阅读说明：本技术 细长工件竖向输送机械及系统 (Vertical conveying machine and system for slender workpieces ) 是由 不公告发明人 于 2021-09-04 设计创作，主要内容包括：本发明涉及输送机械自动化技术领域,提供了一种细长工件竖向输送机械及系统,链条机构的链条沿着竖向布置,夹取机构包括多个并等间距的设置在链条上,夹取机构前端设置有通过第一电动线性缸驱动开合的钳爪,夹取控制单元通过控制电源的通断实现多个夹取机构的第一电动线性缸动作的同步控制,以使得多个夹取机构共同完成竖向状态的细长工件的夹取和放开；机架位于链条外侧设置有与链条平行布置的环形导轨；夹取机构中间设置有支撑到环形导轨外侧的支撑轮组,以保持细长工件的稳定状态。所提供的细长工件竖向输送机械,能够自动完成长度较大的细长工件的夹取、竖向输送和释放,并保持细长工件在整个过程的稳定竖直状态,适合于机械制造、加工等场合使用。(The invention relates to the technical field of automation of conveying machinery, and provides a vertical conveying machinery and a vertical conveying system for slender workpieces, wherein chains of a chain mechanism are vertically arranged, a clamping mechanism comprises a plurality of clamping claws which are arranged on the chains at equal intervals, the front end of the clamping mechanism is provided with a first electric linear cylinder for driving the clamping claws to open and close, and a clamping control unit realizes the synchronous control of the actions of the first electric linear cylinders of the plurality of clamping mechanisms by controlling the on-off of a power supply so that the plurality of clamping mechanisms jointly complete the clamping and releasing of the slender workpieces in a vertical state; the frame is provided with an annular guide rail which is arranged in parallel with the chain and is positioned outside the chain; the middle of the clamping mechanism is provided with a supporting wheel set supported to the outer side of the annular guide rail so as to keep the stable state of the slender workpiece. The vertical conveying machine for the long and thin workpieces can automatically clamp, vertically convey and release the long and thin workpieces with large lengths, keeps the long and thin workpieces in a stable vertical state in the whole process, and is suitable for occasions such as machine manufacturing and machining.)

1. Vertical conveying machinery of long and thin work piece, its characterized in that:

comprises a frame, a chain mechanism, a clamping mechanism, a guide mechanism and a clamping control unit;

the chain mechanism comprises chain wheels which are arranged at intervals along the vertical direction and chains arranged between the chain wheels, the chain wheels are driven by a motor, and the chain mechanism is provided with a motor control unit for controlling the motor to start and stop;

the clamping mechanisms comprise a plurality of clamping seats and clamping claws, the clamping mechanisms are arranged on the chain at equal intervals, and each clamping mechanism comprises a clamp seat and a clamp claw; the rear end of the clamp base is fixedly connected with a single chain link, the clamp claws can be transversely opened and closed and are arranged at the front end of the clamp base, and the clamp base is provided with a first electric linear cylinder for driving the clamp claws to be opened and closed;

the guide mechanism comprises an annular guide rail and a guide seat, the annular guide rail is arranged on the rack and positioned outside the chain, and the annular guide rail and the chain are arranged in parallel; the guide seat is arranged on the forceps seat and is provided with a support wheel set supported to the outer side of the annular guide rail;

the clamping control unit comprises a first conductive sliding rail, a first conductive brush, a power supply and a first controller, the first conductive sliding rail is vertically arranged on the rack and is parallel to a straight line section on one side of the annular guide rail, the first conductive brush is arranged on the clamp seat and is in sliding electrical connection with the first conductive sliding rail, and the first electric linear cylinder is electrically connected with the first conductive brush; the first controller is arranged between the power supply and the first conductive sliding rail, and the first controller realizes synchronous control of the first electric linear cylinders of the plurality of clamping mechanisms by controlling on-off of current from the power supply to the first conductive sliding rail, so that the plurality of clamping mechanisms can jointly complete clamping of the elongated workpiece in the vertical state.

2. The elongated workpiece vertical transport machine of claim 1, wherein: the vertical conveying machine for the long and thin workpieces further comprises a supporting and carrying mechanism, the supporting and carrying mechanism comprises a plurality of supporting and carrying mechanisms which are arranged on the chain at equal intervals, and a plurality of clamping mechanisms are arranged between every two adjacent supporting and carrying mechanisms respectively.

3. The elongated workpiece vertical transport machine of claim 2, wherein: the supporting and carrying mechanism comprises a supporting frame and a movable supporting plate, the rear end of the supporting frame is fixedly connected with a single chain link of the chain, and the movable supporting plate is arranged at the front end of the supporting frame.

4. The elongated workpiece vertical transport machine of claim 1, wherein: the annular guide rail comprises two straight line sections which are arranged in parallel and have equal length and arc sections which are respectively connected between the two straight line sections, and the straight line sections are provided with straight line guide grooves used for containing the supporting wheels.

5. A vertical conveying system for slender workpieces is characterized in that: the vertical conveying machine for the elongated workpiece, comprising any one of claims 1 to 4, further comprising a loading frame and an unloading frame, the loading frame and the unloading frame being arranged on the machine frame in a vertically spaced arrangement.

6. The elongated workpiece vertical transport system of claim 5, wherein: the vertical distance between the loading frame and the unloading frame is integral multiple of the distance between the adjacent supporting mechanisms, the loading frame is provided with a loading sliding seat capable of moving transversely, and the loading sliding seat is provided with a workpiece clamp for clamping a vertical pipe fitting; the unloading frame is provided with an unloading sliding seat capable of moving transversely, and the unloading sliding seat is provided with another workpiece clamp for clamping a vertical pipe fitting.

7. The elongated workpiece vertical transport system of claim 5, wherein: the front ends of the loading frame and the unloading frame are arranged at intervals with the chain, the loading frame is provided with a first sensor for detecting the supporting mechanism, the unloading frame is provided with a second sensor for detecting the supporting mechanism, and the first sensor and the second sensor are respectively connected with the motor control unit and the clamping control unit.

8. A method for vertically conveying a slender workpiece, which is used for conveying the slender workpiece by using a slender workpiece vertical conveying system, and is characterized in that:

placing the slender workpiece on a loading frame in a vertical state;

the motor drives the chain to move to drive the first group of clamping mechanisms to move to the loading frame;

at the loading frame, simultaneously combining and clamping a plurality of jaws of the first group of clamping mechanisms to clamp the elongated workpiece in a vertical state on the loading frame;

the motor drives the chain to move, and drives the first group of clamping mechanisms and the clamped slender workpiece to move to the unloading frame;

at the unloading frame, the jaws of the first group of clamping mechanisms are opened and release the elongated workpiece in the vertical state to the unloading frame at the same time;

the first group of gripping mechanisms moves to the unloading frame and unloads the elongated workpiece, and simultaneously the second group of gripping mechanisms moves to the loading frame and loads another elongated workpiece; the chain moves in one direction to sequentially complete the loading and unloading operation of a plurality of slender rod pieces.

Technical Field

The invention relates to the technical field of automation of conveying machinery, and particularly provides an automatic device suitable for vertically conveying a long and thin workpiece.

Background

In industrial engineering, a part of slender workpieces needs to be conveyed vertically in a large distance in a vertical state, and in the occasions of surface treatment of the slender workpieces such as dipping paint, galvanizing and the like, for example, the slender workpieces and pipe fittings are conveyed to a platform with a large distance from the ground so as to further put the cleaned slender workpieces into a dipping paint and galvanizing treatment liquid pool. In addition, the horizontal placement in the operation process easily causes the surface to be adhered with impurities, causes the reduction of the treatment quality of subsequent paint dipping, zinc plating and the like, and influences the product quality.

Disclosure of Invention

The invention provides a vertical conveying machine for long and thin workpieces, which aims to solve the problems of automatic clamping, vertical conveying and releasing of long and thin workpieces with large lengths and keep the long and thin workpieces in a stable vertical state in the conveying process.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a vertical conveying machine for slender workpieces comprises a rack, a chain mechanism, a clamping mechanism, a guide mechanism and a clamping control unit.

The chain mechanism comprises chain wheels arranged at intervals along the vertical direction and a chain arranged between the chain wheels, the chain wheels are driven by a motor, and the chain mechanism is provided with a motor control unit for controlling the motor to start and stop.

The clamping mechanisms comprise a plurality of clamping seats and clamping claws, the clamping mechanisms are arranged on the chain at equal intervals, and each clamping mechanism comprises a clamp seat and a clamp claw; the rear end of the clamp base is fixedly connected with the single chain link, the clamp claws can be transversely opened and closed and are arranged at the front end of the clamp base, and the clamp base is provided with a first electric linear cylinder for driving the clamp claws to be opened and closed.

The guide mechanism comprises an annular guide rail and a guide seat, the annular guide rail is arranged on the rack and positioned outside the chain, and the annular guide rail and the chain are arranged in parallel; the guide seat is arranged on the pliers seat and is provided with a supporting wheel set which supports the outer side of the annular guide rail.

The clamping control unit comprises a first conductive slide rail, a first conductive brush, a power supply and a first controller, the first conductive brush is arranged on the clamp seat and is in sliding electrical connection with the first conductive slide rail, and the first electric linear cylinder is in electrical connection with the first conductive brush; the first controller is arranged between the power supply and the first conductive sliding rail, and the first controller realizes synchronous control of the first electric linear cylinders of the plurality of clamping mechanisms by controlling on-off of current from the power supply to the first conductive sliding rail, so that the plurality of clamping mechanisms can jointly complete clamping of the elongated workpiece in the vertical state.

Optionally, the vertical conveying machine for the elongated workpiece further comprises a supporting and carrying mechanism, the supporting and carrying mechanism comprises a plurality of supporting and carrying mechanisms which are arranged on the chain at equal intervals, and a plurality of clamping mechanisms are respectively arranged between every two adjacent supporting and carrying mechanisms.

The lower ends of the slender workpieces clamped by the jaws of the plurality of clamping mechanisms can be supported by the supporting mechanism, so that the slender workpieces are prevented from slipping along the axial direction between the jaws. For thin-wall and smooth-surface slender workpieces such as pipes, the gripping force of the jaws is too large, the pipes are easily deformed and damaged, and the pipes can be conveyed under the condition that the gripping force of the jaws is small under the condition that the supporting mechanism supports the pipes, so that the safety of pipe conveying is ensured.

Optionally, the supporting mechanism comprises a supporting frame and a movable supporting plate, the rear end of the supporting frame is fixedly connected with a single chain link of the chain, the movable supporting plate is hinged at the front end of the supporting frame, and the supporting frame is provided with a second electric linear cylinder for driving the movable supporting plate to rotate around the transverse hinge.

The turnover movable supporting plate is arranged on the supporting mechanism, the movable supporting plate is in a downward turnover state in the process of clamping the slender workpiece by the claw of the clamping mechanism, the movable supporting plate is prevented from blocking the end part of the slender workpiece in the clamping action, and the movable supporting plate is turned upwards after the clamping action, so that the lower end of the slender workpiece is supported.

Optionally, the machine base is provided with a second conductive sliding rail which is in sliding electrical connection, the supporting frame is provided with a second conductive brush, the second electric linear cylinder is electrically connected with the second conductive brush, and the first controller controls the second electric linear cylinder of the supporting mechanism by controlling on-off of current from the power supply to the second conductive sliding rail, so that the movable supporting plate supports the lower end of the elongated workpiece in the vertical state.

The second conductive brush is electrically connected with the second conductive sliding rail in a sliding mode, so that the current communication between the power supply and the second electric linear cylinder in a moving state is realized, the on-off of the power supply is realized through the first controller, the action of the second electric linear cylinder is controlled, and the overturning action of the movable supporting plate is realized.

Optionally, the gripping mechanism includes two jaws disposed transversely and oppositely, each jaw is hinged to the front end of the holder, the first electric linear cylinders include two, the cylinder body of each first electric linear cylinder is hinged to the holder, and the movable rod is hinged to a different jaw.

Two clamp claws of the clamping mechanism are hinged to the front end of the clamp base, and the first electric linear cylinder drives the two clamp claws to turn over, so that clamping of a vertical elongated workpiece is realized.

Optionally, the clamping mechanism includes two jaws disposed transversely and oppositely, the two jaws are symmetrically slidably disposed at the front end of the base, the first electric linear cylinders include two ones, and a cylinder body of each first electric linear cylinder is fixedly connected to the base while a movable rod is fixedly connected to different jaws.

Two clamp claws of the clamping mechanism are arranged at the front end of the clamp base in a sliding mode, and the first electric linear cylinder drives the two clamp claws to move relatively, so that clamping of a vertical long and thin workpiece is achieved.

Optionally, the annular guide rail comprises two parallel linear segments of equal length and circular arc segments connected between the two linear segments, and the linear segments are provided with linear guide grooves for accommodating the supporting wheels.

Further, the invention provides a vertical conveying system for the elongated workpiece, which comprises the vertical conveying machine for the elongated workpiece, and further comprises a loading frame and an unloading frame, wherein the rack is provided with the loading frame and the unloading frame which are arranged at intervals along the vertical direction, the distance between the loading frame and the unloading frame is integral multiple of the distance between the adjacent loading mechanisms, the front ends of the loading frame and the unloading frame are arranged at intervals with a chain, the loading frame is provided with a first sensor for detecting the loading mechanisms, the unloading frame is provided with a second sensor for detecting the loading mechanisms, and the first sensor and the second sensor are respectively connected with a motor control unit and a clamping control unit.

The first sensor is arranged at the loading frame, so that the supporting mechanism stops at the loading frame to finish the clamping and supporting actions of the slender workpiece; and stopping the carrying mechanism at the unloading frame by arranging a second sensor at the loading frame so as to complete the releasing and unloading actions of the slender workpiece.

Optionally, the loading frame and the unloading frame are respectively provided with a holding mechanism for maintaining the vertical state of the elongated workpiece.

Optionally, the loading frame is provided with a loading slide capable of moving transversely, and a workpiece clamp for clamping the vertical pipe fitting is arranged on the loading slide; the unloading frame is provided with an unloading sliding seat capable of moving transversely, and the unloading sliding seat is provided with another workpiece clamp for clamping a vertical pipe fitting.

Meanwhile, the invention provides a method for vertically conveying a slender workpiece, which is used for conveying the slender workpiece by using the slender workpiece vertical conveying system and specifically comprises the following steps:

placing the slender workpiece on a loading frame in a vertical state;

the motor drives the chain to move to drive the first group of clamping mechanisms to move to the loading frame;

at the loading frame, simultaneously combining and clamping a plurality of jaws of the first group of clamping mechanisms to clamp the elongated workpiece in a vertical state on the loading frame;

the motor drives the chain to move, and drives the first group of clamping mechanisms and the clamped slender workpiece to move to the unloading frame;

at the unloading frame, the jaws of the first group of clamping mechanisms are opened and release the elongated workpiece in the vertical state to the unloading frame at the same time;

the first group of gripping mechanisms moves to the unloading frame and unloads the elongated workpiece, and simultaneously the second group of gripping mechanisms moves to the loading frame and loads another elongated workpiece; the chain moves in one direction to sequentially complete the loading and unloading operation of a plurality of slender rod pieces.

The vertical conveying machine for the slender workpieces completes the automatic clamping, vertical conveying and automatic releasing processes of the slender workpieces through the clamping mechanisms distributed on the chain drive, and the vertical conveying machine for the slender workpieces has the technical advantages that:

1. the mechanism is got to equidistant setting clamp on the chain of vertical arrangement, gets the mechanism through a plurality of clamps and gets the single long and thin work piece clamp of mechanism to vertical state jointly to rotate through motor drive sprocket, drive and arrange a plurality of clamps on the chain and get the vertical removal of mechanism, in order to realize the vertical transport of long and thin work piece. The synchronous action of the plurality of clamping mechanisms is suitable for clamping the long and thin workpieces with the length far greater than the height of a single chain link, and the long and thin workpieces are always kept in a stable vertical state in the processes of clamping and vertically conveying.

2. The clamping control unit is arranged, the electric connection between the power supply and the first electric linear cylinder for driving the clamp claws to open and close is realized through the conductive slide rail on the rack and the conductive brush on the clamp seat, the first controller for controlling the on-off of the current is arranged between the power supply and the conductive slide rail, the action control of the first electric linear cylinder is realized, the synchronous opening and closing actions of the clamping mechanisms are controlled, the first controller is arranged on the rack instead of the support frame, the structure of the support frame is favorably reduced, the size of the support frame is favorably reduced, the first controller is statically arranged on the rack, the structure is simple, and the control is convenient.

3. The chain is provided with the supporting and carrying mechanism, in the conveying process, the movable supporting plate supports and carries the lower end of the slender workpiece clamped by the clamping mechanism, so that the slender workpiece is prevented from sliding and falling along the axial direction, the stability of the slender workpiece in the conveying process is facilitated, and the supporting and carrying mechanism is particularly suitable for thin-wall slender workpieces which are smooth in surface or have small clamping force and are difficult to firmly grasp only through the clamping mechanism, such as thin-wall round pipes, thin-wall sheet metal square pipes and the like.

4. The annular guide rail which plays a role in righting the clamping mechanism is arranged on the frame, the supporting wheel set matched with the annular guide rail is arranged on the clamping mechanism, so that the problem that the slender workpiece is inclined and interfered with the chain is solved, and the process of clamping and conveying the slender workpiece is kept stable.

Drawings

Fig. 1 is a schematic three-dimensional structure diagram of a vertical conveying machine for elongated workpieces, provided by the invention.

Fig. 2 is a schematic structural view of only the gripping mechanism provided on the chain.

Fig. 3 is a schematic structural view of the gripping mechanism.

Fig. 4 is a schematic diagram of the open and close control of the jaws of the gripping mechanism.

Fig. 5 is a schematic structural view of the chain provided with the gripping mechanism and the carrying mechanism.

Fig. 6 is a partial schematic view of fig. 5.

Fig. 7 is a schematic structural view of the carrying mechanism.

Fig. 8 is a schematic diagram of the turning control of the movable pallet of the carrying mechanism.

Fig. 9 is a schematic view of a state in which an elongated workpiece is gripped and carried.

Fig. 10 is a schematic structural view of the endless guide rail.

Fig. 11 is a schematic view showing a state where the gripping mechanism and the carrying mechanism are supported and guided by the endless guide.

Fig. 12 is a schematic view of a state in which an elongated workpiece is guided by an endless guide rail.

Fig. 13 is a schematic structural diagram of the vertical conveying system for the slender workpieces.

Fig. 14 is a schematic structural view of a loading frame and an unloading frame.

Fig. 15 is a mechanism diagram of the workpiece clamping.

Fig. 16 is a schematic view showing a state after the elongated workpiece is loaded.

Fig. 17 is a schematic view of a state during vertical conveyance.

In the figure, 1 — rack; 2-chain mechanism, 21-sprocket, 22-chain, 23-motor; 3-a clamping mechanism, 31-a clamp seat, 32-a clamp claw, 33-a first electric linear cylinder, 34-a first conductive slide rail, 35-a first conductive brush and 36-a first controller; 4-a supporting mechanism, 41-a supporting frame, 42-a movable supporting plate, 43-a second electric linear cylinder, 44-a second conductive brush, 45-a second conductive sliding rail and 46-a second controller; 5-a guide mechanism, 51-an annular guide rail, 511-a linear guide groove, 512-a linear segment, 513-a circular arc segment, 52-a guide seat and 53-a support wheel set; 6-loading frame, 61-loading slide seat, 62-workpiece clamp, 621-vertical support, 622-support, 623-clamping jaw, 624-pneumatic/hydraulic cylinder; 7-unloading carriage, 71-unloading slide; 8-slender workpiece.

Detailed Description

The invention aims to provide a vertical conveying machine for elongated workpieces, which is used for automatically clamping, vertically conveying and releasing the elongated workpieces with larger length and keeping the elongated workpieces in a stable vertical state during conveying.

Fig. 1 is a schematic three-dimensional structure diagram of a vertical conveying machine for slender workpieces provided by the invention.

As shown in fig. 1, the overall technical solution of the present invention: the vertical conveying machine for the slender workpieces comprises a rack 1, a chain mechanism 2, a clamping mechanism 3, a guide mechanism 5 and a clamping control unit.

Fig. 2 is a schematic structural view of only the gripping mechanism provided on the chain.

As shown in fig. 2, the chain mechanism 2 functions to drive the gripping mechanism to move.

The chain mechanism 2 comprises two chain wheels 21 arranged at intervals along the vertical direction, a chain 22 in a tensioning state is arranged between the two chain wheels 21, one chain wheel 21 is driven by a motor 23, and the starting and stopping control of the motor is completed by a motor control unit so as to realize the movement and the stopping of the chain 21.

Fig. 3 is a schematic structural view of the gripping mechanism.

As shown in fig. 3, the gripping mechanism 3 functions to grip the elongated workpiece 8 and maintain the upright state.

The gripping mechanism 3 includes a plurality of jaws 32 arranged on the chain 22 at equal intervals, each gripping mechanism 3 is provided with a claw for gripping the elongated workpiece 8, and the elongated workpiece 8 is gripped simultaneously by the claws 32 of the plurality of gripping mechanisms, so that the claws 32 can grip the elongated workpiece 8 at a plurality of positions in the axial direction of the elongated workpiece 8, thereby ensuring that the elongated rod 8 having a length much longer than the length of the chain link of the chain is gripped firmly and vertically stably.

Fig. 10, a schematic view of the structure of the endless track.

Fig. 11 is a schematic view showing a state in which the gripping mechanism and the carrying mechanism are supported and guided by the endless guide.

As shown in fig. 10 and 11, the guide mechanism 5 supports the gripping mechanism 3.

The guide mechanism 5 comprises an annular guide rail 51 and a guide seat 52, the annular guide rail 51 is arranged on the frame 1 and positioned outside the chain 22, the annular guide rail 51 is arranged in parallel with the chain 22, the direction of the annular guide rail 51 is consistent with the direction of the chain 22, the guide seat 52 is arranged on the caliper seat 31, and the guide seat 52 is provided with a support wheel set 53 supported outside the annular guide rail 51.

Fig. 2 is a schematic structural view of only the gripping mechanism provided on the chain.

Fig. 3 is a schematic structural view of the gripping mechanism.

With reference to fig. 2 and 3, a specific technical solution of the gripping mechanism of the present invention is described:

according to the vertical conveying machine for the long and thin workpieces, the clamping mechanisms are arranged on the vertically arranged chain at equal intervals, the single long and thin workpiece 8 in a vertical state is clamped by the clamping mechanisms 3 together, the chain wheel 21 is driven to rotate by the motor 23, and the clamping mechanisms 3 arranged on the chain 22 are driven to vertically move, so that the long and thin workpiece 8 is conveyed vertically. Due to the synchronous action of the plurality of clamping mechanisms 3, the clamping mechanism is suitable for clamping the long and thin workpiece 8 with the length far larger than the height of a single chain link, and the long and thin workpiece 8 is always kept in a stable vertical state in the clamping and vertical conveying processes.

The clamping mechanism 3 comprises a clamp seat 31 and a clamp claw 32; the rear end of the clamp seat 31 is fixedly connected with the single chain link, the clamp claws 32 are transversely arranged at the front end of the clamp seat 31 in an opening and closing mode, and the clamp seat 31 is provided with a first electric linear cylinder 33 used for driving the clamp claws 32 to open and close.

As shown in fig. 3, the invention provides a specific technical solution for a gripping mechanism:

in some embodiments, the gripping mechanism 3 comprises two jaws 32 arranged transversely opposite to each other, each jaw 32 being hinged to the front end of a respective jaw seat 31, the first electric linear cylinders 33 comprising two, each first electric linear cylinder 33 having its cylinder body hinged to the jaw seat and its movable rod hinged to a different jaw 32.

When the first electric linear cylinder 33 is communicated with a power supply, the movable rod extends out to drive the two jaws 32 to simultaneously turn inwards, so that the long and thin workpiece 8 in a vertical state can be clamped. When the first electric linear cylinder 33 is disconnected from the power supply, the movable rod is retracted to drive the two jaws 32 to simultaneously turn outwards, and the clamped slender workpiece 8 is released.

The second implementation specific technical scheme of the clamping mechanism comprises the following steps: in other embodiments, the gripping mechanism comprises two jaws disposed transversely opposite to each other, the two jaws are symmetrically and slidably disposed at the front end of the base, the first electric linear cylinders comprise two, and the cylinder body of each first electric linear cylinder is fixedly connected with the base while the movable rod is fixedly connected with different jaws 32.

When the first electric linear cylinder is communicated with a power supply, the movable rod extends out to drive the two clamp claws to move inwards at the same time, so that the clamping of a vertical slender workpiece is realized. When the first electric linear cylinder is disconnected from the power supply, the movable rod retracts to drive the two jaws to move outwards simultaneously, and the clamped slender workpiece is released.

The specific technical scheme of the gripping control is explained with reference to fig. 4:

the first electric linear cylinder 33 is driven by electricity, and the first electric linear cylinder 33 moves along with the connection of the chain 22, so that the power supply position is fixed, and the first electric linear cylinder 33 and the power supply position cannot be connected by using a fixed wire.

As shown in fig. 4, in a specific implementation, the gripping control unit includes a first conductive slide rail 34, a first conductive brush 35, a power supply and a first controller 36, the first conductive slide rail 34 is vertically disposed on the frame 1 and is parallel to a straight line segment on one side of the circular guide rail 51, the first conductive brush 35 is disposed on the forceps base 31 and is in sliding electrical connection with the first conductive slide rail 34, and the first electric linear cylinder 33 is electrically connected with the first conductive brush 35; the first controller 36 is arranged between the power supply and the first conductive slide rail 34, and the first controller 36 controls the first electric linear cylinders 35 of the plurality of gripping mechanisms synchronously by controlling on/off of current from the power supply to the first conductive slide rail 34, so that the plurality of gripping mechanisms 3 complete gripping of the elongated workpiece 8 in a vertical state together.

Specifically, the first conductive slide rail 34 is linear and is arranged on a linear section of the annular guide rail 34 on the side close to the loading frame 6 and the unloading frame 7, and the first conductive slide rail 34 is not arranged at other positions of the annular guide rail 51. Therefore, the first conductive brush 35 is in contact with the first conductive rail 34 and is electrically connected only when the gripping mechanism 3 moves to the side of the annular guide rail 34 close to the loading frame 6 and the unloading frame 7, and the first conductive brush 35 is not in contact with the first conductive rail 34 and is not electrically connected at other positions. The design is that when the clamping mechanism 3 and the carrying mechanism 4 are far away from the loading frame 6 and the unloading frame 7, the first electric linear cylinder 33 is in a power supply disconnection state, and the jaws of the clamping mechanism 3 are kept in an open state. This is independent of the first controller 36 controlling the current on and off of the power supply and the electrical slide.

The clamping control unit realizes the electrical connection between a power supply and a first electric linear cylinder 33 for driving the clamping claws 32 to open and close through a first conductive slide rail 34 on the rack 1 and a first conductive brush 35 on the clamp seat 31, and a first controller 36 for controlling the on-off of current is arranged between the power supply and the first conductive slide rail 34 to realize the action control of the first electric linear cylinder 35, so as to control the synchronous opening and closing actions of the plurality of clamping mechanisms 3, and the first controller 36 is arranged on the rack 1 instead of the clamp seat 31, thereby being beneficial to reducing the structure and volume of the clamp seat 31, having simple structure and being convenient for installation and arrangement.

The specific technical proposal that the supporting mechanism is provided with a reversible movable supporting plate is described by combining with the figures 5, 6 and 7:

for thin-wall and smooth-surface slender workpieces 8, such as thin-wall pipe fittings with higher surface smoothness, too large clamping force of the clamp claws 32 easily causes deformation and damage of the thin-wall pipe fittings, and too small clamping force of the clamp claws 32 generates smaller friction force during clamping, so that the thin-wall pipe fittings easily slide along the length direction of the chain 22, and normal conveying of the thin-wall pipe fittings cannot be realized.

Fig. 5 is a schematic structural view of the clamping mechanism and the carrying mechanism arranged on the chain. Fig. 6 and a partial schematic view of fig. 5. Fig. 7 is a schematic structural view of the carriage mechanism. Fig. 9 is a schematic view showing a state where an elongated workpiece is gripped and carried.

As shown in fig. 5, 6, 7, 8 and 9, in some embodiments, a supporting mechanism 4 for supporting the lower end of the elongated workpiece 8 is provided on the chain 22, and when the gripper of the gripping mechanism grips the elongated workpiece, the gripper of the supporting mechanism supports the lower end of the elongated workpiece, so that the vertical state of the elongated workpiece 8 can be kept stable, the axial position of the elongated workpiece 8 can be kept stable, and the axial slipping does not occur.

In a specific implementation, the supporting mechanism 4 includes a plurality of supporting mechanisms 22 arranged on the chain at equal intervals, and a plurality of gripping mechanisms 3 are respectively arranged between each adjacent supporting mechanism 4.

Fig. 7 is a schematic structural view of the carriage mechanism.

As shown in fig. 7, in the specific implementation, the carrying mechanism 4 comprises a carrying frame 41 and a movable supporting plate 42, the rear end of the carrying frame 41 is fixedly connected with a single chain link of the chain 22, the movable supporting plate 42 is hinged at the front end of the carrying frame 41, and the carrying frame 41 is provided with a second electric linear cylinder 43 for driving the movable supporting plate 42 to rotate around a transverse hinge.

The turnover movable supporting plate 42 is arranged through the supporting mechanism 4, the movable supporting plate 42 is in a downward turnover state in the process that the claw 32 of the clamping mechanism 3 clamps the slender workpiece 8, the movable supporting plate 42 is prevented from blocking the end part of the slender workpiece 8 in the clamping action, and after the clamping action, the movable supporting plate 42 is turned over upwards, so that the lower end of the slender workpiece 8 is supported.

The method for carrying the elongated workpiece 8 by using the carrying mechanism 4 in the process of conveying the elongated workpiece 8 comprises the following specific steps:

at the loading frame 7, after the jaws 32 of the clamping mechanism 3 clamp the elongated workpiece 8, the chain 22 drives the clamping mechanism 3 and the elongated workpiece 8 to vertically move for a short distance, and then the movable supporting plate 42 of the supporting mechanism 4 turns upwards around the hinge to support the lower end of the elongated workpiece 8 in a vertical state;

before the clamping mechanism and the workpiece reach the unloading frame, the movable supporting plate of the supporting mechanism turns downwards around the hinge to make room for the unloading frame, and the jaws of the clamping mechanism are opened to release the slender workpiece.

The supporting and carrying mechanism 4 is arranged on the chain, in the conveying process, the lower end of the slender workpiece 8 clamped by the clamping mechanism 3 is supported and carried through the movable supporting plate 42, the slender workpiece 8 is prevented from sliding and falling along the axial direction, the stability of the slender workpiece 8 in the conveying process is facilitated, and the supporting and carrying mechanism is particularly suitable for thin-wall slender workpieces 8 which are smooth in surface or have small clamping force and are difficult to firmly clamp only through the clamping mechanism 3, such as thin-wall round pipes, thin-wall sheet metal square pipes and the like.

Fig. 8 is a schematic diagram of the turning control of the movable pallet of the carrying mechanism.

The specific scheme of the control of the carrying mechanism is described with reference to fig. 8:

as shown in fig. 8, the second electric linear cylinder 43 of the carrying mechanism 4 is also driven by electric power, as with the first electric linear cylinder 33 of the gripping mechanism 3, and since the second electric linear cylinder 43 moves along with the connection of the chain 22 and the power supply position is fixed, the two can not be connected by a fixed electric wire, for this purpose, the second conductive slide rail 45 is electrically connected with the second conductive brush 44 in a sliding manner, and a second controller 46 is provided between the power supply and the second conductive slide rail 45 to control the on/off of the power supply current.

As shown in fig. 8, in a specific implementation, a second conductive slide rail 45 arranged in parallel with the first conductive slide rail 34 is disposed on the machine frame, the carrier frame is provided with a second conductive brush 44, the second electric linear cylinder 43 is electrically connected with the second conductive brush 44, the second conductive brush 44 is disposed on the caliper seat 31 and is electrically connected with the second conductive slide rail 45 in a sliding manner, and the second controller 46 controls the second electric linear cylinder 43 of the carrying mechanism 4 by controlling on/off of current from the power supply to the second conductive slide rail 45, so that the movable pallet 42 carries the lower end of the elongated workpiece 8 in a vertical state.

The second conductive brush 44 is electrically connected with the second conductive slide rail 45 in a sliding manner, so that the current communication between the power supply and the second electric linear cylinder 43 in the moving state is realized, and the on-off of the power supply is realized through the second controller 46, so that the action of the second electric linear cylinder 43 is controlled, and the overturning action of the movable supporting plate 42 is realized.

Similarly, since the second conductive slide rail 45 is linear and is disposed on a linear section of the annular guide rail on the side close to the loading frame 6 and the unloading frame 7, the second conductive slide rail 45 is not disposed at other positions of the annular guide rail 51. The carrying mechanism 4 is configured such that the second conductive brush 44 is in contact with the second conductive slide rail 45 only when moving to the side of the annular guide rail 51 close to the loading frame 6 and the unloading frame 7, and the second conductive brush 44 is not in contact with the second conductive slide rail 45 and is not in electrical communication at other positions. The structure is designed so that when the gripping mechanism 3 and the carrying mechanism 4 are far away from the loading frame 6 and the unloading frame 7, the second electric linear cylinder 43 is in a power-off state, and the movable supporting plate 42 of the carrying mechanism 4 is kept in a downward overturning state. This is independent of the second controller 46 controlling the current on and off of the power supply and the electrical sled.

Fig. 10, a schematic view of the structure of the endless track. Fig. 11 is a schematic view showing a state in which the gripping mechanism and the carrying mechanism are supported and guided by the endless guide. Fig. 12 is a schematic view of a state in which an elongated workpiece is guided by an endless guide rail.

The specific technical solution of the guiding mechanism is explained with reference to fig. 10, fig. 11 and fig. 12:

the guide mechanism 5 comprises an annular guide rail 51 and a guide seat 52, the annular guide rail 51 is arranged on the rack 1 and positioned outside the chain 22, and the annular guide rail 51 is arranged in parallel with the chain 22; in the specific implementation, the two annular guide rails 51 are symmetrically arranged on both sides of the width direction of the chain 22, and the two annular guide rails 51 are arranged at intervals to form a gap which is consistent with the direction of the chain 22.

Fig. 10, a schematic view of the structure of the endless track.

As shown in fig. 10, in particular, the circular guide rail includes two parallel straight segments 512 of equal length and a circular arc segment 513 connected between the two straight segments, and the straight segments are provided with linear guide grooves 511 for accommodating the support wheels.

Fig. 11 is a schematic view showing a state in which the gripping mechanism and the carrying mechanism are supported and guided by the endless guide.

As shown in fig. 11, the caliper seat 31 extends from the outer sides of the two annular guide rails 51, the guide seats 52 are mounted on the caliper seat 31 and located outside the annular guide rails 51, the guide seats 52 are provided with two sets of supporting wheel sets 53 supported to the outer sides of the annular guide rails 51, the supporting wheels of the supporting wheel sets 53 comprise two sets and are symmetrically arranged along the width direction of the chain 22, one side of each supporting wheel body, close to the caliper claws, is provided with a rim with an outer diameter larger than that of the wheel body, and the wheel body is tightly pressed on the outer side surfaces of the annular guide rails, so that the caliper seat is supported in a direction perpendicular to the chain axis; the outer side of the wheel rim is close to the side face, close to the gap, of the annular guide rail, so that the clamp seat is supported in a manner of being parallel to the axial direction of the chain shaft, and the stable state of the clamp seat is guaranteed.

Fig. 12 is a schematic view of a state in which an elongated workpiece is guided by an endless guide rail.

As shown in fig. 11, the machine frame 1 is provided with a pair of gripping mechanisms 3 and a circular guide rail 51 for centering, and the gripping mechanisms 3 are provided with a supporting wheel set 53 matched with the circular guide rail 51 to prevent the long and thin workpiece 8 from inclining and interfering with the chain 22, so as to keep the process of gripping and conveying the long and thin workpiece 8 stable.

Fig. 13 is a schematic structural diagram of the vertical conveying system for the slender workpieces. Fig. 14, a schematic view of the structure of the loading frame and the unloading frame. Fig. 15, a mechanism diagram of the workpiece clamping.

Referring to fig. 13, 14 and 15, a specific technical solution of a vertical conveying system for an elongated workpiece according to the present invention is described:

as shown in fig. 13, the invention provides a vertical conveying system for an elongated workpiece, which comprises the vertical conveying machine for the elongated workpiece, and further comprises a loading frame 6 and an unloading frame 7, wherein the loading frame 6 and the unloading frame 7 are arranged on a rack at intervals in the vertical direction.

The loading frames 6 and the unloading frames 7 are arranged on the machine frame 1 at intervals along the vertical direction, and the vertical distance between the loading frame 6 and the unloading frame 7 is integral multiple of the distance between the adjacent carrying mechanisms 4.

A loading frame 6 for supplying the long and thin workpiece 8 in a vertical state to the gripping mechanism 3.

And an unloading frame 7 for receiving the elongated workpiece 8 taken off from the gripping mechanism 3 after the vertical conveyance.

In some embodiments, as shown in figure 14, the carrier is provided with a laterally movable loading slide on which is provided a work clamp 62 for holding the tubular in a vertical position; the unloading frame is provided with an unloading sliding seat capable of moving transversely, and the unloading sliding seat is provided with another workpiece clamp for clamping a vertical pipe fitting.

As shown in fig. 15, the work piece clamp 62 of the loading slide comprises a vertical support 621, a clamp mount 622 and a clamping jaw 623. The vertical support 621 is fixedly arranged on the loading sliding seat, the clamp seat 622 comprises a plurality of vertically arranged vertical supports 621 at intervals, the clamping jaw 623 can be transversely opened and closed and is arranged at the front end of the clamp seat 622, and the clamp seat 622 is provided with an air/liquid cylinder 624 for driving the clamping jaw 623 to open and close.

The workpiece clamp of the unloading slide seat has the same structure as the workpiece clamp of the loading slide seat, and the description is omitted.

In other embodiments, in order to keep the vertical state of the slender rod 8 stable at the loading frame 6 and the unloading frame 7, a clamping frame for keeping the vertical state of the slender rod 8 is respectively arranged, in some embodiments, a plurality of holding frames are arranged at intervals along the vertical direction, the front end of each holding frame is provided with a groove matched with the shape of the slender workpiece, and the side, facing the chain, of the groove is provided with a front opening.

The specific technical scheme that the supporting mechanism and the clamping mechanism stop at the loading frame and the unloading frame is realized:

the front ends of the loading frame 6 and the unloading frame 7 are arranged at intervals with the chain 22, the loading frame 6 is provided with a first sensor for detecting the loading mechanism, the unloading frame 7 is provided with a second sensor for detecting the loading mechanism, and the first sensor and the second sensor are respectively connected with the motor control unit and the clamping control unit.

Stopping the carrying mechanism 4 at the loading frame 6 by arranging a first sensor at the loading frame 6 to finish the clamping and carrying actions of the slender workpiece 8; by providing a second sensor at the loading frame 7, the carrier mechanism 4 is stopped at the unloading frame to complete the releasing, unloading action of the elongated workpiece 8.

Fig. 16 is a schematic view showing a state after the elongated workpiece is loaded. Fig. 17 is a schematic view of a state during vertical conveyance.

The method for vertically conveying the elongated workpiece by using the elongated workpiece vertical conveying system provided by the invention is described with reference to fig. 16 and 17:

placing the elongated workpiece 8 on the loading frame 6 in a vertical state;

the motor 23 drives the chain 22 to move, and drives the first group clamping mechanism 301 to move to the loading frame 6;

at the loading frame 6, the plurality of claws 32 of the first group of gripping mechanisms 301 simultaneously merge and grip the elongated workpiece 8 in the vertical state on the loading frame 6;

the motor 23 drives the chain 22 to move, and drives the first group of clamping mechanisms 301 and the clamped elongated workpiece 8 to move to the unloading frame 7;

at the unloading carriage 7, the jaws 22 of the first group of gripping mechanisms 301 simultaneously open and release the elongated workpiece 8 in the vertical state onto the unloading carriage 7;

while the first group of gripping mechanisms 301 is moved to the unloading carriage 6 and unloads the elongated workpiece 8, the second group of gripping mechanisms 302 is moved to the loading carriage 6 and loads another elongated workpiece 8; the chain 22 continues to move in the original direction, and the loading and unloading of the plurality of elongated bars 8 is completed in sequence.