CN210282295U - Section bar colludes gets arm - Google Patents
Section bar colludes gets arm Download PDFInfo
- Publication number
- CN210282295U CN210282295U CN201921168745.3U CN201921168745U CN210282295U CN 210282295 U CN210282295 U CN 210282295U CN 201921168745 U CN201921168745 U CN 201921168745U CN 210282295 U CN210282295 U CN 210282295U
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- Prior art keywords
- rack
- manipulator
- driving gear
- finger
- vertical
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000009467 reduction Effects 0.000 claims description 16
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 15
- 239000011701 zinc Substances 0.000 description 15
- 229910052725 zinc Inorganic materials 0.000 description 15
- 239000000463 material Substances 0.000 description 11
- 239000007788 liquid Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005246 galvanizing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model discloses a section bar hooking mechanical arm, which comprises a frame, wherein a horizontal power driving motor and a vertical power driving motor are fixedly arranged on the frame; the horizontal power driving motor is connected with a first transmission mechanism, the first transmission mechanism is connected with a first driving gear, and the first driving gear is in meshing transmission with the horizontal rack; the vertical power driving motor is connected with a second transmission mechanism, the second transmission mechanism is connected with a second driving gear, and the second driving gear is in meshing transmission with the vertical rack; the lower end of the vertical rack is connected with the manipulator, the manipulator comprises a fixed finger and a movable finger which are fixed on the vertical rack, the movable finger is connected with the manipulator rotating mechanism, and the bottom end of the movable finger is provided with a hook rod.
Description
Technical Field
The present disclosure relates to a profile hooking mechanical arm.
Background
In the hot galvanizing process of the section bar, the section bar needs to be heated in a zinc pool, soaked in zinc liquid for a certain time and then taken out. The existing sectional material taking-out equipment is wheel type taking-out equipment, namely, the equipment is provided with a large wheel, one part of the wheel is soaked in zinc liquid, the sectional material is hung on the wheel, the wheel rotates at a certain speed to complete the galvanizing process, the wheel rotates to a certain angle, and the sectional material is automatically taken out through a mechanical linkage mechanism.
The taking-out equipment has large volume, large diameter of wheels and heavy weight, and a part of the equipment is soaked in high-temperature zinc liquid for a long time, so that the failure rate is high. And the method has certain requirements on the width of the zinc pool, and is not suitable for the zinc pool with smaller width.
The truss mechanical arm is a rectangular coordinate mechanical arm, is suitable for mechanical arms with working positions arranged in rows or conveyed, can be stretched, moved left and right and moved up and down, and can linearly move in two directions in a rectangular coordinate form X, Y. However, the truss mechanical arm has the disadvantages of small operation range and slow movement speed.
SUMMERY OF THE UTILITY MODEL
The purpose of the present disclosure is to overcome the above-mentioned deficiencies of the prior art, and to provide a profile hooking mechanical arm; the mechanical arm can quickly and accurately take out the sectional material from the zinc pool, and the mechanical arm does not need to be soaked in the zinc pool for a long time, so that the reliability of equipment is higher.
The utility model aims at providing a section bar colludes gets arm, for realizing above-mentioned purpose, this disclosure adopts following technical scheme:
a section bar hooking mechanical arm comprises a rack, wherein a horizontal power driving motor and a vertical power driving motor are fixedly arranged on the rack; the horizontal power driving motor is connected with a first transmission mechanism, the first transmission mechanism is connected with a first driving gear, and the first driving gear is in meshing transmission with the horizontal rack; the vertical power driving motor is connected with a second transmission mechanism, the second transmission mechanism is connected with a second driving gear, and the second driving gear is in meshing transmission with the vertical rack; the lower end of the vertical rack is connected with the manipulator, the manipulator comprises a fixed finger and a movable finger which are fixed on the vertical rack, the movable finger is connected with the manipulator rotating mechanism, and the bottom end of the movable finger is provided with a hook rod.
As a further technical scheme, the bottom of the rack is fixedly connected with a first sliding block, the first sliding block is connected with a first linear sliding rail which is horizontally arranged, and the first linear sliding rail is parallel to the horizontal rack.
As a further technical scheme, the first transmission mechanism comprises a first reduction gear set, the first reduction gear set is connected with a first power main shaft, and two ends of the first power main shaft are fixedly connected with the first driving gear.
As a further technical scheme, the second transmission mechanism comprises a second reduction gear set, the second reduction gear set is connected with a second power main shaft, two ends of the second power main shaft are fixedly connected with a driving chain wheel, the driving chain wheel is connected with a driven chain wheel through a chain, and the driven chain wheel is coaxially and fixedly connected with a second driving gear.
As a further technical scheme, the vertical rack is fixedly connected with the second sliding block, the second sliding block is connected with a second linear sliding rail which is vertically arranged, the second linear sliding rail is fixedly connected with the rack, and the second linear sliding rail is parallel to the vertical rack.
As a further technical scheme, the fixed fingers and the movable fingers are of rod-shaped structures, the fixed fingers and the movable fingers are vertically arranged, and a set gap is formed between the fixed fingers and the movable fingers.
As a further technical scheme, the movable finger and the hook rod are connected into an L-shaped structure.
The beneficial effect of this disclosure does:
the mechanical arm disclosed by the invention can hook or put down the sectional material through the matching of the fixed fingers and the movable fingers in the mechanical arm, so that the sectional material is driven by the transmission mechanism and the gear rack in the horizontal direction and the vertical direction to put in or take out the zinc pool, the whole mechanical arm is fixed above the zinc pool, the mechanical arm does not need to be soaked in the zinc liquid of the zinc pool for a long time, and the reliability of the equipment is higher.
The mechanical arm disclosed by the invention can be used for rapidly and accurately placing or taking out the section bar from the zinc pool through the matching of the transmission mechanism, the gear rack and the mechanical arm, and the operation range is wider.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of an overall structure of a robot arm disclosed in one embodiment;
FIG. 2 is a schematic view of the arrangement of the transmission mechanism and the robot in the vertical direction;
in the figure, 1 a first driving gear, 2 shafts of mounting brackets, 3 horizontal racks, 4 vertical power driving motors, 5 vertical power driving motor mounting brackets, 6 a first reduction gear, 7 a horizontal power driving motor mounting bracket, 8 a first power spindle, 9 a horizontal power driving motor, 10 shafts of mounting brackets, 11 a first driving gear, 12 a horizontal rack, 13 shafts of mounting brackets, 14 shafts of mounting brackets, 15 driving sprockets, 16 frames, 17 a first linear slide rail, 18 a first slide block, 19 a second reduction gear, 20 a second power spindle, 21 a first linear slide rail, 22 a first slide block, 23 driving sprockets, 24 manipulators, 25 manipulators, 26 manipulator rotating mechanisms, 27 a second linear slide rail, 28 rotating mechanism mounting brackets, 29 manipulator mounting brackets, 30 vertical racks, 31 a second linear slide rail, 32 manipulator rotating mechanisms, 33 rotating mechanisms, 34 manipulator fixing frame, 35 driven shaft, 36 second slider, 37 movable finger, 38 vertical rack, 39 manipulator shaft mounting bracket, 40 chain, 41 second driving gear, 42 driven shaft, 43 driven chain wheel, 44 fixed finger, 45 movable finger, 46 second slider, 47 finger mounting bracket, 48 chain, 49 driven chain wheel, 50 second driving gear, 51 manipulator shaft mounting bracket, 52 finger mounting bracket, 53 fixed finger, 54 hook rod and 55 hook rod.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.
As introduced in the background art, the inventor finds that the existing profile taking-out equipment is large in size, a part of the existing profile taking-out equipment is soaked in high-temperature zinc liquid for a long time, and the fault rate is high.
The application provides a section bar hooking mechanical arm which comprises a rack, wherein a horizontal power driving motor and a vertical power driving motor are fixedly arranged on the rack; the horizontal power driving motor is connected with a first transmission mechanism, the first transmission mechanism is connected with a first driving gear, and the first driving gear is in meshing transmission with the horizontal rack; the vertical power driving motor is connected with a second transmission mechanism, the second transmission mechanism is connected with a second driving gear, and the second driving gear is in meshing transmission with the vertical rack; the lower end of the vertical rack is connected with the manipulator, the manipulator comprises a fixed finger and a movable finger which are fixed on the vertical rack, the movable finger is connected with the manipulator rotating mechanism, the bottom end of the movable finger is provided with a hook rod, the hook rod is horizontally arranged, and the movable finger and the hook rod are connected into an L-shaped structure.
Example 1
The mechanical arm disclosed in the present embodiment is further described with reference to fig. 1-2;
referring to fig. 1-2, a profile hooking robot includes a frame 16, and two sliding blocks are disposed below the frame 16: the first slider 18, the first slider 22, respectively, set up four axle installing supports in the top of frame 16: be axle installing support 2, axle installing support 10, axle installing support 13, axle installing support 14 respectively, the 16 tops of frame still set up two power installation supports: respectively a horizontal power driving motor mounting bracket 7 and a vertical power driving motor mounting bracket 5.
A first linear sliding rail 17 arranged in the horizontal direction is arranged below the first sliding block 18, a first linear sliding rail 21 arranged in the horizontal direction is arranged below the first sliding block 22, the first linear sliding rail 17 and the first linear sliding rail 21 are arranged on two sides below the rack 16 in parallel, and the two first sliding blocks can move linearly on the two linear sliding rails simultaneously.
The shaft mounting bracket 2 and the shaft mounting bracket 10 are connected with the first power main shaft 8 through bearings, and the shaft mounting bracket 13 and the shaft mounting bracket 14 are connected with the second power main shaft 20 through bearings.
The two ends of the first power main shaft 8 are respectively provided with a first driving gear 1 and a first driving gear 11, the middle of the first power main shaft 8 is provided with a first reduction gear 6, the first reduction gear 6 is in meshing transmission with a pinion, the pinion is connected with an output shaft of a horizontal power driving motor 9, and the horizontal power driving motor 9 is fixed on a rack 16 through a horizontal power driving motor mounting bracket 7. The first reduction gear 6 and the pinion constitute a first reduction gear set.
The horizontal rack 3 arranged in the horizontal direction is fixedly arranged below the first driving gear 1, the horizontal rack 12 arranged in the horizontal direction is fixedly arranged below the first driving gear 11, the horizontal rack 3 and the horizontal rack 12 are arranged in parallel, and the horizontal rack 3 and the horizontal rack 12 are also parallel to the first linear sliding rail 17 and the first linear sliding rail 21.
Two ends of a second power main shaft 20 are respectively provided with a driving chain wheel 15 and a driving chain wheel 23, a second reduction gear 19 is arranged in the middle of the second power main shaft 20, the second reduction gear 19 is in meshing transmission with a pinion, the pinion is connected with an output shaft of a vertical power driving motor 4, and the vertical power driving motor 4 is fixed on a frame 16 through a vertical power driving motor mounting bracket 5. The second reduction gear 19 and the pinion constitute a second reduction gear set.
A driven sprocket 43 is mounted below the driving sprocket 15, the driving sprocket 15 and the driven sprocket 43 are connected through a chain 40, a second driving gear 41 is mounted on one side of the driven sprocket 43, a driven sprocket 49 is mounted below the driving sprocket 23, the driving sprocket 23 and the driven sprocket 49 are connected through a chain 48, and a second driving gear 50 is mounted on one side of the driven sprocket 49.
The driven chain wheel 43 and the second driving gear 41 are fixedly arranged on a driven shaft 42, and the driven shaft 42 is arranged on the rack 16 through a mechanical arm shaft mounting bracket 39; the driven sprocket 49 and the second drive gear 50 are fixedly mounted on the driven shaft 35, and the driven shaft 35 is mounted on the frame 16 through a robot shaft mounting bracket 51.
The second driving gear 41 is meshed with the vertical rack 38 which is vertically arranged, the second driving gear 50 is meshed with the vertical rack 30 which is vertically arranged, the vertical rack 38 and the vertical rack 30 are arranged in parallel, and the vertical rack 38 and the vertical rack 30 are perpendicular to the horizontal rack 3 and the horizontal rack 12.
The vertical rack 38 is connected with a second linear slide rail 27 which is vertically arranged through a second slide block 46, and the second slide block 46 can slide up and down on the second linear slide rail 27; the vertical rack 30 is connected with a second linear slide rail 31 which is vertically arranged through a second slide block 36, and the second slide block 36 can slide up and down on the second linear slide rail 31. The second linear slide rail 27 and the second linear slide rail 31 are arranged in parallel, and the second linear slide rail 27 and the second linear slide rail 31 are parallel to the vertical rack 38 and the vertical rack 30. The second linear slide 27 is mounted on the frame 16 via a robot mount 29, and the second linear slide 31 is mounted on the frame 16 via a robot mount 34.
The lower end of the vertical rack 38 is connected to the robot 24, and the lower end of the vertical rack 30 is connected to the robot 25.
The manipulator 24 and the manipulator 25 have the same structure, the manipulator 24 is composed of a fixed finger 44 and a movable finger 45, and the manipulator 25 is composed of a fixed finger 53 and a movable finger 37.
The fixed finger 44, the fixed finger 53, the movable finger 45 and the movable finger 37 are all rod-shaped structures, the fixed finger 44, the fixed finger 53, the movable finger 45 and the movable finger 37 are all vertically arranged, the fixed finger 44, the fixed finger 53, the movable finger 45 and the movable finger 37 are parallel to each other, a set gap is formed between the fixed finger 44 and the movable finger 45, and the bottom ends of the fixed finger 44 and the movable finger 45 are parallel and level; the fixed finger 53 and the movable finger 37 have a set gap therebetween.
The bottom end of the movable finger 45 is provided with a hook rod 55, the hook rod 55 is horizontally arranged, and the movable finger 45 and the hook rod 55 are connected into an L-shaped structure. The bottom end of the movable finger 37 is provided with a hook rod 54, the hook rod 54 is horizontally arranged, and the movable finger 37 and the hook rod 54 are connected into an L-shaped structure.
Fixed finger 44 is fixedly connected to vertical rack 38 via finger mount 47, and fixed finger 53 is fixedly connected to vertical rack 30 via finger mount 52.
The movable finger 45 passes through a hole on the finger mounting frame 47, the movable finger 45 is movably connected with the finger mounting frame 47, and the movable finger 45 can rotate. The movable finger 37 passes through the hole on the finger mounting frame 52, the movable finger 37 is movably connected with the finger mounting frame 52, and the movable finger 37 can rotate.
The upper end of the movable finger 45 is provided with a manipulator rotating mechanism 26, and the manipulator rotating mechanism 26 is connected with the vertical rack 38 through a rotating mechanism mounting frame 28; the upper end of the movable finger 37 is provided with a manipulator rotating mechanism 32, and the manipulator rotating mechanism 32 is connected with the vertical rack 30 through a rotating mechanism mounting frame 33. The manipulator rotating mechanism 26 and the manipulator rotating mechanism 32 adopt the existing rotating air cylinders, are pneumatically controlled, and can enable the movable fingers to rotate 90 degrees quickly.
The working principle of the mechanical arm disclosed by the invention is as follows:
the rotation of the horizontal power driving motor 9 drives the first power main shaft 8 to rotate, the rotation of the first power main shaft 8 drives the first driving gear 1 and the first driving gear 11 to rotate, and further drives the rack 16 to rapidly and horizontally move on the horizontal rack 3 and the horizontal rack 12. The first slide block 18 and the first slide block 22 under the frame 16 move on the first linear slide rail 17 and the first linear slide rail 21 respectively to guide the frame 16.
The rotation of the vertical power driving motor 4 drives the second power main shaft 20 to rotate, the rotation of the second power main shaft 20 drives the driving chain wheel 15 and the driving chain wheel 23 to rotate, and further drives the driven chain wheel 43 and the driven chain wheel 49 to rotate, the driven chain wheel 43 rotates to drive the second driving gear 41 to rotate, and the driven chain wheel 49 rotates to drive the second driving gear 50 to rotate; the rotation of the second driving gear 41 drives the vertical rack 38 to move up and down, and the rotation of the second driving gear 50 drives the vertical rack 30 to move up and down, thereby driving the manipulators 24 and 25 to move up and down.
The rotation of the manipulator rotating mechanism 26 drives the movable finger 45 to rotate, and the hook rod 55 at the bottom of the movable finger 45 is attached to or separated from the fixed finger 44, so that the opening and closing actions of the manipulator 24 are completed. The rotation of the manipulator rotating mechanism 32 drives the movable finger 37 to rotate, and the hook rod 54 at the bottom of the movable finger 37 is attached to or separated from the fixed finger 53, so that the opening and closing actions of the manipulator 25 are completed. The manipulator 24 and the manipulator 25 can be opened and closed to hold or put down the section.
When the sectional material needs to be taken out, the rack 16 is driven by the horizontal power driving motor 9 to be rapidly and horizontally moved to the position above the sectional material on the horizontal rack 3 and the horizontal rack 12, the mechanical arm 24 and the mechanical arm 25 are driven by the vertical power driving motor 4 to be rapidly lowered to the position of the sectional material in the zinc pool, the movable finger 45 and the movable finger 37 are driven by the mechanical arm rotating mechanism 26 and the mechanical arm rotating mechanism 32 to rotate, so that the mechanical arm 24 and the mechanical arm 25 are closed to grasp the sectional material, then the mechanical arm 24 and the mechanical arm 25 are driven by the vertical power driving motor 4 to be rapidly lifted, and the sectional material is taken.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A section bar hooking mechanical arm is characterized by comprising a rack, wherein a horizontal power driving motor and a vertical power driving motor are fixedly arranged on the rack; the horizontal power driving motor is connected with a first transmission mechanism, the first transmission mechanism is connected with a first driving gear, and the first driving gear is in meshing transmission with the horizontal rack; the vertical power driving motor is connected with a second transmission mechanism, the second transmission mechanism is connected with a second driving gear, and the second driving gear is in meshing transmission with the vertical rack; the lower end of the vertical rack is connected with the manipulator, the manipulator comprises a fixed finger and a movable finger which are fixed on the vertical rack, the movable finger is connected with the manipulator rotating mechanism, and the bottom end of the movable finger is provided with a hook rod.
2. A profile hooking manipulator as claimed in claim 1, wherein the base of the frame is fixedly connected to a first slide block, the first slide block is connected to a first linear rail disposed horizontally, and the first linear rail and the horizontal rack are parallel to each other.
3. A profile hooking mechanical arm as claimed in claim 1, wherein the first transmission mechanism includes a first reduction gear set connected to a first power main shaft, and both ends of the first power main shaft are fixedly connected to the first driving gear.
4. A profile hooking mechanical arm as claimed in claim 1, wherein the second transmission mechanism includes a second reduction gear set connected to a second power spindle, both ends of the second power spindle are fixedly connected to a driving sprocket, the driving sprocket is connected to a driven sprocket through a chain, and the driven sprocket is coaxially and fixedly connected to the second driving gear.
5. A profile hooking manipulator as claimed in claim 1, in which the vertical rack is fixedly connected to a second slider block which is connected to a second linear slide rail arranged vertically and fixedly connected to the frame, the second linear slide rail and the vertical rack being parallel to each other.
6. A profile hooking robot as claimed in claim 1, wherein the fixed fingers and the movable fingers are rod-like structures, the fixed fingers and the movable fingers are vertically arranged, and a set gap is provided between the fixed fingers and the movable fingers.
7. A profile catching robot as claimed in claim 6 wherein the movable fingers and the hooking rod are connected in an L-shaped configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921168745.3U CN210282295U (en) | 2019-07-23 | 2019-07-23 | Section bar colludes gets arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921168745.3U CN210282295U (en) | 2019-07-23 | 2019-07-23 | Section bar colludes gets arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210282295U true CN210282295U (en) | 2020-04-10 |
Family
ID=70104079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921168745.3U Expired - Fee Related CN210282295U (en) | 2019-07-23 | 2019-07-23 | Section bar colludes gets arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210282295U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113415623A (en) * | 2021-07-06 | 2021-09-21 | 上海方仓智能科技有限公司 | Storage robot colludes device |
-
2019
- 2019-07-23 CN CN201921168745.3U patent/CN210282295U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113415623A (en) * | 2021-07-06 | 2021-09-21 | 上海方仓智能科技有限公司 | Storage robot colludes device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |