CN110385702A - Door beam type metallurgical saw automatic turning machinery hand - Google Patents
Door beam type metallurgical saw automatic turning machinery hand Download PDFInfo
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- CN110385702A CN110385702A CN201910664140.1A CN201910664140A CN110385702A CN 110385702 A CN110385702 A CN 110385702A CN 201910664140 A CN201910664140 A CN 201910664140A CN 110385702 A CN110385702 A CN 110385702A
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- overturning
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- moving trolley
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000003028 elevating effect Effects 0.000 claims abstract description 13
- 230000009467 reduction Effects 0.000 claims abstract description 13
- 238000001179 sorption measurement Methods 0.000 claims abstract description 9
- 230000007306 turnover Effects 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 210000003464 cuspid Anatomy 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000003723 Smelting Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001331845 Equus asinus x caballus Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sawing (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of beam type metallurgical saw automatic turning machinery hands.Including gate frame, it is responsible for one layer of walking mechanism, two layers of walking mechanism of responsible Y-direction movement, elevating mechanism, the turnover mechanism, electromagnetic adsorption mechanism for being responsible for Z-direction movement that X-direction moves；One layer of walking mechanism is walked by transversal deceleration motor driven transverse direction walking gear in lateral rack rails uplink, so that one layer of moving trolley be driven to move in X direction on lateral light rail；Two layers of walking mechanism are cooperated by bevel gear to be driven lengthwise rows to walk gear on longitudinal rack rails to walk, so that two layers of moving trolley be driven to move on longitudinal rack rails along Y-direction；Elevating mechanism drives lead screw rotation by lifting speed reduction motor, to drive sliding nut along Z-direction elevating movement；Turnover mechanism drives overturning platform rotation by overturning motor；Electromagnetic adsorption mechanism passes through magnechuck pick-and-place metallurgical saw.The present invention can be realized automatic loading/unloading and overturning of the metallurgical saw in four freedom degrees.
Description
Technical field
The present invention relates to metallurgical saw mechanical equipment, specifically a kind of beam type metallurgical saw automatic turning machinery hand.
Background technique
With the increase of steel products type and quantity, the size for the metallurgical saw that need to be cut is also increasing.Smelting
Golden saw blade is due to the features such as diameter is big, weight is big, and manual handling and overturning are inconvenient, and labor intensive is more, large labor intensity, raw
Produce low efficiency.
Summary of the invention
Present invention seek to address that the above problem, so that providing one kind can be realized in metallurgical saw process in each work
The door beam type metallurgical saw automatic turning machinery hand of movement and overturning between position.
The present invention solves described problem, the technical solution adopted is that:
A kind of beam type metallurgical saw automatic turning machinery hand, one layer of vehicle with walking machine including gate frame, responsible X-direction movement
Structure, two layers of walking mechanism for being responsible for Y-direction movement, the elevating mechanism for being responsible for Z-direction movement, turnover mechanism, electromagnetic adsorption mechanism；
The lateral light rail and lateral rack rails of one layer of walking mechanism of support are separately provided on gate frame；
One layer of walking mechanism includes one layer of moving trolley being placed on lateral light rail, is respectively set on the two sides crossbeam of one layer of moving trolley
There is transversal deceleration motor, the lateral walking gear with lateral rack rails cooperation is provided on the output shaft of transversal deceleration motor, is passed through
Transversal deceleration motor driven transverse direction walking gear is walked in lateral rack rails uplink, to drive one layer of moving trolley edge on lateral light rail
X-direction moves, and longitudinal light rail and longitudinal rack rails are respectively arranged on two side girders of one layer of moving trolley；
Two layers of walking mechanism include two layers of moving trolley being placed on longitudinal light rail, are respectively set in the bed panel of two layers of moving trolley
There are vertical drive motor and speed reducer, horizontal drive shaft, vertical axes, vertical drive motor and speed reducer are for driving lateral transmission
Axis rotation, the shaft end of horizontal drive shaft and the upper end of vertical axes are respectively arranged with bevel gear, and the lower end of vertical axes is provided with and indulges
The longitudinal walking gear cooperated to rack rails, transmission shaft is cooperated by bevel gear drives lengthwise rows to walk gear in longitudinal rack rails uplink
It walks, so that two layers of moving trolley be driven to move on longitudinal rack rails along Y-direction；
Elevating mechanism includes the lifting speed reduction motor being placed in bed panel, and the output shaft end connection of lifting speed reduction motor is oriented
Under the lead screw that is vertically arranged, be set with sliding nut in lead screw, pass through lifting speed reduction motor and lead screw is driven to turn
It is dynamic, to drive sliding nut along Z-direction elevating movement；
Turnover mechanism includes the overturning motor being arranged on sliding nut, overturning pinion gear, overturning gear wheel, overturning platform, is turned over
Turn pinion gear to be arranged on the output shaft of overturning motor, overturning platform is hinged on overturning motor, and overturning gear wheel setting is being turned over
Turn on platform, pinion gear and overturning gear wheel engaged transmission are overturn by overturning motor driven, to drive overturning platform rotation；
Electromagnetic adsorption mechanism includes the magnechuck for pick-and-place metallurgical saw being arranged on overturning platform lower end surface.
The present invention by adopting the above technical scheme, compared with prior art, the feature protruded is:
1. can be realized automatic loading/unloading and overturning of the metallurgical saw in four freedom degrees, liberate the productive forces, improves and add
Work efficiency rate and processing quality.
2. structure is simple, convenient for operation, strong applicability.
Preferably, the further technical solution of the present invention is:
It is set with sleeve outside sliding nut, the upper end of sleeve is fixed in bed panel.
There are four magnechuck is evenly arranged, model XDA -50-27.
The two sides output shaft end of vertical drive motor and speed reducer passes through one of shaft coupling respectively with two horizontal drive shafts
End connection, horizontal drive shaft is fixedly mounted in the bed panel of two layers of moving trolley by bearing block, two horizontal drive shafts
The other end is fixedly installed with bevel gear respectively, and vertical axes are mounted on bed panel in through bed panel and by bearing.
The lower end of sliding nut is provided with overturning motor support base, and overturning motor is fixedly mounted on overturning motor support base, turns over
Turn to be provided with swing arm on platform, the upper end of swing arm is hinged on the lower end of overturning motor by shaft, overturns and also sets on platform
It is equipped with canine tooth wheeling support, the central axis for overturning gear wheel is fixed on canine tooth wheeling support by locking nut.
Detailed description of the invention
Fig. 1 is schematic perspective view of the embodiment of the present invention；
Fig. 2 is the partial enlargement structural representation of A in Fig. 1；
Fig. 3 is the partial enlargement structural representation of B in Fig. 1；
Fig. 4 is the partial enlargement structural representation of C in Fig. 1；
Fig. 5 is schematic view of the front view of the embodiment of the present invention；
Fig. 6 is the partial enlargement structural representation of D in Fig. 5；
Fig. 7 is the partial enlargement structural representation of E in Fig. 5；
Fig. 8 is the partial enlargement structural representation of F in Fig. 5；
Fig. 9 is the partial enlargement structural representation of G in Fig. 8；
Figure 10 is side structure schematic view of the embodiment of the present invention；
Figure 11 is the partial enlargement structural representation of H in Figure 10；
Figure 12 is the partial enlargement structural representation of I in Figure 10；
Figure 13 is overlooking structure diagram of the embodiment of the present invention；
In figure: gate frame 1；Lateral rack rails 2；Lateral light rail 3；Longitudinal rack rails 4；Longitudinal light rail 5；One layer of moving trolley 6；Two layers of row
Mule carriage 7；Transversal deceleration motor 8；Lateral walking gear 9；Vertical drive motor and speed reducer 10；Horizontal drive shaft 11；Bearing block
12；Bevel gear 13；Longitudinal walking gear 14；Lifting speed reduction motor 15；Sleeve 16；Overturn motor support base 17；Overturn motor 18；It turns over
Turn platform 19；Canine tooth wheeling support 20；Overturn gear wheel 21；Vertical axes 22；Sliding nut 23；Overturn pinion gear 24；Magnechuck
25；Lead screw 26；Shaft coupling 27.
Specific embodiment:
Below with reference to embodiment, the invention will be further described, and purpose, which is only that, more fully understands the content of present invention, therefore, institute
The example of act is not intended to limit protection scope of the present invention.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, a kind of beam
Formula metallurgical saw automatic turning machinery hand including gate frame 1, is responsible for one layer of walking mechanism, responsible Y-direction that X-direction moves
Two layers of walking mechanism of movement, the elevating mechanism for being responsible for Z-direction movement, turnover mechanism, electromagnetic adsorption mechanism, can be realized metallurgy
Four freedom degrees of saw blade are mobile and overturn.
The lateral light rail 3 and lateral rack rails 2 of one layer of walking mechanism of support are separately provided on gate frame 1.
One layer of walking mechanism includes one layer of moving trolley 6 being placed on lateral light rail 3, one layer of moving trolley 6 because span is larger,
Separately-driven mode is selected, transversal deceleration motor 8, transversal deceleration electricity are respectively arranged on the two sides crossbeam of one layer of moving trolley 6
It is provided with the lateral walking gear 9 cooperated with lateral rack rails 2 on the output shaft of machine 8, lateral line is driven by transversal deceleration motor 8
Gear 9 is walked to walk on lateral rack rails 2, so that one layer of moving trolley 6 is driven to move in X direction on lateral light rail 3, one layer of walking
Longitudinal light rail 5 and longitudinal rack rails 4 are respectively arranged on two side girders of vehicle 6, transversal deceleration motor 8 passes through tooth using stepper motor
Rack gear is taken turns, the programmed positioning for realizing one layer of moving trolley 6 facilitates installation and repairing.
Two layers of walking mechanism include two layers of moving trolley 7 being placed on longitudinal light rail 5, and two layers of moving trolley 7 are because its span is small
The characteristics of, by the way of centralized driving, vertical drive motor and deceleration are respectively arranged in the bed panel of two layers of moving trolley 7
Machine 10, horizontal drive shaft 11, vertical axes 22, vertical drive motor and speed reducer 10 are horizontal for driving horizontal drive shaft 11 to rotate
It is fixed in bed panel to transmission shaft 11 by bearing block 12, the shaft end of horizontal drive shaft 11 and the upper end difference of vertical axes 22
It is provided with bevel gear 13, the lower end of vertical axes 22 is provided with the longitudinal walking gear 14 cooperated with longitudinal rack rails 4, horizontal drive shaft
11 are cooperated by intermeshing bevel gear 13 and drive lengthwise rows to walk gear 14 on longitudinal rack rails 4 to walk, to drive two layers
Moving trolley 7 moves on longitudinal rack rails 5 along Y-direction.
Elevating mechanism includes the lifting speed reduction motor 15 being placed in bed panel, the output shaft end of lifting speed reduction motor 15
It is connected with the lead screw 26 being vertically arranged downwards, sliding nut 23 is set in lead screw 26, passes through lifting speed reduction motor
15 driving lead screw 26 rotate, to drive sliding nut 23 along Z-direction elevating movement, elevating mechanism uses lead screw
26, production is simple, low in cost, can be realized low speed movement, is accurately positioned and self-locking.
Turnover mechanism include the overturning motor 18 being arranged on sliding nut 23, overturning pinion gear 24, overturning gear wheel 21,
Platform 19 is overturn, overturning pinion gear 24 is arranged on the output shaft of overturning motor 18, and overturning platform 19 is hinged on overturning motor 18
On, the setting of overturning gear wheel 21 passes through the overturning driving of motor 18 overturning pinion gear 24 and overturning gear wheel on overturning platform 19
21 engaged transmissions, so that overturning platform 19 be driven to rotate.
Electromagnetic adsorption mechanism includes the magnechuck for pick-and-place metallurgical saw being arranged on overturning 19 lower end surface of platform
25, realize the function of absorption saw blade.
It is set with sleeve 16 outside sliding nut 23, the upper end of sleeve 16 is fixed in bed panel.
There are four magnechuck 25 is evenly arranged, model XDA -50-27 realizes the adsorption capacity of 500N × 4, and calculating can
Adsorb saw blade quality 130kg.
The two sides output shaft end of vertical drive motor and speed reducer 10 by shaft coupling 27 respectively with two horizontal drive shafts
11 one end connection, horizontal drive shaft 11 are fixedly mounted in the bed panel of two layers of moving trolley 7 by bearing block 12, two cross
It is fixedly installed with bevel gear 13 respectively to the other end of transmission shaft 11, vertical axes 22 are installed through bed panel and by bearing
In bed panel.
The lower end of sliding nut 23 is provided with overturning motor support base 17, and overturning motor 18 is fixedly mounted on overturning motor support base
It on 17, overturns and is provided with swing arm on platform 19, the upper end of swing arm is hinged on the lower end of overturning motor 18 by shaft, overturning
Canine tooth wheeling support 20 is additionally provided on platform 19, the central axis of overturning gear wheel 21 is fixed on canine tooth wheeling support by locking nut
On 20.
When metallurgical saw is in the working region of turning manipulator gate frame 1, overturning motor 18, which drives, overturns small tooth
Wheel 24 realizes overturning gear wheel 21 and overturns 90 degree of platform 19 rotations, makes magnechuck 25 on overturning platform 19 and is inhaled
One side end face of attached metallurgical saw is vertical；One layer of moving trolley 6 drives lateral walking gear 9 by the transversal deceleration motor 8 of two sides
The movement that X-direction is realized on lateral rack rails 2 drives overturning platform 19 to be accurately positioned a side of metallurgical saw in the X direction
Face；Two layers of moving trolley 7 are driven by vertical drive motor and speed reducer 10 by bevel gear 13, drive longitudinal walking gear 14 vertical
It is moved on rack rails 4, overturns the side end face that platform 19 is accurately positioned metallurgical saw in the Y direction to drive；Then lifting
Decelerating motor 15 and lead screw 26 and the cooperation of sliding nut 23 drive overturning platform in the movement of Z-direction, make to overturn platform with
One side end face of metallurgical saw all contacts, and metallurgical saw is adsorbed in magnechuck energization.
Lifting speed reduction motor 15 drives overturning platform 19 to mention in z-direction with lead screw 26 and the cooperation of sliding nut 23
It rises, so that metallurgical saw is left storage position, by the movement of one layer of moving trolley 6 and two layers of moving trolley 7 in the x, y direction, make smelting
Golden saw blade reaches above target position, and overturning motor 18 drives overturning pinion gear 24 to realize overturning gear wheel 21 and overturning platform 19
90 degree of rotations, so that metallurgical saw is parallel to horizontal plane, lifting speed reduction motor 15 and lead screw 26 and sliding nut 23 cooperate
It drives overturning platform 19 to fall in z-direction, so that metallurgical saw is reached target position, magnechuck 25 powers off, by metallurgical saw
It falls.
One layer of moving trolley 6 and two layers of moving trolley 7 are all made of gear & rack structure, drive load capacity strong, and can be real
Now accurate positioning, the length of rack rails is unrestricted, can reach the higher speed of service.
The present apparatus can be realized automatic loading/unloading and overturning of the metallurgical saw in four freedom degrees, liberation production
Power improves processing efficiency and processing quality, and structure is simple, convenient for operation, strong applicability.
The foregoing is merely preferably feasible embodiment of the invention, not thereby limiting the scope of the invention,
It is all to use equivalence changes made by description of the invention and its accompanying drawing content, it is intended to be included within the scope of the present invention.
Claims (5)
1. a kind of beam type metallurgical saw automatic turning machinery hand, one layer of vehicle with walking machine including gate frame, responsible X-direction movement
Structure, two layers of walking mechanism for being responsible for Y-direction movement, the elevating mechanism for being responsible for Z-direction movement, turnover mechanism, electromagnetic adsorption mechanism；
It is characterized by:
The lateral light rail and lateral rack rails of one layer of walking mechanism of support are separately provided on gate frame；
One layer of walking mechanism includes one layer of moving trolley being placed on lateral light rail, is respectively set on the two sides crossbeam of one layer of moving trolley
There is transversal deceleration motor, the lateral walking gear with lateral rack rails cooperation is provided on the output shaft of transversal deceleration motor, is passed through
Transversal deceleration motor driven transverse direction walking gear is walked in lateral rack rails uplink, to drive one layer of moving trolley edge on lateral light rail
X-direction moves, and longitudinal light rail and longitudinal rack rails are respectively arranged on two side girders of one layer of moving trolley；
Two layers of walking mechanism include two layers of moving trolley being placed on longitudinal light rail, are respectively set in the bed panel of two layers of moving trolley
There are vertical drive motor and speed reducer, horizontal drive shaft, vertical axes, vertical drive motor and speed reducer are for driving lateral transmission
Axis rotation, the shaft end of horizontal drive shaft and the upper end of vertical axes are respectively arranged with bevel gear, and the lower end of vertical axes is provided with and indulges
The longitudinal walking gear cooperated to rack rails, transmission shaft is cooperated by bevel gear drives lengthwise rows to walk gear in longitudinal rack rails uplink
It walks, so that two layers of moving trolley be driven to move on longitudinal rack rails along Y-direction；
Elevating mechanism includes the lifting speed reduction motor being placed in bed panel, and the output shaft end connection of lifting speed reduction motor is oriented
Under the lead screw that is vertically arranged, be set with sliding nut in lead screw, pass through lifting speed reduction motor and lead screw is driven to turn
It is dynamic, to drive sliding nut along Z-direction elevating movement；
Turnover mechanism includes the overturning motor being arranged on sliding nut, overturning pinion gear, overturning gear wheel, overturning platform, is turned over
Turn pinion gear to be arranged on the output shaft of overturning motor, overturning platform is hinged on overturning motor, and overturning gear wheel setting is being turned over
Turn on platform, pinion gear and overturning gear wheel engaged transmission are overturn by overturning motor driven, to drive overturning platform rotation；
Electromagnetic adsorption mechanism includes the magnechuck for pick-and-place metallurgical saw being arranged on overturning platform lower end surface.
2. according to claim 1 beam type metallurgical saw automatic turning machinery hand, it is characterised in that: sliding nut housing
Equipped with sleeve, the upper end of sleeve is fixed in bed panel.
3. according to claim 1 beam type metallurgical saw automatic turning machinery hand, it is characterised in that: magnechuck is uniform
There are four arrangements, model XDA -50-27.
4. according to claim 1 beam type metallurgical saw automatic turning machinery hand, it is characterised in that: vertical drive motor
It is connect respectively with one end of two horizontal drive shafts with the two sides output shaft end of speed reducer by shaft coupling, horizontal drive shaft passes through
Bearing block is fixedly mounted in the bed panel of two layers of moving trolley, and the other end of two horizontal drive shafts is fixedly installed with cone respectively
Gear, vertical axes are mounted on bed panel in through bed panel and by bearing.
5. according to claim 1 beam type metallurgical saw automatic turning machinery hand, it is characterised in that: under sliding nut
End is provided with overturning motor support base, and overturning motor is fixedly mounted on overturning motor support base, overturns and is provided with swing arm on platform,
The upper end of swing arm is hinged on the lower end of overturning motor by shaft, overturns and is additionally provided with canine tooth wheeling support on platform, and overturning is big
The central axis of gear is fixed on canine tooth wheeling support by locking nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664140.1A CN110385702B (en) | 2019-07-23 | 2019-07-23 | Door beam type metallurgical saw blade automatic overturning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664140.1A CN110385702B (en) | 2019-07-23 | 2019-07-23 | Door beam type metallurgical saw blade automatic overturning manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110385702A true CN110385702A (en) | 2019-10-29 |
| CN110385702B CN110385702B (en) | 2024-01-26 |
Family
ID=68286996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910664140.1A Active CN110385702B (en) | 2019-07-23 | 2019-07-23 | Door beam type metallurgical saw blade automatic overturning manipulator |
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| CN (1) | CN110385702B (en) |
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| CN110757439A (en) * | 2019-11-30 | 2020-02-07 | 湖北鞍重重工有限公司 | Reinforcing bar net piece installation manipulator |
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