A mechanical bar conveying device, comprising:
- a horizontal travel limiting device (1), a vertical axis servo reducer (2), a vertical descent depth detector (3), a vertical axis travelling mechanism (4), a horizontal axis servo reducer (5), a horizontal drive gear (6), a horizontal tow chain (7), a horizontal moving mechanism (8), a manipulator torque detector (9), a safety detection mechanism (10), a main frame (11), a horizontal frame (12), a vertical movement mechanism (16), a tow chain bracket (17), a tow chain (18), a vertical rack-and-pinion mechanism (19), a horizontal linear guide track (20), a vertical beam (21), a claw clamping mechanism (22), a claw ball screw (23), a manipulator servo reducer (24), a manipulator depth detector (25), and a claw and travel limiting combined mechanism (26), characterized in that:
- the main frame (11) is mounted on the ground, the horizontal frame (12) is mounted on the main frame (11), so that the two frames are assembled into a main frame assembly (15);
- the horizontal linear guide track (20) is mounted on the horizontal frame (12) with the guide track direction being horizontal;
- the horizontal travel limiting device (1) is mounted on the horizontal frame (12) and located at one end of the horizontal linear guide track (20);
- the horizontal moving mechanism (8) is mounted on the horizontal linear guide track (20), and the horizontal axis servo reducer (5) and the horizontal tow chain (7) are mounted to the horizontal moving mechanism (8) and arranged to allow the horizontal moving mechanism (8) to move on the horizontal linear guide track (20) by the horizontal drive gear (6), to achieve free movement in the horizontal direction;
- the vertical descent depth detector (3), the tow chain bracket (17), the tow chain (18) and the vertical rack-and-pinion mechanism (19) are mounted on the vertical beam (21);
- the vertical axis servo reducer (2) and the vertical axis travelling mechanism (4) are vertically mounted on the horizontal moving mechanism (8) and arranged to fix and support the vertical beam (21) by engagement of the vertical rack-and-pinion mechanism (19);
- the manipulator torque detector (9), the safety detection mechanism (10), the manipulator depth detector (25) and the claw and travel limiting combined mechanism (26) form a claw portion of the mechanical bar conveying device, which is connected onto the bottom end of the vertical beam (21);
- the vertical axis travelling mechanism (4) is vertically mounted on the crossbeam of the horizontal moving mechanism (8) and arranged to make free movement in the vertical direction by the vertical movement mechanism (16) and driving the vertical rack-and-pinion mechanism (19);
- the claw clamping mechanism (22) is connected with the manipulator servo reducer (24) by the claw ball screw (23), and the claw clamping mechanism (22) is mounted at the bottom end of the vertical axis travelling mechanism (4) and connected with the claw portion combined mechanism (26);
- the claw clamping mechanism (22) and the claw ball screw (23) are arranged to control the fastening and unfastening of the claw portion combined mechanism (26);
- the vertical axis travelling mechanism (4), the horizontal moving mechanism (8) and the claw clamping mechanism (22) are driven by a servomotor;
- and the vertical descent depth detector (3), the manipulator torque detector (9) and the manipulator depth detector (25) are connected to the vertical axis travelling mechanism (4) and arranged to detect the vertical descent depth, claw torque and claw depth, respectively.