CN205630602U - Vertical section bar multi -track draws machine people - Google Patents
Vertical section bar multi -track draws machine people Download PDFInfo
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- CN205630602U CN205630602U CN201620185627.3U CN201620185627U CN205630602U CN 205630602 U CN205630602 U CN 205630602U CN 201620185627 U CN201620185627 U CN 201620185627U CN 205630602 U CN205630602 U CN 205630602U
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Abstract
The utility model provides a vertical section bar multi -track draws machine people, including a M traction unit and control mechanism, every traction unit includes the vertical track of walking, be used for the centre gripping draw the section bar arm, drive mechanism, be used for the actuating mechanism that is 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, a M traction unit passes through vertical walking track stack concatenation, and two adjacent traction unit's arm hangs working in coordination with alternative walking removal on vertical walking track, realize drawing the section bar with mode alternative in coordination. Should draw the machine people can carry out the section bar full automatization according to the mode that the production demand realized multi -track and draw to improve the trailing efficiency of section bar.
Description
Technical field
This utility model relates to metal working technical area, more particularly, it relates to a kind of vertical section bar multi-track draws robot.
Background technology
In the processing technique of extruded metal profile pull-out molding, 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, needed fixture at shape the most afterwards by mould mouth and draw it along guide rail walking.
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 also occur that some section bar pulling equipments replace manually drawing, the stub bar of shape is drawn by this pulling equipment toward the outside of mould, thus produces the shape of strip.But, there is following shortcoming in existing pulling equipment:
1, existing pulling equipment structure is complicated and Horizontal flat is put and caused area occupied big on the ground, thus causes device fabrication cost high, too increases the production cost of section bar.Meanwhile, pulling equipment uses horizontal type structure to be also easily subject to the impact of state of ground, thus is difficult to ensure that linearity and glacing flatness that mechanical arm walks.
2, section bar is drawn by existing pulling equipment only with the dolly of a band jig arm moved along a straight line, and causes production efficiency low.
3, the fixture poor universality that existing pulling equipment carries.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 cause that versatility is strong, clamping effect difference and cost height.
4, existing pulling equipment uses the trailer wagon of carrying jig to realize the traction of section bar mostly, and this fixture 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, the vertical section bar multi-track providing a kind of flexible operation draws robot, this multi-track traction robot can realize multi-orbit mode according to Production requirement and carry out section bar full-automation traction, thus improves the efficiency of section bar traction；Meanwhile, this multi-track draws 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 linearity and the problem of glacing flatness that section bar draws, 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 section bar multi-track draws robot, for drawing the section bar of discharging opening；It is characterized in that: include M traction unit and controlling organization, wherein, each traction unit include vertical walking track, for clamp traction the mechanical arm of section bar, drive mechanism, for the drive mechanism being connected with drive mechanism, described mechanical arm is buckled on the side of vertical walking track, 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 and carries out walking movement；Described drive mechanism is the actuating device two being respectively provided with on actuating device one on the robotic arm and vertical walking track；Described controlling organization is connected with drive mechanism and mechanical arm signal respectively；Wherein, M is natural number and M >=2；
M traction unit is by vertical walking track stacking splicing, and the mechanical arm of adjacent two traction units is suspended on vertical walking track and carries out cooperative alternative walking movement, it is achieved draw section bar in the way of cooperative alternative.
In such scheme, multi-track of the present utility model draws robot and uses M traction unit stacking splicing composition, and section bar is drawn in the way of cooperative alternative by the mechanical arm sling of adjacent two traction units, can realize the same time carries out the effect of quick traction to many section bars, thus is greatly improved the efficiency that section bar draws automatically.Meanwhile, this utility model uses the actuator not only flexible operation that mechanical arm draws as section bar, and is easy to control.Walking track is vertical structure, and mechanical arm consolidates in a snap-in manner and is arranged on the side of vertical walking track and is connected with the side slip of vertical walking track, thus mechanical arm can be realized and move flexibly and walk, greatly extend the traction work space of mechanical arm.Compared with the pulling equipment of horizontal type structure, owing to mechanical arm is suspended from the side of vertical walking track, therefore the run trace of mechanical arm is not easily susceptible to the impact that surface relief is uneven, the mode that this utility model uses mechanical arm to hang can effectively solve because ground injustice causes the problem of linearity and the glacing flatness that cannot ensure mechanical arm walking movement, thus improves the quality that mechanical arm clamping section carries out drawing.Meanwhile, this walking track uses vertical structure and mechanical arm to use the mode being suspended on vertical walking track also can greatly reduce the occupation of land space of manipulator motion, thus reduces production cost.
Described mechanical arm includes the vertical walking mechanism for vertical walking track buckle and being slidably connected and the clamping device for clamping section；Described clamping device is rotatably connected with vertical walking mechanism, it is achieved clamping device folds towards vertical walking orbital direction or is flared out；Described drive mechanism and actuating device one are arranged in vertical walking mechanism.This utility model clamping device is rotatably connected with vertical walking mechanism to be easy to open and clamps section bar and fold to avoid conflicting mutually with other reciprocating clamping devices to walking mechanism direction, thus plays the effect of dodging.
Described clamping device includes the clamping plate that the clamping limb being rotationally connected with vertical walking mechanism is connected, the driving means one being arranged on clamping limb and for the open-close transmission device driving clamping plate to move with clamping limb；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；Described driving means one is connected with open-close transmission device and is connected with controlling organization signal, it is achieved drive open-close transmission device motion to drive clamping plate one and the folding of 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 clamping plate one are provided with rotating compressing member and refer to: compressed part is connected with framework by rotating shaft one, it is achieved compressed part is rotatably provided on clamping plate one；
Being provided with receiving space in the middle part of described framework, compressed part is connected by rotating shaft one with framework and is positioned at and accommodates space, and the seal face of compressed part is outwardly.
This utility model clamping plate one 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 to different size and carries out firm clamping, thus reach highly versatile and the strong effect of motility, and without the section bar of different size is configured corresponding clamping plate, production cost so can be substantially reduced.When clamping plate one are pressed downward against, compressed part can carry out rotating regulation 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.
Described clamping plate two are provided with clamping mold, and the end face of clamping mold is provided with some oblique sawtooth along its length；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 rightabouts with lead are obliquely installed, make in section bar distraction procedure, tiltedly sawtooth plays the effect of left-hand thread, thus it is greatly increased clamping dynamics, realize clamping traction firm to section bar, the crudy of section bar so can be effectively ensured.During work, the section bar workpiece that clamping plate draw can be ejected by this head part device, and pickup is convenient, efficiently solves section bar pickup difficult problem, is substantially shorter the pickup time, thus improves the efficiency of processing work.
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；The screw thread of described screw element one and the screw thread of screw element two are respectively right-handed thread and left hand thread；
Also include that guide post, described clamping plate one and clamping plate two are respectively sleeved on guide post, and be connected with clamping limb by guide post.
Clamping plate one of the present utility model and clamping plate two are provided with screw, and both are threadeded with the screw element one with right-handed thread and the screw element two with left hand thread respectively by screw.When driving means one drive shaft 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, the clamping plate one threadeded with screw element one and screw element two respectively and clamping plate two can realize open and close movement, thus reach the effect clamping section bar and unclamping.This utility model 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 improve the efficiency of processing work.The position of screw element one of the present utility model and screw element two is 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 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；The carriage being provided with bottom described support body one on the side for being buckled in 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 to be distributed in bottom support body one, and directive wheel opposing upper and lower is buckled in vertical walking track side surfaces and is slidably connected with vertical walking track side surfaces；
Each described directive wheel is made up of axle wheel one and round table-like axle wheel two connection；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；
Also including being arranged on the installing rack bottom support body one, installing rack is provided with for location to 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, this support wheel can effectively ensure that the distance between support body one and vertical walking track, improve the precision of mass motion, linearity and the glacing flatness of manipulator motion can be further ensured that.
Directive wheel of the present utility model can arrange four, six or eight etc. according to the specification size of support body one, and directive wheel opposing upper and lower the slide rail of buckle vertical walking track side surfaces can realize the stabilizing suspended of support body one and be movably walking.This utility model utilizes the most round table-like axle wheel two to snap connection with the groove slide rail one of vertical walking track, actual plays the effect clamping vertical rail up and down, it is achieved the stabilizing suspended of support body one, and uses axle wheel one and axle to take turns two to realize being movably walking.Therefore, the mode that support body one of the present utility model realizes hanging is the most ingenious especially, it is not necessary to the most complicated structure, only needs round table-like axle wheel about two buckles, not only can ensure support body one stabilizing suspended, and ensure the stability in support body one walking process.
Described base is provided with the connector for being connected with clamping device, the locking device for limiting clamping device opening angle it is provided with on connector, and for the driving means two driving clamping device to rotate, driving means two is connected with controlling organization signal, it is achieved clamping device folds towards vertical walking orbital direction or opens；Described locking device is mechanical lock.This utility model clamping device and base are rotatably connected and are arranged in vertical walking mechanism, in clamping device work process, this locking device can limit the angle that clamping device opens or rotates so that clamping device turns to fixed angle, thus improves 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 buckle the slide rail that is 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；The described top of upper slide rail and the bottom of glidepath are respectively arranged with and directive wheel buckle the slideway one that is slidably connected, slideway one includes that spill slideway peace straight slideway connects side by side for taking turns two buckles the spill slideway being slidably connected and for the straight slideway being slidably connected with the axle of directive wheel wheel one with the axle of directive wheel；The opposite face of described upper slide rail and glidepath 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 and is snapped connection, and actual plays the effect clamping vertical rail up and down, it is achieved the stabilizing suspended of walking mechanism.And straight slideway can improve the area that directive wheel slides, improve 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 is connected with support body two；
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, then can significantly alleviate the weight of support body two in the case of consolidating ensureing overall structure, thus reduce production cost.
This utility model is consisted of vertical walking track stacking splicing two traction units；In two traction units, mechanical arm is suspended on vertical walking track and carries out cooperative alternative walking movement, it is achieved draw section bar in the way of cooperative alternative；
The clamping device of two traction units is rotatably connected with corresponding vertical walking mechanism in the way of specular respectively.
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, the most conplane two clamping devices are to need mutually to dodge the phenomenon that just can solve to bump against, and two clamping devices use the mode of specular to arrange the effect that can play to dodge to realize both linkages.Two is that the mode that two clamping devices use specular to arrange makes 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 improve the quality that section bar is drawn by traction robot.Three is the problem that the mode that two clamping devices use specular to arrange then solves collision without additionally designing the clamping device of new construction, so can be substantially reduced the production cost of traction robot.
Compared with prior art, this utility model has the advantage that and beneficial effect:
1, this utility model vertical section bar multi-track traction robot can realize multi-orbit mode according to Production requirement and carries out section bar full-automation traction, thus improves the efficiency of section bar traction.
2, this utility model vertical section bar multi-track 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 linearity and the problem of glacing flatness that section bar draws, thus improve the quality of section bar traction processing.
3, this utility model vertical section bar multi-track traction robot not only flexible operation, and be easy to control.
4, this utility model vertical section bar multi-track traction robot has and dodges effect, it is possible to resolve cooperative alternative realizes reciprocating multiple mechanical arms and sends the phenomenon bumped against.
Accompanying drawing explanation
Fig. 1 is the structural representation that this utility model vertical section bar two-orbit 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；
nullWherein，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 be raised line、1.11 be mounting seat、2 is drive 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 be actuating device one、4 is clamping device、4.1 is clamping limb、4.2 is clamping plate、4.2.1 be clamping plate one、4.2.2 be clamping plate two、4.3 is driving means one、4.4 is open-close transmission device、4.4.1 for rotating shaft two、4.4.2 be screw element one、4.4.3 be screw element two、4.5 is compressing member、4.5.1 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 be head part device、4.9 is guide post、4.10 be opening、4.11 be tumbler、4.12 is driving means two、5 is controlling organization.
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
The present embodiment draws the artificial example of machine to being illustrated below with vertical formation two-orbit.
As Fig. 1 is to shown in 7, and this utility model vertical section bar two-orbit draws robot, is for drawing the section bar of discharging opening.This traction robot includes controlling organization 5 and two traction units, wherein, each traction unit includes vertical walking track 1, for clamping the traction mechanical arm of section bar, drive mechanism and for the drive mechanism 2 being connected with drive mechanism, 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 drive 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, the groove 1.9 passing through between two vertical walking tracks 1 to be arranged below walking top of the rail realizes 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 movement, it is achieved draw section bar in the way of cooperative alternative.And the clamping device 4 of two traction units is rotatably connected with corresponding vertical walking mechanism 3 in the way of specular respectively.
Each mechanical arm of the present utility model includes the vertical walking mechanism 3 for vertical walking track 1 buckle and being slidably connected and the clamping device 4 for clamping section, wherein, clamping device 4 is rotatably connected with vertical walking mechanism 3, realize clamping device 4 fold towards vertical walking track 1 direction or be flared out (left and right directions folds or opens), and drive 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, the pneumatic actuating device 1 that is arranged on clamping limb 4.1 and for the open-close transmission device 4.4 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 means 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 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 being arranged on clamping plate one 4.2.1 end face and 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 receiving 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 receiving 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 utility model is provided with clamping mold 4.6, and the end face of clamping mold 4.6 is provided with the oblique sawtooth 4.7 of some along its length.Every oblique sawtooth 4.7 is obliquely installed with the rightabout of lead.In order to effectively solve the problem of section bar pickup difficulty, the middle part of this clamping mold 4.6 is provided with head part device 4.8.
Two open-close transmission devices 4.4 of each clamping device of this utility model 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 utility model is left hand thread, and the screw thread of screw element two 4.4.3 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 sleeved on guide post 4.9, and is connected with clamping limb 4.1 by guide post 4.9.
The each vertical walking mechanism 3 of this utility model includes support body 1 and for the base 3.2 being connected with clamping device 4；This base 3.2 one end removably connects with support body 1, and the other end is connected with clamping device 4, the carriage being provided with bottom support body 1 on the side for being buckled in vertical walking track 1 and being connected with vertical walking track 1 side slip；
Carriage of the present utility model is to be separately positioned on bottom support body 1 directive wheel 3.3 at four drift angles, and the same side directive wheel opposing upper and lower 3.3 is used for being buckled on vertical walking track 1 side and is connected with vertical walking track 1 side slip.Directive wheel 3.3 is arranged on bottom support body 3.1 degree of balance that can ensure at four drift angles that support body 3.1 hangs 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 connections and formed, wherein, in each directive wheel 3.3, round table-like axle is taken turns two 3.3.2 and is used for being buckled on vertical walking track 1 side and is 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, this utility model also includes the installing rack 3.4 being arranged on bottom support body 1, installing rack 3.4 is provided with for location to keep four support wheels 3.5 of the support body 1 spacing with vertical walking track 1, wherein, each two supports 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, the mechanical lock 3.7 for limiting clamping limb 4.1 opening angle it is provided with on connector 3.6, and for the driving means 2 4.12 driving clamping device 4 to rotate, driving means 2 4.12 is connected with controlling organization 5 signal, it is achieved clamping device 4 folds 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 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 away from one end of clamping plate 4.2, and position, joint is rotatably connected with vertical walking mechanism 3.Specifically, this position, joint includes for the opening 4.10 of 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 clamps the connector 3.6 of vertical walking mechanism 3 base, then and is connected through opening 4.10 with connector 3.6 by tumbler 4.11, 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 to 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.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 the registration of meshing characteristic and tooth, thus improves transmission efficiency；And can further improve the stationarity that vertical walking mechanism 3 moves.
The each vertical walking track 1 of this utility model include 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 that spill slideway peace straight slideway connects side by side for taking turns two 3.3.2 buckles the spill slideway being slidably connected and for taking turns, with the axle of directive wheel 3.3, the straight slideway that a 3.3.1 is slidably connected with the axle of directive wheel 3.3.This utility model laterally zygomorphic spill slideway is easy to vertical walking mechanism 3 directive wheel opposing upper and lower 3.3 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.This utility model slideway 25 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.
This utility model vertical walking track 1 also includes that this drum apparatus 1.7 is connected with support body 2 1.1 for installing tank chain and ensureing the drum apparatus 1.7 that tank chain moves.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 protects the effect of holding wire in manipulator motion, and this utility model vertical walking track 1 is provided with the drum apparatus 1.7 for installing tank chain, thus ensures in distance walking process, and tank chain can move smoothly.This utility model also includes the mounting seat 1.11 for slip used by fitting machine mechanical arm, and 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 in the case of consolidating ensureing overall structure, thus reduce production cost.
Embodiment two
The present embodiment the difference is that only with enforcement: the present embodiment is that vertical section bar multi-track draws robot, this traction robot includes controlling organization and is consisted of vertical walking track stacking splicing three or more than three traction units, the mechanical arm of adjacent two traction units is suspended on vertical walking track and carries out cooperative alternative walking movement, it is achieved draw section bar in the way of cooperative alternative.
In the present embodiment, the structure of each traction unit is consistent with embodiment one.
Embodiment three
The present embodiment the difference is that only with embodiment one: screw thread is screw element one and the location swap of screw element two that screw thread is right-handed thread of left hand 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 this utility model screw element one and screw element two.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment four
The present embodiment the difference is that only with embodiment one: directive wheel of the present utility model 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, 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 the difference is that only with embodiment one: the clamping device of the present embodiment is rotatably connected with vertical walking mechanism, connector after the setting direction of base turn 90 degrees, then can realize clamping device and open towards the folding of vertical walking orbital direction or upward/lower section.Therefore, traction robot of the present utility model flexible operation, 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 also not restricted to the described embodiments; other any without departing from the change made under spirit of the present utility model and principle, modify, substitute, combine, simplify; all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.
Claims (10)
1. a vertical section bar multi-track traction robot, for drawing the section bar of discharging opening；It is characterized in that: include M traction unit and controlling organization, wherein, each traction unit include vertical walking track, for clamp traction the mechanical arm of section bar, drive mechanism, for the drive mechanism being connected with drive mechanism, described mechanical arm is buckled on the side of vertical walking track, 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 and carries out walking movement；Described drive mechanism is the actuating device two being respectively provided with on actuating device one on the robotic arm and vertical walking track；Described controlling organization is connected with drive mechanism and mechanical arm signal respectively；Wherein, M is natural number and M >=2；
M traction unit is by vertical walking track stacking splicing, and the mechanical arm of adjacent two traction units is suspended on vertical walking track and carries out cooperative alternative walking movement, it is achieved draw section bar in the way of cooperative alternative.
Vertical section bar multi-track 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 the clamping device for clamping section；Described clamping device is rotatably connected with vertical walking mechanism, it is achieved clamping device folds towards vertical walking orbital direction or is flared out；Described drive mechanism and actuating device one are arranged in vertical walking mechanism.
Vertical section bar multi-track the most according to claim 2 traction robot, it is characterised in that: described clamping device includes the clamping plate that the clamping limb being rotationally connected with vertical walking mechanism is connected, the driving means one being arranged on clamping limb and for the open-close transmission device driving clamping plate to move with clamping limb；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；Described driving means one is connected with open-close transmission device and is connected with controlling organization signal, it is achieved drive open-close transmission device motion to drive clamping plate one and the folding of 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 clamping plate one are provided with rotating compressing member and refer to: compressed part is connected with framework by rotating shaft one, it is achieved compressed part is rotatably provided on clamping plate one；
Being provided with receiving space in the middle part of described framework, compressed part is connected by rotating shaft one with framework and is positioned at and accommodates space, and the seal face of compressed part is outwardly.
Vertical section bar multi-track 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 some oblique sawtooth along its length；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 multi-track 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；The screw thread of described screw element one and the screw thread of screw element two are respectively right-handed thread and left hand thread；
Also include that guide post, described clamping plate one and clamping plate two are respectively sleeved on guide post, and be connected with clamping limb by guide post.
Vertical section bar multi-track 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 removably connects with support body one, and the other end is connected with clamping device；The carriage being provided with bottom described support body one on the side for being buckled in 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 to be distributed in bottom support body one, and directive wheel opposing upper and lower is buckled in vertical walking track side surfaces and is slidably connected with vertical walking track side surfaces；
Each described directive wheel is made up of axle wheel one and round table-like axle wheel two connection；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；
Also including being arranged on the installing rack bottom support body one, installing rack is provided with for location to keep the support wheel of support body one and the spacing of vertical rail；Support wheel between directive wheel opposing upper and lower.
Vertical section bar multi-track the most according to claim 6 draws robot, it is characterized in that: described base is provided with the connector for being connected with clamping device, the locking device for limiting clamping device opening angle it is provided with on connector, and for the driving means two driving clamping device to rotate, driving means two is connected with controlling organization signal, it is achieved clamping device folds towards vertical walking orbital direction or opens；Described locking device is mechanical lock.
Vertical section bar multi-track 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 the slide rail that is 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；The described top of upper slide rail and the bottom of glidepath are respectively arranged with and directive wheel buckle the slideway one that is slidably connected, slideway one includes that spill slideway peace straight slideway connects side by side for taking turns two buckles the spill slideway being slidably connected and for the straight slideway being slidably connected with the axle of directive wheel wheel one with the axle of directive wheel；The opposite face of described upper slide rail and glidepath is provided with the slideway two for being connected with support slipping.
Vertical section bar multi-track the most according to claim 8 draws robot, it is characterised in that: 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 is connected with support body two；
Described support body two is provided with the hollow-out parts for alleviating weight.
Vertical section bar multi-track the most according to claim 2 draws robot, it is characterised in that: it is made up of by vertical walking track stacking splicing two traction units；In two traction units, mechanical arm is suspended on vertical walking track and carries out cooperative alternative walking movement, it is achieved draw section bar in the way of cooperative alternative；
The clamping device of two traction units is rotatably connected with corresponding vertical walking mechanism in the way of specular respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620185627.3U CN205630602U (en) | 2016-03-10 | 2016-03-10 | Vertical section bar multi -track draws machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620185627.3U CN205630602U (en) | 2016-03-10 | 2016-03-10 | Vertical section bar multi -track draws machine people |
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| Publication Number | Publication Date |
|---|---|
| CN205630602U true CN205630602U (en) | 2016-10-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620185627.3U Withdrawn - After Issue CN205630602U (en) | 2016-03-10 | 2016-03-10 | Vertical section bar multi -track draws machine people |
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| Country | Link |
|---|---|
| CN (1) | CN205630602U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598942A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical multi-track pulling robot for section bars |
| CN106624143A (en) * | 2016-12-26 | 2017-05-10 | 佛山市锦瀚粤海航机械设备有限公司 | Double-track fully-automatic double-traction machine |
| CN106737565A (en) * | 2016-12-31 | 2017-05-31 | 长沙高汇环保科技有限公司 | Full-automatic multi-track R-T unit |
| CN107127734A (en) * | 2017-07-19 | 2017-09-05 | 安徽理工大学 | Suspended rail formula multi-arm foundry robot |
| JP2019063930A (en) * | 2017-09-29 | 2019-04-25 | アイシン・エィ・ダブリュ株式会社 | Workpiece transport apparatus |
-
2016
- 2016-03-10 CN CN201620185627.3U patent/CN205630602U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598942A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical multi-track pulling robot for section bars |
| CN106624143A (en) * | 2016-12-26 | 2017-05-10 | 佛山市锦瀚粤海航机械设备有限公司 | Double-track fully-automatic double-traction machine |
| CN106737565A (en) * | 2016-12-31 | 2017-05-31 | 长沙高汇环保科技有限公司 | Full-automatic multi-track R-T unit |
| CN107127734A (en) * | 2017-07-19 | 2017-09-05 | 安徽理工大学 | Suspended rail formula multi-arm foundry robot |
| JP2019063930A (en) * | 2017-09-29 | 2019-04-25 | アイシン・エィ・ダブリュ株式会社 | Workpiece transport apparatus |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161012 Effective date of abandoning: 20180626 |