connection, and actual plays the effect clamping vertical rail up and down, it is achieved the stabilizing suspended of support body one, and Axle wheel one and axle wheel two is used to realize being movably walking.Therefore, support body one of the present utility model realizes suspension Mode is the most ingenious especially, it is not necessary to the most complicated structure, only needs round table-like axle wheel about two buckles, no Only can ensure support body one stabilizing suspended, and ensure the stability in support body one walking process.

This utility model also includes being arranged on the installing rack bottom support body one, installing rack be provided with for location with Keep the support wheel of support body one and the spacing of vertical rail；Support wheel between directive wheel opposing upper and lower. Support wheel of the present utility model can play location and avoid support body a line to walk the phenomenon of deviation occur, and this support wheel can Distance support body one and vertical walking track between is effectively ensured, improves the precision of mass motion, can be further Ensure linearity and the glacing flatness of manipulator motion.

Described base is provided with the connector for being connected with clamping device, connector is provided with for limiting The locking device of clamping device opening angle, and the driving means two being used for driving clamping device to rotate is with reality Existing clamping device folds towards vertical walking orbital direction or opens；Described locking device is mechanical lock.This practicality Novel clamping mechanism and base are rotatably connected and are arranged in vertical walking mechanism, in clamping device work process In, this locking device can limit the angle that clamping device opens or rotates so that clamping device turns to fix Angle, thus improve the quality that section bar is drawn by clamping device.

Described vertical walking track includes support body two；Described support body two be provided with for vertical walking mechanism card The slide rail detained and be slidably connected, slide rail is arranged on the side of support body two along the length direction of support body two；

Described slide rail is the upper slide rail being arranged on support body two side faces symmetrical above and below and glidepath；Described upper slide rail The bottom of top and glidepath is respectively arranged with and directive wheel buckle the slideway one that is slidably connected, and slideway one wraps Include for taking turns two buckles the spill slideway being slidably connected with the axle of directive wheel and taking turns one for the axle with directive wheel The straight slideway being slidably connected, spill slideway peace straight slideway connects side by side；Described upper slide rail and glidepath Opposite face is provided with the slideway two for being connected with support slipping.

This utility model laterally zygomorphic spill slideway is easy to vertical walking mechanism directive wheel opposing upper and lower buckle Connect, actual play the effect clamping vertical rail up and down, it is achieved the stabilizing suspended of walking mechanism.And it is straight Slideway can improve the area that directive wheel slides, and improves the speed slided.

Described actuating device two is arranged along support body two length direction, and engages each other with actuating device one；

Also include for installing tank chain and ensureing the drum apparatus that tank chain moves；Described drum apparatus and frame Body two connects；

Described support body two is provided with the hollow-out parts for alleviating weight.

Support body two of the present utility model is provided with several hollow-out parts, is separately positioned on front and the side of support body two Face, then can significantly alleviate the weight of support body two, thus reduce production in the case of consolidating ensureing overall structure Cost.

Compared with prior art, this utility model has the advantage that and beneficial effect:

1, this utility model vertical section bar monorail traction robot uses mechanical arm as holding that section bar draws Row mechanism not only flexible operation, and be easy to control.

2, this utility model vertical section bar monorail traction robot not only can reduce floor space, thus reduces Production cost；And it is not affected by state of ground, can effectively solve because ground injustice causes ensureing The linearity of section bar traction and the problem of glacing flatness, thus improve the quality of section bar traction processing.

Accompanying drawing explanation

Fig. 1 is the structural representation that this utility model vertical section bar monorail draws robot；

Fig. 2 is enlarged drawing at A in Fig. 1；

Fig. 3 is that this utility model draws the structural representation of clamping device in robot；

Fig. 4 is that this utility model draws clamping plate one structural representation of clamping device in robot；

Fig. 5 is that this utility model draws clamping plate two structural representation of clamping device in robot；

Fig. 6 is that this utility model draws the structural representation of vertical walking mechanism in robot；

Fig. 7 is that this utility model draws the side schematic view of vertical walking mechanism in robot；

Wherein, 1 it 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 drum apparatus for slideway two, 1.6 for actuating device two, 1.7,1.8 is hollow-out parts, 2 is Drive mechanism, 3 be vertical walking mechanism, 3.1 be base for support body one, 3.2,3.3 be directive wheel, 3.3.1 For axle wheel one, 3.3.2 be axle wheel two, 3.4 be installing rack, 3.5 for support wheel, 3.6 be connector, 3.7 be Mechanical lock, 3.8 for actuating device one, 4 be clamping device, 4.1 be clamping limb, 4.2 be clamping plate, 4.2.1 be Clamping plate one, 4.2.2 be clamping plate two, 4.3 for driving means one, 4.4 be open-close transmission device, 4.4.1 be rotating shaft Two, 4.4.2 be screw element one, 4.4.3 be screw element two, 4.5 be compressing member, 4.5.1 be that framework, 4.5.2 are Compressed part, 4.5.3 be rotating shaft one, 4.6 be clamping mold, 4.7 be oblique sawtooth, 4.8 be head part device, 4.9 For guide post, 4.10 be opening, 4.11 be tumbler, 4.12 for driving means two.

Detailed description of the invention

With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.

Embodiment one

As Fig. 1 is to shown in 7, and this utility model vertical section bar monorail draws robot, is for discharging Mouthful section bar carry out drawing.This traction robot includes vertical walking track 1, for clamping traction section bar Mechanical arm, drive mechanism, for the drive mechanism 2 that is connected with drive mechanism and controlling organization (not shown), Wherein, mechanical arm is buckled on the side of vertical walking track 1, and sliding with the side of vertical walking track 1 It is dynamically connected, it is achieved mechanical arm is suspended on the side of vertical walking track 1 and carries out walking movement；Drive mechanism is It is respectively provided with the actuating device 2 1.6 on actuating device 1 on the robotic arm and vertical walking track 1, Controlling organization is connected with drive mechanism 2 and mechanical arm signal respectively, and actuating device 1 is helical gears.

Mechanical arm of the present utility model include for vertical walking track 1 buckle the vertical row that is slidably connected Walking mechanism 3 and the clamping device 4 for clamping section, wherein, clamping device 4 and vertical walking mechanism 3 can It is rotationally connected, it is achieved clamping device 4 folds towards vertical walking track 1 direction or is flared out (left and right directions Fold or open), and drive mechanism 2 and actuating device 1 are arranged in vertical walking mechanism 3.

Clamping device 4 of the present utility model includes clamping limb 4.1 and the clamping limb 4.1 being connected with walking mechanism The clamping plate 4.2 that connect, the pneumatic actuating device 1 being arranged on clamping limb 4.1 and for driving clamping plate 4.2 The open-close transmission device 4.4 of motion, 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 means 1 with Open-close transmission device 4.4 connects, it is achieved drive open-close transmission device 4.4 move to drive clamping plate one 4.2.1 and The folding of clamping plate two 4.2.2, and clamping plate one 4.2.1 is provided with rotating compressing member 4.5.

Compressing member 4.5 of the present utility model includes framework 4.5.1 and and the framework being arranged on clamping plate one 4.2.1 end face 4.5.1 compressed part 4.5.2 connected, wherein, clamping plate one 4.2.1 is provided with rotating compressing member and refers to: frame Being provided with receiving space in the middle part of body 4.5.1, compressed part 5.2 is connected also with framework 4.5.1 by rotating shaft one 4.5.3 It is positioned at receiving space, it is achieved compressed part 4.5.2 is rotatably provided on clamping plate one 4.2.1, and compressed part 4.5.2 Seal face outwardly.Clamping plate two 4.2.2 of the present utility model is provided with clamping mold 4.6, clamping mold 4.6 End face is provided with the most some oblique sawtooth 4.7.Every oblique sawtooth 4.7 is contrary with lead Direction 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 arranged There is head part device 4.8.

Two open-close transmission devices 4.4 of the present utility model 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 folder 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 opening of clamping plate can be controlled Resultant motion, the screw thread of screw element one 4.4.2 of the present utility model is left hand thread, the spiral shell of screw element two 4.4.3 Stricture of vagina is right-handed thread.This utility model also includes that guide post 4.9, clamping plate one 4.2.1 and clamping plate two 4.2.2 are respectively It is set on guide post 4.9, and is connected with clamping limb 4.1 by guide post 4.9.

The vertical walking mechanism of this utility model 3 includes support body 1 and for the base being connected with clamping device 4 3.2；This base 3.2 one end removably connects with support body 1, and the other end is connected with clamping device 4, support body Be provided with bottom one 3.1 on the side for being buckled in vertical walking track 1 and with vertical walking track 1 side The carriage being slidably connected；

Carriage of the present utility model is to be separately positioned on bottom support body 1 directive wheel 3.3 at four drift angles, The same side directive wheel opposing upper and lower 3.3 be used for being buckled on vertical walking track 1 side and with vertical walking rail Road 1 side slip connects.Directive wheel 3.3 is arranged on bottom support body 3.1 can ensure support body 3.1 at four drift angles Hang the degree of balance of walking.Specifically, each directive wheel 3.3 is taken turns a 3.3.1 and round table-like axle wheel by axle Two 3.3.2 connect composition, and wherein, in each directive wheel 3.3, round table-like axle is taken turns two 3.3.2 and is used for being buckled in vertical Being connected on formula walking track 1 side and with vertical walking track 1 side slip, axle takes turns a 3.3.1 for vertical Formula walking track 1 side slip connects.In order to be further ensured that linearity and the glacing flatness of manipulator motion, This utility model also includes the installing rack 3.4 being arranged on bottom support body 1, installing rack 3.4 be provided with for Position to keep four support wheels 3.5 of the support body 1 spacing with vertical walking track 1, wherein, often Two support wheel 3.5 between the same side directive wheel opposing upper and lower 3.3.

This utility model base 3.2 other end is provided with the connector 3.6 for connecting clamping device 4, connects It is provided with the mechanical lock 3.7 for limiting clamping limb 4.1 opening angle on part 3.6, and is used for driving clamping Mechanism 4 rotate driving means 2 4.12 with realize clamping device 4 towards vertical walking track 1 direction fold or Open；This locking device is mechanical lock 3.7.This mechanical lock 3.7 can limit clamping limb 4.1 and opens or rotate Angle so that clamping limb 4.1 turns to fixed angle, thus improves the quality that section bar is drawn by clamping limb 4.1. This utility model clamping limb 4.1 is provided with position, joint, position, joint and vertical vehicle with walking machine away from one end of clamping plate 4.2 Structure 3 is rotatably connected.Specifically, this position, joint includes the opening 4.10 for Holding seat connector 3.6 With for realizing the tumbler 4.11 that position, joint is rotationally connected with vertical walking mechanism 3.During installation, opening 4.10 Clamp the connector 3.6 of vertical walking mechanism 3 base, then by tumbler 4.11 through opening 4.10 and with Connector 3.6 connects, it is achieved clamping limb 4.1 and the connection of vertical walking mechanism 3.

Drive mechanism 2 of the present utility model is arranged on support body 1, and actuating device 1 is for being arranged on frame Gear bottom body 1, for engaging with the actuating device 2 1.6 (tooth bar) on vertical walking track 1. Gear of the present utility model is helical gears, for engaging with the diagonal-cut rack on vertical walking track 1. The mode that this utility model uses helical gears to engage with diagonal-cut rack not only can improve meshing characteristic and tooth Registration, thus improve transmission efficiency；And can further improve that vertical walking mechanism 3 moves steady Property.

This utility model vertical walking track 1 includes that support body 2 1.1, support body 2 1.1 are provided with for vertical Walking mechanism 3 buckle the slide rail being slidably connected, slide rail is arranged on support body two along the length direction of support body 2 1.1 The side of 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 glides Rail 1.3, and the bottom of the top of upper slide rail 1.2 and glidepath 1.3 is separately provided for and vertical vehicle with walking machine Structure 3 buckle the slideway 1 being slidably connected, slideway 1 includes taking turns two for the axle with directive wheel 3.3 3.3.2 buckle the spill slideway being slidably connected and for taking turns what a 3.3.1 was slidably connected with the axle of directive wheel 3.3 Straight slideway, spill slideway peace straight slideway connects side by side.This utility model laterally zygomorphic spill slideway is just Snapping connection in vertical walking mechanism 3 directive wheel opposing upper and lower 3.3, actual playing clamps vertical walking up and down The effect of track 1, it is achieved the stabilizing suspended of vertical walking mechanism 3, and straight slideway can improve directive wheel 3.3 The area slided, improves the speed slided.

Meanwhile, the opposite face of upper slide rail 1.2 and glidepath 1.3 be provided with for support wheel 3. and be slidably connected Slideway 2 1.5.This utility model slideway 25 can provide the space supporting wheel 3.5 slip so that supports wheel 3.5 Can play location avoids the walking of vertical walking mechanism 3 phenomenon of deviation occur.Vertical walking track 1 also includes For the actuating device 2 1.6 engaged with the actuating device 1 of vertical walking mechanism 3, this actuating device two 1.6 arrange along support body 2 1.1 length direction and are diagonal-cut rack.

This utility model vertical walking track 1 also includes for installing tank chain and ensureing the rolling that tank chain moves Cartridge 1.7, this drum apparatus 1.7 is connected with support body 2 1.1.Tank chain is protected in manipulator motion The effect of holding wire, and this utility model vertical walking track 1 is provided with the cylinder dress for installing tank chain Put 1.7, thus ensure that, in distance walking process, tank chain can move smoothly.This utility model also includes For the base (not shown) of slip used by fitting machine mechanical arm, this base is arranged on support body 2 1.1.In order to Alleviating 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 in the case of consolidating ensureing overall structure, thus reduce and produce into This.

Embodiment two

The present embodiment the difference is that only with embodiment one: screw thread is screw element one and the screw thread of left hand thread Location swap for the screw element two of right-handed thread.If this utility model screw element one and the spiral shell of screw element two Stricture of vagina direction of rotation can realize clamping plate one and the open and close movement of clamping plate two on the contrary.

Other structure of the present embodiment is consistent with embodiment one.

Embodiment three

The present embodiment the difference is that only with embodiment one: directive wheel of the present utility model can be according to support body one Specification size arrange six or eight etc., directive wheel is symmetrical above and below to be distributed in bottom support body one, phase up and down To directive wheel be used for being buckled in vertical walking track side surfaces and being connected with vertical walking slide.This enforcement Example 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, support wheel can may also set up according to demand one, two, three or more than, thus play fixed Position avoids support body a line to walk the phenomenon of deviation occur, can be further ensured that the linearity of manipulator motion and straight Degree.

Other structure of the present embodiment is consistent with embodiment one.

Embodiment four

The present embodiment the difference is that only with embodiment one: the clamping device of the present embodiment and vertical vehicle with walking machine Structure is rotatably connected, and connector after the setting direction of base turn 90 degrees, then can realize clamping device towards vertical Walking orbital direction folds or upward/lower section is opened.Therefore, traction robot manipulation's spirit of the present utility model Live, 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 this utility model preferably embodiment, but embodiment of the present utility model is not Being restricted to the described embodiments, any of other is made without departing from spirit of the present utility model and principle are lower Change, modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in this practicality Within novel protection domain.

Claims (10)

1. a vertical section bar monorail traction robot, for drawing the section bar of discharging opening；It is special Levy and be: include vertical walking track, for clamp traction the mechanical arm of section bar, drive mechanism, for The drive mechanism of drive mechanism connection and controlling organization；Described mechanical arm is buckled in the side of vertical walking track On, and be connected with the side slip of vertical walking track, it is achieved mechanical arm is suspended on the side of vertical walking track It is mobile that face carries out walking；Described drive mechanism is to be respectively provided with actuating device one on the robotic arm and vertical row Walk the actuating device two on track；Described controlling organization is connected with drive mechanism and mechanical arm signal respectively.

Vertical section bar monorail the most according to claim 1 draws robot, it is characterised in that: described Mechanical arm includes the vertical walking mechanism for vertical walking track buckle and being slidably connected and for clamp-type The clamping device of material；Described clamping device is rotatably connected with vertical walking mechanism, it is achieved clamping device is towards vertical Formula walking orbital direction folds or is flared out；Described drive mechanism and actuating device one are arranged at vertical row Walk in mechanism.

Vertical section bar monorail the most according to claim 2 draws robot, it is characterised in that: described Clamping device includes clamping plate, the setting that the clamping limb being rotationally connected with vertical walking mechanism is connected with clamping limb Driving means one on clamping limb and for the open-close transmission device driving clamping plate to move；Described clamping plate are by pressing from both sides Plate one and clamping plate two form, and clamping plate one and clamping plate two are respectively sleeved on open-close transmission device；Described driving fills Put one to be connected with open-close transmission device, it is achieved drive open-close transmission device motion to drive clamping plate one and clamping plate two Folding；Described clamping plate one are provided with rotating compressing member；

Described compressing member includes the framework being arranged on clamping plate end face and the compressed part being connected with framework；Described folder Plate one is provided with rotating compressing member and refers to: compressed part is connected with framework by rotating shaft one, it is achieved compressed part It is rotatably provided on clamping plate one；

Being provided with receiving space in the middle part of described framework, compressed part is connected with framework by rotating shaft one and is positioned at receiving In space, the seal face of compressed part is outwardly.

Vertical section bar monorail the most according to claim 3 draws robot, it is characterised in that: described Clamping plate two are provided with clamping mold, and the end face of clamping mold is provided with the most some oblique sawtooth； Every described oblique sawtooth is obliquely installed with the rightabout of lead；

The middle part of described clamping mold is provided with head part device.

Vertical section bar monorail the most according to claim 3 draws robot, it is characterised in that: described Open-close transmission device includes rotating shaft two and is respectively sleeved at the screw element one in same rotating shaft two and screw element Two；Described clamping plate one and clamping plate two are respectively sleeved on screw element one and screw element two；Described screw element one The screw thread of screw thread and screw element two is respectively right-handed thread and left hand thread；

Also include that guide post, described clamping plate one and clamping plate two are respectively sleeved on guide post, and pass through guide post It is connected with clamping limb.

Vertical section bar monorail the most according to claim 2 draws robot, it is characterised in that: described Vertical walking mechanism includes support body one and for the base being connected with clamping device；Described base one end and support body One removably connects, and the other end is connected with clamping device；It is provided with for being buckled in vertical bottom described support body one The carriage being slidably connected on the side of formula walking track and with vertical walking track side surfaces；

Described carriage is to be separately positioned on several directive wheels bottom support body one, and directive wheel is symmetrical above and below Be distributed in bottom support body one, directive wheel opposing upper and lower be buckled in vertical walking track side surfaces and with vertical row Walk track side surfaces to be slidably connected；

Each described directive wheel is made up of axle wheel one and round table-like axle wheel two connection；It is oppositely oriented up and down in wheel Round table-like axle wheel two is buckled on the side of vertical walking track and with the side slip of vertical walking track even Connecing, axle wheel one is connected with the side slip of vertical walking track.

Vertical section bar monorail the most according to claim 6 draws robot, it is characterised in that: also wrap Including the installing rack being arranged on bottom support body one, installing rack is provided with for location to keep support body one and vertical rail The support wheel of the spacing in road；Support wheel between directive wheel opposing upper and lower.

Vertical section bar monorail the most according to claim 6 draws robot, it is characterised in that: described Base is provided with the connector for being connected with clamping device, connector is provided with for limiting clamping device The locking device of opening angle, and the driving means two being used for driving clamping device to rotate is to realize clamping machine Structure folds towards vertical walking orbital direction or opens；Described locking device is mechanical lock.

Vertical section bar monorail the most according to claim 6 draws robot, it is characterised in that: described Vertical walking track includes support body two；Described support body two be provided with for vertical walking mechanism buckle sliding The slide rail connected, slide rail is arranged on the side of support body two along the length direction of support body two；

Described slide rail is the upper slide rail being arranged on support body two side faces symmetrical above and below and glidepath；Described upper slide rail The bottom of top and glidepath is respectively arranged with and directive wheel buckle the slideway one that is slidably connected, and slideway one wraps Include for taking turns two buckles the spill slideway being slidably connected with the axle of directive wheel and taking turns one for the axle with directive wheel The straight slideway being slidably connected, spill slideway peace straight slideway connects side by side；Described upper slide rail and glidepath Opposite face is provided with the slideway two for being connected with support slipping.

Vertical section bar monorail the most according to claim 9 draws robot, it is characterised in that: institute State actuating device two to arrange along support body two length direction, and engage each other with actuating device one；

Also include for installing tank chain and ensureing the drum apparatus that tank chain moves；Described drum apparatus and frame Body two connects；

Described support body two is provided with the hollow-out parts for alleviating weight.