CN105563456B - A kind of vertical section bar monorail traction robot - Google Patents
A kind of vertical section bar monorail traction robot Download PDFInfo
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- CN105563456B CN105563456B CN201610137932.XA CN201610137932A CN105563456B CN 105563456 B CN105563456 B CN 105563456B CN 201610137932 A CN201610137932 A CN 201610137932A CN 105563456 B CN105563456 B CN 105563456B
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- clamping plate
- support body
- section bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The present invention provides a kind of vertical section bar monorail traction robot, including vertical walking track, the mechanical arm for clamping traction section bar, transmission mechanism, drive mechanism and controlling organization for being connected with transmission mechanism；The mechanical arm is buckled on the side of vertical walking track, and is slidably connected with the side of vertical walking track, realizes that mechanical arm is suspended on the vertical side for walking track and carries out walking movement；Transmission mechanism is the transmission device two on the transmission device one and vertical walking track being separately positioned on mechanical arm；Controlling organization is connected with drive mechanism and mechanical arm signal respectively.The present invention is not only operated flexibly using mechanical arm as the executing agency that section bar is drawn, and is easy to control.Meanwhile the present invention can not only reduce floor space, so as to reduce production cost；And it is not influenceed by state of ground, can effectively solve the problems, such as because ground injustice leads to not the linearity and glacing flatness for ensureing that section bar is drawn, so as to improve the quality of section bar traction processing.
Description
Technical field
The present invention relates to metal working technical area, and machine is drawn more specifically to a kind of vertical section bar monorail
People.
Background technology
In the processing technology that extruded metal profile pulls out shaping, specific production process is：Shape is through extruder
After extruding, discharge hole for discharge of the manufactured aluminium section bar from extruder.Outfeed platforms are provided with front of shape discharging opening, are being discharged
Cutting machine or other process equipments are installed between platform and discharging opening.In discharging, in order to prevent shape from distorting, in gold
Genotype material needs fixture and draws it and walked along guide rail after being come out by mould mouth.
Shape is manually drawn in the use of traditional mode of operation, after reaching specific length, by cutting for discharging opening
Cutting mill is sawed-off.Not only operating efficiency is low for this Traditional Man mode of traction, and security performance is low, it is difficult to ensures the safety of personnel
Operation.
At present, although also there are some section bar pulling equipments to replace artificial traction, the pulling equipment is by shape
Material head is drawn toward the outside of mould, so as to produce the shape of strip.However, there is following lack in existing pulling equipment
Point：
1st, existing pulling equipment is complicated and horizontal lie on ground causes area occupied big, so as to cause equipment
Manufacturing cost is high, also increases the production cost of section bar.
2nd, existing pulling equipment is due to using the horizontal structure lain on ground, therefore easily by state of ground
Influence, so as to be difficult to ensure that the linearity and glacing flatness of mechanical arm walking.
3rd, the fixture poor universality that existing pulling equipment carries.Due to the section bar size specification disunity of production, the folder
Tool, which is only capable of being applicable a kind of section bar of caliber specification, to be clamped, and needs to change fixture for various sizes of shape, so that
Cause not strong versatility, clamping effect difference and cost high.
4th, existing pulling equipment realizes the traction of section bar using the trailer wagon of carrying jig mostly, and this fixture adds row
The simple combination very flexible of dolly is walked, the function of walking and clamping can only be realized.
The content of the invention
It is an object of the invention to overcome shortcoming and deficiency of the prior art, there is provided the flexible vertical section bar of one kind operation
Monorail draws robot, and the traction robot can not only reduce floor space, so as to reduce production cost；And it is by ground
The influence of planar condition, can effectively solve the problems, such as because ground injustice leads to not the linearity and glacing flatness for ensureing that section bar is drawn,
So as to improve the quality of section bar traction processing.
In order to achieve the above object, the technical scheme is that：A kind of vertical section bar monorail is led
Draw robot, for being drawn to the section bar of discharging opening；It is characterized in that：Drawn including vertical walking track, for clamping
The mechanical arm of section bar, transmission mechanism, drive mechanism and controlling organization for being connected with transmission mechanism；The mechanical arm is buckled in
On the side of vertical walking track, and it is slidably connected with the side of vertical walking track, realizes that mechanical arm is suspended on vertical walking
The side of track carries out walking movement；The transmission mechanism is the transmission device one and vertical walking being separately positioned on mechanical arm
Transmission device two on track；The controlling organization is connected with drive mechanism and mechanical arm signal respectively.
In such scheme, the present invention is not only operated flexibly using mechanical arm as the executing agency that section bar is drawn, and
It is easy to control.Meanwhile track of walking is vertical structure, and mechanical arm consolidates be arranged on vertical walking rail in a snap-in manner
It is slidably connected on the side in road and with the side of vertical walking track, so as to realize that mechanical arm is flexibly mobile and walks, greatly
Ground extends the traction working space of mechanical arm.Compared with the pulling equipment of horizontal type structure, due to mechanical arm be suspended from it is vertical
The side of walking track, therefore the run trace of mechanical arm is not easily susceptible to the uneven influence of surface relief, the present invention is using machinery
The mode that arm sling is hung can be effectively solved because ground injustice leads to not the linearity and glacing flatness that ensure mechanical arm walking movement
Problem, so as to improve the quality that mechanical arm clamping section is drawn.Meanwhile the walking track uses vertical structure and machinery
Arm can also greatly reduce the space of manipulator motion by the way of vertical walking track is suspended on, and be produced into so as to reduce
This.
The mechanical arm includes being used for vertical walking track buckle and the vertical walking mechanism being slidably connected and for pressing from both sides
Hold the clamping device of section bar；The clamping device is rotatably connected with vertical walking mechanism, realizes clamping device towards vertical walking
Orbital direction is folded or is flared out；The drive mechanism and transmission device one are arranged in vertical walking mechanism.
The clamping device include with vertical walking mechanism rotation connection clamping limb, be connected with clamping limb clamping plate, set
Put the drive device one on clamping limb and the open-close transmission device for driving clamping plate to move；The clamping plate is by clamping plate one and folder
Plate two is formed, and clamping plate one and clamping plate two are respectively sleeved on open-close transmission device；The drive device one and open-close transmission device
Connection, the motion of driving open-close transmission device is realized to drive the folding of clamping plate one and clamping plate two；The clamping plate one is provided with and can turned
Dynamic compressing member；
The compressing member includes the compressed part for being arranged on the framework of clamping plate end face and being connected with framework；The clamping plate one is set
Rotatable compressing member is equipped with to refer to：Compressed part is connected by rotating shaft one with framework, realizes that compressed part is rotatably provided in clamping plate
On one；
Receiving space is provided with the middle part of the framework, compressed part is connected with framework by rotating shaft one and is located at receiving space
Interior, the compression of compressed part faces outwardly.
Clamping plate one of the present invention is provided with rotatable compressing member, therefore the compressing member can be according to different tube diameters or the type of specification
Material carries out flexible modulation, versatile strong with flexibility so as to reach suitable for carrying out firm clamping to the section bar of different size
Effect, without configuring corresponding clamping plate to the section bar of different size, can so substantially reduce production cost.When clamping plate one to
When pushing, compressed part can carry out rotation regulation according to the specification of section bar by rotating shaft one so that the end face of seal face and section bar
With fitting, so that the section bar that the clamping plate is suitable for all size carries out clamping traction, it is versatile.
The clamping plate two is provided with clamping mold, and the end face of clamping mold is provided with some oblique saws along its length
Tooth；Every the tiltedly opposite direction of sawtooth and lead is obliquely installed；
Head part device is provided with the middle part of the clamping mold.
The oblique sawtooth of the present invention is ingenious in design, and the every oblique opposite direction of sawtooth with lead is obliquely installed so that
In section bar distraction procedure, oblique sawtooth plays a part of left-hand thread, so as to greatly increase clamping dynamics, realizes to the firm clamping of section bar
Traction, the crudy of section bar can so be effectively ensured.During work, the head part device can be by the section bar workpiece top of clamping plate traction
Go out, pickup is convenient, efficiently solves section bar pickup difficult problem, is substantially shorter the pickup time, so as to improve processing work
Efficiency.
The open-close transmission device includes rotating shaft two and the screw element one and screw thread that are respectively sleeved in same rotating shaft two
Part two；The clamping plate one and clamping plate two are respectively sleeved on screw element one and screw element two；The screw thread and spiral shell of the screw element one
The screw thread of line part two is respectively right-handed thread and left hand thread；
Also include guide rod, the clamping plate one and clamping plate two are respectively sleeved on guide rod, and pass through guide rod and clamping
Arm connects.The guide rod of the present invention can be used as the effect of clamping plate and clamping limb connector, and also act as clamping plate folding fortune
Dynamic guide effect, so that clamping plate open and close movement is more stable.
The present invention clamping plate one and clamping plate two be provided with screw, both by screw respectively with the spiral shell with right-handed thread
Line part one and screw element two with left hand thread are threadedly coupled.When the drive shaft two of drive device one rotates, due to same
The screw thread rotation of screw element one and screw element two in rotating shaft two is in opposite direction, therefore, respectively with screw element one and screw element two
Open and close movement can be achieved in the clamping plate one and clamping plate two of threaded connection, so as to reach the effect for being clamped and being unclamped to section bar.This
The mode of invention driving clamping plate folding is very flexibly and ingenious, only need to be that clamping plate can be achieved by the screw thread of opposite direction of rotation
It folding, can not only simplify mechanical mechanism, and the effect of fast driving control clamping plate folding can be realized, so as to improve processing work
Efficiency.The screw element one of the present invention and the position of screw element two are interchangeable, as long as both screw thread rotations are in opposite direction
Realize the open and close movement of clamping plate one and clamping plate two.
The vertical walking mechanism includes support body one and the base for being connected with clamping device；Described base one end and frame
Body one is detachably connected, and the other end is connected with clamping device；The bottom of support body one is provided with for being buckled in vertical walking rail
The carriage being slidably connected on the side in road and with vertical walking track side surfaces；
The carriage is several directive wheels for being separately positioned on the bottom of support body one, and directive wheel is symmetrical above and below to be distributed in
The bottom of support body one, directive wheel opposing upper and lower, which is buckled in vertical walking track side surfaces and slided with vertical walking track side surfaces, to be connected
Connect；
Each directive wheel is made up of axle wheel one and the connection of round table-like axle wheel two；It is oppositely oriented up and down round table-like in wheel
Axle wheel two be buckled in it is vertical walking track side on and with it is vertical walking track side be slidably connected, axle wheel one with it is vertical
The side of walking track is slidably connected.
The directive wheel of the present invention can set four, six or eight etc. according to the specification size of support body one, up and down relatively
Directive wheel can buckle it is vertical walking track side surfaces slide rail realize the stabilizing suspended of support body one and be movably walking.The present invention utilizes
The groove slide rail one of relatively round table-like axle wheel two and vertical walking track snaps connection up and down, and it is vertical actually to play clamping up and down
The effect of track, the stabilizing suspended of support body one is realized, and be movably walking using axle wheel one and axle wheel two to realize.Therefore, this hair
Bright support body one realizes that the mode of suspension is very ingenious special, without excessive complicated structure, only needs on round table-like axle wheel two
It lower buckle, can not only ensure the stabilizing suspended of support body one, and ensure the stability in the walking process of support body one.
Present invention additionally comprises the mounting bracket for being arranged on the bottom of support body one, mounting bracket is provided with for positioning to keep support body one
The support wheel of distance between vertical rail；Support wheel is between directive wheel opposing upper and lower.The support wheel of the present invention can rise
Support body a line is avoided to walk the phenomenon of deviation occur to positioning, the support wheel can effectively ensure that between support body one and vertical walking track
Distance, improve the precision of mass motion, the linearity and glacing flatness of manipulator motion can be further ensured that.
The base is provided with the connector for being connected with clamping device, is provided with connector for limiting clamping machine
The locking device of structure opening angle, and for driving the drive device two that clamping device rotates to realize clamping device towards vertical
Orbital direction of walking is folded or opened；The locking device is mechanical lock.Clamping device of the present invention and base are rotatably connected peace
In vertical walking mechanism, in the clamping device course of work, the locking device can limit clamping device open or rotate
Angle so that clamping device turns to fixed angle, so as to improve the quality that clamping device is drawn to section bar.
The vertical walking track includes support body two；The support body two, which is provided with, to be used for and vertical walking mechanism buckle and cunning
The slide rail of dynamic connection, length direction of the slide rail along support body two are arranged on the side of support body two；
The slide rail is the upper slide rail and glidepath symmetrical above and below for being arranged on support body two side faces；The top of the upper slide rail and
The bottom of glidepath be respectively arranged with directive wheel buckle and the slideway one that is slidably connected, slideway one includes being used for and directive wheel
The buckle of axle wheel two and the spill slideway being slidably connected and the straight slideway being slidably connected for the axle wheel one with directive wheel, spill are slided
Road peace straight slideway connects side by side；The opposite face of the upper slide rail and glidepath is provided with the cunning for being slidably connected with support wheel
Road two.
Present invention spill slideway symmetrical above and below is easy to vertical walking mechanism directive wheel opposing upper and lower to snap connection, actual
Play a part of clamping vertical rail up and down, realize the stabilizing suspended of walking mechanism.And straight slideway can improve guiding slipping
Area, improve the speed of slip.
The transmission device two is set along the length direction of support body two, and is intermeshed with transmission device one；
Also include being used to tank chain be installed and ensure the drum apparatus of tank chain movement；The drum apparatus connects with support body two
Connect；
The support body two is provided with the hollow-out parts for mitigating weight.
The support body two of the present invention is provided with several hollow-out parts, is separately positioned on the front and side of support body two, then can be
Ensure that overall structure mitigates the weight of support body two significantly in the case of consolidating, so as to reduce production cost.
Compared with prior art, the invention has the advantages that and beneficial effect：
1st, the executing agency that the present invention vertical section bar monorail traction robot is drawn as section bar using mechanical arm is not only
Operation is flexible, and is easy to control.
2nd, the vertical section bar monorail traction robot of the present invention can not only reduce floor space, so as to reduce production cost；
And it is not influenceed by state of ground, can effectively solve because ground injustice leads to not ensure that the linearity of section bar traction is peaceful
Straight the problem of spending, so as to improve the quality of section bar traction processing.
Brief description of the drawings
Fig. 1 is the structural representation of the vertical section bar monorail traction robot of the present invention；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is the structural representation of clamping device in present invention traction robot；
Fig. 4 is the structural representation of clamping plate one of clamping device in present invention traction robot；
Fig. 5 is the structural representation of clamping plate two of clamping device in present invention traction robot；
Fig. 6 is the structural representation of vertical walking mechanism in present invention traction robot；
Fig. 7 is the side schematic view of vertical walking mechanism in present invention traction robot；
Wherein, 1 for it is vertical walking track, 1.1 be support body, 1.2 be upper slide rail, 1.3 be glidepath, 1.4 be slideway one,
1.5 be that slideway two, 1.6 is that transmission device two, 1.7 is drum apparatus, 1.8 is hollow-out parts, 2 is drive mechanism, 3 is vertical walking
Mechanism, 3.1 be support body one, 3.2 be base, 3.3 be directive wheel, 3.3.1 is axle wheel one, 3.3.2 is that axle wheel two, 3.4 is installation
Frame, 3.5 be support wheel, 3.6 be connector, 3.7 be mechanical lock, 3.8 be that transmission device one, 4 is clamping device, 4.1 is clamping
Arm, 4.2 be clamping plate, 4.2.1 is clamping plate one, 4.2.2 be clamping plate two, 4.3 be drive device one, 4.4 be open-close transmission device,
4.4.1 be rotating shaft two, 4.4.2 be screw element one, 4.4.3 be screw element two, 4.5 be compressing member, 4.5.1 is framework, 4.5.2 is
Compressed part, 4.5.3 are that rotating shaft one, 4.6 is clamping mold, 4.7 is oblique sawtooth, 4.8 is head part device, 4.9 is guide rod, 4.10
It is tumbler for opening, 4.11,4.12 is drive device two.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment one
The vertical section bar monorail traction robot of the present invention, it is for the section bar progress to discharging opening as shown in Fig. 1 to 7
Traction.The traction robot include vertical walking track 1, for clamp the traction mechanical arm of section bar, transmission mechanism, for
The drive mechanism 2 and controlling organization (not shown) of transmission mechanism connection, wherein, mechanical arm is buckled in the side of vertical walking track 1
On face, and it is slidably connected with the side of vertical walking track 1, realizes that mechanical arm is suspended on the side progress of vertical walking track 1
Walking movement；Transmission mechanism is the transmission dress on the transmission device 1 and vertical walking track 1 being separately positioned on mechanical arm
2 1.6 are put, controlling organization is connected with drive mechanism 2 and mechanical arm signal respectively, and transmission device 1 is helical gears.
The mechanical arm of the present invention include being used for the vertical walking buckle of track 1 and the vertical walking mechanism 3 that is slidably connected and
For the clamping device 4 of clamping section, wherein, clamping device 4 is rotatably connected with vertical walking mechanism 3, realizes clamping device 4
Fold or be flared out (left and right directions is folded or opened) towards vertical walking track 1 direction, and drive mechanism 2 and transmission device one
3.8 are arranged in vertical walking mechanism 3.
The clamping device 4 of the present invention includes the clamping limb 4.1 being connected with walking mechanism, the clamping plate being connected with clamping limb 4.1
4.2nd, the pneumatic actuating device 1 and the open-close transmission device for driving clamping plate 4.2 to move being arranged on clamping limb 4.1
4.4, wherein, clamping plate 4.2 is made up of the 4.2.1 of clamping plate one and the 4.2.2 of clamping plate two, and the 4.2.1 of clamping plate one and the 4.2.2 of clamping plate two cover respectively
It is located on open-close transmission device 4.4, drive device 1 is connected with open-close transmission device 4.4, realizes driving open-close transmission device
4.4 motions are to drive the 4.2.1 of clamping plate one and the 4.2.2 of clamping plate two folding, and the 4.2.1 of clamping plate one is provided with rotatable compressing member
4.5。
The compressing member 4.5 of the present invention includes the framework 4.5.1 for being arranged on the 4.2.1 end faces of clamping plate one and connected with framework 4.5.1
The compressed part 4.5.2 connect, wherein, the 4.2.1 of clamping plate one is provided with rotatable compressing member and referred to：It is provided with the middle part of framework 4.5.1
Receiving space, compressed part 5.2 are connected and are located in receiving space with framework 4.5.1 by the 4.5.3 of rotating shaft one, realize compressed part
4.5.2 it is rotatably provided on the 4.2.1 of clamping plate one, and compressed part 4.5.2 compression faces outwardly.The 4.2.2 of clamping plate two of the present invention
Clamping mold 4.6 is provided with, the end face of clamping mold 4.6 is provided with some oblique sawtooth 4.7 along its length.Every is tiltedly sawed
Tooth 4.7 and the opposite direction of lead are obliquely installed.In order to effectively solve the problems, such as section bar pickup difficulty, the clamping mold
4.6 middle part is provided with head part device 4.8.
Two open-close transmission devices 4.4 of the present invention include the 4.4.1 of rotating shaft two and are respectively sleeved at same rotating shaft respectively
The 4.4.2 of screw element one and the 4.4.3 of screw element two on two 4.4.1, wherein, the 4.2.1 of clamping plate one and the 4.2.2 of clamping plate two are arranged respectively
On the 4.4.2 of screw element one and the 4.4.3 of screw element two.In order to can control the open and close movement of clamping plate, screw element one of the invention
4.4.2 screw thread is left hand thread, and the 4.4.3 of screw element two screw thread is right-handed thread.Present invention additionally comprises guide rod 4.9, folder
The 4.2.1 of plate one and the 4.2.2 of clamping plate two are respectively sleeved on guide rod 4.9, and are connected by guide rod 4.9 with clamping limb 4.1.
The vertical walking mechanism 3 of the present invention includes support body 1 and the base 3.2 for being connected with clamping device 4；The base
3.2 one end are detachably connected with support body 1, and the other end is connected with clamping device 4, and the bottom of support body 1 is provided with for blocking
The carriage for being buckled on the side of vertical walking track 1 and being slidably connected with vertical walking track 1 side；
The carriage of the present invention is the directive wheel 3.3 for being separately positioned on the vertex of one 3.1 bottom of support body four, on the same side
Relative directive wheel 3.3 is used to be buckled on vertical walking track 1 side and is slidably connected with vertical walking track 1 side down.
Directive wheel 3.3, which is arranged on support body 3.1 bottom four vertex, can ensure the degree of balance of the suspension walking of support body 3.1.Specifically, often
Individual directive wheel 3.3 is connected with the round table-like 3.3.2 of axle wheel two by the 3.3.1 of axle wheel one and formed, wherein, circle in each directive wheel 3.3
The 3.3.2 of axle wheel two of mesa-shaped is used to be buckled on vertical walking track 1 side and is slidably connected with vertical walking track 1 side,
The 3.3.1 of axle wheel one is used to be slidably connected with vertical walking track 1 side.In order to be further ensured that the linearity of manipulator motion and
Glacing flatness, present invention additionally comprises the mounting bracket 3.4 for being arranged on the bottom of support body 1, mounting bracket 3.4 is provided with for positioning to protect
Four support wheels 3.5 of distance between support body 1 and vertical walking track 1 are held, wherein, each two support wheel 3.5 is positioned at same
Between the directive wheel 3.3 opposing upper and lower of side.
The other end of base 3.2 of the present invention is provided with the connector 3.6 for connecting clamping device 4, is set on connector 3.6
There are the mechanical lock 3.7 for limiting the opening angle of clamping limb 4.1, and the drive device two for driving clamping device 4 to rotate
4.12 to realize that clamping device 4 is folded or opened towards vertical walking track 1 direction；The locking device is mechanical lock 3.7.The machinery
Lock 3.7 can limit the angle that clamping limb 4.1 opens or rotated so that clamping limb 4.1 turns to fixed angle, so as to improve clamping
The quality that arm 4.1 is drawn to section bar.The one end of clamping limb 4.1 away from clamping plate 4.2 of the present invention is provided with joint position, and joint position is with standing
Formula walking mechanism 3 is rotatably connected.Specifically, the joint position includes the He of opening 4.10 for Holding seat connector 3.6
For realizing joint position and the tumbler 4.11 of vertical walking mechanism 3 rotation connection.During installation, the vertical walking of the clamping of opening 4.10
The connector 3.6 of the base of mechanism 3, then be connected by tumbler 4.11 through opening 4.10 and with connector 3.6, realize clamping limb
4.1 with the connection of vertical walking mechanism 3.
The drive mechanism 2 of the present invention is arranged on support body 1, and transmission device 1 is to be arranged on the bottom of support body 1
Gear, for it is vertical walking track 1 on transmission device 2 1.6 (rack) engage.The gear of the present invention is helical teeth cylinder
Gear, for being engaged with the diagonal-cut rack on vertical walking track 1.The present invention is engaged using helical gears with diagonal-cut rack
Mode can not only improve the registration of meshing characteristic and tooth, so as to improve transmission efficiency；And it can further improve vertical row
Walk the stationarity of the movement of mechanism 3.
The vertical walking track 1 of the present invention includes support body 2 1.1, and support body 2 1.1 is provided with for blocking with vertical walking mechanism 3
The slide rail detained and be slidably connected, length direction of the slide rail along support body 2 1.1 are arranged on the side of support body 2 1.1.Wherein, slide rail is
The upper slide rail 1.2 and glidepath 1.3 symmetrical above and below for being arranged on the side of support body 2 1.1, and the top of upper slide rail 1.2 and glidepath
1.3 bottom is separately provided for including with the vertical buckle of walking mechanism 3 and the slideway 1 that is slidably connected, slideway 1
For the 3.3.2 buckles of axle wheel two with directive wheel 3.3 and the spill slideway being slidably connected and for the axle wheel one with directive wheel 3.3
3.3.1 the straight slideway being slidably connected, spill slideway peace straight slideway connect side by side.Present invention spill slideway symmetrical above and below is just
Snapped connection in vertical walking mechanism 3 directive wheel 3.3 opposing upper and lower, actually play the work for clamping vertical walking track 1 up and down
With, the stabilizing suspended of vertical walking mechanism 3 is realized, and straight slideway can improve the area of the slip of directive wheel 3.3, improve slip
Speed.
Meanwhile the opposite face of upper slide rail 1.2 and glidepath 1.3 is provided with the slideway two for being slidably connected with support wheel 3.
1.5.Slideway 25 of the present invention can provide the space of the slip of support wheel 3.5 so that support wheel 3.5 can play positioning and avoid vertical row
Walk mechanism 3 and walk and the phenomenon of deviation occur.Vertical walking track 1 also includes being used for the transmission device one with vertical walking mechanism 3
The transmission device 2 1.6 of 3.8 engagements, the transmission device 2 1.6 set along the length direction of support body 2 1.1 and are diagonal-cut rack.
The vertical walking track 1 of the present invention also includes being used to install tank chain and ensures the drum apparatus 1.7 of tank chain movement,
The drum apparatus 1.7 is connected with support body 2 1.1.Tank chain is used for the effect of protection signal line in manipulator motion, and of the invention
Vertical walking track 1 is provided with the drum apparatus 1.7 for installing tank chain, smooth so as to ensure in long range walking process
Gram chain can be moved smoothly.Present invention additionally comprises the base for installing slip used in mechanical arm (not shown), the base is arranged on
On support body 2 1.1.In order to mitigate the weight of vertical walking track 1, support body 2 1.1 is provided with the hollow-out parts for mitigating weight
1.8.Support body 2 1.1 is provided with several hollow-out parts 1.8, is separately positioned on the front and side of support body 2 1.1, then can ensure
Mitigate the weight of support body 2 1.1 in the case that overall structure is firm significantly, so as to reduce production cost.
Embodiment two
The present embodiment the difference is that only with embodiment one：Screw thread is the screw element one of left hand thread and screw thread is dextrorotation
The location swap of the screw element two of screw thread.As long as the screw thread rotation of screw element one of the invention and screw element two in the opposite direction can be real
The open and close movement of existing clamping plate one and clamping plate two.
The other structures of the present embodiment are consistent with embodiment one.
Embodiment three
The present embodiment the difference is that only with embodiment one：The directive wheel of the present invention can be according to the specification size of support body one
Six or eight etc. are set, directive wheel is symmetrical above and below to be distributed in the bottom of support body one, and directive wheel opposing upper and lower is used to be buckled in
Vertical walking track side surfaces are simultaneously slidably connected with vertical walking track.The present embodiment directive wheel opposing upper and lower can the vertical rail of buckle
Realize the stabilizing suspended of support body one and be movably walking in road side.
Equally, support wheel can may also set up one, two, three or more according to demand, and frame is avoided so as to play positioning
Body a line is walked the phenomenon of deviation occur, can be further ensured that the linearity and glacing flatness of manipulator motion.
The other structures of the present embodiment are consistent with embodiment one.
Example IV
The present embodiment the difference is that only with embodiment one：The clamping device of the present embodiment can turn with vertical walking mechanism
Dynamic connection, connector then can be achieved clamping device and folded towards vertical walking orbital direction after the setting direction of base is turn 90 degrees
Or upward/lower section is opened.Therefore, traction robot manipulation of the invention is flexible, can need correspondingly to be changed according to occasion
Enter, then the effect avoided can be achieved.
The other structures of the present embodiment are consistent with embodiment one.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (8)
- A kind of 1. vertical section bar monorail traction robot, for being drawn to the section bar of discharging opening；It is characterized in that：Including Vertical walking track, for clamping the traction mechanical arm of section bar, transmission mechanism, for the drive mechanism that is connected with transmission mechanism and Controlling organization；The mechanical arm is buckled on the side of vertical walking track, and is slidably connected with the side of vertical walking track, Realize that mechanical arm is suspended on the vertical side for walking track and carries out walking movement；The transmission mechanism is to be separately positioned on mechanical arm On transmission device one and it is vertical walking track on transmission device two；The controlling organization respectively with drive mechanism and mechanical arm Signal connects；The mechanical arm includes being used for vertical walking track buckle and the vertical walking mechanism being slidably connected and for clamp-type The clamping device of material；The clamping device is rotatably connected with vertical walking mechanism, realizes clamping device towards vertical walking track Direction folds or is flared out；The drive mechanism and transmission device one are arranged in vertical walking mechanism；The vertical walking mechanism includes support body one and the base for being connected with clamping device；Described base one end and support body one It is detachably connected, the other end is connected with clamping device；The bottom of support body one is provided with for being buckled in vertical walking track The carriage being slidably connected on side and with vertical walking track side surfaces；The carriage is several directive wheels for being separately positioned on the bottom of support body one, and directive wheel is symmetrical above and below to be distributed in support body One bottom, directive wheel opposing upper and lower are buckled in vertical walking track side surfaces and are slidably connected with vertical walking track side surfaces；Each directive wheel is made up of axle wheel one and the connection of round table-like axle wheel two；Axle round table-like in wheel is oppositely oriented up and down Wheel two is buckled on the side of vertical walking track and is slidably connected with the side of vertical walking track, axle wheel one and vertical walking The side of track is slidably connected.
- 2. vertical section bar monorail traction robot according to claim 1, it is characterised in that：The clamping device includes With the clamping limb, the clamping plate being connected with clamping limb, the drive device one that is arranged on clamping limb of the rotation connection of vertical walking mechanism With the open-close transmission device for driving clamping plate to move；The clamping plate is made up of clamping plate one and clamping plate two, clamping plate one and clamping plate two It is respectively sleeved on open-close transmission device；The drive device one is connected with open-close transmission device, realizes driving folding transmission dress Motion is put to drive the folding of clamping plate one and clamping plate two；The clamping plate one is provided with rotatable compressing member；The compressing member includes the compressed part for being arranged on the framework of clamping plate end face and being connected with framework；The clamping plate one is provided with Rotatable compressing member refers to：Compressed part is connected by rotating shaft one with framework, realizes that compressed part is rotatably provided on clamping plate one；Receiving space is provided with the middle part of the framework, compressed part is connected and is located in receiving space with framework by rotating shaft one, pressure The compression in tight portion faces outwardly.
- 3. vertical section bar monorail traction robot according to claim 2, it is characterised in that：The clamping plate two is provided with Clamping mold, the end face of clamping mold are provided with some oblique sawtooth along its length；Every tiltedly sawtooth and traction side To opposite direction be obliquely installed；Head part device is provided with the middle part of the clamping mold.
- 4. vertical section bar monorail traction robot according to claim 2, it is characterised in that：The open-close transmission device Including rotating shaft two and the screw element one and screw element two that are respectively sleeved in same rotating shaft two；The clamping plate one and clamping plate two divide It is not set on screw element one and screw element two；The screw thread of the screw element one and the screw thread of screw element two are respectively right-handed thread And left hand thread；Also include guide rod, the clamping plate one and clamping plate two are respectively sleeved on guide rod, and are connected by guide rod and clamping limb Connect.
- 5. vertical section bar monorail traction robot according to claim 1, it is characterised in that：Also include being arranged on support body The mounting bracket of one bottom, mounting bracket are provided with for positioning to keep the support wheel of distance between support body one and vertical rail；Branch Support wheel is between directive wheel opposing upper and lower.
- 6. vertical section bar monorail traction robot according to claim 1, it is characterised in that：The base is provided with use In being provided with the locking device for limiting clamping device opening angle on the connector being connected with clamping device, connector, with And for drive clamping device rotate drive device two with realize clamping device towards it is vertical walking orbital direction fold or open； The locking device is mechanical lock.
- 7. vertical section bar monorail traction robot according to claim 1, it is characterised in that：The vertical walking track Including support body two；The support body two be provided with for vertical walking mechanism buckle and the slide rail that is slidably connected, slide rail is along support body Two length direction is arranged on the side of support body two；The slide rail is the upper slide rail and glidepath symmetrical above and below for being arranged on support body two side faces；The top of the upper slide rail and downslide The bottom of rail is respectively arranged with to be included being used for the axle wheel with directive wheel with directive wheel buckle and the slideway one that is slidably connected, slideway one Two buckles and the spill slideway being slidably connected and the straight slideway being slidably connected for the axle wheel one with directive wheel, spill slideway and Straight slideway connects side by side；The opposite face of the upper slide rail and glidepath is provided with the slideway for being slidably connected with support wheel Two.
- 8. vertical section bar monorail traction robot according to claim 7, it is characterised in that：The edge of transmission device two The length direction of support body two is set, and is intermeshed with transmission device one；Also include being used to tank chain be installed and ensure the drum apparatus of tank chain movement；The drum apparatus is connected with support body two；The support body two is provided with the hollow-out parts for mitigating weight.
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| CN201610137932.XA CN105563456B (en) | 2016-03-10 | 2016-03-10 | A kind of vertical section bar monorail traction robot |
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| CN201610137932.XA CN105563456B (en) | 2016-03-10 | 2016-03-10 | A kind of vertical section bar monorail traction robot |
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| CN105563456B true CN105563456B (en) | 2018-01-02 |
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| CN106041897B (en) * | 2016-07-28 | 2018-11-13 | 广东泰格威机器人科技有限公司 | Intelligent coordinated tow-armed robot |
| CN106041896A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechanical-electrical integrated double-arm robot mounting base |
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| CN108906906A (en) * | 2018-08-20 | 2018-11-30 | 佛山市三水区诺尔贝机器人研究院有限公司 | A kind of walking mechanism of vertical profile traction |
| CN108927419B (en) * | 2018-08-20 | 2024-05-24 | 广东省智行机器人科技有限公司 | Vertical section bar traction robot |
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| CN110422184B (en) * | 2019-08-29 | 2024-04-12 | 福建(泉州)先进制造技术研究院 | Intelligent patrol equipment |
| CN114012782A (en) * | 2021-10-11 | 2022-02-08 | 北京华能新锐控制技术有限公司 | Guide wheel device of guide rail robot |
| CN115855168B (en) * | 2023-02-27 | 2023-04-28 | 山东科华电力技术有限公司 | Cable tunnel rail hanging type inspection robot with multidirectional detection function |
| CN117206776B (en) * | 2023-11-08 | 2024-02-20 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
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Effective date of registration: 20180929 Address after: 528226 One of six five storeys (1-10 axes) in Area A of the New Light Source Industry Base of Guangdong Province, North of Langsha Avenue, Luocun, Shishan Town, Nanhai District, Foshan City, Guangdong Province Patentee after: Guangdong Tag prestige robot Science and Technology Ltd. Address before: 528100 self compiled E seat No. E203 and E204, complex building B, No. 67 (F3), Zone No. 3, science and Technology Industrial Zone, Sanshui center, Foshan, Guangdong. Patentee before: FOSHAN SANSHUI DISTRICT NUOERBEI ROBOT RESEARCH INSTITUTE CO., LTD. |
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