CN208247156U - Track plates production service sleeve Zai Zhi robot - Google Patents

Abstract

The utility model discloses a kind of track plates production service sleeve Zai Zhi robots, including rack, rack is upper be equipped with can side-to-side movement stringer, the hanger that can be moved forward and backward is installed on stringer, hanger is equipped with service sleeve feeding bracket, the cantilever that can be moved forward and backward is installed, being equipped between hanger and cantilever can be by the boom locking device of the opposite locking of the two on stringer；Cantilever is equipped with service sleeve rapid fixing, service sleeve pick-and-place manipulator；Service sleeve rapid fixing includes the portable pillar to move up and down being mounted on cantilever, portable pillar, which is equipped with, taps contact, the portable pillar limiting device equipped with the portable pillar whereabouts that can leave after capable of limiting portable pillar whereabouts when portable pillar rises to setting height, lifting restrictions between cantilever and portable pillar.The utility model is able to achieve the automatic material taking of service sleeve, automatic installation, fixes automatically, and the fixed quality of high degree of automation, service sleeve installation is preferable.

Description

Track plates production service sleeve Zai Zhi robot

Technical field

The utility model relates to a kind of track plates production service sleeve Zai Zhi robots.

Background technique

Currently, ballastless track structure form is generally used with the continuous development of China express railway standard of construction.For The ballastless track structure pattern adapted under different operation conditions is improved, is mentioned for the going global development strategy of China express railway For strong technical support, the Ministry of Railways organizes III plate-type ballastless track structure of relevant unit's independent research CRTS.

III type track plates of CRTS in process of production, need to carry out following processing step, first have to clear mould, to guarantee rail Guidance tape Surface Quality of Concrete, by mold cleaning it is clean after, one layer of release agent of even application；Secondly the installation of service sleeve is carried out Lifting, steel reinforcement cage be put into and mantle fiber, after mantle fiber, reinforcing bar just pre-tighten, carries out reinforced bar stretching after placing into cushion block, Insulation monitoring is carried out after tensioning；Concrete and vibrate finally, being put into mold, put after steam curing, tear open and Demoulding, then carry out water-bath maintenance.

In above step, the installation of service sleeve is an important ring.The installation of service sleeve in traditional production By being accomplished manually, service sleeve is sleeved on the positioning pin of railway plate die first, it is then pre- to what is placed with rubber hammer Bushing burying is tapped, when percussion it is noted that dynamics and direction, with guarantee the verticality of service sleeve and with bed die it is conformability.One A railway plate die usually requires to install multiple service sleeves, and when installation is time-consuming and laborious, and is difficult to ensure installation quality.

Utility model content

The purpose of this utility model be one kind is provided regarding to the issue above being capable of automatic material taking, automatic installation, automatic fixed The track plates production service sleeve Zai Zhi robot of service sleeve.

In order to achieve the above objectives, the utility model includes rack, and the lower part of rack is equipped with railway plate die placement space, It is structurally characterized in that be equipped with can be in stringer driving device for the position that is located above railway plate die placement space in the rack The stringer of lower side-to-side movement is driven, stringer extends along the longitudinal direction, the hanger that can be moved forward and backward is equipped on stringer, hanger It is equipped with service sleeve feeding bracket, the cantilever that can be moved forward and backward under the driving of cantilever drive device is installed on stringer, is hanged Being equipped between hanger and cantilever can be by the boom locking device of the opposite locking of the two；Cantilever is equipped at least a set of corresponding up and down Service sleeve rapid fixing, service sleeve pick-and-place manipulator；Service sleeve rapid fixing includes being mounted on cantilever The portable pillar to move up and down, portable pillar be equipped with tap contact, cantilever be equipped with mentioned for promoting the portable pillar of portable pillar Device is risen, portable pillar can be limited when portable pillar rises to setting height by, which being equipped between cantilever and portable pillar, falls, lifts restrictions The portable pillar limiting device that the portable pillar that can leave afterwards falls.

Due to stringer can side-to-side movement, hanger can move forward and backward, service sleeve feeding bracket can side-to-side movement, It can move forward and backward again, service sleeve pallet can be transported to arbitrary operating position by it；Due to service sleeve pick-and-place manipulator Can with stringer side-to-side movement, can be moved forward and backward with cantilever, therefore service sleeve pick-and-place manipulator can take from service sleeve pallet Lower service sleeve is simultaneously sleeved on the fixed pin in mold cavity；It is pre-buried after service sleeve is sleeved on fixed pin Casing rapid fixing can quickly fix service sleeve, so that service sleeve be made firmly to be fixed on fixed pin And make the type bottom of chamber face of service sleeve and mold mutually close to；Service sleeve rapid fixing is to utilize portable pillar lifting device will Portable pillar is limited after promoting certain height by portable pillar limiting device, and portable pillar limiting device can make to live after lifting restrictions Dynamic column free-falling taps service sleeve using the impact force fallen behind under portable pillar and it is fixed, since portable pillar falls Preceding height be it is certain, thus can ensure that portable pillar be to the percussion power of each service sleeve it is certain, in this way can guarantee The installation quality of service sleeve.Cantilever in the utility model is driven by cantilever drive device, and cantilever is after hanger, frame Arm locking device can lock the two, and hanger can follow cantilever motion at this time, after hanger reaches designated position, boom lock Locking between cantilever and hanger can be released by determining device, and cantilever at this time can move forward and backward and hanger remains stationary, due to Service sleeve feeding bracket reaches installation site and no longer needs to move, and cantilever then needs to move forward and backward to pick and place, install service sleeve, Therefore the frequency that moves forward and backward of cantilever is more and the frequency that hanger moves forward and backward is less, to suspend in midair using boom locking device Frame can follow cantilever motion, thus hanger can simplify design, save cost there is no need to which driving device is separately provided again.

The stringer includes the backbar for the two front and back extensions that left and right is oppositely arranged, and hanger includes that left and right is oppositely arranged Two suspension arms and the hanger ontology for being linked together two suspension arm lower parts, the upper end of two suspension arms are respectively slidably connected at one The channel for passing through before and after cantilever is formed on backbar, between two suspension arms, between two backbars, cantilever sliding connects cantilever It connects on a backbar wherein.After adopting the above structure, form the channel for passing through before and after cantilever between two suspension arms, cantilever with Although hanger is all mounted on stringer, the two can be with self-movement, and non-interference, cantilever can both move to hanger Rear can move to the front of hanger again, service sleeve feeding support can be facilitated when the rear of cantilever motion to hanger Frame picks and places service sleeve pallet, service sleeve pick-and-place manipulator can be facilitated to pick and place when the front of cantilever motion to hanger pre-buried Casing.

The inside of a wherein backbar for the stringer is equipped with the sliding rail that front and back extends, and is correspondingly arranged on cantilever and sliding rail The sliding slot of cooperation is moved, cantilever drive device includes the rack gear being located on the backbar, and cantilever is equipped with hold-down support, fixed branch Driving motor and the gear by driving motor driving are installed, the gear on hold-down support is mutually nibbled with the rack gear on backbar on seat It closes.The structure move forward and backward cantilever can along backbar, and simple firm, which can provide the driving that cantilever moves forward and backward Power can accurately control cantilever motion position.

The boom locking device include the hold-down support being located on cantilever and be located on suspension arm it is corresponding with Dynamic support, hold-down support are equipped with slot, servo-actuated support be equipped with can side-to-side movement and to the left or to the right movement can be inserted into Inserting column into slot, servo-actuated support are equipped with the inserting column driving device that can drive inserting column side-to-side movement.Inserting column driving device is driven It can be plugged into the slot on hold-down support after moving inserting column to a direction, thus can make hold-down support and servo-actuated support phase To locking, and cantilever and hanger is finally made to be in the state of opposite locking, at this moment hanger can follow cantilever to move forward and backward, when After hanger moves to designated position, inserting column driving device, which drives inserting column to move to another direction, is detached from it with slot, Gu Determine the opposite latch-release between support and servo-actuated support, cantilever can be freely moved and hanger is unaffected.This boom lock Determine mechanism have the advantages that it is simple and reliable, can be automatically controled.

The portable pillar limiting device includes the limit plate being connected on cantilever, and limit plate is equipped with through-hole, and portable pillar is worn The through-hole on limit plate is crossed, portable pillar is hollow structure, and the inside of portable pillar 9 is equipped with installation cavity, and the side of portable pillar, which is equipped with, to be connected Lead to the side through-hole of installation cavity, is stuck on the upside of limit plate after at least one extended side through-hole is installed in installation cavity to prevent The limited block that portable pillar falls, installation cavity is interior to be equipped with the limited block driving device that limited block can be driven to extend and retract.Using upper After stating structure, portable pillar can move up and down along the through-hole on limit plate, and portable pillar is promoted certain height by portable pillar lifting device After degree, when outside the extended side through-hole of limited block and the prevention portable pillar whereabouts above limit plate, the drive of limited block driving device are kept off After so that limited block is bounced back, limited block does not re-form blockings to limit plate, portable pillar can free-falling, the portable pillar limiting device is sharp Portable pillar is limited with flexible and limited block and limit plate the effect of limited block, the limit in the portable pillar limiting device Plate not only has the function of limit, and there are also guiding roles to portable pillar for the through-hole on limit plate, it is seen that this portable pillar limit dress Setting has the advantages that structure is simple, reliable operation.

The inner prop for stretching to top is equipped in the installation cavity, what the limited block can be swung up and down is hinged on inner prop, when Limited block is swung upwards into when set angle outside extended side through-hole；The limited block driving device includes being sleeved on inner prop The intermediate sleeve of upper end and the intermediate sleeve driving device that intermediate sleeve can be driven to move downward to make limited block retract, it is interior Between column and intermediate sleeve be equipped with intermediate sleeve can be made to move upwards intermediate sleeve reset spring, between limited block and inner prop or The limited block reset spring that limited block can be driven to be swung up is connected between limited block and limited block, the upper end of portable pillar is equipped with It is connected to the upper intercommunicating pore of installation cavity, the intermediate sleeve driving device includes extending into installation cavity across upper intercommunicating pore and energy The lifting rod up and down relative to portable pillar, the lower end of lifting rod, which is equipped with, may act on installation cavity when lifting rod moves upwards Roof to portable pillar is lifted up, when lifting rod moves downward can by intermediate sleeve push block, lifting rod by The driving of portable pillar lifting device.After adopting the above structure, the flexible of it can be realized by swinging up and down for limited block, be easier Control, when portable pillar is in raised configuration, under the action of intermediate sleeve reset spring, intermediate sleeve far from limited block, Under the action of limited block reset spring, limited block stretches out outside side through-hole, when needing that service sleeve is fixed, intermediate sleeve Driving device drives intermediate sleeve to decline, and the lower edge of intermediate sleeve pushes limited block, and limited block is retracted into lower swing In installation cavity, being retracted into limited block in installation cavity no longer has a barrier effect to limit plate, thus portable pillar can free-falling, The portable pillar of free-falling can tap service sleeve, so that service sleeve be fixed, this limited block driving device is realized Automatic trigger, convenient for control.

The service sleeve pick-and-place manipulator includes clamping jaw driving device and can drive lower opposite open in clamping jaw driving device Two clamping jaws being arranged in pairs closed.Clamping jaw opposite under the driving of clamping jaw driving device can merge and open relatively, to realize The pick-and-place of service sleeve, this service sleeve pick-and-place manipulator are simple and reliable.

The clamping jaw includes outrigger, and top fixture block is equipped on outrigger, is connected with down on outrigger and stretches company Extension bar, top fixture block are equipped with V-type clip slot for clamping service sleeve upper end, under stretch the lower end of connecting rod to be equipped with itself curved The curved lower part hook at for clamping service sleeve lower end.When two clamping jaws merge relatively, two top fixture blocks, two lower part hooks Can be relatively close, two V-type clip slots clamp the upper end of service sleeve, and two lower hook claw clips live the lower end of service sleeve, right The clamping of service sleeve is more stable.

The cantilever includes upper linking arm, lower linking arm, and upper linking arm is hollow structure, and the top of lower linking arm can be upper and lower Sliding is inserted into the inner cavity of linking arm, and upper linking arm is equipped with the lower linking arm that lower linking arm can be driven to move up and down and drives Dynamic device, the service sleeve rapid fixing are mounted on linking arm, and the service sleeve pick-and-place manipulator is mounted on On lower linking arm.After adopting the above structure, lower linking arm can move up and down relative to upper linking arm, the up and down motion of lower linking arm It is driven by lower linking arm driving device, since service sleeve rapid fixing, service sleeve pick-and-place manipulator are to install respectively On upper linking arm, lower linking arm, service sleeve pick-and-place manipulator alterable height under the driving of lower linking arm thus can be real The accurate pick-and-place of existing service sleeve, the height of service sleeve rapid fixing is constant, and portable pillar is always fallen from sustained height, Thus certifiable invariable to the percussion power of service sleeve, to guarantee the quality of the fixation of service sleeve.

The lower installed in front of the hanger have can under the driving of intermediate attachment base driving device side-to-side movement centre Attachment base, the installed in front of intermediate attachment base have can under the driving of preceding mounting base driving device vertical motion preceding mounting base, Before the service sleeve feeding bracket is connected in mounting base.After adopting the above structure, service sleeve feeding bracket can be with preceding Mounting base vertical motion, and can be moved forward and backward with hanger, therefore service sleeve feeding bracket can will be placed on mold side It forks, service sleeve pallet can be transported near the installation site of service sleeve, in advance automatically along upper service sleeve pallet After the installation is completed, it can put down service sleeve pallet bushing burying automatically again, and service sleeve feeding bracket can connect with centre Joint chair side-to-side movement, and can be with preceding mounting base vertical motion, when installing service sleeve, service sleeve feeding bracket, which can drop to, to be leaned on Near-lying mode has the position of cavity bottom, pick-and-place, installation convenient for service sleeve, since service sleeve pick-and-place manipulator can only be relative to Service sleeve feeding bracket moves forward and backward, therefore it can only pick and place a line service sleeve, can after installing a line service sleeve Service sleeve feeding bracket is set to be moved to the left or right a distance, such service sleeve using the side-to-side movement of intermediate attachment base Pick-and-place manipulator can pick and place another row service sleeve.

In conclusion the utility model is able to achieve the automatic material taking of service sleeve, automatic installation, automatic fixed, automation The quality that degree is high, service sleeve installation is fixed is preferable, can save manpower, be adapted on track plates automatic production line answer With.

Detailed description of the invention

Specific embodiment of the present utility model is further described in detail with reference to the accompanying drawing:

Fig. 1 is the structural schematic diagram of an embodiment of the present invention；

Fig. 2 is the structural schematic diagram of the overlook direction of Fig. 1；

Fig. 3 is the enlarged drawing in Fig. 1 after line A-A cutting；

Fig. 4 is the cross-sectional view in Fig. 1 along line B-B；

Fig. 5 is the cross-sectional view in Fig. 1 along line C-C；

Fig. 6 is the portion the D enlarged drawing in Fig. 1；

Fig. 7 be cantilever in the utility model, service sleeve rapid fixing, service sleeve pick-and-place manipulator structure show It is intended to；

Fig. 8 is the perspective view of Fig. 7；

Fig. 9 is the structural schematic diagram of service sleeve rapid fixing in the utility model；

Figure 10 is the portion the E enlarged drawing in Fig. 8.

Specific embodiment

For ease of description, the orientation of the utility model is defined first, the left and right directions in Fig. 1 is defined as this Up and down direction in Fig. 1 is defined as the up and down direction (i.e. vertical) of the utility model, by Fig. 2 by the front-rear direction of utility model In up and down direction be defined as the left and right directions of the utility model.

Referring to Fig.1, Fig. 2, Fig. 3, track plates production service sleeve Zai Zhi robot includes rack 1, the lower part of rack 1 The position for being located at 2 top of railway plate die placement space equipped with railway plate die placement space 2, in rack 1 is equipped with and can indulge The stringer 3 of side-to-side movement under the driving of beam driving device, stringer 3 extend along the longitudinal direction, and being equipped on stringer 3 can move forward and backward Hanger 4, hanger 4 is equipped with service sleeve feeding bracket 5, and being equipped on stringer 3 can be in the driving of cantilever drive device Under the cantilever 6 that moves forward and backward, being equipped between hanger 4 and cantilever 6 can be by the boom locking device of the opposite locking of the two；Cantilever 6 It is equipped at least a set of corresponding service sleeve rapid fixing 7, service sleeve pick-and-place manipulator 8 up and down, on the present embodiment Cantilever 6 is equipped with two sets of front and back or more corresponding service sleeve rapid fixing 7, service sleeve pick-and-place manipulator 8.

Referring to Fig.1, the working method of track plates production service sleeve Zai Zhi robot is as follows: railway plate die 47 is put It sets in railway plate die placement space 2, there is service sleeve pallet 48 on service sleeve feeding bracket 5, on service sleeve pallet It is placed with multiple service sleeves 49 being arranged in rows and columns.Due to stringer 3 can side-to-side movement, hanger 4 can move forward and backward, it is pre- Bushing burying feeding bracket 5 side-to-side movement but also can move forward and backward, and service sleeve pallet can be transported to arbitrary work by it Position.Due to service sleeve pick-and-place manipulator 8 can with 3 side-to-side movement of stringer, can be moved forward and backward with cantilever 6, service sleeve Pick-and-place manipulator 8 can remove service sleeve from service sleeve pallet and on the fixed pin 50 that is sleeved in mold cavity. After service sleeve is sleeved on fixed pin, service sleeve rapid fixing 7 can quickly be fixed service sleeve, To be fixed on service sleeve firmly on fixed pin and make the type bottom of chamber face of service sleeve and mold mutually close to.Service sleeve Rapid fixing 7 is to be added after portable pillar 9 to be promoted to certain height using portable pillar lifting device by portable pillar limiting device With limit, portable pillar limiting device can make 9 free-falling of portable pillar after lifting restrictions, and utilize the lower backward impact force of portable pillar 9 Tap service sleeve it is fixed, due to portable pillar 9 fall before height be it is certain, thus can ensure that portable pillar 9 is right The percussion power of each service sleeve is certain, installation quality of service sleeve certifiable in this way.It is outstanding in the utility model Arm 6 is driven by cantilever drive device, and cantilever 6 is after hanger 4, and boom locking device can lock the two, at this time hanger 4 can follow cantilever 6 to move, after hanger 4 reaches designated position, boom locking device can release cantilever 6 and hanger 4 it Between locking, cantilever 6 at this time can move forward and backward and hanger 4 remains stationary, due to service sleeve feeding bracket 5 reach install Position no longer needs to move, and cantilever 6 then needs to move forward and backward to pick and place, install service sleeve, therefore the frequency that cantilever 6 moves forward and backward The frequency more and that hanger 4 moves forward and backward is less, makes hanger 4 that cantilever 6 can be followed to move using boom locking device, hangs Thus hanger 4 can simplify design, save cost there is no need to which driving device is separately provided again.

Referring to Fig.1, Fig. 6, in order to realize side-to-side movement of the stringer 3 in rack 1, front and back phase in rack 1 in the present embodiment To the sliding rails 14 for being provided with two or so extensions, the both ends of stringer 3 are correspondingly provided with two sliding slots 15, sliding slot 15 and corresponding sliding rail 14 It is slidably matched, is achieved in being slidably connected between stringer 3 and rack 1.Certain stringer 3 can also use other side with rack 1 Formula realizes that being slidably connected between the two, such as rack 1 are equipped with sliding slot, and being equipped in sliding slot can be sliding along the sliding block that it is moved Block is connected on stringer 3.Stringer driving device in the present embodiment includes two or so that the front and back being located in rack 1 is oppositely arranged The rack gear 16 of extension, the gear 19 that the both ends of stringer 3 are respectively equipped with a driving motor 18 and are driven by driving motor 18, It is meshed positioned at ipsilateral gear 19 with rack gear 16, the driving of gear can be achieved using the engagement and driving motor of rack-and-pinion Driving to stringer 3, the side-to-side movement of certain stringer 3 can also have other driving methods, such as in the left and right sides of rack 1 A sprocket wheel is respectively set, wherein a sprocket wheel is driven by driving motor, chain is surrounded on two sprocket wheels, the both ends of chain respectively bypass one It is connected to after sprocket wheel on stringer 3, driving motor drives sprocket wheel positive and negative rotation that can also make 3 side-to-side movement of stringer.

Referring to Fig. 2, Fig. 3, Fig. 4, stringer 3 includes the two stringer connecting supports 10 that front and back is oppositely arranged, two stringers connection branch The backbar 11 that two front and backs that left and right is oppositely arranged extend is connected between seat 10, hanger 4 includes two that left and right is oppositely arranged Suspension arm 13 and the hanger ontology 12 for being linked together two suspension arms, 13 lower part, the respective company of sliding in the upper end of two suspension arms 13 It connects on a backbar 11, forms the channel for passing through before and after cantilever 6 between two suspension arms 13, cantilever 6 is located at two backbars 11 Between, cantilever 6 is slidably connected on a backbar 11 wherein.After adopting the above structure, it is formed between two suspension arms 13 for cantilever 6 The channel that front and back passes through, although cantilever 6 and hanger 4 are all mounted on stringer 3, the two can not mutually be done with self-movement It relates to, cantilever 6 can not only move to the rear of hanger 4 but also can move to the front of hanger 4, when cantilever 6 moves to suspention Service sleeve feeding bracket 7 can be facilitated to pick and place service sleeve pallet when the rear of frame 4, when cantilever 6 moves to the front of hanger 4 When can facilitate service sleeve pick-and-place manipulator 9 pick and place service sleeve.

With continued reference to Fig. 2, Fig. 3, Fig. 4, in order to enable cantilever 6 to move forward and backward on stringer 3, wherein one of stringer 3 The inside of bolster 11 is arranged at intervals with the sliding rail 14 that two front and backs extend up and down, is correspondingly arranged on cantilever 6 and moves with sliding rail 14 The sliding slot 15 of cooperation, the structure move forward and backward cantilever 6 can along backbar 11, simple firm.Cantilever 6 is on backbar 11 Move forward and backward to realize otherwise, such as backbar 11 is equipped with the sliding slot that front and back extends, and is equipped in sliding slot It can be fixedly connected on cantilever 6 along the sliding block that it is moved, sliding block.In the present embodiment, cantilever drive device includes being located at the bearing The rack gear 16 of 11 upper surface of beam, cantilever 6 are equipped with hold-down support 17, are equipped with driving motor 18 on hold-down support 17 and by driving The gear 19 that motor 18 drives, the gear 19 on hold-down support 17 are meshed with the rack gear 16 on backbar 11, which can mention For the driving force that cantilever 6 moves forward and backward, 6 movement position of cantilever can be accurately controlled.Other sides can also be passed through to the driving of cantilever 6 Formula is realized, such as driving lead screw and the driving motor for driving lead screw to rotate are equipped on backbar 11, is screwed on lead screw Feed screw nut, feed screw nut are fixed on cantilever 6.

Referring to Fig.1, Fig. 3, boom locking device include the hold-down support 17 being located on cantilever 6 and are located on suspension arm 13 Corresponding servo-actuated support 20, hold-down support 17 are equipped with slot 21, servo-actuated support 20 be equipped with can side-to-side movement and Movement can be plugged into the inserting column 22 in slot 21 to the left or to the right, and servo-actuated support 20, which is equipped with, can drive 22 side-to-side movement of inserting column Inserting column driving device.Inserting column driving device can be plugged into the slot on hold-down support 17 after driving inserting column 22 to move to a direction In 21, it thus can make hold-down support 17 and the opposite locking of servo-actuated support 20, and cantilever 6 and hanger 4 is finally made to be in opposite lock Fixed state, at this moment hanger 4 can follow cantilever 6 to move forward and backward, after hanger 4 moves to designated position, inserting column driving dress It sets and drives inserting column 22 to move to another direction to be detached from itself and slot 21, it is opposite between hold-down support 17 and servo-actuated support 20 Latch-release, cantilever 6 can be freely moved and hanger 4 is unaffected.This boom locking mechanism have it is simple and reliable, can be automatic The advantages of control.Certain boom locking mechanism can also use other structures form, such as in another embodiment, frame Arm locking mechanism includes the manually controllable lockset being located between cantilever 6 and hanger 4, and lockset can be used similar to door lock Structure, cantilever 6 and hanger 4 close to when the two can be locked using lockset, the state for changing lockset can release between the two Locking.

Referring to Fig.1, Fig. 3, in further improve, cantilever 6 includes upper linking arm 45, lower linking arm 46, upper linking arm 45 be hollow structure, and the top of lower linking arm 46, which can slide up and down, to be inserted into the inner cavity of linking arm 45, upper linking arm 45 It is equipped with the lower linking arm driving device that lower linking arm 46 can be driven to move up and down, service sleeve rapid fixing 7 above-mentioned It is mounted on linking arm 45, service sleeve pick-and-place manipulator 8 above-mentioned is mounted on lower linking arm 46.Lower linking arm driving dress The form of can have a variety of structures is set, such as the middle part of lower linking arm 46 is equipped with threaded hole, is equipped with silk in the inner cavity of upper linking arm 45 Thick stick is equipped with the driving motor for driving lead screw to rotate on upper linking arm 45, and the lower end of screw rod is screwed on lower linking arm 46 On threaded hole in, this lower linking arm can accurately control the height of lower linking arm 46.Linking arm in another embodiment the lower Including the driving cylinder being mounted on upper linking arm 45, the piston rod of cylinder is driven to be connected on lower linking arm 46.Using above-mentioned After structure, lower linking arm 46 can move up and down relative to upper linking arm 45, and the up and down motion of lower linking arm 46 is driven by lower linking arm Dynamic device driving, since service sleeve rapid fixing 7, service sleeve pick-and-place manipulator 8 are separately mounted on upper linking arm 45, on lower linking arm 46, thus the alterable height under the driving of lower linking arm of service sleeve pick-and-place manipulator 8 can be realized pre- The accurate pick-and-place of bushing burying, the height of service sleeve rapid fixing 7 is constant, and portable pillar 9 is always fallen from sustained height, by This is certifiable invariable to the percussion power of service sleeve, to guarantee the quality of the fixation of service sleeve.

Referring to Fig.1, Fig. 5, the lower installed in front of hanger 4 have and can transport left and right under the driving of intermediate attachment base driving device Dynamic intermediate attachment base 41, the installed in front of intermediate attachment base 41 have can under the driving of preceding mounting base driving device vertical motion Preceding mounting base 43, service sleeve feeding bracket 5 above-mentioned be connected to before in mounting base 43.After adopting the above structure, pre-buried set Pipe feeding bracket 5 can be moved forward and backward with preceding 43 vertical motion of mounting base and with hanger 4, therefore service sleeve feeding support Frame 5 can fork the service sleeve pallet being placed on die side edge automatically, service sleeve pallet can be transported to pre- Near the installation site of bushing burying, after the installation is completed, it can put down service sleeve pallet service sleeve automatically again.Pre-buried set Pipe feeding bracket 5 can install service sleeve with intermediate 41 side-to-side movement of attachment base and with preceding 43 vertical motion of mounting base When, service sleeve feeding bracket 5 can drop to pick-and-place, installation close to the position of mold cavity bottom, convenient for service sleeve, by Can only be moved forward and backward relative to service sleeve feeding bracket 5 in service sleeve pick-and-place manipulator 8, thus it can only to pick and place a line pre- Bushing burying after installing a line service sleeve, makes service sleeve feeding bracket 5 using the side-to-side movement of intermediate attachment base 41 It is moved to the left or right one end distance, such service sleeve pick-and-place manipulator 8 can pick and place another row service sleeve.

In order to realize driving of the intermediate attachment base 41 with the connection of hanger 4 and to intermediate attachment base 41, centre connection The sliding rails 14 of two or so extensions are equipped at intervals on seat 41 up and down, are correspondingly arranged on two sliding slots 15 on hanger 4, sliding slot 15 with it is corresponding Sliding rail 14 be slidably matched, thus can realize being slidably connected between intermediate attachment base 41 and hanger 4, this mode is more simple It is single reliable.Certainly intermediate attachment base 41 can also use other connection types with hanger 4, such as set on intermediate attachment base 41 The slide bars for setting two or so extensions, are set with sliding sleeve on slide bar, and sliding sleeve is connected on hanger 4, during this mode also may be implemented Between being slidably connected between attachment base 41 and hanger 4.Intermediate attachment base driving device in the present embodiment includes being located at centre Rack gear 16 on attachment base 41, the gear 19 for being equipped with driving motor 18 and being driven by driving motor 18 on hanger 4, gear 19 It is meshed with rack gear 16, this structure is relatively simple reliable.Certainly intermediate attachment base driving device can also use other structures Form, such as rotatable lead screw and the driving motor for driving the lead screw to rotate, silk are installed on intermediate attachment base 41 Feed screw nut is set on thick stick, feed screw nut is fixedly connected on hanger 4.

In order to realize the vertical motion of preceding mounting base 43 and the driving to preceding 43 vertical motion of mounting base, intermediate attachment base 41 Be equipped with the vertically extending sliding rail 14 in left and right spaced two, be correspondingly provided with two sliding slots 15 in preceding mounting base 43, sliding slot 15 with Corresponding sliding rail 14 is slidably matched, being slidably connected between mounting base 43 and intermediate attachment base 41, this knot before thus can realizing Structure is simple and reliable.Certainly can also there are other connection type, such as intermediate connection before between mounting base 43 and intermediate attachment base 41 Two vertically extending slide bars are arranged at intervals with up and down on seat 41, sliding sleeve are set on two slide bars, sliding sleeve is fixedly connected on preceding peace It fills on seat 43, this mode can also make the relative motion before realizing between mounting base 43 and intermediate attachment base 41.Preceding mounting base is driven Dynamic device can be there are many implementation.Such as preceding mounting base driving device includes being located at centre in a kind of embodiment wherein Driving cylinder between attachment base 41 and preceding mounting base 43, intermediate attachment base 41 and the one of them and driving in preceding mounting base 43 The cylinder barrel of cylinder is connected, and another one is connected with the piston rod of driving cylinder.It is preceding again for example in another embodiment Mounting base driving device includes the vertically arranged lead screw being mounted on intermediate attachment base 41 and the lead screw can be driven to rotate Driving motor is screwed with feed screw nut on lead screw, before feed screw nut is fixed in mounting base 43.

Referring to Fig. 7, Fig. 8, service sleeve rapid fixing 7 includes the activity to move up and down being mounted on cantilever 6 Column 9, cantilever 6 are equipped with the portable pillar lifting device for promoting portable pillar 9, are equipped between cantilever 6 and portable pillar 9 and work as portable pillar 9 can be limited when rising to setting height portable pillar 9 fall, lift restrictions after can leave portable pillar 9 whereabouts portable pillar limit dress It sets.

Referring to Fig. 7, Fig. 8, Fig. 9, portable pillar limiting device includes the limit plate 23 being connected on cantilever 6, on limit plate 23 Equipped with through-hole, portable pillar 9 passes through the through-hole on limit plate 23, and portable pillar 9 is hollow structure, and the inside of portable pillar 9 is equipped with installation Chamber 24, the side of portable pillar 9 are equipped with the side through-hole 25 of connection installation cavity 24, and it is extended to be equipped at least one in installation cavity 24 It is stuck in limited block 26 of 23 upside of limit plate to prevent portable pillar 9 from falling after side through-hole 25, is equipped with and can drive in installation cavity 24 The limited block driving device that limited block 26 extends and retracts.After adopting the above structure, portable pillar 9 can be along the through-hole on limit plate 23 It moves up and down, after portable pillar 9 is promoted certain height by portable pillar lifting device, when the extended side through-hole 25 of limited block 26 is outer And keep off and prevent portable pillar 9 from falling above limit plate 23, after limited block driving device drives limited block 26 to bounce back, limited block 26 is right Limit plate 23 does not re-form blocking, and portable pillar 9 can free-falling.The portable pillar limiting device is using the flexible of limited block 26 and limits Position block 26 and the effect of limit plate 23 limit portable pillar 9, and the limit plate 23 in the portable pillar limiting device not only has The effect of limit, there are also guiding roles to portable pillar 9 for the through-hole on limit plate 23, it is seen that this portable pillar limiting device has knot The advantages of structure is simple, reliable operation.

The inner prop 27 for stretching to top is equipped in installation cavity 24, what limited block 26 can be swung up and down is hinged on inner prop 27, when Limited block 26 is swung upwards into when set angle outside extended side through-hole 25；Limited block driving device includes being sleeved on inner prop 27 Upper end intermediate sleeve 28 and can drive intermediate sleeve 28 move downward to make limited block 26 retract intermediate sleeve drive Dynamic device, is equipped with the intermediate sleeve reset spring 44 that intermediate sleeve 28 can be made to move upwards between inner prop 27 and intermediate sleeve 28, It is connected between limited block 26 and inner prop 27 or between limited block 26 and limited block 26 limit that limited block 26 can be driven to be swung up Position block reset spring 29, limited block 26 is equipped with the bottom that can be contacted with the upper surface of limit plate 23 to prevent portable pillar 9 from falling Plane 61, limited block 26, which is equipped with, can be acted on that limited block 26 is made to contract by the pressure of limit plate 23 when portable pillar 9 rises The side inclined-plane 62 returned, limited block 26 is equipped with can be acted on when intermediate sleeve 28 pushes by the pressure of 28 lower edge of intermediate sleeve So that the pressing inclined-plane 63 that limit plate 23 retracts, the upper end of portable pillar 9 is equipped with the upper intercommunicating pore 30 of connection installation cavity 24, it is aforementioned in Between sleeve driving device include being extend into installation cavity 24 across upper intercommunicating pore 30 and can be up and down relative to portable pillar 9 Lifting rod 31, the lower end of lifting rod 31 are equipped with the roof that may act on installation cavity 24 when lifting rod 31 moves upwards to live The block 32 that dynamic column 9 is lifted up, can push intermediate sleeve 28 when lifting rod 31 moves downward, lifting rod 31 is by portable pillar Lifting device driving.Portable pillar lifting device in the present embodiment is cylinder, and lifting rod 3 is the piston rod of cylinder, is lifted certainly Bar 3 is also possible to a part of cylinder piston rod.Furthermore portable pillar lifting device can also be oil cylinder or other existing machinery Device.After adopting the above structure, the flexible of it can be realized by swinging up and down for limited block 26, be easier to control.Work as activity When column 9 is in raised configuration, under the action of intermediate sleeve reset spring 44, intermediate sleeve 28 is being limited far from limited block 26 Under the action of block reset spring 29, limited block 26 stretches out outside side through-hole 25；When needing that service sleeve is fixed, intermediate sleeve Cylinder driving device drives intermediate sleeve 28 to decline, and the lower edge of intermediate sleeve 28 pushes limited block 26, and limited block 26 is to lower swing To be retracted into installation cavity 24, the limited block 26 being retracted into installation cavity 24 no longer has barrier effect to limit plate 23, because This portable pillar 9 can free-falling, the portable pillar 9 of free-falling can tap service sleeve, so that service sleeve be fixed, this Kind limited block driving device realizes automatic trigger, convenient for control.

The lower end of portable pillar 9, which is equipped with, taps contact 51.It is realized using the effect of percussion contact 51 and service sleeve to pre-buried The percussion of casing, tapping contact 51 can be made of rubber, plastics elastomeric material, softer to the effect of service sleeve, keep away Exempt from that service sleeve is caused to damage.Tapping contact 51 can also be individually replaced, convenient for safeguarding.

Referring to Fig.1 0, service sleeve pick-and-place manipulator 8 includes clamping jaw driving device 33 and can drive in clamping jaw driving device 33 Make two clamping jaws 34 of lower opposite folding being arranged in pairs.Clamping jaw driving device 33 is two-way cylinder, two clamping jaws in the present embodiment 34 are separately mounted on the two-piston bar of two-way cylinder.Certain clamping jaw driving device 33 can also be two-way cylinder or other machinery Device.Clamping jaw 34 opposite under the driving of clamping jaw driving device 33 can merge and open relatively, to realize taking for service sleeve It puts, this service sleeve pick-and-place manipulator 8 is simple and reliable.Certain service sleeve pick-and-place manipulator 8 can also be using other knots Configuration formula, such as using the bionic mechanical hand of simulation manpower.Clamping jaw 34 includes outrigger 35, is equipped with top on outrigger 35 Fixture block 36 is connected with down on outrigger 35 and stretches connecting rod 37, and top fixture block 36 is equipped with for clamping service sleeve upper end V-type clip slot 38, under stretch the lower end of connecting rod 37 and be equipped with and itself be formed by bending lower hook for clamping service sleeve lower end Pawl 39.When two 34 opposite merging of clamping jaw, two top fixture blocks 36, two lower part hooks 39 can be relatively close, and two V-type clip slots 38 are clamped The upper end of service sleeve, two lower part hooks 39 clamp the lower end of service sleeve, more stable to the clamping of service sleeve.It removes The outer clamping jaw 34 of the present embodiment can also use other structures form.

To sum up aforementioned, the utility model is not limited to above-mentioned specific embodiment.Those skilled in the art are not departing from this reality Under the premise of with novel spirit and scope, several change and modification can be done, it is practical new that all these variations should all fall into this The protection scope of type.

Claims (10)

1. a kind of track plates production service sleeve Zai Zhi robot, including rack (1), the lower part of rack (1) are equipped with track plates Mold placement space (2), it is characterized in that the position installation being located above railway plate die placement space (2) in the rack (1) Have can under the driving of stringer driving device side-to-side movement stringer (3), stringer (3) extends along the longitudinal direction, and stringer is pacified on (3) Equipped with the hanger (4) that can be moved forward and backward, hanger (4) is equipped with service sleeve feeding bracket (5), and stringer is equipped on (3) The cantilever (6) that can be moved forward and backward under the driving of cantilever drive device, being equipped between hanger (4) and cantilever (6) can be by the two The boom locking device of opposite locking；Cantilever (6) is equipped at least a set of corresponding service sleeve rapid fixing up and down (7), service sleeve pick-and-place manipulator (8)；Service sleeve rapid fixing (7) include be mounted on cantilever (6) can be upper and lower The portable pillar (9) of movement, portable pillar (9), which is equipped with, taps contact (51), and cantilever (6) is equipped with for promoting portable pillar (9) Portable pillar lifting device, work can be limited when portable pillar (9) rises to setting height by being equipped between cantilever (6) and portable pillar (9) The portable pillar limiting device of dynamic column (9) whereabouts, portable pillar (9) whereabouts that can leave after lifting restrictions.

2. track plates production according to claim 1 service sleeve Zai Zhi robot, it is characterized in that the stringer (3) wraps The backbar (11) that two front and backs that left and right is oppositely arranged extend is included, hanger (4) includes two suspension arms that left and right is oppositely arranged (13) and by two suspension arms (13) lower part the hanger ontology (12) being linked together, the upper end of two suspension arms (13) is respectively slided It is connected on a backbar (11), forms the channel for passing through before and after cantilever (6) between two suspension arms (13), cantilever (6) is located at Between two backbars (11), cantilever (6) is slidably connected on a backbar (11) wherein.

3. track plates production according to claim 2 service sleeve Zai Zhi robot, it is characterized in that the stringer (3) Wherein the inside of a backbar (11) is equipped with the sliding rail (14) that front and back extends, and is correspondingly arranged on cantilever (6) and transports with sliding rail (14) The sliding slot (15) of dynamic cooperation, cantilever drive device include the rack gear (16) being located on the backbar (11), and cantilever (6) is equipped with solid Determine support (17), the gear (19) that driving motor (18) is equipped on hold-down support (17) and is driven by driving motor (18), Gu The gear (19) determined on support (17) is meshed with the rack gear (16) on backbar (11).

4. track plates production according to claim 2 service sleeve Zai Zhi robot, it is characterized in that the boom locks Device includes the hold-down support (17) being located on cantilever (6) and the corresponding servo-actuated support being located on suspension arm (13) (20), hold-down support (17) is equipped with slot (21), and what servo-actuated support (20) were equipped with can side-to-side movement and to the left or to the right Movement can be plugged into the inserting column (22) in slot (21), and servo-actuated support (20), which are equipped with, can drive inserting for inserting column (22) side-to-side movement Column driving device.

5. track plates production according to claim 1 service sleeve Zai Zhi robot, it is characterized in that the portable pillar limits Position device includes the limit plate (23) being connected on cantilever (6), and limit plate (23) is equipped with through-hole, and portable pillar (9) passes through limit Through-hole on plate (23), portable pillar (9) are hollow structure, and the inside of portable pillar (9) is equipped with installation cavity (24), portable pillar (9) Side is equipped with the side through-hole (25) of connection installation cavity (24), is equipped at least one extended side through-hole in installation cavity (24) (25) limited block (26) on the upside of limit plate (23) to prevent portable pillar (9) from falling is stuck in after, being equipped in installation cavity (24) can drive The limited block driving device for extending and retracting limited block (26).

6. track plates production according to claim 5 service sleeve Zai Zhi robot, it is characterized in that the installation cavity (24) inner prop (27) for stretching to top is equipped in, what the limited block (26) can swing up and down is hinged on inner prop (27), works as limit Position block (26) swings upwards into when set angle extended side through-hole (25) outside；The limited block driving device includes being sleeved on The intermediate sleeve (28) of the upper end of inner prop (27) and can drive intermediate sleeve (28) move downward to make limited block (26) contract The intermediate sleeve driving device returned, being equipped between inner prop (27) and intermediate sleeve (28) can be such that intermediate sleeve (28) moves upwards Intermediate sleeve reset spring (44) connects between limited block (26) and inner prop (27) or between limited block (26) and limited block (26) There is the limited block reset spring (29) that limited block (26) can be driven to be swung up, the upper end of portable pillar (9) is equipped with connection installation cavity (24) upper intercommunicating pore (30), the intermediate sleeve driving device include extending into installation cavity (24) across upper intercommunicating pore (30) And lifting rod (31) that can be up and down relative to portable pillar (9), the lower end of lifting rod (31) be equipped with when lifting rod (31) to The roof of installation cavity (24) be may act on when upper movement to be lifted up portable pillar (9), when lifting rod (31) moves downward When the block (32) that intermediate sleeve (28) can be pushed, lifting rod (31) drive by portable pillar lifting device.

7. track plates production according to claim 1 service sleeve Zai Zhi robot, it is characterized in that the service sleeve Pick-and-place manipulator (8) includes clamping jaw driving device (33) and can drive setting in pairs for lower opposite folding in clamping jaw driving device (33) Two clamping jaws (34) set.

8. track plates production according to claim 7 service sleeve Zai Zhi robot, it is characterized in that the clamping jaw (34) It including outrigger (35), is equipped on outrigger (35) top fixture block (36), is connected with down on outrigger (35) and stretches company Extension bar (37), top fixture block (36) are equipped with V-type clip slot (38) for clamping service sleeve upper end, under stretch connecting rod (37) Lower end be equipped with and itself be formed by bending lower part hook (39) for clamping service sleeve lower end.

9. according to claim 1 to the service sleeve Zai Zhi robot of track plates production described in any one of 8 claims, It is characterized in that the cantilever (6) includes upper linking arm (45), lower linking arm (46), upper linking arm (45) is hollow structure, lower connection The top of arm (46), which can slide up and down, to be inserted into the inner cavity of linking arm (45), and upper linking arm (45) is equipped with and can drive down The lower linking arm driving device that linking arm (46) moves up and down, the service sleeve rapid fixing (7) are mounted on connection On arm (45), the service sleeve pick-and-place manipulator (8) is mounted on lower linking arm (46).

10. according to claim 1 to the service sleeve Zai Zhi robot of track plates production described in any one of 8 claims, It is characterized in that have can be under the driving of intermediate attachment base driving device in side-to-side movement for the lower installed in front of the hanger (4) Between attachment base (41), the installed in front of intermediate attachment base (41) have can under the driving of preceding mounting base driving device vertical motion Preceding mounting base (43), the service sleeve feeding bracket (5) are connected on preceding mounting base (43).