CN107351071B - A kind of heavy-duty machinery hand holding-wheel turnover mechanism - Google Patents
A kind of heavy-duty machinery hand holding-wheel turnover mechanism Download PDFInfo
- Publication number
- CN107351071B CN107351071B CN201710770505.XA CN201710770505A CN107351071B CN 107351071 B CN107351071 B CN 107351071B CN 201710770505 A CN201710770505 A CN 201710770505A CN 107351071 B CN107351071 B CN 107351071B
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- Prior art keywords
- gear
- clamp arm
- wheel
- driving
- output
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of heavy-duty machinery hand holding-wheel turnover mechanisms, the crawl fixture includes two and grabs clamp arm, two clamp arms, screw rod, linear guide and mounting plate, the linear guide and screw rod are respectively fixed on mounting plate, one end of the clamp arm is connected in linear guide, clamp arm is grabbed in other end connection, screw rod rotation drives clamp arm folding, described two to grab the space formed between clamp arm for grabbing wheel, the clamp arm and grabs between clamp arm through bearing connection；The clamp arm is equipped with gear drive, and the third driving mechanism is connected to the input terminal of gear drive, and the output end of the gear drive, which is connected to grab clamp arm and drive, grabs clamp arm rotation.Rotation torque generation, reasonable stress are not had in clamping process, wheel can realize that X-axis and Z axis are mobile, and fixture can realize holding, rotation function.
Description
Technical field
It is turned over the present invention relates to a kind of for grabbing the mechanism for pressing from both sides wheel more particularly to a kind of heavy-duty machinery hand holding-wheel
Rotation mechanism.
Background technique
In wheel production process, needs to be clamped and handled or shifted.It is using fixed that wheel, which grabs folder, at present
Contact cartwheel fashion, be easy scratch wheel surface need the later period polishing it is perfect, it is time-consuming and laborious.
Especially for the wheel for having cocked bead, clamping process requirement is higher, if grabbing folder mode with fixed,
Wheel surface can be not only scratched, the edge for scratching protrusion is also resulted in, the region for needing to polish increases.
Railway high speedization has been grown rapidly, and the requirement of wheel (especially high-speed wheel) is higher and higher, 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
Touching causes wheel surface to scratch and abrade, is a kind of development trend of industry.
Summary 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 tippers
Structure can be realized the function of clamping and positioning.
The present invention is achieved by the following technical solutions, and the present invention includes truss, twin beams bracket, Z-direction guide rail, the first drive
Motivation structure, the second driving mechanism, third driving mechanism and crawl fixture；The truss is fixed on ground, the twin beams bracket branch
It holds at the top of truss, first driving mechanism is fixed on twin beams bracket and drives twin beams bracket along the length direction of truss
Mobile, the Z-direction guide rail connection crawl fixture, second driving mechanism is fixed on twin beams bracket and drives Z-direction guide rail edge
The movement of vertical trusses short transverse；The crawl fixture includes two and grabs clamp arm, two clamp arms, screw rod, linear guide and peace
Loading board, the linear guide and screw rod are respectively fixed on mounting plate, and one end of the clamp arm is connected in linear guide, separately
Clamp arm is grabbed in one end connection, and the screw rod rotation drives clamp arm folding, and described two grab is formed between clamp arm for grabbing wheel
Space, the clamp arm and grab between clamp arm by bearing connect；The clamp arm is equipped with gear drive, and described the
Three driving mechanisms are connected to the input terminal of gear drive, and the output end of the gear drive, which is connected to, grabs clamp arm and band
It is dynamic to grab clamp arm rotation.
The gear drive includes first gear, second gear, third gear, the 4th gear and the 5th gear；Institute
First gear connection third driving mechanism is stated, clamp arm, the first gear, second gear, third are grabbed in the 5th gear connection
Gear, the 4th gear and the 5th gear successively engage.
The first gear is less than second gear, second gear, third gear, the 4th gear and the 5th gear size phase
Together.With a pinion gear and four gear wheels, can smoothly be driven, it is ensured that entirely folder wheel can smoothly be grabbed by grabbing clamp arm,
It will not shake.
The modulus of the first gear is 3, the number of teeth 20, and the mode of the second gear is 3, the number of teeth 60.
The third driving mechanism includes third driving motor and speed reducer, and the third driving motor is fixed on mounting plate
On, one end of the speed reducer connects third driving motor, and the other end connects first gear.
First driving mechanism includes the first driving motor, output revolving shaft, the first output gear and the first driving rack,
There are two output ends for the tool of first driving motor, are separately connected corresponding output revolving shaft, one end of the output revolving shaft connects
It connecing on the first driving motor, the other end connects the first output gear, and first output gear and the first driving rack are meshed,
Length direction setting of first driving rack along two sides at the top of truss.
Second driving mechanism include the second driving motor, the second output gear and the second driving rack, described second
Driving motor is fixed on twin beams bracket, and the output end of second driving motor connects the second output gear, and described second is defeated
Gear and the second driving rack are meshed out, and second driving rack is fixed on Z-direction guide rail along the short transverse of Z-direction guide rail
On.
Clamp arm is grabbed described in each grabs folder ontology, clamping ring and pin shaft including two, each grabbing folder ontology has hatch frame,
The open end for grabbing folder ontology has clamp port, and the clamping ring is set in the clamp port, and the pin shaft is successively worn
It crosses the end of clamp port and clamping ring and is set in clamp port, the clamping ring is rotated around pin shaft.
Described two folder ontologies of grabbing are mutually perpendicular to.It grabs clamp arm and rotates 90 ° of 90 ° of rotations that can be directly realized by wheel, meet
Conventional production needs, convenient for control.
As one of preferred embodiment of the invention, the clamping ring is radially with for cooperating wheel flanges to be held
Groove.
The present invention has the advantage that the present invention can control gear and clamp arm according to production needs compared with prior art
Size, gear are processed on chain digital control gear hobbing machine, after gear and clamp arm critical size has been determined, are assembled, are filled from the bottom up
Match, it is ensured that gear rotation is flexible.After assembling, test run embraces folder and shakes maximum 1mm, meets the requirements.Rotation is not had in clamping process
Torque generates, reasonable stress, and wheel can realize that X-axis and Z axis are mobile, and fixture can realize holding, rotation function, using automatically controlled system
System control servo motor driving, can the mobile position of accurate and any positioning wheel, it can be achieved that maximum crawl 1200kg wheel,
And swivel wheel is arbitrarily moved along guide rail direction, to be placed on different processing stations.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the main view of manipulator；
Fig. 3 is the right view of Fig. 2；
Fig. 4 is the perspective view of Fig. 2；
Fig. 5 is the structural schematic diagram for grabbing fixture.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, 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 bracket 2, Z-direction guide rail 3, the first driving mechanism 4, second
Driving mechanism 5 and crawl fixture 6；The truss 1 is fixed on ground, and the twin beams bracket 2 is supported on the top of truss 1, described
First driving mechanism 4 is fixed on twin beams bracket 2 and twin beams bracket 2 is driven to move along the length direction of truss 1, and the Z-direction is led
The connection crawl fixture 6 of rail 3, second driving mechanism 5 are fixed on twin beams bracket 2 and drive Z-direction guide rail 3 along vertical trusses 1
Short transverse movement.
The both ends of the twin beams bracket 2 have guide part 21, and the guide part 21 is set in the top of truss 1.It drives whole
A equipment is moved along the length direction of truss 1.
The end of the guide part 21 is equipped with anticollison block 22.It can prevent the manipulator of front and back from colliding and causing equipment
Loss.
First driving mechanism 4 includes the first driving motor 41, output revolving shaft 42, the first output gear 43 and the first biography
Carry-over bar (not shown), there are two output ends for the tool of first driving motor 41, are separately connected two output revolving shafts 42,
One end of the output revolving shaft 42 connects on the first driving motor 41, and the other end connects the first output gear 43, and described first is defeated
Gear 43 and the first driving rack are meshed out, and length direction of first driving rack along 1 top two sides of truss is arranged.It is logical
Crossing the first driving mechanism 4 drives manipulator to move along 1 length direction of truss, realizes the movement of X-axis.
Second driving mechanism 5 includes the second driving motor 51, the second output gear (not shown) and the second biography
Carry-over bar 52, second driving motor 51 are fixed on twin beams bracket 2, the output end of second driving 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.Entire manipulator is driven to move along 1 short transverse of truss by the second driving mechanism 5
It is dynamic, realize that Y-axis is mobile.
Buffer spring 8 is equipped between the bottom and crawl fixture 6 of the Z-direction guide rail 3.It can buffer and grab folder bring impact
Power.
As shown in figure 5, the crawl fixture 6, which includes two, grabs clamp arm 61, two clamp arms 62, lead screws 63, linear guide
64 and mounting plate 65, the linear guide 64 and lead screw 63 be respectively fixed on mounting plate 65, one end of the clamp arm 62 connects
It connects in linear guide 64, clamp arm 61 is grabbed in other end connection, and the rotation of lead screw 63 drives clamp arm 62 to open and close, described two to grab
Form the space for grabbing wheel 7 between clamp arm 61, the clamp arm 62 and grabbing is connected between clamp arm 61 by bearing.
The clamp arm 61 of grabbing includes that two orthogonal grab press from both sides ontology 611, clamping ring 612 and pin shaft 613, each grabs folder
Ontology 611 has hatch frame, and the open end for grabbing folder ontology 611 has clamp port, and the clamping ring 612 is set to institute
It states in clamp port, the pin shaft 613 sequentially passes through the end of clamp port and clamping ring 612 and is set in clamp port, the folder
Tight ring 612 is rotated around pin shaft 613.
The clamping ring 612 is radially with groove.The wheel 7 with flange can be clamped, groove can cooperate wait press from both sides
Hold 7 flange of wheel.
The clamping ring 612 is made of 301 stainless steels.Clamping ring 612 has certain elasticity, and vehicle can be effectively protected
Wheel 7.
The open bottom for grabbing folder ontology 611 has connection through-hole, and the connection through-hole connects clamp arm by bearing
62。
The clamp arm 62 is equipped with gear drive 66, and the input terminal connection third of the gear drive 66 is driven
Motivation structure 9, the output end of the gear drive 66, which is connected to, grabs clamp arm 61.Wheel 7 can rotate freely, and can pass through
The output of third driving mechanism 9, which controls, to be accurately positioned.
Clamp arm 62 is installed in linear guide 64, and lead screw 63 can drive clamp arm 62 to open and close, to adapt to different-diameter
Wheel 7 is suitable for the wheel 7 of diameter 600mm to 1300mm, grabs clamp arm 61 and is connect by bearing with clamp arm 62, can be around center
Rotation, the wheel 7 after clamping so are also driven to rotate.The force piece of rotation is servo motor, by Serve Motor Control,
7 rotation position of wheel is available to be accurately controlled.
The gear drive 66 includes first gear 661, second gear 662, third gear 663, the 4th gear 664
With the 5th gear 665；The first gear 661 connects third driving mechanism 9, and clamp arm 61 is grabbed in the 5th gear 665 connection, institute
First gear 661, second gear 662, third gear 663, the 4th gear 664 and the 5th gear 665 is stated successively to engage.
The first gear 661 is less than second gear 662, second gear 662, third gear 663,664 and of the 4th gear
5th gear, 665 size is identical.It with a pinion gear and four gear wheels, can smoothly be driven, it is ensured that entirely grab clamp 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 mode of the second gear 662 is 3, the number of teeth 60.
The third driving mechanism 9 includes third driving motor and speed reducer (not shown), the third driving electricity
Machine is fixed on mounting plate 65, and one end of the speed reducer connects third driving motor, and the other end connects first gear 661.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of heavy-duty machinery hand holding-wheel turnover mechanism, which is characterized in that including truss, twin beams bracket, Z-direction guide rail,
One driving mechanism, the second driving mechanism, third driving mechanism and crawl fixture；The truss is fixed on ground, the twin beams branch
Frame is supported on the top of truss, and first driving mechanism is fixed on twin beams bracket and drives twin beams bracket along the length of truss
Direction is mobile, and the Z-direction guide rail connection crawl fixture, second driving mechanism is fixed on twin beams bracket and Z-direction is driven to lead
Rail is moved along vertical trusses short transverse；The crawl fixture includes two and grabs clamp arm, two clamp arms, screw rod, linear guides
And mounting plate, the linear guide and screw rod are respectively fixed on mounting plate, one end of the clamp arm is connected to linear guide
On, clamp arm is grabbed in other end connection, and the screw rod rotation drives clamp arm folding, and described two grab is formed between clamp arm for grabbing
The space of wheel, the clamp arm and grab between clamp arm by bearing connect；The clamp arm is equipped with gear drive, institute
The input terminal that third driving mechanism is connected to gear drive is stated, the output end of the gear drive, which is connected to, grabs clamp arm
And it drives and grabs clamp arm rotation；
The clamp arm is equipped with gear drive, and the input terminal of the gear drive connects third driving mechanism, institute
The output end for stating gear drive, which is connected to, grabs clamp arm；
The gear drive includes first gear, second gear, third gear, the 4th gear and the 5th gear；Described
One gear connects third driving mechanism, and clamp arm is grabbed in the 5th gear connection, the first gear, second gear, third gear,
4th gear and the 5th gear successively engage；The first gear is less than second gear, second gear, third gear, the 4th tooth
It takes turns identical with the 5th gear size；
The modulus of the first gear is 3, the number of teeth 20, and the mode of the second gear is 3, the number of teeth 60；
It is each described grab clamp arm include two it is orthogonal grab folder ontology, clamping ring and pin shaft, each grab folder ontology and have and open
Mouth structure, the open end for grabbing folder ontology have clamp port, and the clamping ring is set in the clamp port, the pin shaft
It sequentially passes through the end of clamp port and clamping ring and is set in clamp port, the clamping ring is rotated around pin shaft.
2. a kind of heavy-duty machinery hand holding-wheel turnover mechanism according to claim 1, which is characterized in that the third is driven
Motivation structure includes third driving motor and speed reducer, and the third driving motor is fixed on a mounting board, and the one of the speed reducer
End connection third driving motor, the other end connect first gear.
3. a kind of heavy-duty machinery hand holding-wheel turnover mechanism according to claim 1, which is characterized in that described first drives
Motivation structure includes the first driving motor, output revolving shaft, the first output gear and the first driving rack, first driving motor
There are two output ends for tool, are separately connected corresponding output revolving shaft, one end of the output revolving shaft connects on the first driving motor, separately
One end connects the first output gear, and first output gear and the first driving rack are meshed, first driving rack edge
The length direction setting of two sides at the top of truss.
4. a kind of heavy-duty machinery hand holding-wheel turnover mechanism according to claim 1, which is characterized in that described second drives
Motivation structure includes the second driving motor, the second output gear and the second driving rack, and second driving motor is fixed on twin beams
On bracket, the output end of second driving motor connects the second output gear, second output gear and the second driving cog
Item is meshed, and second driving rack is fixed on Z-direction guide rail along the short transverse of Z-direction guide rail.
5. a kind of heavy-duty machinery hand holding-wheel turnover mechanism according to claim 1, which is characterized in that described two to grab
Folder ontology is mutually perpendicular to.
6. a kind of heavy-duty machinery hand holding-wheel turnover mechanism according to claim 1, which is characterized in that the clamping ring
Radially with for cooperating the groove of 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 |
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| Publication Number | Publication Date |
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| CN107351071A CN107351071A (en) | 2017-11-17 |
| CN107351071B true CN107351071B (en) | 2019-06-28 |
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| 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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Families Citing this family (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 |
| 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 |
| CN110539317B (en) * | 2019-08-21 | 2020-06-26 | 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 |
| CN114055235B (en) * | 2021-12-24 | 2024-05-31 | 重庆机床(集团)有限责任公司 | Automatic feeding and discharging equipment for heavy workpieces |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3947852B2 (en) * | 1997-08-28 | 2007-07-25 | アスカ株式会社 | Transport device |
| JP3963322B2 (en) * | 2003-02-03 | 2007-08-22 | サンケン工業株式会社 | Long material transfer device |
| CN100368158C (en) * | 2006-04-21 | 2008-02-13 | 北京航空航天大学 | Flexible gripper with two fingers |
| CN104444360B (en) * | 2014-12-09 | 2017-01-18 | 华中科技大学无锡研究院 | Five-axis hub transfer robot and clamping manipulator |
| 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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Address after: 243000 Intersection of Zhaoming Road and Xinhua Road, Cihu High-tech Zone, Ma'anshan City, Anhui Province Applicant after: Anhui Masteel Surface Technology Co., Ltd. Address before: 243000 Intersection of Zhaoming Road and Xinhua Road, Cihu High-tech Zone, Ma'anshan City, Anhui Province Applicant before: Ma'anshan Ma Steel Surface Engineering Technology Co., Ltd. |
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