CN110587651A - Clamp for disassembling and assembling container lock button and using method thereof - Google Patents
Clamp for disassembling and assembling container lock button and using method thereof Download PDFInfo
- Publication number
- CN110587651A CN110587651A CN201910974728.7A CN201910974728A CN110587651A CN 110587651 A CN110587651 A CN 110587651A CN 201910974728 A CN201910974728 A CN 201910974728A CN 110587651 A CN110587651 A CN 110587651A
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- clamping jaw
- base
- pin
- clamp
- lock
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 134
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000009434 installation Methods 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 8
- 239000000428 dust Substances 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 239000000872 buffer Substances 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000005192 partition Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamp for disassembling and assembling a container lock button and a use method thereof, wherein the clamp comprises: the bottom of the base is provided with a connecting flange for connecting a mechanical arm; a lock button rotation mechanism comprising: the first driving motor is arranged at the bottom of the base, and an output shaft of the first driving motor penetrates through the base and is provided with a lock core shifting pin; a jaw mechanism, comprising: the pair of main clamping jaws are arranged on two sides of the lock cylinder shifting pin in a facing mode, and the second driving motor drives the pair of main clamping jaws to clamp or loosen; and at least three limiting and speed reducing mechanisms which are respectively arranged on the base and are positioned on the periphery of the clamping jaw mechanism. The invention adopts the limiting speed reducing mechanism to reduce the positioning problem of the clamp in the process of disassembling and assembling the lock button and reduce the damage of the clamp and the lock button, and meanwhile, the clamp is suitable for various container lock buttons.
Description
Technical Field
The invention relates to a clamp for disassembling and assembling a container lock button and a using method thereof.
Background
The global container terminal is changed to the automation operation, and replaces the manual disassembly and assembly of lock buttons to be operated as an important project for the automation transformation of the container operation. In the loading and unloading work of the container on the ship and off the ship at the wharf, a process of assembling and disassembling lock buttons of the container of four corner pieces of the container is needed so as to meet the requirement of container operation. However, the existing clamp for dismounting and mounting the container lock button has poor adaptability to various lock buttons, and the clamp and the lock button are easily damaged due to collision in the dismounting and mounting process.
Disclosure of Invention
The invention aims to solve the problems and provides a clamp for disassembling and assembling container lock buttons and a using method thereof, which can not only disassemble and assemble various container lock buttons, but also cannot damage the clamp and the lock buttons.
The purpose of the invention is realized as follows:
the invention relates to a clamp for assembling and disassembling a container lock button, which comprises:
the bottom of the base is provided with a connecting flange for connecting a mechanical arm;
a lock button rotation mechanism comprising: the first driving motor is arranged at the bottom of the base, and an output shaft of the first driving motor penetrates through the base and is provided with a lock core shifting pin;
a jaw mechanism, comprising: at least a pair of clamping jaws which are arranged on two sides of the lock core poking pin in an opposite way and a second driving motor which drives the pair of clamping jaws to clamp or loosen; and
at least three limiting and speed reducing mechanisms which are respectively arranged on the base and are positioned on the periphery of the clamping jaw mechanism.
The lock core shifting pin in the clamp for dismounting the container lock button comprises a shifting pin body, two pin bodies vertically arranged on the shifting pin body, and a shifting pin shaft, wherein one end of the shifting pin shaft is connected with the shifting pin body, the other end of the shifting pin shaft is connected with an output shaft of a lock button rotating mechanism driving motor assembly, and the shifting pin shaft is rotatably arranged on a fixing piece arranged on a base.
The shifting pin shaft in the clamp for disassembling and assembling the container lock button is provided with a turntable which is integrally formed with the shifting pin shaft and is positioned below the shifting pin body, the edge of the turntable is provided with a contact block with adjustable installation position, and an initial position sensor and an end position sensor which are used for limiting the rotation angle of the lock button rotating mechanism are arranged on the base; the round pin body is rotatable through the rotatable installation in round pin axle upper end of a third bearing, in two moment measurement mechanism of round pin body bilateral symmetry installation on the carousel, every moment measurement mechanism includes:
a floating pin fixing plate;
the floating pins are symmetrically arranged on two sides of the pin pulling shaft, one end of each floating pin is fixedly connected with the floating pin fixing plate, and the other end of each floating pin is tightly pressed against the surface of one side of the pin pulling body;
two pressing pieces respectively arranged at two ends of the floating pin fixing plate; and
two rotation torque sensors which are arranged on the surface of one side of the shifting pin body and respectively correspond to the positions of the two pressing pieces.
The clamping jaw mechanism in the clamp for disassembling and assembling the container lock button comprises at least one pair of oppositely arranged clamps arranged on a base at the periphery of the lock button rotating mechanism; the lower end of each pair of clamping jaws is rotatably connected to a clamping jaw mounting seat which is slidably mounted on the base and driven by a clamping jaw driving mechanism mounted below the base through a pin shaft, and the upper ends of the clamping jaws are respectively provided with a clamping jaw cushion block.
The clamping jaw actuating mechanism in the aforesaid anchor clamps for container lock button dismouting includes:
the opening and closing grooved pulley is rotatably sleeved on the fixing piece through a fourth bearing, the surface of the opening and closing grooved pulley is uniformly provided with notches which have the same number as the clamping jaws and extend along the radial direction, the opening and closing grooved pulley is connected with a clamping jaw mechanism driven gear ring, and the clamping jaw mechanism driven gear ring is meshed with a clamping jaw mechanism driving gear ring driven by a clamping jaw mechanism driving motor assembly;
the clamping jaw mounting seat sliding groove pieces are arranged on the base in one-to-one correspondence with the clamping jaw mounting seats and are provided with openings for the clamping jaw mounting seats to slide in, and a plurality of elastic pieces are arranged between the clamping jaw mounting seats and the clamping jaw mounting seat sliding groove pieces;
and the other ends of the clamping jaw mechanism driving rods penetrate through the base and are positioned in the notches of the opening and closing grooved wheels.
The lower end of each clamping jaw mechanism driving rod in the clamp for assembling and disassembling the container lock knob is provided with a needle bearing positioned in a notch of the opening and closing grooved wheel.
At least one pair of clamping jaws in the clamp for disassembling and assembling the container lock button are provided with clamping torque sensors which are used for outwards extruding when the clamping jaws are tightened so as to judge whether the clamping jaws are clamped in place, and/or at least one clamping jaw mounting seat is provided with an initial position sensor and an end position sensor which are arranged between an initial position stop block and an end position stop block and between the initial position stop block and the end position stop block so as to limit the sliding distance of the clamping jaw mounting seat.
The spacing reduction gears in foretell anchor clamps for container lock button dismouting is including the three spacing reduction gears that are located the outside of clamping jaw, wherein two use lock button rotary mechanism as central symmetry and, one is located the perpendicular line of the spacing reduction gears mounted position line that two symmetries set up, and every spacing reduction gears includes:
two mechanism bases mounted in parallel on the upper surface of the base;
the upper pin seat is arranged above the base in parallel and is connected to the two mechanism bases in a lifting way through two mechanism side plates which are arranged oppositely; a connecting plate which enables the two mechanism side plates to be in lifting linkage is connected between the two mechanism side plates, and an adjusting screw for adjusting the height of each connecting plate is installed on the bottom surface of each connecting plate;
a seesaw hinged on the upper surface of the lock upper pin seat, wherein a roller is respectively arranged on the upper surface of the seesaw and adjacent to the inner end and the outer end of the seesaw, and a convex part is respectively arranged on the lower surface of the seesaw and adjacent to the inner end and the outer end of the seesaw;
the upper end of each transmission pin is contacted with one bulge, the lower end of each transmission pin is contacted with a deviation torque sensor, the deviation torque sensor is arranged on a deviation torque sensor mounting seat, and two ends of the deviation torque sensor mounting seat are clamped between two mechanism side plates;
a transmission rod base arranged on the upper surface of the base,
the speed-limiting speed-reducing transmission rod is connected to the transmission rod base in a lifting mode, a groove-shaped photoelectric switch is sleeved on the lower portion of the speed-limiting speed-reducing transmission rod, the upper end of the speed-limiting speed-reducing transmission rod sequentially extends out of the center positions of the upper pin boss and the seesaw, and a fifth bearing is installed on the speed-limiting speed-reducing transmission rod, wherein the installation height of the fifth bearing is higher than that of; and
and the upper end of the return spring is connected with the speed-limiting and speed-reducing transmission rod, and the lower end of the return spring is connected with the transmission rod base. .
The clamp for disassembling and assembling the container lock button further comprises a plurality of dust removal nozzles which are arranged on the base and positioned beside the clamping jaw and used for removing dust of the clamping jaw mechanism and the lock button rotating mechanism.
The container lock knob dismouting is used for tearing open the lock knob in foretell container lock knob dismouting is with anchor clamps and includes following step:
(1) connecting the connecting flange with a mechanical arm;
(2) the mechanical arm ascends to a working surface at the corner of a container according to the instruction and continues to ascend when a limiting speed reducing mechanism is in contact with the working surface and keeps the base parallel to the working surface, and then the ascending is stopped; simultaneously detecting whether the limiting speed reducing mechanism at another angle contacts the corner working surface and keeping the base parallel to the working surface; if not, the mechanical arm is instructed to carry out fine adjustment until two limiting speed reducing mechanisms which are mutually distributed in a vertical angle contact the corner of the container, and then the adjustment is stopped;
(3) moving from an initial position to clamp, and when the clamping jaw mechanisms are not simultaneously stressed to clamp the shoulder parts of the lock buttons, adjusting the positions of the mechanical arms and the clamping jaw mechanisms to clamp the shoulder parts of the lock buttons by the mechanical arms according to the stress conditions of the clamping jaw mechanisms;
(4) the lock button rotating mechanism rotates a lower lock tongue of the lock button, and then the mechanical arm pulls out the lock button downwards, so that the lock button can be detached;
the clamp for assembling and disassembling the container lock knob is used for assembling the lock knob and comprises the following steps:
(1) connecting the connecting flange with a mechanical arm;
(2) the mechanical arm connects the clamp with a lock button from a clamp mechanism of a transfer machine and clamps the shoulder of the lock button by a clamping jaw mechanism;
(3) the clamp moves to the position below the working surface of the corner of the container along with the mechanical arm;
(4) the mechanical arm holds the clamp and goes upward to the lock button hole at the corner of the container and inserts the lock button, the relative distance of going upward of the clamp is controlled by the mechanical arm; when the lock knob is inserted into the lock knob hole, the mechanical arm is automatically finely adjusted according to the feedback of the limiting and speed reducing mechanism, and meanwhile, the limiting and speed reducing mechanism buffers the stress of the mechanical structure before the mechanical arm rises and stops;
(5) when the locking button is locked in the locking button hole, the clamping jaw mechanism loosens the shoulder part of the locking button;
(6) the mechanical arm holds the clamp to descend.
The invention adopts the limiting speed reducing mechanism to reduce the positioning problem of the clamp in the process of disassembling and assembling the lock button and reduce the damage of the clamp and the lock button, and meanwhile, the clamp is suitable for various container lock buttons.
Drawings
FIG. 1 is a perspective view of a container lock knob attaching and detaching jig according to the present invention;
FIG. 2 is a front view of the container lock knob attaching and detaching jig of the present invention;
FIG. 3 is a plan view of the container lock knob attaching and detaching jig according to the present invention;
FIG. 4 is a perspective view (without a housing) of the container lock knob attaching and detaching jig of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a partial enlarged view of FIG. 4 at B;
FIG. 7 is a sectional view of the container lock knob attaching and detaching jig according to the present invention;
FIG. 8 is a top plan view of the installed condition of the jaw mechanism mounting plate of the present invention;
FIG. 9 is an enlarged view of a portion of FIG. 8 at C;
FIG. 10 is a partial perspective view of the container lock knob attaching and detaching jig of the present invention;
FIG. 11 is an enlarged view of a portion of FIG. 10 at D;
FIG. 12 is a partial perspective view of the limiting deceleration mechanism of the present invention;
FIG. 13 is a front view of the limiting and decelerating mechanism of the invention
FIG. 14 is a view showing a state of use of the container lock knob attaching and detaching jig according to the present invention;
fig. 15 is a partial enlarged view of fig. 10 at D.
Detailed Description
The invention will be further explained with reference to the drawings.
Referring to fig. 1 to 13, there is shown a clamp for assembling and disassembling a container lock button according to the present invention, which comprises: a base 1, a lock button rotary mechanism 2, a clamping jaw mechanism 3 and three limiting speed reducing mechanisms 4.
The base 1 specifically includes:
a mounting plate 11;
four side plates 12 vertically installed at the middle position of the lower surface of the mounting plate 11, each side plate 12 being provided with a plurality of dustproof vent holes 12 a;
a fixed bottom plate 13 which is arranged on the lower end surfaces of the four side plates 12 and is parallel to the mounting plate 11;
the fixed partition plate 14 is parallel to the mounting plate 11, is arranged in a lower cavity defined by the mounting plate 11, the side plate 12 and the fixed bottom plate 13, and divides the lower cavity into a first cavity 14a and a second cavity 14b from bottom to top;
three reinforcing plates 15 installed between the lower surface of the mounting plate 11 and the side surface of one side plate 12, respectively;
a connecting flange 16 mounted on the lower surface of the fixed base plate 13 for connecting a robot arm (not shown) and a cable quick-release joint 17;
two heat dissipation fans 18 installed in the lower cavity; and
and the shell 19 is detachably connected to the upper surface of the mounting plate 11 and forms an upper cavity together with the mounting plate 11, and the upper surface of the shell is provided with openings for part of the clamping jaw mechanisms 3 and the limiting and decelerating mechanisms 4 to extend out.
The lock knob rotating mechanism 2 specifically includes:
a lock button rotating mechanism driving motor 21 installed in the first cavity 14a of the base 1,
a fixing member 22 vertically installed on the fixing partition 14 and extending out of the mounting plate 11, wherein a through hole penetrating up and down is formed in the top surface of the fixing member, and a first bearing 22a and a second bearing 22b are respectively installed at the upper end and the lower end of the inner wall of the through hole;
a cylinder pin 23 rotatably inserted into the fixing member 22 and connected to the lock knob rotating mechanism driving motor assembly 21, comprising:
a pin body 23 a;
a rotating disc 23b arranged in parallel below the pin pulling body 23 a;
a pin pulling shaft 23c vertically passing through the center of the rotating disc 23b and integrally formed therewith, the upper part of which passes through the pin pulling body 23a and is rotatably connected therewith through a third bearing 23d, and the lower part of which rotatably passes through the through hole of the fixing member 22 through a first bearing 22a and a second bearing 22b and is connected with the output shaft of the lock knob rotating mechanism driving motor assembly 21; and
two pin bodies 23e symmetrically arranged at both sides of the pin pulling shaft 23c and vertically arranged on the upper surface of the pin pulling body 23 a; and
an initial position sensor 24 and an end position sensor 25 mounted on the upper surface of the mounting plate 11 and connected to the lock knob rotation mechanism driving motor assembly 21 to limit the rotation angle of the rotary disk 23b, and a contact block 26 including an arc-shaped groove portion 26a for rotatably mounting it to the edge of the rotary disk 23b for activating the block portions 26b of the initial position sensor 24 and the end position sensor 25;
and two moment measuring mechanisms 27 mounted on the rotating disc 23b and symmetrically arranged on both sides of the pin pulling body 23a, each moment measuring mechanism 27 comprising:
a floating pin fixing plate 27 a;
two floating pins 27b symmetrically arranged at two sides of the pin pulling shaft 23c, wherein one end of each floating pin 27b is fixedly connected with a floating pin fixing plate 27a, and the other end is tightly pressed with one side surface of the pin pulling body 23a through a spherical gasket 27 c;
two pressing pieces 27d installed at both ends of the floating pin fixing plate 27a, respectively; and
two rotation torque sensors 27e installed on one side surface of the pin pulling body 23a and respectively corresponding to the positions of the two pressing pieces 27 c.
Gripper mechanism 3 specifically includes:
an opening and closing grooved wheel 31 arranged in the second cavity 14a of the base 1, four radially extending notches (not shown) are uniformly distributed on the surface of the opening and closing grooved wheel, and the opening and closing grooved wheel is rotatably sleeved on the fixing member 22 through a fourth bearing 31 a;
a gripper mechanism driving motor assembly 32 disposed in the first cavity 14a of the base 1, and connected to the opening and closing sheave 31 through a gripper mechanism driving gear ring 31b and a gripper mechanism driven gear ring 31c engaged with the gripper mechanism driving gear ring 31b, so as to drive the opening and closing sheave 31 to rotate;
a pair of oppositely arranged main clamping jaws 33 and a pair of oppositely arranged auxiliary clamping jaws 34 which are positioned above the mounting plate 11 and are respectively slidably mounted in four notches of the opening and closing grooved wheel 31 through a mounting mechanism so as to be used for clamping the lock buttons, wherein a pair of oppositely arranged clamping jaw cushion blocks 35 are respectively arranged at the top ends of the pair of main clamping jaws 33 and the pair of auxiliary clamping jaws 34 (the clamping jaw cushion blocks 35 and part of the main clamping jaws 33 and the auxiliary clamping jaws 34 extend out of the upper surface of the shell 19); when the clamp of the invention is not in use, the two main jaws 33 are respectively located outside the two torque measuring means 25 and the two auxiliary jaws 34 are respectively located outside the two pins 23 b.
Since the main jaw 33 and the sub-jaw 34 employ the same mounting mechanism, the structure of the mounting mechanism will be further described by taking the main jaw 33 as an example.
Each installation mechanism specifically includes:
a clamping jaw mounting seat 36 for hinging (hinging by a clamping jaw pin 33 a) the main clamping jaw 33 (or the auxiliary clamping jaw 34) thereon, which is connected between a pair of clamping jaw mounting seat sliding groove members 36a arranged on the upper surface of the mounting plate 11 of the mounting plate 14 in a sliding way, wherein an elastic member for finely adjusting the up-down, front-back, left-right movement of the clamping jaw mounting seat 36 is arranged between the clamping jaw mounting seat 36 and the clamping jaw mounting seat sliding groove members 36a, the lower part of the clamping jaw mounting seat 36 passes through the mounting plate 11 (the surface of the mounting plate 11 is provided with an opening 37 for passing and sliding the lower part of the clamping jaw mounting seat 36), and is connected in a notch of the opening-closing grooved wheel 31 in a sliding way by a clamping jaw mechanism driving rod 36b fixedly connected with the clamping jaw mechanism driving rod 36b and a needle bearing 36c sleeved on the outer edge of the clamping jaw mechanism driving rod 36b, thereby, the main clamping jaw 33, thereby clamping or unclamping the lock knob;
a clamping torque sensor 38 mounted on the clamping jaw mounting seat 36 and contacting with the outer side surface of the main clamping jaw 33 (or the auxiliary clamping jaw 34), when the main clamping jaw 33 (or the auxiliary clamping jaw 34) clamps the lock button, the clamping torque sensor 38 is pressed outwards so as to judge whether the main clamping jaw 33 (or the auxiliary clamping jaw 34) is clamped in place;
a home position stop 39a and an end position stop 39b mounted on the jaw mount 36; and
a home position sensor 39c and a home position sensor 39d mounted on the upper surface of the mounting plate 11 and located between the home position stop 39a and the home position stop 39b to limit the sliding distance of the jaw mounting base 36.
Three limiting and reducing mechanisms 4 are respectively installed on the upper surface of the installation plate 11, and correspond to the side plate 12 with the positions of the three reinforcing plates 15, in the embodiment, the three limiting and reducing mechanisms 4 are respectively located at the outer sides of one main clamping jaw 33 and two auxiliary clamping jaws 34, and each limiting and reducing mechanism 4 comprises:
two mechanism bases 41 mounted in parallel to each other on the upper surface of the mounting plate 11;
an upper pin base 42 arranged in parallel above the mounting plate 11 and connected to the two mechanism bases 41 through two mechanism side plates 43 arranged oppositely in a lifting manner; in this embodiment, a side surface of the mechanism base 41 is provided with a waist-shaped groove 41a, the mechanism side plate 43 can pass through the waist-shaped groove 41a through a fixing screw to be connected with the mechanism base 41, the mechanism side plate 43 is pi-shaped, that is, it includes two vertical portions 43a, a connecting plate 43b is respectively connected between the two vertical portions 43a located at the inner side and between the two vertical portions 43a located at the outer side of the two mechanism side plates 43, thereby enabling the two mechanism side plates 43 to be linked up and down, in addition, an adjusting screw 43c for adjusting the height of each connecting plate 43b is installed on the bottom surface of each connecting plate 43b, thereby the installation height of the mechanism side plate 43 on the mechanism base 41 can be adjusted by adjusting the height of the connecting;
a seesaw 44 hinged to the upper surface of the upper pin base 42, a roller 44a being mounted on the upper surface thereof adjacent to the inner and outer ends thereof, respectively (the seesaw 44 and the roller 44a extend out of the upper surface of the housing 19, and the seesaw 44 is mounted at a height higher than or equal to the height of the main jaw 33 and the auxiliary jaw 34), and a protrusion 44b being downwardly provided on the lower surface thereof adjacent to the inner and outer ends thereof, respectively;
two driving pin bushings 45a vertically penetrating and installed on the upper pin base 42 and driving pins 45 installed therein, respectively, each driving pin 45 having an upper end contacting one of the protrusions 44b and a lower end contacting a deviation torque sensor 47, the deviation torque sensor 47 being installed on a deviation torque sensor installation base 47a, both ends of the deviation torque sensor installation base 47a being sandwiched between two vertical portions 43a of the two mechanism side plates 43 located inside and higher than the connection plate 43 b;
a driving rod base 46a installed on the upper surface of the mounting plate 11,
a speed-limiting speed-reducing transmission rod 46 which is connected to a transmission rod base 46a in a lifting manner, wherein the lower part of the speed-limiting speed-reducing transmission rod is sleeved with a groove-shaped photoelectric switch 46b, the upper end of the speed-limiting speed-reducing transmission rod sequentially extends out of the central positions of the upper pin seat 42 and the seesaw 44, and a fifth bearing 46c is installed (the installation height of the fifth bearing 46c is higher than that of the roller 44 a); and
a return spring 48 which is positioned below the upper pin boss 42 and is parallel to the speed-limiting speed-reducing transmission rod 46, the upper end of the return spring is connected with the speed-limiting speed-reducing transmission rod 46, and the lower end of the return spring is connected with the transmission rod base 46 a.
In addition, the invention also comprises dust removing nozzles 5 which are arranged on the mounting plate 11 and are respectively arranged at the two sides of each auxiliary clamping jaw 34.
The clamp for disassembling and assembling the container lock button moves to the working position of the corner piece of the container corner part according to the instruction and the mechanical arm, and has two works respectively: firstly, the lock button is disassembled, and secondly, the lock button is assembled.
When the lock button is unlocked, the clamp moves to the corner of the container, the clamp ascends to the working surface of the corner of the container according to the instruction, one speed-limiting and speed-reducing transmission rod 46 in the three limiting and speed-reducing mechanisms 4 is contacted with the corner, the ascending groove-shaped photoelectric switch 46b is continuously triggered until the deviation torque sensor 47 stops ascending after detecting the stress, and the leveling action is carried out by utilizing the different stress of the two deviation torque sensors 47; simultaneously detecting whether the speed-limiting and speed-reducing transmission rod 46 at another angle contacts the corner working face; if not, the adjusting mechanical arm is instructed to carry out micro-adjustment until two speed limiting and speed reducing transmission rods 46 which are distributed in a vertical angle contact the corner of the container and the adjustment is stopped after leveling is carried out by utilizing the different stress of two deviation torque sensors 47; when one or four of the main clamping jaw 33 and the auxiliary clamping jaw 34 are not simultaneously stressed to clamp the shoulder of the lock button, the mechanical arm automatically adjusts the deviation distance of the main clamping jaw 33, the auxiliary clamping jaw 34 and the lock button rotating mechanism 2 according to the information of the clamping torque sensor 38, when the deviation distance of the main clamping jaw 33 and the auxiliary clamping jaw 34 is small, the elastic part of the clamping jaw mounting seat 36 can realize fine adjustment, and the main clamping jaw 33 and the auxiliary clamping jaw 34 clamp the shoulder of the lock button; the lock core pin 23 of the lock button rotating mechanism 2 rotates the lower lock tongue, and whether the lock core pin 23 completes the lower lock tongue rotating operation of the lock button or not is judged according to the rotating torque sensor 27 e; the lock button is pulled out down to the arm, accomplishes the lock button and dismantles the back, and the arm carries anchor clamps to a transfer mechanical equipment motion, hands over the lock button to transfer mechanical equipment in the air.
When the lock button is installed, the transfer mechanical equipment takes out the lock button from a container stored by the lock button, the transfer mechanical equipment moves to a transfer aerial position, and after the clamp transfers the lock button from the transfer mechanical equipment, the clamp moves to the corner of the container randomly; the locking button is inserted into a locking button hole at the corner of the container on the clamp; the relative distance of the upward movement of the clamp is controlled by the mechanical arm; when the lock knob is inserted into the lock knob hole, the mechanical arm clearance is automatically finely adjusted according to the numerical value of the deviation torque sensor 47; meanwhile, before the clamp is lifted and stopped, the limiting and speed reducing mechanism 4 buffers the stress of the mechanical structure, after the upper lock tongue of the lock button is locked in the lock button hole, the main clamping jaw 33 and the auxiliary clamping jaw 34 release the shoulder of the lock button, and the mechanical arm holds the clamp to move downwards.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should also fall within the scope of the present invention, and should be defined by the claims.
Claims (10)
1. The utility model provides a container lock knob anchor clamps for dismouting which characterized in that, it includes:
the bottom of the base is provided with a connecting flange for connecting a mechanical arm;
a lock button rotation mechanism comprising: the first driving motor is arranged at the bottom of the base, and an output shaft of the first driving motor penetrates through the base and is provided with a lock core shifting pin;
a jaw mechanism, comprising: at least a pair of clamping jaws which are arranged on two sides of the lock core poking pin in an opposite mode and a second driving motor for driving the clamping jaws to clamp or loosen; and
and at least three limiting and speed reducing mechanisms which are respectively arranged on the base and are positioned on the periphery of the clamping jaw mechanism.
2. The container lock knob attaching and detaching jig according to claim 1, wherein the lock cylinder pin tumbler includes a tumbler body, two pin bodies vertically mounted on the tumbler body, and a tumbler shaft having one end connected to the tumbler body and the other end connected to an output shaft of a lock knob rotating mechanism driving motor assembly, the tumbler shaft being rotatably mounted on a fixing member mounted on the base.
3. The container lock knob attaching and detaching jig according to claim 2, wherein the pin tumbler is provided with a turntable formed integrally therewith and located below the pin tumbler body, the edge of the turntable is provided with a contact block whose mounting position is adjustable, and an initial position sensor and an end position sensor for limiting a rotation angle of the lock knob rotating mechanism are mounted on the base; the setting pin body through a third bearing rotatable install in set pin axle upper end, on the carousel in two moment measurement mechanism of setting pin body bilateral symmetry installation, every moment measurement mechanism includes:
a floating pin fixing plate;
the floating pins are symmetrically arranged on two sides of the pin pulling shaft, one end of each floating pin is fixedly connected with the floating pin fixing plate, and the other end of each floating pin is tightly pressed against the surface of one side of the pin pulling body;
two pressing pieces respectively arranged at two ends of the floating pin fixing plate; and
and the two rotary torque sensors are arranged on the surface of one side of the shifting pin body and respectively correspond to the two pressing pieces.
4. The container lock knob removing and installing jig of claim 2, wherein said jaw mechanism comprises at least a pair of oppositely disposed jaws mounted on a base around said lock knob rotating mechanism; the lower end of each pair of the clamping jaws is rotatably connected to a clamping jaw mounting seat which is slidably mounted on the base and driven by a clamping jaw driving mechanism mounted below the base through a pin shaft, and the upper ends of the clamping jaws are respectively provided with a clamping jaw cushion block.
5. The container lock knob attaching and detaching jig according to claim 4, wherein the jaw driving mechanism comprises:
the opening and closing grooved pulley is rotatably sleeved on the fixing piece through a fourth bearing, the surface of the opening and closing grooved pulley is uniformly provided with notches which are the same as the clamping jaws in number and extend along the radial direction, the opening and closing grooved pulley is connected with a clamping jaw mechanism driven gear ring, and the clamping jaw mechanism driven gear ring is meshed with a clamping jaw mechanism driving gear ring driven by a clamping jaw mechanism driving motor assembly;
the clamping jaw mounting seat sliding groove pieces are arranged on the base in one-to-one correspondence with the clamping jaw mounting seats and are provided with openings for the clamping jaw mounting seats to slide in, and a plurality of elastic pieces are arranged between the clamping jaw mounting seats and the clamping jaw mounting seat sliding groove pieces;
and the other ends of the clamping jaw mechanism driving rods penetrate through the base and are positioned in the notches of the opening and closing grooved wheels.
6. The container lock knob attaching and detaching jig according to claim 5, wherein a needle bearing is installed at a lower end of each of the gripper mechanism driving levers in a notch of the opening and closing sheave.
7. The container lock knob attaching and detaching jig according to claim 6, wherein at least one pair of the claw claws is provided at an outer side thereof with a clamping torque sensor for pressing outward when tightened to judge whether or not the claw claws are clamped in place and/or at least one of the claw mount bases is provided with an initial position sensor and an end position sensor between an initial position stopper and an end position stopper and between the initial position stopper and the end position stopper to limit a sliding distance of the claw mount base.
8. The container lock knob removing and mounting clip as set forth in claim 1, wherein said speed reduction limit mechanism comprises three speed reduction limit mechanisms located outside said gripping jaws, two of which are symmetrical about said lock knob rotating mechanism and one of which is located on a perpendicular line connecting the installation positions of the two speed reduction limit mechanisms symmetrically arranged, each of said speed reduction limit mechanisms comprising:
two mechanism bases mounted in parallel on the upper surface of the base;
the upper pin seat is arranged above the base in parallel and is connected to the two mechanism bases in a lifting way through two mechanism side plates which are arranged oppositely; at least one connecting plate for enabling the two mechanism side plates to be in lifting linkage is connected between the two mechanism side plates, and an adjusting screw for adjusting the height of each connecting plate is installed on the bottom surface of each connecting plate;
a seesaw hinged on the upper surface of the lock upper pin seat, wherein a roller is respectively arranged on the upper surface of the seesaw and adjacent to the inner end and the outer end of the seesaw, and a convex part is respectively arranged on the lower surface of the seesaw and adjacent to the inner end and the outer end of the seesaw;
the upper end of each transmission pin is in contact with one protruding part, the lower end of each transmission pin is in contact with a deviation torque sensor, the deviation torque sensor is mounted on a deviation torque sensor mounting seat, and two ends of the deviation torque sensor mounting seat are clamped between the two mechanism side plates;
a transmission rod base arranged on the upper surface of the base,
the speed-limiting speed-reducing transmission rod is connected to the transmission rod base in a lifting mode, a groove-shaped photoelectric switch is sleeved on the lower portion of the speed-limiting speed-reducing transmission rod, the upper end of the speed-limiting speed-reducing transmission rod sequentially extends out of the center positions of the upper pin boss and the seesaw, and a fifth bearing is installed on the speed-limiting speed-reducing transmission rod, wherein the installation height of the fifth bearing is higher than that of the roller; and
and the upper end of the return spring is connected with the speed-limiting and speed-reducing transmission rod, and the lower end of the return spring is connected with the transmission rod base.
9. The container lock knob removing and installing clamp of claim 1, further comprising a plurality of dust removing nozzles installed on the base and located beside the clamping jaw for removing dust from the clamping jaw mechanism and the lock knob rotating mechanism.
10. The method of using a container lock knob removing and mounting jig according to claim 1, wherein the container lock knob removing and mounting jig for removing the lock knob comprises the steps of:
(1) connecting the connecting flange with a mechanical arm;
(2) the mechanical arm ascends to a working surface at the corner of a container according to the instruction and continues to ascend when one limiting speed reducing mechanism is in contact with the working surface and keeps the base parallel to the working surface, and then the ascending is stopped; simultaneously detecting whether the limiting speed reducing mechanism at another angle contacts a corner working surface and keeping the base parallel to the working surface; if not, the mechanical arm is instructed to carry out fine adjustment until two limiting speed reducing mechanisms which are mutually distributed in a vertical angle contact the corner of the container, and then the adjustment is stopped;
(3) the mechanical arm moves from an initial position to clamp, and when the clamping jaw mechanisms are not simultaneously stressed to clamp the shoulder of the lock button, the position of the mechanical arm is adjusted by the mechanical arm according to the stress condition of the clamping jaw mechanisms, and the clamping jaw mechanisms clamp the shoulder of the lock button;
(4) the lock button rotating mechanism rotates a lower lock tongue of the lock button, and then the mechanical arm pulls out the lock button downwards, so that the lock button can be detached;
the clamp for assembling and disassembling the container lock knob is used for assembling the lock knob and comprises the following steps:
(1) connecting the connecting flange with a mechanical arm;
(2) the mechanical arm transfers the clamp from a clamp mechanism of a transfer machine to a lock button and clamps the shoulder of the lock button by the clamping jaw mechanism;
(3) the clamp moves to the position below the working surface of the corner of the container along with the mechanical arm;
(4) the mechanical arm holds the clamp to move upwards, lock buttons are inserted into lock button holes at the corners of the container, and the relative distance of the clamp moving upwards is controlled by the mechanical arm; when the lock knob is inserted into the lock knob hole, the mechanical arm is automatically finely adjusted according to the feedback of the limiting and speed reducing mechanism, and meanwhile, the limiting and speed reducing mechanism buffers the stress of the mechanical structure before the mechanical arm rises and stops;
(5) when the lock knob is locked in the lock knob hole, the clamping jaw mechanism loosens the shoulder part of the lock knob;
(6) the mechanical arm holds the clamp to move downwards.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910974728.7A CN110587651B (en) | 2019-10-14 | 2019-10-14 | Clamp for disassembling and assembling container lock button and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910974728.7A CN110587651B (en) | 2019-10-14 | 2019-10-14 | Clamp for disassembling and assembling container lock button and application method thereof |
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| CN110587651A true CN110587651A (en) | 2019-12-20 |
| CN110587651B CN110587651B (en) | 2023-12-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113381266A (en) * | 2021-06-21 | 2021-09-10 | 江苏通灵电器股份有限公司 | Photovoltaic connector wire harness all-in-one machine |
| CN113858229A (en) * | 2021-09-30 | 2021-12-31 | 三一海洋重工有限公司 | Universal clamp, robot and unlocking system |
| CN116551354A (en) * | 2023-05-12 | 2023-08-08 | 广东彩丰物流有限公司 | Automatic disassembly and assembly equipment for container lock button |
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| CN110282278A (en) * | 2019-06-03 | 2019-09-27 | 李雪刚 | A kind of access of container cage knob relay device and its application method |
| CN210732499U (en) * | 2019-10-14 | 2020-06-12 | 李雪刚 | Clamp for dismounting container lock button |
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| KR101678167B1 (en) * | 2015-10-28 | 2016-11-22 | 조현일 | Container locking apparatus of electric-type |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113381266A (en) * | 2021-06-21 | 2021-09-10 | 江苏通灵电器股份有限公司 | Photovoltaic connector wire harness all-in-one machine |
| CN113381266B (en) * | 2021-06-21 | 2023-01-31 | 江苏通灵电器股份有限公司 | Photovoltaic connector wire harness all-in-one machine |
| CN113858229A (en) * | 2021-09-30 | 2021-12-31 | 三一海洋重工有限公司 | Universal clamp, robot and unlocking system |
| CN113858229B (en) * | 2021-09-30 | 2023-04-18 | 三一海洋重工有限公司 | Universal clamp, robot and unlocking system |
| CN116551354A (en) * | 2023-05-12 | 2023-08-08 | 广东彩丰物流有限公司 | Automatic disassembly and assembly equipment for container lock button |
| CN116551354B (en) * | 2023-05-12 | 2024-02-02 | 广东彩丰物流有限公司 | Automatic disassembly and assembly equipment for container lock button |
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| CN110587651B (en) | 2023-12-01 |
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