CN105665465B - A kind of section bar traction method - Google Patents
A kind of section bar traction method Download PDFInfo
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- CN105665465B CN105665465B CN201610137464.6A CN201610137464A CN105665465B CN 105665465 B CN105665465 B CN 105665465B CN 201610137464 A CN201610137464 A CN 201610137464A CN 105665465 B CN105665465 B CN 105665465B
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- section bar
- traction
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- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C35/00—Removing work or waste from extruding presses; Drawing-off extruded work; Cleaning dies, ducts, containers, or mandrels
- B21C35/02—Removing or drawing-off work
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Abstract
The present invention provides a kind of section bar traction method, section bar is drawn using vertical traction robot, the vertical traction robot is made of the vertical stacking splicing of M traction unit, and each traction unit is provided with vertical walking track and the mechanical arm in vertical walking track travel movement；Wherein, M is natural number and M >=2；The mechanical arm of two neighboring traction unit is suspended on vertical walking track and walking movement is carried out by cooperative alternative and in a manner of mutually avoiding, and realizes and section bar is drawn in a manner of cooperative alternative.Section bar traction method of the present invention is highly practical and hauling speed is fast, it can realize that the mode of multi-track carries out section bar full-automation traction according to production requirement, so as to improve the efficiency of section bar traction and can reach traction effect that is efficient and stablizing, to realize the traction processing of full-automatic and intelligentized section bar, and suitable for large-scale production.
Description
Technical field
The present invention relates to metal working technical area, more specifically to a kind of section bar traction method.
Background technology
In extruded metal profile pulls out molding processing technology, specific production process is：Mental section is through extruder
After extruding, manufactured aluminium section bar is from the discharge hole for discharge of extruder.Outfeed platforms are equipped in front of mental section discharge port, are being discharged
Cutting machine or other process equipments are installed between platform and discharge port.In discharging, mental section distorts in order to prevent, in gold
Genotype material needs fixture and draws it and walks along guide rail after being come out by mold mouth.
Mental section is manually drawn in the use of traditional mode of operation, after reaching specific length, by cutting for discharge port
Cutting mill is sawed-off.Not only working efficiency is low, but also security performance is low for this traditional artificial mode of traction, it is difficult to ensure 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 mental section
Material head is drawn toward the external of mold, so as to produce the mental section of strip.However, in the presence of existing section bar traction method
State shortcoming：
1st, the existing pulling equipment for realizing traction method is complicated and horizontal lie on ground causes area occupied big,
So as to cause equipment manufacturing costs high, the production cost of section bar is also increased.Meanwhile pulling equipment is also easy using horizontal type structure
It is influenced by state of ground, so as to be difficult to ensure that the straightness and glacing flatness of mechanical arm walking.
2nd, the trolley with clamp arm that existing section bar traction method moves along a straight line only with one leads section bar
Draw, lead to low production efficiency.
3rd, in existing section bar traction method clamping section fixture poor universality.Due to production section bar size specification not
Unified, which, which is only capable of being applicable in a kind of section bar of caliber specification, is clamped, and various sizes of mental section is needed replacing
Fixture, so as to cause versatility is strong, clamping effect difference and of high cost.
4th, existing section bar traction method realizes the traction of section bar, this fixture using the trailer wagon of carrying jig mostly
Add the simple combination flexibility of walking dolly poor, can only realize the function of walking and clamping.
Invention content
It is an object of the invention to overcome shortcoming and deficiency of the prior art, a kind of highly practical and hauling speed is provided
Fast section bar traction method, the section bar traction method can not only effectively improve section bar traction quality, but also can reach efficiently and
Stable traction effect, to realize the traction processing of full-automatic and intelligentized section bar, and suitable for large-scale production, so as to generation
It is processed for traditional artificial traction.
In order to achieve the above object, the technical scheme is that：A kind of section bar traction method, it is special
Sign is：Section bar is drawn using vertical traction robot, the vertical traction robot is vertically folded by M traction unit
Splicing is added to form, each traction unit is provided with vertical walking track and the mechanical arm in vertical walking track travel movement；Its
In, M is natural number and M >=2；
The mechanical arm of two neighboring traction unit is suspended on vertical walking track the side avoided with cooperative alternative and mutually
Formula carries out walking movement, realizes and section bar is drawn in a manner of cooperative alternative.
In said program, in said program, traction method of the invention uses M traction unit stacking splicing group
Into, and section bar is drawn in a manner of cooperative alternative for the mechanical arm sling of two neighboring traction unit, it can be achieved that the same time
The effect of quick traction is carried out to a plurality of section bar, so as to not only can reach traction effect that is efficient and stablizing, but also is carried significantly
The efficiency that high section bar is drawn automatically.Meanwhile the present invention is not only operated flexibly using mechanical arm as the executing agency that section bar is drawn,
And convenient for control.
The present invention carries out section bar traction using vertical traction robot, and track of walking is vertical structure, and machinery
Arm consolidates in a hanging manner to be mounted on vertical walking track and is slidably connected with vertical walking track, so as to realize machinery
Arm is flexibly mobile and walks, and greatly extends the traction working space of mechanical arm.Compared with the pulling equipment of horizontal type structure, by
It is suspended from vertical walking track in mechanical arm, therefore the run trace of mechanical arm is not easily susceptible to the shadow of surface relief injustice
It rings, the present invention can effectively solve to lead to not ensure mechanical arm walking movement because of ground injustice by the way of mechanical arm suspension
The problem of straightness and glacing flatness, so as to improve the quality that mechanical arm clamping section is drawn.Meanwhile the walking track uses
The occupation of land that vertical structure and mechanical arm can also greatly reduce manipulator motion by the way of vertical walking track is suspended on is empty
Between, so as to reduce production cost.
The mechanical arm is including for the vertical walking mechanism being slidably connected with vertical walking track and for clamping section
Clamping device；The clamping device is rotatably connected with vertical walking mechanism, realizes clamping device towards vertical walking track side
To folding or be flared out.
Mechanical lock is set, and the mechanical lock limits the opening of clamping device along clamping device opening direction in a manner of stopping
Angle.Clamping device of the present invention is rotatably connected in vertical walking mechanism, in the clamping device course of work, the machinery
Lock can limit the angle that clamping device is opened or rotated so that clamping device turns to fixed angle, so as to improve clamping device
To the quality of section bar traction.
The mechanical arm of the two neighboring traction unit is suspended on vertical walking track with cooperative alternative and mutually avoids
Mode carry out walking movement, realize in a manner of cooperative alternative to section bar carry out traction refer to：Between two neighboring mechanical arm
It is carried out at the same time by cooperative alternative and in a manner of mutually avoiding and section bar is clamped in discharging station and draws section bar to adding
Work station；Wherein, discharging station refers to unloading position of the section bar in a upper manufacturing procedure；Processing stations refer to that section bar is next
The position of manufacturing procedure.
It is carried out at the same time by cooperative alternative between the two neighboring mechanical arm and in a manner of mutually avoiding in discharging station pair
Section bar, which is clamped and draws section bar to processing stations, to be referred to：When two neighboring mechanical arm walks mobile simultaneously, wherein one
A mechanical arm in a folded fashion from processing stations be moved to discharging station carry out section bar clamping process, another mechanical arm with
The mode of opening is moved to the traction process of processing stations progress section bar from discharging station；Wherein, the mode of folding refers to machinery
The direction of arm towards vertical walking track folds.Clamping device of the present invention is rotatably connected to open to type with vertical walking mechanism
Material is clamped and folded to walking mechanism direction mutually to conflict to avoid the clamping device moved back and forth with other, is kept away so as to play
Allow effect.
The clamping device includes the clamping limb being rotatablely connected with vertical walking mechanism, the coaxial threaded being connect with clamping limb
Part and the clamping plate one being respectively sleeved on screw element and clamping plate two；The clamping process includes the following steps：
The first step drives the folding of clamping plate one and clamping plate two by way of oppositely arranged screw element, realizes clamping device
Section bar is tentatively clamped；Wherein, the mode of oppositely arranged screw element refers to the spiral shell of coaxial screw element one and screw element two
Line direction of rotation is opposite；
Second step, the compressed part that setting is rotatably connected with clamping plate one, presss from both sides section bar by rotatable compressed part
The adjusting of position is held, realizes that clamping device carries out matching clamping to section bar.
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, and firm clamping is carried out suitable for the section bar to different size, versatile strong with flexibility so as to reach
Effect, without corresponding clamping plate is configured to the section bar of different size, production cost can be substantially reduced in this way.When clamping plate one to
During pushing, compressed part can carry out rotation adjusting according to the specification of section bar by 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 various specifications carries out clamping traction, it is versatile.
At work, due to the screw element one in same shaft and the rotation direction of thread of screw element two on the contrary, therefore, dividing
Open and close movement can be achieved in the clamping plate one and clamping plate two not being threadedly coupled with screw element one and screw element two, so as to reach to section bar into
Row clamping and the effect unclamped.The mode of present invention driving clamping plate folding is very flexibly and ingenious, only need to pass through phase reverse rotation side
To screw thread the folding of clamping plate can be realized, can not only simplify mechanical mechanism, but also can realize that fast driving controls clamping plate folding
Effect, so as to improve the efficiency of processing work.The screw element one of the present invention and the position of screw element two are interchangeable, as long as the two
Rotation direction of thread the open and close movement of clamping plate one and clamping plate two can be realized on the contrary.
The traction process refer to clamping device by vertical walking mechanism when walking mobile on vertical walking track with
The mode of left-hand thread realizes the traction of section bar；The mode of the left-hand thread refers to be provided with clamping mold, clamping mold on clamping plate two
End face be provided with several oblique sawtooth along its length, the opposite direction of every oblique sawtooth and lead tilts
Setting realizes that oblique sawtooth and the left-hand thread of section bar traction act on.
The oblique sawtooth of the present invention is ingenious in design, and every oblique sawtooth is obliquely installed with the opposite direction of lead so that
In section bar distraction procedure, oblique sawtooth plays the role of left-hand thread, so as to greatly increase clamping force, realizes and clamping is consolidated to section bar
The processing quality of section bar can be effectively ensured in traction in this way.
Side of the mechanical arm with vertical walking track in a manner of hanging buckle is slidably connected, and realizes mechanical arm suspension
Walking movement is carried out in the side of vertical walking track.
The mechanical arm is slidably connected in a manner of hanging buckle with the side of vertical walking track to be referred to：In vertical walking
Mechanism sets several directive wheels, the directive wheel bottom symmetrical above and below for being distributed in vertical walking mechanism, each directive wheel by
Axis wheel one and round table-like axis wheel two connection composition, are oppositely oriented axis wheel two round table-like in wheel and are buckled in vertical walking rail up and down
It is slidably connected on the side in road and with the side of vertical walking track, axis wheel one and the side of vertical walking track are slidably connected.
The present invention draws section bar using vertical traction robot, and the vertical traction robot is single by two tractions
First stacking splicing composition, each traction unit are provided with vertical walking track and the machinery in vertical walking track travel movement
Arm；The mechanical arm of two traction units is suspended on vertical walking track and is walked by cooperative alternative and in a manner of mutually avoiding
It is mobile, it realizes and section bar is drawn in a manner of cooperative alternative；
The clamping device of two traction units is rotatable with corresponding vertical walking mechanism respectively in a manner of mirror symmetry
Connection.
When the traction robot is made of two traction unit stacking splicings, the clamping device of two traction units is with mirror
As symmetrical mode is provided with several benefits：First, since the form that two clamping devices are cooperative alternatives carries out section bar traction
, therefore conplane two clamping devices are to need the phenomenon that mutually avoidance can just solve to bump against, and two clamping devices
The linkage that can play the role of avoidance to realize the two is set by the way of mirror symmetry.Second is that two clamping devices use mirror
As symmetrically arranged mode causes there are enough spaces, therefore two clamping devices may be designed as length between two clamping devices
Equal clamping device can greatly reduce the difference generated in two clamping device distraction procedures, so as to improve dragger in this way
The quality that device people draws section bar.Third, two clamping devices are then newly tied by the way of mirror symmetry setting without in addition design
The clamping device of structure come solve the problems, such as bump against, can substantially reduce in this way traction robot production cost.
Compared with prior art, the invention has the advantages that and advantageous effect：
1st, section bar traction method of the present invention is highly practical and hauling speed is fast, can realize multi-track according to production requirement
Mode carries out section bar full-automation traction, so as to improve the efficiency of section bar traction and can reach traction effect that is efficient and stablizing
Fruit, to realize the traction processing of full-automatic and intelligentized section bar, and suitable for large-scale production.
2nd, section bar traction method of the present invention is not influenced by state of ground, can imitate solution because ground injustice leads to not ensure
The problem of straightness and glacing flatness of section bar traction, so as to improve the quality of section bar traction processing；Meanwhile the equipment of use is not only
Floor space can be reduced, so as to reduce production cost.
3rd, section bar traction method of the present invention is not only operated flexibly, but also as traction executing agency convenient for control using mechanical arm
System.
4th, section bar traction method of the present invention can solve cooperative alternative and realize what the multiple mechanical arms moved back and forth bumped against
Phenomenon.
Description of the drawings
Fig. 1 is the structure diagram of vertical section bar two-orbit traction robot that section bar traction method of the present invention uses；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is the structure diagram of clamping device in the traction robot that section bar traction method of the present invention uses；
Fig. 4 is one structure diagram of clamping plate of clamping device in the traction robot that section bar traction method of the present invention uses；
Fig. 5 is two structure diagram of clamping plate of clamping device in the traction robot that section bar traction method of the present invention uses；
Fig. 6 is the structure diagram of vertical walking mechanism in the traction robot that section bar traction method of the present invention uses；
Fig. 7 is the side schematic view of vertical walking mechanism in the traction robot that section bar traction method of the present invention uses；
Wherein, 1 for it is vertical walking track, 1.1 be frame body, 1.2 be upper sliding rail, 1.3 be glidepath, 1.4 be slideway one,
1.5 be slideway two, 1.6 be transmission device two, 1.7 be drum apparatus, 1.8 be hollow-out parts, 1.9 be groove, 1.10 be raised line,
1.11 be mounting base, 2 be driving mechanism, 3 be vertical walking mechanism, 3.1 be frame body one, 3.2 be pedestal, 3.3 be directive wheel,
3.3.1 be axis wheel one, 3.3.2 be axis wheel two, 3.4 be mounting bracket, 3.5 be support wheel, 3.6 be connector, 3.7 be mechanical lock,
3.8 be transmission device one, 4 be clamping device, 4.1 be clamping limb, 4.2 be clamping plate, 4.2.1 is clamping plate one, 4.2.2 is clamping plate
2nd, 4.3 be driving device one, 4.4 be open-close transmission device, 4.4.1 is shaft two, 4.4.2 is screw element one, 4.4.3 is spiral shell
Line part two, 4.5 is compressing member, 4.5.1 is framework, 4.5.2 is compressed part, 4.5.3 is that shaft one, 4.6 is clamping mold, 4.7
It is head part device for oblique sawtooth, 4.8,4.9 be guide rod, 4.10 be opening, 4.11 be rotating member, 4.12 is driving device two, 5
Mechanism in order to control.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one
The present embodiment draws the artificial example of machine to being illustrated below with section bar traction method using vertical section bar two-orbit.
As shown in Fig. 1 to 7, the vertical section bar two-orbit traction robot of the present invention, is for being carried out to the section bar of discharge port
Traction.The traction robot includes control mechanism 5 and two traction units, wherein, each traction unit includes vertical walking
Track 1, the mechanical arm for clamping traction section bar, transmission mechanism and the driving mechanism 2 for being connect with transmission mechanism, wherein,
Mechanical arm is buckled on the side of vertical walking track 1, and is slidably connected with the side of vertical walking track 1, realizes mechanical arm
The side for being suspended on vertical walking track 1 carries out walking movement；Transmission mechanism is the transmission device being separately positioned on mechanical arm
1 and vertical walking track 1 on transmission device 2 1.6, control mechanism 5 connects respectively with driving mechanism 2 and mechanical arm signal
It connects, transmission device 1 is helical gears.
Two traction units form the traction robot, two vertical walking rails by vertical walking 1 stacking splicing of track
By being arranged below the groove 1.9 of walking top of the rail and being disposed over the raised line 1.10 of walking rail base between road 1
Realize superposition, and groove 1.9 and raised line 1.10 match.Mechanical arm is suspended on vertical walking track 1 in two traction units
Cooperative alternative walking movement is carried out, realizes and section bar is drawn in a manner of cooperative alternative.And the clamping of two traction units
Mechanism 4 is rotatably connected in a manner of mirror symmetry with corresponding vertical walking mechanism 3 respectively.
Each mechanical arm of the present invention includes the vertical walking mechanism for being buckled and being slidably connected with vertical walking track 1
3 and the clamping device 4 for clamping section, wherein, clamping device 4 is rotatably connected with vertical walking mechanism 3, realizes clamping machine
Structure 4 folds or is flared out (left and right directions is folded or opened) towards 1 direction of vertical walking track, and driving mechanism 2 and transmission fill
1 are put to be arranged in vertical walking mechanism 3.
Each clamping device 4 include the clamping limb 4.1 being connect with walking mechanism, the clamping plate 4.2 being connect with clamping limb 4.1,
The pneumatic actuating device 1 being arranged on clamping limb 4.1 and the open-close transmission device 4.4 for clamping plate 4.2 to be driven to move,
In, clamping plate 4.2 is made of one 4.2.1 of clamping plate and two 4.2.2 of clamping plate, and one 4.2.1 of clamping plate and two 4.2.2 of clamping plate are respectively sleeved at out
It closes on transmission device 4.4, driving device 1 connect with open-close transmission device 4.4 and connect with 5 signal of control mechanism, realizes
Driving open-close transmission device 4.4 moves the folding to drive two 4.2.2 of one 4.2.1 of clamping plate and clamping plate, and one 4.2.1 of clamping plate is set
There is rotatable compressing member 4.5.
The compressing member 4.5 of the present invention includes the framework 4.5.1 for being arranged on one 4.2.1 end faces of clamping plate and connects with framework 4.5.1
The compressed part 4.5.2 connect, wherein, one 4.2.1 of clamping plate is provided with rotatable compressing member and refers to：It is provided in the middle part of framework 4.5.1
Accommodation space, compressed part 5.2 are connect with framework 4.5.1 by one 4.5.3 of shaft and are located in accommodation space, realize compressed part
4.5.2 it is rotatably provided on one 4.2.1 of clamping plate, and the compression of compressed part 4.5.2 faces outwardly.Two 4.2.2 of clamping plate of the present invention
Clamping mold 4.6 is provided with, the end face of clamping mold 4.6 is provided with several oblique sawtooth 4.7 along its length.Every tiltedly
Sawtooth 4.7 and the opposite direction of lead are obliquely installed.In order to effectively solve the problems, such as that section bar pickup is difficult, the clamping mold
4.6 middle part is provided with head part device 4.8.
Two open-close transmission devices 4.4 of each clamping device 3 of the invention respectively include two 4.4.1 of shaft and cover respectively
Two 4.4.3 of one 4.4.2 of screw element and screw element being located on same two 4.4.1 of shaft, wherein, one 4.2.1 of clamping plate and clamping plate two
4.2.2 it is respectively sleeved on two 4.4.3 of one 4.4.2 of screw element and screw element.In order to can control the open and close movement of clamping plate, the present invention
One 4.4.2 of screw element screw thread for left hand thread, the screw thread of two 4.4.3 of screw element is right-handed thread.The invention also includes lead
To bar 4.9, one 4.2.1 of clamping plate and two 4.2.2 of clamping plate are respectively sleeved on guide rod 4.9, and pass through guide rod 4.9 and clamping limb
4.1 connection.
Each vertical walking mechanism 3 of the invention includes frame body 1 and the pedestal 3.2 for being connect with clamping device 4；It should
3.2 one end of pedestal is detachably connected with frame body 1, and the other end is connect with clamping device 4, and the setting of one 3.1 bottom of frame body is useful
In the carriage for being buckled on the side of vertical walking track 1 and being slidably connected with vertical 1 side of track of walking；
The carriage of the present invention is the directive wheel 3.3 for being separately positioned on one 3.1 bottom of frame body, four vertex, on the same side
Opposite directive wheel 3.3 is used to be buckled on 1 side of vertical walking track and is slidably connected with 1 side of vertical walking track down.
Directive wheel 3.3, which is arranged on frame body 3.1 bottom four vertex, can ensure the degree of balance of the suspension walking of frame body 3.1.It is specifically, every
A directive wheel 3.3 is connected with round table-like two 3.3.2 of axis wheel by one 3.3.1 of axis wheel and formed, wherein, circle in each directive wheel 3.3
Two 3.3.2 of axis wheel of mesa-shaped is used to be buckled on 1 side of vertical walking track and is slidably connected with 1 side of vertical walking track,
One 3.3.1 of axis wheel is used to be slidably connected with 1 side of vertical walking track.In order to further ensure manipulator motion straightness and
Glacing flatness, the invention also includes the mounting bracket 3.4 for being arranged on one 3.1 bottom of frame body, mounting bracket 3.4 is provided with to position to protect
Four support wheels 3.5 of distance between frame body 1 and vertical walking track 1 are held, wherein, each two support wheel 3.5 is located at same
Between the directive wheel 3.3 opposing upper and lower of side.
3.2 other end of pedestal of the present invention is provided with the connector 3.6 for connecting clamping device 4, is set on connector 3.6
It is useful for the mechanical lock 3.7 of limitation 4.1 opening angle of clamping limb and the driving device two for clamping device 4 to be driven to rotate
4.12, driving device 2 4.12 is connect with 5 signal of control mechanism, realize clamping device 4 folded towards vertical walking track 1 direction or
It opens；The locking device is mechanical lock 3.7.The mechanical lock 3.7 can limit the angle that clamping limb 4.1 is opened or rotated so that folder
Gripping arm 4.1 turns to fixed angle, so as to improve the quality that clamping limb 4.1 draws section bar.Clamping limb 4.1 of the present invention is far from folder
One end of plate 4.2 is provided with joint position, and joint position is rotatably connected with vertical walking mechanism 3.Specifically, joint position includes
For Holding seat connector 3.6 opening 4.10 and be used to implement the joint rotation that is rotatablely connected with vertical walking mechanism 3 of position
Part 4.11.During installation, the connector 3.6 of 4.10 vertical 3 pedestal of walking mechanism of clamping of opening, then passed through and opened by rotating member 4.11
Mouth 4.10 is simultaneously connect with connector 3.6, realizes clamping limb 4.1 and the connection of vertical walking mechanism 3.
The driving mechanism 2 of the present invention is arranged on frame body 1, and transmission device 1 is is arranged on one 3.1 bottom of frame body
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.
Vertical walking track 1 of the invention each includes frame body 2 1.1, frame body 2 1.1 be provided with for vertical vehicle with walking machine
The sliding rail that structure 3 is buckled and is slidably connected, the length direction of sliding rail along frame body 2 1.1 are arranged on the side of frame body 2 1.1.Wherein,
Sliding rail is arranged on the upper sliding rail 1.2 of 2 1.1 side of frame body and glidepath 1.3 to be symmetrical above and below, and the top of upper sliding rail 1.2 is under
The bottom of sliding rail 1.3 is separately provided for the slideway 1 for being buckled and being slidably connected with vertical walking mechanism 3, slideway 1
Including the spill slideway for being used to be buckled and be slidably connected with two 3.3.2 of axis wheel of directive wheel 3.3 and for the axis with directive wheel 3.3
The straight slideway that a 3.3.1 is slidably connected is taken turns, spill slideway peace straight slideway connects side by side.Present invention spill symmetrical above and below is slided
Road snaps connection convenient for vertical 3 directive wheel 3.3 opposing upper and lower of walking mechanism, actually plays the vertical walking track 1 of clamping up and down
Effect, realize the stabilizing suspended of vertical walking mechanism 3, and straight slideway can improve the area of the slip of directive wheel 3.3, improve and slide
Dynamic speed.
Meanwhile the opposite face of upper sliding rail 1.2 and glidepath 1.3 is provided with the slideway for being slidably connected with support wheel 3.5
2 1.5.Slideway 25 of the present invention can provide support wheel 3.5 slip space so that support wheel 3.5 can play positioning avoid it is vertical
There is the phenomenon that deviation in the walking of walking mechanism 3.Vertical walking track 1 is further included for the transmission device with vertical walking mechanism 3
The transmission device 2 1.6 of one 3.8 engagements, the transmission device 2 1.6 set along 2 1.1 length direction of frame body and are diagonal-cut rack.
The vertical walking track 1 of the present invention further includes the drum apparatus 1.7 for installing tank chain and ensureing tank chain movement,
The drum apparatus 1.7 is connect with frame body 2 1.1.As seen from Figure 1, the drum apparatus 1.7 of the vertical walking track 1 of top is set
In the upper surface of frame body 2 1.1, the drum apparatus 1.7 of the vertical walking track 1 of lower section is arranged on the side of frame body 2 1.1.It is smooth
Gram chain is for the effect of protection signal line in manipulator motion, and the vertical walking track 1 of the present invention is provided with to install tank
The drum apparatus 1.7 of chain, so as to ensure in long range walking process, tank chain can be moved smoothly.The invention also includes for
The mounting base 1.11 of slip used in mechanical arm is installed, which is arranged on frame body 2 1.1.In order to mitigate vertical walking
The weight of track 1, frame body 2 1.1 are both provided with the hollow-out parts 1.8 for mitigating weight.Frame body 2 1.1 is provided with several and engraves
Empty portion 1.8 is separately positioned on the front and side of frame body 2 1.1, then subtracts significantly in the case of being consolidated ensureing overall structure
The weight of light frame body 2 1.1, so as to reduce production cost.
Section bar traction method of the present invention draws section bar using above-mentioned vertical two-orbit traction robot, should
Vertical traction robot is made of two vertical stacking splicings of traction unit, and each traction unit is provided with vertical walking track 1
With the mechanical arm for movement of walking in vertical walking track 1；The mechanical arm of two traction units be suspended on it is vertical walking track on
The cooperative alternative and mode mutually avoided carries out walking movement, is realized and section bar is drawn in a manner of cooperative alternative.And two
The clamping device 4 of a traction unit is rotatably connected in a manner of mirror symmetry with corresponding vertical walking mechanism 3 respectively, realizes
Clamping device 3 is folded or is flared out towards 1 direction of vertical walking track.
The method setting mechanical lock 3.7 of the present invention, mechanical lock 3.7 open direction along clamping device 3 and are limited in a manner of stopping
The opening angle of clamping device 3 processed.The mechanical arm of two traction units of the invention is suspended on vertical walking track and is handed over cooperateing with
For and the mode that mutually avoids carry out walking movement, realize that traction is carried out to section bar in a manner of cooperative alternative refers to：Two machines
It is carried out at the same time by cooperative alternative between tool arm and in a manner of mutually avoiding and section bar is clamped and by section bar in discharging station
It draws to processing stations；Wherein, discharging station refers to unloading position of the section bar in a upper manufacturing procedure；Processing stations are finger-type
The position of the next manufacturing procedure of material.Specifically, when two mechanical arms walk mobile simultaneously, one of mechanical arm is to fold
Mode be moved to the clamping process that discharging station carries out section bar from processing stations, another mechanical arm is in a manner of opening from going out
Material station is moved to the traction process that processing stations carry out section bar；Wherein, the mode of folding refers to mechanical arm towards vertical walking rail
The direction in road folds.
Present invention clamping process includes the following steps：
The first step drives the folding of two 4.2.2 of one 4.2.1 of clamping plate and clamping plate by way of oppositely arranged screw element, real
Existing clamping device tentatively clamps section bar；Wherein, the mode of oppositely arranged screw element refers to coaxial one 4.4.2 of screw element
It is opposite with the rotation direction of thread of two 4.4.3 of screw element；
Second step, the compressed part 4.5.2 that setting is rotatably connected with one 4.2.1 of clamping plate, passes through rotatable compressed part
4.5.2 the adjusting of clip position is carried out to section bar, realizes that clamping device 4 carries out matching clamping to section bar.
Present invention traction process refers to that clamping device 4 is walked by vertical walking mechanism 3 on vertical walking track 1 and moves
When the traction of section bar is realized in a manner of left-hand thread, wherein, the mode of left-hand thread refers to be provided with clamping mold on two 4.2.2 of clamping plate
4.6, the end face of clamping mold 4.6 is provided with several oblique sawtooth 4.7 along its length, every oblique sawtooth 4.7 and traction
The opposite direction in direction is obliquely installed, and realizes that oblique sawtooth 4.7 and the left-hand thread of section bar traction act on.
Side of the mechanical arm of the present invention with vertical walking track 1 in a manner of hanging buckle is slidably connected, and realizes machinery
The side that arm sling hangs over vertical walking track 1 carries out walking movement.Mechanical arm in a manner of hanging buckle with vertical walking track
Side be slidably connected and refer to：Several directive wheels 3.3 are set in vertical walking mechanism 3, directive wheel 3.3 is symmetrical above and below to be distributed in
The bottom of vertical walking mechanism 3, each directive wheel 3.3 are connected with round table-like two 3.3.2 of axis wheel by one 3.3.1 of axis wheel and formed,
Be oppositely oriented up and down round table-like two 3.3.2 of axis wheel in wheel 3.3 be buckled on the side of vertical walking track 1 and with vertical walking
The side of track 1 is slidably connected, and one 3.3.1 of axis wheel and the side of vertical walking track 1 are slidably connected.
Embodiment two
The present embodiment the difference is that only with implementation：The section bar traction method of the present embodiment uses vertical traction robot
Section bar is drawn, which was formed by three or three with last traction unit stacking splicing, and adjacent two
The mechanical arm of a traction unit is suspended on vertical walking track and walking movement is carried out by cooperative alternative and in a manner of mutually avoiding,
Realization draws section bar in a manner of cooperative alternative.
The structure of each traction unit is consistent with embodiment one in the present embodiment.
Embodiment three
The present embodiment the difference is that only with embodiment one：The screw thread that the present embodiment section bar traction method uses is left-handed
Location swap of the screw element one and screw thread of screw thread for the screw element two of right-handed thread.As long as screw element one of the invention and screw element
The open and close movement of clamping plate one and clamping plate two can be realized in two rotation direction of thread on the contrary.
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 directive wheel that the present embodiment section bar traction method uses can root
Six or eight etc. are set according to the specification size of frame body one, directive wheel is symmetrical above and below to be distributed in one bottom of frame body, up and down relatively
Directive wheel for be buckled in it is vertical walking track side surfaces and with it is vertical walking track be slidably connected.The present embodiment is opposing upper and lower
Directive wheel can be buckled vertical rail side realize frame body one stabilizing suspended and be movably walking.
Equally, the support wheel that the present embodiment section bar traction method uses can may also set up one, two, three according to demand
Or more, frame body a line is avoided to walk the phenomenon that deviation occur so as to play positioning, can be further ensured that the straight line of manipulator motion
Degree and glacing flatness.
The other structures of the present embodiment are consistent with embodiment one.
Embodiment five
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 pedestal 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
Into the then achievable effect avoided.
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 (6)
1. a kind of section bar traction method, it is characterised in that：Section bar is drawn using vertical traction robot, it is described vertical to lead
Draw robot to be made of the vertical stacking splicing of M traction unit, each traction unit is provided with vertical walking track and vertical
The mechanical arm of walking track travel movement；Wherein, M is natural number and M >=2；
The mechanical arm of two neighboring traction unit be suspended on vertical walking track by cooperative alternative and in a manner of mutually avoiding into
Every trade walks movement, realizes and section bar is drawn in a manner of cooperative alternative；
The mechanical arm includes the vertical walking mechanism for being slidably connected with vertical walking track and the folder for clamping section
Hold mechanism；The clamping device is rotatably connected with vertical walking mechanism, realizes clamping device towards vertical walking orbital direction folding
It folds or is flared out；
Mechanical lock is set, and the mechanical lock limits the open-angle of clamping device along clamping device opening direction in a manner of stopping
Degree；
The mechanical arm of the two neighboring traction unit is suspended on vertical walking track the side avoided with cooperative alternative and mutually
Formula carries out walking movement, realizes that traction is carried out to section bar in a manner of cooperative alternative refers to：With association between two neighboring mechanical arm
Same alternating and the mode mutually avoided, which are carried out at the same time, to clamp section bar in discharging station and draws section bar to processing work
Position；Wherein, discharging station refers to unloading position of the section bar in a upper manufacturing procedure；Processing stations refer to the next processing of section bar
The position of process；
It is carried out at the same time by cooperative alternative between the two neighboring mechanical arm and in a manner of mutually avoiding in discharging station to section bar
It is clamped and is drawn section bar to processing stations and referred to：When two neighboring mechanical arm walks mobile simultaneously, one of machine
Tool arm is moved to the clamping process that discharging station carries out section bar from processing stations in a folded fashion, another mechanical arm is to open
Mode from discharging station be moved to processing stations carry out section bar traction process；Wherein, the mode of folding refers to mechanical arm court
The direction of vertical walking track folds.
2. section bar traction method according to claim 1, it is characterised in that：The clamping device includes and vertical vehicle with walking machine
Clamping limb, the coaxial threaded part being connect with clamping limb and the clamping plate one being respectively sleeved on screw element and folder of structure rotation connection
Plate two；The clamping process includes the following steps：
The first step drives the folding of clamping plate one and clamping plate two by way of oppositely arranged screw element, realizes clamping device to type
Material is tentatively clamped；Wherein, the mode of oppositely arranged screw element refers to the screw thread rotation of coaxial screw element one and screw element two
It is opposite to turn direction；
Second step, the compressed part that setting is rotatably connected with clamping plate one, clamping position is carried out by rotatable compressed part to section bar
The adjusting put realizes that clamping device carries out matching clamping to section bar.
3. section bar traction method according to claim 2, it is characterised in that：The traction process refers to that clamping device passes through
Vertical walking mechanism realizes the traction of section bar when walking mobile on vertical walking track in a manner of left-hand thread；The side of the left-hand thread
Formula refers to be provided with clamping mold on clamping plate two, and the end face of clamping mold is provided with along its length several tiltedly saws
The opposite direction of tooth, every oblique sawtooth and lead is obliquely installed, and realizes that oblique sawtooth and the left-hand thread of section bar traction act on.
4. section bar traction method according to claim 1, it is characterised in that：The mechanical arm in a manner of hanging buckle with
The side of vertical walking track is slidably connected, and realizes that mechanical arm is suspended on the vertical side for walking track and carries out walking movement.
5. section bar traction method according to claim 4, it is characterised in that：The mechanical arm in a manner of hanging buckle with
The side of vertical walking track, which is slidably connected, to be referred to：Several directive wheels are set in vertical walking mechanism, directive wheel is symmetrical above and below
The bottom of vertical walking mechanism is distributed in, each directive wheel is made of axis wheel one and the connection of round table-like axis wheel two, up and down
Axis wheel two round table-like in wheel is oppositely oriented to be buckled on the side of vertical walking track and slide with the side of vertical walking track
Dynamic connection, axis wheel one and the side of vertical walking track are slidably connected.
6. section bar traction method according to claim 1, it is characterised in that：Section bar is carried out using vertical traction robot
Traction, the vertical traction robot are made of two traction unit stacking splicings, and each traction unit is provided with vertical walking
Track and the mechanical arm in vertical walking track travel movement；The mechanical arm of two traction units is suspended on vertical walking track
Walking movement is carried out by cooperative alternative and in a manner of mutually avoiding, realizes and section bar is drawn in a manner of cooperative alternative；
The clamping device of two traction units is rotatably connected in a manner of mirror symmetry with corresponding vertical walking mechanism respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610137464.6A CN105665465B (en) | 2016-03-10 | 2016-03-10 | A kind of section bar traction method |
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| CN201610137464.6A CN105665465B (en) | 2016-03-10 | 2016-03-10 | A kind of section bar traction method |
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| CN105665465B true CN105665465B (en) | 2018-06-22 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107470384A (en) * | 2017-09-25 | 2017-12-15 | 辽宁忠旺机械设备制造有限公司 | A kind of aluminium section bar on-line straightening retractable gap bridge device |
| 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 |
| CN108906907A (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 grasping mechanism and its grasping method for profile traction |
| CN111215464A (en) * | 2018-11-27 | 2020-06-02 | 宝山钢铁股份有限公司 | Short-flow production process of magnesium alloy extruded material |
| CN111215465A (en) * | 2018-11-27 | 2020-06-02 | 宝山钢铁股份有限公司 | Traction and straightening integrated system for magnesium alloy extruded material |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202009001266U1 (en) * | 2009-02-03 | 2009-04-09 | Sampas Steuerungstechnik Gmbh | Gripper for industrial robots or the like. |
| CN201572815U (en) * | 2009-12-30 | 2010-09-08 | 中国重型机械研究院有限公司 | Alternative double-traction device for aluminum profile |
| CN204052420U (en) * | 2014-07-11 | 2014-12-31 | 张传来 | Three aluminum profile tractors |
| CN204602858U (en) * | 2015-04-24 | 2015-09-02 | 佛山市南海区肇正机械有限责任公司 | Aluminium double-tractor |
| CN105234960A (en) * | 2015-10-27 | 2016-01-13 | 卓弢机器人盐城有限公司 | Automatic width switching device |
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