CN107351071A - A kind of heavy-duty machinery hand holding-wheel switching mechanism - Google Patents
A kind of heavy-duty machinery hand holding-wheel switching mechanism Download PDFInfo
- Publication number
- CN107351071A CN107351071A CN201710770505.XA CN201710770505A CN107351071A CN 107351071 A CN107351071 A CN 107351071A CN 201710770505 A CN201710770505 A CN 201710770505A CN 107351071 A CN107351071 A CN 107351071A
- Authority
- CN
- China
- Prior art keywords
- gear
- wheel
- jig arm
- heavy
- hand holding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
Abstract
The invention discloses a kind of heavy-duty machinery hand holding-wheel switching mechanism, the crawl fixture grabs jig arm, two clamp arms, screw mandrel, line slideway and installing plate including two, the line slideway and screw mandrel are respectively fixed on installing plate, one end of the clamp arm is connected on line slideway, jig arm is grabbed in other end connection, the screw mandrel, which rotates, drives clamp arm folding, and described two grab forms the space for capturing wheel between jig arm, and the clamp arm and grabbing is connected by bearing between jig arm；The clamp arm is provided with gear drive, and the 3rd drive mechanism is connected to the input of gear drive, and the output end of the gear drive, which is connected to grab jig arm and drive, grabs jig arm rotation.Rotation torque generation, reasonable stress are not had in clamping process, wheel can realize X-axis and Z axis movement, and fixture can realize holding, spinfunction.
Description
Technical field
The present invention relates to a kind of mechanism for being used to grab folder wheel, more particularly to a kind of heavy-duty machinery hand holding-wheel to turn over
Rotation mechanism.
Background technology
Handled or shifted, it is necessary to be clamped in wheel production process.It is using fixed that wheel, which grabs folder, at present
Contact cartwheel fashion, easily scratch wheel surface need the later stage polishing it is perfect, waste time and energy.
Especially for the wheel for having cocked bead, its clamping process requires higher, if grabbing folder mode with fixed,
Wheel surface can be not only scratched, also results in and scratches raised edge, it is necessary to the region increase of polishing.
Railway high speedization fast development, the requirement more and more higher of wheel (particularly high-speed wheel), original wheel
Production line needs upgrading, replaces roller-way to carry out wheel conveying with heavy-duty machinery hand, avoids rigidly connecing between wheel and roller-way
Touch, cause wheel surface to scratch and abrade, be a kind of development trend of industry.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of heavy-duty machinery hand holding-wheel tipper
Structure, the function of clamping and position can be realized.
The present invention is achieved by the following technical solutions, and the present invention includes truss, twin beams support, Z-direction guide rail, the first drive
Motivation structure, the second drive mechanism, the 3rd drive mechanism and crawl fixture；The truss is fixed on ground, the twin beams support branch
Hold at the top of truss, first drive mechanism is fixed on twin beams support and drives length direction of the twin beams support along truss
Mobile, the Z-direction guide rail connection crawl fixture, second drive mechanism is fixed on twin beams support and drives Z-direction guide rail edge
Vertical trusses short transverse is moved；The crawl fixture grabs jig arm, two clamp arms, screw mandrel, line slideway and peace including two
Loading board, the line slideway and screw mandrel are respectively fixed on installing plate, and one end of the clamp arm is connected on line slideway, separately
Jig arm is grabbed in one end connection, and the screw mandrel, which rotates, drives clamp arm folding, and described two grab is formed for capturing wheel between jig arm
Space, the clamp arm and grabbing connected by bearing between jig arm；The clamp arm is provided with gear drive, and described
Three drive mechanisms are connected to the input of gear drive, and the output end of the gear drive, which is connected to, grabs jig arm and band
It is dynamic to grab jig arm rotation.
The gear drive includes first gear, second gear, the 3rd gear, the 4th gear and the 5th gear；Institute
State first gear and connect the 3rd drive mechanism, jig arm, the first gear, second gear, the 3rd are grabbed in the 5th gear connection
Gear, the 4th gear and the 5th gear engage successively.
The first gear is less than second gear, second gear, the 3rd gear, the 4th gear and the 5th gear size phase
Together.With a little gear and four gear wheels, can smoothly be driven, it is ensured that entirely folder wheel can smoothly be grabbed by grabbing jig arm,
It will not shake.
The modulus of the first gear is 3, the number of teeth 20, and the pattern of the second gear is 3, the number of teeth 60.
3rd drive mechanism includes the 3rd motor and reductor, and the 3rd motor is fixed on installing plate
On, one end of the reductor connects the 3rd motor, other end connection first gear.
First drive mechanism includes the first motor, output revolving shaft, the first output gear and the first driving rack,
First motor has two output ends, respectively output revolving shaft corresponding to connection, and one end of the output revolving shaft connects
Connecing on the first motor, the other end connects the first output gear, and first output gear and the first driving rack are meshed,
Length direction of first driving rack along both sides at the top of truss is set.
Second drive mechanism includes the second motor, the second output gear and the second driving rack, and described second
Motor is fixed on twin beams support, and the output end of second motor connects the second output gear, and described second is defeated
Go out gear and the second driving rack is meshed, short transverse of second driving rack along Z-direction guide rail is fixed on Z-direction guide rail
On.
Each jig arm of grabbing grabs folder body, clamping ring and bearing pin including two, and each grabbing folder body has hatch frame,
The open end for grabbing folder body has clamp port, and the clamping ring is arranged in the clamp port, and the bearing pin is worn successively
Cross the end of clamp port and clamping ring and be set in clamp port, the clamping ring rotates around bearing pin.
Described two folder bodies of grabbing are mutually perpendicular to.Grab jig arm and rotate 90 ° of rotations of can be directly realized by wheel 90 °, meet
Conventional production needs, and is easy to control.
One of preferred embodiment as the present invention, the clamping ring is radially with for coordinating wheel flanges to be held
Groove.
The present invention has advantages below compared with prior art：The present invention can control gear and jig arm according to production needs
Size, gear are processed on chain digital control gear hobbing machine, after gear and jig arm critical size is determined, are assembled, filled from the bottom up
Match somebody with somebody, it is ensured that pinion rotation is flexible.After assembling, test run, embrace folder and rock maximum 1mm, meet to require.Rotation is not had in clamping process
Torque produces, reasonable stress, and wheel can realize X-axis and Z axis movement, and fixture can realize holding, spinfunction, using automatically controlled system
System control servomotor driving, the position that accurately can be moved with any positioning wheel, can be achieved maximum crawl 1200kg wheel,
And swivel wheel is arbitrarily moved along guide rail direction, to be placed on different processing stations.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the front view of manipulator；
Fig. 3 is Fig. 2 right view；
Fig. 4 is Fig. 2 stereogram；
Fig. 5 is the structural representation for capturing fixture.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
As shown in figures 1-4, the present embodiment includes truss 1, twin beams support 2, Z-direction guide rail 3, the first drive mechanism 4, second
Drive mechanism 5 and crawl fixture 6；The truss 1 is fixed on ground, and the twin beams support 2 is supported on the top of truss 1, described
First drive mechanism 4 is fixed on twin beams support 2 and drives length direction of the twin beams support 2 along truss 1 to move, and the Z-direction is led
The connection crawl fixture 6 of rail 3, second drive mechanism 5 are fixed on twin beams support 2 and drive Z-direction guide rail 3 along vertical trusses 1
Short transverse is moved.
The both ends of the twin beams support 2 have guide part 21, and the guide part 21 is set in the top of truss 1.Drive whole
Length direction of the individual equipment along truss 1 moves.
The end of the guide part 21 is provided with anticollison block 22.It can prevent front and rear manipulator from colliding and causing equipment
Loss.
First drive mechanism 4 includes the first motor 41, output revolving shaft 42, the first output gear 43 and first and passed
Carry-over bar (not shown), first motor 41 have two output ends, connect two output revolving shafts 42 respectively,
One end of the output revolving shaft 42 is connected on the first motor 41, and the other end connects the first output gear 43, and described first is defeated
Go out the driving rack of gear 43 and first to be meshed, length direction of first driving rack along the top both sides of truss 1 is set.It is logical
Cross the driving mechanical hand of the first drive mechanism 4 to move along the length direction of truss 1, realize the movement of X-axis.
Second drive mechanism 5 includes the second motor 51, the second output gear (not shown) and second passes
Carry-over bar 52, second motor 51 are fixed on twin beams support 2, the output end of second motor 51 connection the
Two output gears, second output gear and the second driving rack 52 are meshed, and second driving rack 52 is along Z-direction guide rail
3 short transverse is fixed on Z-direction guide rail 3.Whole manipulator is driven to be moved along the short transverse of truss 1 by the second drive mechanism 5
It is dynamic, realize that Y-axis moves.
Buffer spring 8 is provided between the bottom of the Z-direction guide rail 3 and crawl fixture 6.It can buffer and grab the impact that entrainment comes
Power.
As shown in figure 5, the crawl fixture 6 grabs jig arm 61, two clamp arms 62, leading screw 63, line slideways including two
64 and installing plate 65, the line slideway 64 and leading screw 63 be respectively fixed on installing plate 65, one end of the clamp arm 62 connects
It is connected on line slideway 64, jig arm 61 is grabbed in other end connection, and the leading screw 63, which rotates, drives the folding of clamp arm 62, described two to grab
Form the space for capturing wheel 7 between jig arm 61, the clamp arm 62 and grabbing is connected by bearing between jig arm 61.
The jig arm 61 of grabbing presss from both sides body 611, clamping ring 612 and bearing pin 613 including two orthogonal grab, and each grabs folder
Body 611 has hatch frame, and the open end for grabbing folder body 611 has clamp port, and the clamping ring 612 is arranged at institute
State in clamp port, the bearing pin 613 sequentially passes through the end of clamp port and clamping ring 612 and is set in clamp port, the folder
Tight ring 612 rotates around bearing pin 613.
The clamping ring 612 is radially with groove.The wheel 7 with flange can be clamped, groove, which can coordinate, to be waited to press from both sides
Hold the flange of wheel 7.
The clamping ring 612 is made up of 301 stainless steels.Clamping ring 612 has certain elasticity, can be effectively protected car
Wheel 7.
The open bottom for grabbing folder body 611 has connection through hole, and the connection through hole connects clamp arm by bearing
62。
The clamp arm 62 is provided with gear drive 66, and the input connection the 3rd of the gear drive 66 is driven
Motivation structure 9, the output end of the gear drive 66, which is connected to, grabs jig arm 61.Wheel 7 can rotate freely, and can pass through
The output control of 3rd drive mechanism 9 is accurately positioned.
Clamp arm 62 is installed on line slideway 64, and leading screw 63 can drive the folding of clamp arm 62, to adapt to different-diameter
Wheel 7, diameter 600mm to 1300mm wheel 7 is suitable for, grabs jig arm 61 and be connected by bearing with clamp arm 62, can be around center
Rotation, the wheel 7 after so clamping also are driven to rotate.The force piece of rotation is servomotor, by Serve Motor Control,
The rotation position of wheel 7 can be with precisely controlled.
The gear drive 66 includes first gear 661, second gear 662, the 3rd gear 663, the 4th gear 664
With the 5th gear 665；The first gear 661 connects the 3rd drive mechanism 9, and jig arm 61 is grabbed in the 5th gear 665 connection, institute
First gear 661, second gear 662, the 3rd gear 663, the 4th gear 664 and the 5th gear 665 is stated to engage successively.
The first gear 661 is less than second gear 662, second gear 662, the 3rd gear 663, the and of the 4th gear 664
The size of 5th gear 665 is identical.With a little gear and four gear wheels, can smoothly it be driven, it is ensured that entirely grab jig arm 61
Folder wheel 7 can be smoothly grabbed, will not be shaken.
The modulus of the first gear 661 is 3, the number of teeth 20, and the pattern of the second gear 662 is 3, the number of teeth 60.
3rd drive mechanism 9 includes the 3rd motor and reductor (not shown), the 3rd driving electricity
Machine is fixed on installing plate 65, and one end of the reductor connects the 3rd motor, other end connection first gear 661.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of heavy-duty machinery hand holding-wheel switching mechanism, it is characterised in that including truss, twin beams support, Z-direction guide rail,
One drive mechanism, the second drive mechanism, the 3rd drive mechanism and crawl fixture；The truss is fixed on ground, the twin beams branch
Frame is supported on the top of truss, and first drive mechanism is fixed on twin beams support and drives length of the twin beams support along truss
Direction is moved, and the Z-direction guide rail connection crawl fixture, second drive mechanism is fixed on twin beams support and drives Z-direction to lead
Rail moves along vertical trusses short transverse；The crawl fixture grabs jig arm, two clamp arms, screw mandrel, line slideways including two
And installing plate, the line slideway and screw mandrel are respectively fixed on installing plate, one end of the clamp arm is connected to line slideway
On, jig arm is grabbed in other end connection, and the screw mandrel, which rotates, drives clamp arm folding, and described two grab is formed for capturing between jig arm
The space of wheel, the clamp arm and grabbing are connected by bearing between jig arm；The clamp arm is provided with gear drive, institute
The input that the 3rd drive mechanism is connected to gear drive is stated, the output end of the gear drive, which is connected to, grabs jig arm
And drive and grab jig arm rotation.
2. a kind of heavy-duty machinery hand holding-wheel switching mechanism according to claim 1, it is characterised in that the gear passes
Motivation structure includes first gear, second gear, the 3rd gear, the 4th gear and the 5th gear；The first gear connection the 3rd
Jig arm, the first gear, second gear, the 3rd gear, the 4th gear and the 5th are grabbed in drive mechanism, the 5th gear connection
Gear engages successively.
A kind of 3. heavy-duty machinery hand holding-wheel switching mechanism according to claim 2, it is characterised in that first tooth
Wheel is less than second gear, and second gear, the 3rd gear, the 4th gear and the 5th gear size are identical.
A kind of 4. heavy-duty machinery hand holding-wheel switching mechanism according to claim 3, it is characterised in that first tooth
The modulus of wheel is 3, the number of teeth 20, and the pattern of the second gear is 3, the number of teeth 60.
5. a kind of heavy-duty machinery hand holding-wheel switching mechanism according to claim 2, it is characterised in that the described 3rd drives
Motivation structure includes the 3rd motor and reductor, and the 3rd motor is fixed on a mounting board, and the one of the reductor
The 3rd motor of end connection, other end connection first gear.
6. a kind of heavy-duty machinery hand holding-wheel switching mechanism according to claim 1, it is characterised in that described first drives
Motivation structure includes the first motor, output revolving shaft, the first output gear and the first driving rack, first motor
With two output ends, output revolving shaft corresponding to connection, one end of the output revolving shaft are connected on the first motor respectively, separately
One end connects the first output gear, and first output gear and the first driving rack are meshed, the first driving rack edge
The length direction of both sides is set at the top of truss.
7. a kind of heavy-duty machinery hand holding-wheel switching mechanism according to claim 1, it is characterised in that described second drives
Motivation structure includes the second motor, the second output gear and the second driving rack, and second motor is fixed on twin beams
On support, the output end of second motor connects the second output gear, second output gear and the second driving cog
Bar is meshed, and short transverse of second driving rack along Z-direction guide rail is fixed on Z-direction guide rail.
8. a kind of heavy-duty machinery hand holding-wheel switching mechanism according to claim 1, it is characterised in that grabbed described in each
Jig arm grabs folder body, clamping ring and bearing pin including two, and each grabbing folder body has hatch frame, the opening for grabbing folder body
End has clamp port, and the clamping ring is arranged in the clamp port, and the bearing pin sequentially passes through end and the folder of clamp port
Tight ring is simultaneously set in clamp port, and the clamping ring rotates around bearing pin.
9. a kind of heavy-duty machinery hand holding-wheel switching mechanism according to claim 8, it is characterised in that described two to grab
Folder body is mutually perpendicular to.
A kind of 10. heavy-duty machinery hand holding-wheel switching mechanism according to claim 8, it is characterised in that the clamping
Ring is radially with the groove for coordinating wheel flanges to be held.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710770505.XA CN107351071B (en) | 2017-08-31 | 2017-08-31 | A kind of heavy-duty machinery hand holding-wheel turnover mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710770505.XA CN107351071B (en) | 2017-08-31 | 2017-08-31 | A kind of heavy-duty machinery hand holding-wheel turnover mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351071A true CN107351071A (en) | 2017-11-17 |
| CN107351071B CN107351071B (en) | 2019-06-28 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710770505.XA Active CN107351071B (en) | 2017-08-31 | 2017-08-31 | A kind of heavy-duty machinery hand holding-wheel turnover mechanism |
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| CN (1) | CN107351071B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108217175A (en) * | 2017-11-28 | 2018-06-29 | 广州市永合祥自动化设备科技有限公司 | Sponge member adjustment component, method of adjustment and transportation system |
| CN108422438A (en) * | 2018-05-10 | 2018-08-21 | 马鞍山钢铁股份有限公司 | Wheel detection clamp and manipulator with it |
| CN109928206A (en) * | 2019-04-24 | 2019-06-25 | 哈尔滨工业大学 | A kind of more specification train wheel automatic transporting mechanisms |
| CN109956428A (en) * | 2019-04-23 | 2019-07-02 | 林友钢 | Mechanism assembly system and its implementation are clasped in a kind of rotation |
| CN110539317A (en) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set |
| CN114762974A (en) * | 2021-01-15 | 2022-07-19 | 无锡锡南铸造机械股份有限公司 | Multi-finger multifunctional casting manipulator |
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| JP3963322B2 (en) * | 2003-02-03 | 2007-08-22 | サンケン工業株式会社 | Long material transfer device |
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| CN204546550U (en) * | 2015-04-28 | 2015-08-12 | 夏怡 | A kind of clamping device |
| CN105856222A (en) * | 2016-05-06 | 2016-08-17 | 滁州市可欣机械科技有限公司 | Intelligent heavy-load manipulator |
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| JPH1170426A (en) * | 1997-08-28 | 1999-03-16 | Aska Kk | Conveying device |
| JP3963322B2 (en) * | 2003-02-03 | 2007-08-22 | サンケン工業株式会社 | Long material transfer device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108217175A (en) * | 2017-11-28 | 2018-06-29 | 广州市永合祥自动化设备科技有限公司 | Sponge member adjustment component, method of adjustment and transportation system |
| CN108422438A (en) * | 2018-05-10 | 2018-08-21 | 马鞍山钢铁股份有限公司 | Wheel detection clamp and manipulator with it |
| CN109956428A (en) * | 2019-04-23 | 2019-07-02 | 林友钢 | Mechanism assembly system and its implementation are clasped in a kind of rotation |
| CN109956428B (en) * | 2019-04-23 | 2023-06-16 | 林友钢 | Rotary holding mechanism assembly system and implementation method thereof |
| CN109928206A (en) * | 2019-04-24 | 2019-06-25 | 哈尔滨工业大学 | A kind of more specification train wheel automatic transporting mechanisms |
| CN110539317A (en) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set |
| CN114762974A (en) * | 2021-01-15 | 2022-07-19 | 无锡锡南铸造机械股份有限公司 | Multi-finger multifunctional casting manipulator |
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| Publication number | Publication date |
|---|---|
| CN107351071B (en) | 2019-06-28 |
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