CN111098955B

CN111098955B - Double-jaw type assembling machine for hinging truck wheels

Info

Publication number: CN111098955B
Application number: CN201911259319.5A
Authority: CN
Inventors: 刘喜平; 张瀛; 窦金春
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-11-06
Anticipated expiration: 2039-12-10
Also published as: CN111098955A

Abstract

The invention provides a double-jaw type assembling machine for hinging wheels of trucks, which comprises a gantry system, a rotary lifting system and a truck body system, the driving wheel system and the double-jaw system, the vehicle body and the connecting plate of the driving wheel system are fixedly connected, the cylindrical through hole of the gantry body stand column is respectively connected with the first pin shaft and the second pin shaft, the second hinge and the third hinge are respectively fixedly connected with the outer wall of the gantry body stand column, the outer side surfaces of two rectangular ear plates of the double-lug annular lifting platform are respectively fixedly connected with the first rolling guide rail sliding seat and the second rolling guide rail sliding seat, the end surfaces of a first spiral lifting screw rod and a second spiral lifting screw rod are respectively fixedly connected with the upper side surfaces of the two rectangular ear plates of the double-lug annular lifting platform, the third rolling guide rail, the fourth rolling guide rail, the fifth rolling guide rail and the sixth rolling guide rail are respectively fixedly connected with the front surface of the rectangular cross beam of the double-jaw supporting platform, the third spiral. The invention has high degree of mechanization, reduces the labor intensity of workers and improves the efficiency of wheel assembly.

Description

Double-jaw type assembling machine for hinging truck wheels

Technical Field

The invention relates to the technical field of articulated vehicle installation, in particular to a double-jaw type assembling machine for articulated vehicle wheels.

Background

There are many limitations to mounting wheels on an articulated truck assembly line: one third of the hinged truck wheel in the circumferential direction has extremely narrow space, and no tool can be placed; the allowable installation passage is less than 3 meters; the production beat requirement is strict: within 10 min; the size and weight of the wheel have wide variation range: diameter 1500 mm-1882 mm, thickness: 400 mm-880 mm; weight: 500 kg-1350 kg.

The previous hinged truck wheel on-line installation mostly adopts the installation of an overhead crane and an auxiliary tool, and has the defects that: the labor cost is high, and 4 installation workers are usually needed; control of installation tact is difficult; the labor intensity of workers is high; the uniformity of the mounting quality is poor.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the double-jaw type assembly machine for the hinged vehicle wheel, which can realize the mechanization of the assembly of the hinged vehicle wheel, reduce the labor cost, reduce the labor intensity of workers, improve the assembly efficiency of the wheel, and ensure the consistency of the installation quality and the production beat.

The invention provides a double-jaw type assembling machine for hinging wheels of trucks, which comprises a gantry system, a rotary lifting system, a vehicle body system, a driving wheel system, a double-jaw system and an electric control system. The gantry system comprises a first rolling guide rail sliding seat, a first rolling guide rail, a first spiral elevator lead screw, a first spiral elevator, a gantry body, a second spiral elevator lead screw, a second rolling guide rail and a second rolling guide rail sliding seat, wherein the gantry body is of a U-shaped structure and comprises an upright post and a cross beam, a cylindrical hole is formed in the upper surface of the cross beam of the gantry body, and a cylindrical through hole is formed in the lower end of the upright post of the gantry body. The rotary lifting system comprises a double-lug annular lifting platform, a first turntable bearing, a double-clamping-claw supporting platform, a third spiral lifting screw, a magnetic scale, a third spiral lifting screw, a fourth spiral lifting screw, a gear, a first servo motor, a first speed reducer, a speed reducer supporting plate and an inner gear ring, wherein the double-lug annular lifting platform consists of a circular ring and a rectangular lug plate, an outer ring of the first turntable bearing is fixedly connected with an inner hole of the double-lug annular lifting platform, the width of the first turntable bearing is larger than that of the double-lug annular lifting platform, a first end surface of the first turntable bearing is flush with that of the double-lug annular lifting platform, a second end surface of the first turntable bearing is suspended out of a second end surface of the double-lug annular lifting platform, the double-clamping-claw supporting platform is of a theta-shaped structure and consists of a circular ring and a rectangular cross beam, the outer ring and the inner gear ring of the double-gripper supporting platform are fixedly connected with inner holes of a first end surface and a second end surface of the first turntable bearing respectively, two end surfaces of the double-gripper supporting platform and the inner gear ring are located in two end surfaces of the first turntable bearing, and the inner gear ring is adjacent to the double-gripper supporting platform. The automobile body system, it includes automobile body, first hinge, first pneumatic cylinder, second hinge, first otic placode, first round pin axle, second otic placode, third otic placode, second round pin axle, fourth otic placode, third hinge, second pneumatic cylinder and fourth hinge, the appearance of automobile body is U font structure, comprises floorbar and boundary beam, first otic placode the second otic placode the third otic placode with be equipped with the cylinder through-hole on the fourth otic placode, first otic placode the second otic placode the third otic placode with the fourth otic placode is located respectively the floorbar with the upper surface of boundary beam cross position links firmly. The driving wheel system comprises a worm box body, a second turntable bearing, a connecting plate, a worm wheel shaft, a U-shaped supporting frame, a second servo motor, a second speed reducer, a rolling bearing, a traveling wheel, a transmission shaft, a worm, a third servo motor and a third speed reducer, wherein the U-shaped supporting frame consists of a cross beam and a vertical plate, a cylindrical through hole is formed in the vertical plate, the outer diameters of the first rolling bearing and the second rolling bearing are respectively connected with the cylindrical through hole in the vertical plate at two sides, the worm wheel shaft is of a stepped structure, one end face of a large-diameter shaft section of the worm wheel shaft is fixedly connected with the central point of the upper surface of the cross beam of the U-shaped supporting frame through the worm wheel, one end face of the second turntable bearing is fixedly connected with the lower end face of the connecting plate, the middle part of the large-diameter shaft section is fixedly connected with the inner hole of the worm wheel, the first end of the transmission shaft is connected with an inner hole of the second rolling bearing through a travelling wheel, the second end of the transmission shaft is fixedly connected with an output shaft of the second speed reducer through the first rolling bearing, a shell of the second speed reducer is fixedly connected with the side face of a vertical plate of the U-shaped support frame, an output shaft of the second servo motor is fixedly connected with an input shaft of the second speed reducer, and the shell of the second servo motor is fixedly connected with the shell of the second speed reducer. The double-jaw system comprises a first jaw, a fourth servo motor, a fourth speed reducer, a lead screw, a nut, a second jaw, a third rolling guide rail sliding seat, a first magnetic head, a third rolling guide rail, a second magnetic head, a fourth rolling guide rail sliding seat, a fourth rolling guide rail, a fifth rolling guide rail sliding seat, a fifth rolling guide rail, a sixth rolling guide rail and a sixth rolling guide rail sliding seat, wherein the shapes of the first jaw and the second jaw are digital '5' structures, two edges of the outer side surface of the upper cross beam of the 5-shaped component of the first jaw are fixedly connected with a first end surface of the third rolling guide rail sliding seat and a first end surface of the sixth rolling guide rail sliding seat respectively, a second end surface of the third rolling guide rail sliding seat and a second end surface of the sixth rolling guide rail sliding seat are connected with a first end surface of the third rolling guide rail and an end surface of the sixth rolling guide rail respectively, and two edges of the outer side surface of the upper beam of the 5-shaped member of the second jaw are fixedly connected with the first end surface of the fourth rolling guide rail sliding seat and the first end surface of the fifth rolling guide rail sliding seat respectively, and the second end surface of the fourth rolling guide rail sliding seat and the second end surface of the fifth rolling guide rail sliding seat are connected with one end surface of the fourth rolling guide rail and one end surface of the fifth rolling guide rail respectively. The lower surface of the vehicle body is fixedly connected with the upper surface of the connecting plate of the driving wheel system, cylindrical through holes of two upright columns of the gantry body are respectively connected with the first pin shaft and the second pin shaft, the second hinge and the third hinge are respectively fixedly connected with the outer walls of the two upright columns of the gantry body, the outer side surfaces of two rectangular ear plates of the double-lug annular lifting platform are respectively fixedly connected with the first rolling guide rail sliding seat and the second rolling guide rail sliding seat, the end surfaces of the first spiral lifting screw rod and the second spiral lifting screw rod are respectively fixedly connected with the upper side surfaces of the two rectangular ear plates of the double-lug annular lifting platform, the second end surface of the third rolling guide rail, the second end surface of the sixth rolling guide rail, the second end surface of the fourth rolling guide rail and the second end surface of the fifth rolling guide rail are respectively fixedly connected with the front surface of the rectangular cross beam of the double, the third spiral elevator lead screw and the fourth spiral elevator lead screw are fixedly connected with the outer side surface of the upper cross beam of the 5-shaped component of the first clamping jaw and the outer side surface of the upper cross beam of the 5-shaped component of the second clamping jaw respectively, and the servo motor and the spiral elevator are connected with the electric control system through electric wires.

Preferably, in the gantry system, a first end surface of the first rolling guide rail and a first end surface of the second rolling guide rail are respectively and fixedly connected with inner side surfaces of two columns of the gantry body, a second end surface of the first rolling guide rail and a second end surface of the second rolling guide rail are respectively and slidably connected with a first surface of the first rolling guide rail sliding seat and a first surface of the second rolling guide rail sliding seat, a housing of the first spiral elevator and a housing of the second spiral elevator are respectively and fixedly connected with a cross beam of the gantry body, an output shaft of the first spiral elevator and an output shaft of the second spiral elevator are respectively and fixedly connected with a first end of a screw rod of the first spiral elevator and a first end of a screw rod of the second spiral elevator, a second end of the screw rod of the first spiral elevator and a second end of the screw rod of the second spiral elevator are respectively and fixedly connected with two rectangular ear plates of the double-lug annular elevator through cylindrical holes Is fixedly connected with the upper side surface of the frame.

Preferably, in the rotary lifting system, a cylindrical hole is formed in the reducer support plate, a first end face of the reducer support plate is fixedly connected with one end face of the binaural annular lifting platform, a housing of the first reducer is fixedly connected with a second end of the reducer support plate, an output shaft of the first reducer is fixedly connected with the gear through the cylindrical hole, the gear is meshed with the inner gear ring, an output shaft of the first servo motor is fixedly connected with an input shaft of the first reducer, a housing of the first servo motor is fixedly connected with a housing of the first reducer, a housing of the third spiral lifter and a housing of the fourth spiral lifter are fixedly connected with a side face of the rectangular cross beam of the double-jaw supporting platform respectively, a screw of the third spiral lifter and a screw of the fourth spiral lifter are fixedly connected with an output shaft of the third spiral lifter and an output shaft of the fourth spiral lifter respectively, the magnetic scale is fixedly connected with the side edge of the rectangular beam of the double-clamping-jaw supporting table.

Preferably, in the vehicle body system, the first pin shaft is connected with the cylindrical holes of the first lug plate and the second lug plate through the cylindrical through hole on the vertical plate of the gantry body; the second pin shaft is connected with the cylindrical holes of the third lug plate and the fourth lug plate through a cylindrical through hole in the vertical plate of the gantry body, the upper surface of the side beam of the vehicle body is fixedly connected with the first end of the first hinge and the first end of the fourth hinge respectively, the cylinder body of the first hydraulic cylinder and the cylinder body of the second hydraulic cylinder are connected with the second end of the first hinge and the second end of the fourth hinge respectively, and the piston rod head of the first hydraulic cylinder and the piston rod head of the second hydraulic cylinder are connected with the first end of the second hinge and the first end of the third hinge respectively.

Preferably, in the driving wheel system, the worm box body has a rectangular structure, two box plates in the length direction are respectively provided with a cylindrical through hole, one side box plate is provided with a rectangular hole, the worm box body is fixedly connected with the lower end face of the connecting plate, the outer diameters of the third rolling bearing and the fourth rolling bearing are respectively connected with the cylindrical through holes on the box plates, the worm has a symmetrical stepped structure and consists of three sections of cylinders, the cylinders at two ends of the worm are respectively connected with inner holes of the third rolling bearing and the fourth rolling bearing, one end face of the worm is fixedly connected with an output shaft of the third speed reducer, a shell of the third speed reducer is fixedly connected with an outer box wall of the worm box body, an output shaft of the third servo motor is fixedly connected with an input shaft of the third speed reducer, and the shell of the third servo motor is fixedly connected with the shell of the third speed reducer, the worm wheel is meshed with the worm through the rectangular hole.

Preferably, in the double-jaw system, the vertical middle part of the 5-shaped member of the first jaw and the vertical middle part of the 5-shaped member of the second jaw are respectively provided with a cylindrical through hole, the hook of the 5-shaped member of the first jaw and the hook of the 5-shaped member of the second jaw are both in a V-shaped structure and are used for grabbing and clamping a wheel, the first end of the screw rod is fixedly connected with the output shaft of the fourth speed reducer through the cylindrical through hole of the first jaw, the second end of the screw rod is suspended out through the cylindrical through hole of the second jaw, the nut is in threaded connection with the screw rod, one end of the nut is fixedly connected with the inner wall of the vertical middle part of the 5-shaped member of the second jaw, the shell of the fourth speed reducer is fixedly connected with the outer wall of the vertical middle part of the 5-shaped member of the first jaw, and the output shaft of the fourth servo motor is fixedly connected with the input shaft of the fourth, and the shell of the fourth servo motor is fixedly connected with the shell of the fourth speed reducer, the second end face outer edge of the third rolling guide rail sliding seat is fixedly connected with the first magnetic head, and the second end face outer edge of the fourth rolling guide rail sliding seat is fixedly connected with the second magnetic head.

Preferably, the front and back surfaces of the gantry body, the axis of the first rolling guide rail and the axis of the second rolling guide rail are parallel to each other, the axis of the cylindrical through hole on the cross beam of the gantry body is parallel to the side surface of the upright column of the gantry body, and the axes of the cylindrical through holes at the lower ends of the upright columns at the two sides of the gantry body are collinear; the two rectangular ear plates of the double-jaw annular lifting table are symmetrically distributed about the axis of a circular ring, the side faces of the two rectangular ear plates are parallel to each other, the geometric center of the double-jaw supporting table rectangular cross beam is located on the central line of the circular ring, the axis of the cylindrical hole of the reducer supporting plate is parallel to the axis of the double-jaw annular lifting table, the extending direction of the third spiral lifter screw rod is rightward, the extending direction of the fourth spiral lifter screw rod is leftward, the third spiral lifter screw rod and the fourth spiral lifter screw rod are symmetrically distributed about the symmetric plane of the double-jaw supporting table rectangular cross beam, and the motions of the third spiral lifter screw rod and the fourth spiral lifter screw rod are not interfered with each other.

Preferably, the diameters of the cylindrical through holes in the first lug plate, the second lug plate, the third lug plate and the fourth lug plate are equal, the axes are on the same straight line, the first lug plate, the second lug plate, the third lug plate and the fourth lug plate are symmetrically distributed about the symmetry plane of the vehicle body bottom beam, the axes of the first pin shaft and the second pin shaft are coincident and perpendicular to the symmetry plane of the vehicle body bottom beam, and the first hinge, the first hydraulic cylinder and the second hinge are symmetrically distributed about the symmetry plane of the vehicle body bottom beam; the axes of the cylindrical through holes on the two vertical plates of the U-shaped support frame are collinear, and the axes of the cylindrical through holes on the two box plates of the worm box body are collinear; the first jack catch with the second jack catch is symmetrical arrangement in the space, the second jack catch is positive number "5" structure on the right side, first jack catch is negative number "5" structure on the left side, first jack catch with the axis collineation of the cylinder through-hole in the perpendicular middle part of the number "5" of second jack catch.

Preferably, the diameters of the cylindrical through holes on the cross beam of the gantry body are respectively larger than the outer diameters of the first spiral elevator screw and the second spiral elevator screw, the cylindrical through holes at the lower ends of the upright columns at two sides of the gantry body are respectively equal to the diameters of the first pin shaft and the second pin shaft, the width of the rectangular lug plate is equal to the width of the circular ring, the width of the two side surfaces of the rectangular cross beam is equal to the width of the two end surfaces of the circular ring, the thickness of the double-clamping-claw support platform is smaller than that of the first turntable bearing, the diameter of the cylindrical hole of the support plate of the speed reducer is larger than that of the output shaft of the first speed reducer, the diameters of the cylindrical through holes on the two vertical plates of the U-shaped support frame are equal, the diameters of the cylindrical through holes on the two box plates of the worm box body are equal, and the outer diameters of the cylindrical, the internal diameter of walking wheel with the external diameter of transmission shaft equals, first jack catch with the cylinder through-hole diameter in the vertical middle part of the digit "5" of second jack catch equals, first jack catch with the diameter of the cylinder through-hole in the vertical middle part of the digit "5" of second jack catch is greater than the external diameter of lead screw.

Compared with the prior art, the invention has the following advantages:

the invention can realize the mechanization of the wheel assembly of the articulated vehicle, the degree of mechanization is further improved, the labor cost is reduced, the labor intensity of workers is reduced, and turnera dog creates higher benefit for enterprises; the invention not only improves the wheel assembly efficiency and reduces the error rate, but also ensures the consistency of the installation quality and the production beat; the invention has reasonable structure, the used parts are common mechanical parts, the disassembly, the assembly and the maintenance are convenient, the manufacturing cost is low, the operation and the assembly are easy, the invention can adapt to more application occasions, and has certain practical application value.

Drawings

FIG. 1 is a front view of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 2 is a top plan view of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 3 is a left side view of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 4 is a front view of the gantry assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 5 is a top view B-B of the gantry assembly of the dual jaw assembly machine for articulating the wheels of a truck in accordance with the present invention;

FIG. 6 is a front view of the rotary lift assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 7 is a C-C cross-sectional view of the rotary lift assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 8 is a sectional view taken in elevation G-G of the rotary lift assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 9 is a D-direction view of the rotary lift assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 10 is a cross-sectional view E-E of the rotary lift assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 11 is a front view of the body assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 12 is a top plan view of the body assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 13 is a left side elevational view of the body assembly of the dual jaw assembly machine for articulating vehicle wheels in accordance with the present invention;

FIG. 14 is a front view of the drive wheel assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 15 is a cross-sectional view F-F of the drive wheel assembly of the dual jaw assembly machine for articulating vehicle wheels of the present invention;

FIG. 16 is a front view of the dual jaw assembly machine for articulating vehicle wheels of the present invention; and

fig. 17 is a top view of the dual jaw assembly machine for articulating vehicle wheels of the present invention.

The main reference numbers:

gantry system 100, rotary lifting system 200, car body system 300, driving wheel system 400, double-jaw system 500, electric control system 600, first rolling guide rail slide 101, first rolling guide rail 102, first spiral elevator screw 103, first spiral elevator 104, gantry body 105, second spiral elevator 106, second spiral elevator screw 107, second rolling guide rail 108, second rolling guide rail slide 109, double-lug annular lifting platform 201, first turntable bearing 202, double-jaw support platform 203, third spiral elevator screw 204, magnetic scale 205, third spiral elevator 206, fourth spiral elevator screw 207, fourth spiral elevator 208, gear 209, first servo motor 210, first reducer 211, reducer support plate 212, inner gear ring 213, car body 301, first hinge 302, first hydraulic cylinder 303, second hinge 304, first ear plate 305, first pin shaft 306, a second lug plate 307, a third lug plate 308, a second pin 309, a fourth lug plate 310, a third hinge 311, a second hydraulic cylinder 312, a fourth hinge 313, a worm box 401, a second turntable bearing 402, a connecting plate 403, a worm wheel 404, a worm wheel shaft 405, a U-shaped support frame 406, a second servo motor 407, a second reducer 408, a first rolling bearing 409, a second rolling bearing 411, a traveling wheel 410, a transmission shaft 412, a worm 413, a third rolling bearing 414, a fourth rolling bearing 417, a third servo motor 415, a third reducer 416, a first pawl 501, a fourth servo motor 502, a fourth reducer 503, a lead screw 504, a nut 505, a second pawl 506, a third rolling guide rail 507, a first magnetic head 508, a third rolling guide rail 509, a second magnetic head 510, a fourth rolling guide rail 511, a fourth rolling guide rail 512, a fifth rolling guide rail 513, a fifth rolling guide rail 514, a sixth rolling guide rail 515, a sixth rolling-rail slide 516.

Detailed Description

The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.

A dual jaw assembly machine for articulating vehicle wheels, as shown in fig. 1 and 2, comprises a gantry system 100, a rotary lifting system 200, a vehicle body system 300, a drive wheel system 400, a dual jaw system 500 and an electronic control system 600.

The gantry system 100, as shown in fig. 4, includes a first rolling-rail slide 101, a first rolling rail 102, a first screw elevator lead screw 103, a first screw elevator 104, a gantry body 105, a second screw elevator 106, a second screw elevator lead screw 107, a second rolling rail 108, and a second rolling-rail slide 109.

The shape of the gantry body 105 is a U-shaped structure, which is composed of a vertical column and a cross beam, the upper surface of the cross beam of the gantry body 105 is provided with a cylindrical hole, the lower end of the vertical column of the gantry body 105 is provided with a cylindrical through hole, as shown in fig. 5, the first end surface of the first rolling guide rail 102 and the first end surface of the second rolling guide rail 108 are respectively fixedly connected with the inner side surfaces of the two vertical columns of the gantry body 105, the second end surface of the first rolling guide rail 102 and the second end surface of the second rolling guide rail 108 are respectively connected with the first surface of the first rolling guide rail slide seat 101 and the first surface of the second rolling guide rail slide seat 109 in a sliding manner, the housing of the first spiral elevator 104 and the housing of the second spiral elevator 106 are respectively fixedly connected with the cross beam of the gantry body 105, the output shaft of the first spiral elevator 104 and the output shaft of the second spiral elevator 106 are respectively connected with the first end of the first spiral elevator lead screw 103 and, the second end of the first spiral elevator screw 103 and the second end of the second spiral elevator screw 107 are respectively fixedly connected with the upper side surfaces of the two rectangular ear plates of the double-lug annular lifting platform 201 through cylindrical holes.

As shown in fig. 6, the rotary lifting system 200 includes a binaural annular lifting platform 201, a first turntable bearing 202, a double-jaw support platform 203, a third spiral lifter lead screw 204, a magnetic scale 205, a third spiral lifter 206, a fourth spiral lifter lead screw 207, a fourth spiral lifter 208, a gear 209, a first servo motor 210, a first reducer 211, a reducer support plate 212, and an inner ring gear 213.

As shown in fig. 6, the double-lug annular lifting platform 201 is composed of a circular ring and a rectangular ear plate, an outer ring of the first turntable bearing 202 is fixedly connected with an inner hole of the double-lug annular lifting platform 201, the width of the first turntable bearing 202 is greater than that of the double-lug annular lifting platform 201, a first end surface of the first turntable bearing 202 is flush with a first end surface of the double-lug annular lifting platform 201, a second end surface of the first turntable bearing 202 is suspended out of a second end surface of the double-lug annular lifting platform 201, the double-jaw supporting platform 203 is in a theta-shaped structure and is composed of a circular ring and a rectangular beam, as shown in fig. 7 and 8, the outer ring and the inner ring gear 213 of the double-pawl support platform 203 are respectively fixedly connected with the inner holes of the first end surface and the second end surface of the first turntable bearing 202, the two end surfaces of the double-pawl support platform 203 and the inner ring gear 213 are both located inside the two end surfaces of the first turntable bearing 202, and the inner ring gear 213 is adjacent to the double-pawl support platform 203.

As shown in fig. 9, a cylindrical hole is provided on the reducer support plate 212, a first end face of the reducer support plate 212 is fixedly connected with one end face of the binaural annular elevating platform 201, as shown in fig. 10, a housing of the first reducer 211 is fixedly connected with a second end of the reducer support plate 212, an output shaft of the first reducer 211 is fixedly connected with the gear 209 through the cylindrical hole, the gear 209 is engaged with the inner gear ring 213, an output shaft of the first servo motor 210 is fixedly connected with an input shaft of the first reducer 211, a housing of the first servo motor 210 is fixedly connected with a housing of the first reducer 211, as shown in fig. 6, a housing of the third spiral elevator 206 and a housing of the fourth spiral elevator 208 are fixedly connected with one side face of the rectangular cross beam of the double-jaw support platform 203, respectively, the third spiral elevator screw 204 and the fourth spiral elevator screw 207 are fixedly connected with an output shaft of the third spiral elevator 206 and an output shaft of the fourth, the magnetic scale 205 is fixedly connected with the side edge of the rectangular beam of the double-jaw support platform 203.

The vehicle body system 300, as shown in fig. 11 and 12, includes a vehicle body 301, a first hinge 302, a first hydraulic cylinder 303, a second hinge 304, a first lug 305, a first pin 306, a second lug 307, a third lug 308, a second pin 309, a fourth lug 310, a third hinge 311, a second hydraulic cylinder 312, and a fourth hinge 313. As shown in fig. 11, the vehicle body 301 has a U-shaped configuration and is composed of a bottom beam and a side beam, cylindrical through holes are provided in the first ear plate 305, the second ear plate 307, the third ear plate 308 and the fourth ear plate 310, and the first ear plate 305, the second ear plate 307, the third ear plate 308 and the fourth ear plate 310 are respectively located on the upper surfaces of the intersection positions of the bottom beam and the side beam and are fixedly connected.

The first pin 306 is connected with the cylindrical holes of the first lug plate 305 and the second lug plate 307 through the cylindrical through hole on the vertical plate of the gantry body 105; the second pin 309 is connected with the cylindrical holes of the third ear plate 308 and the fourth ear plate 310 through the cylindrical through hole on the vertical plate of the gantry body 105, as shown in fig. 13, the upper surface of the edge beam of the vehicle body 301 is respectively fixedly connected with the first end of the first hinge 302 and the first end of the fourth hinge 313, the cylinder bodies of the first hydraulic cylinder 303 and the second hydraulic cylinder 312 are respectively connected with the second end of the first hinge 302 and the second end of the fourth hinge 313, and the piston rod head of the first hydraulic cylinder 303 and the piston rod head of the second hydraulic cylinder 312 are respectively connected with the first end of the second hinge 304 and the first end of the third hinge 311.

The driving wheel system 400, as shown in fig. 14, includes a worm housing 401, a second turntable bearing 402, a connecting plate 403, a worm wheel 404, a worm wheel shaft 405, a U-shaped support frame 406, a second servo motor 407, a second speed reducer 408, a first rolling bearing 409, a road wheel 410, a second rolling bearing 411, a transmission shaft 412, a worm 413, a third rolling bearing 414, a third servo motor 415, a third speed reducer 416, and a fourth rolling bearing 417.

The U-shaped support frame 406 is composed of a cross beam and a vertical plate, a cylindrical through hole is arranged on the vertical plate, the outer diameters of a first rolling bearing 409 and a second rolling bearing 411 are respectively connected with the cylindrical through holes on the vertical columns at two sides, the appearance of a worm wheel shaft 405 is of a ladder structure, one end face of a large-diameter shaft section of the worm wheel shaft 405 is fixedly connected with the central point of the upper surface of the cross beam of the U-shaped support frame 406 through a worm wheel 404, one end face of a second turntable bearing 411 is fixedly connected with the lower end face of a connecting plate 403, the middle part of the large-diameter shaft section is fixedly connected with an inner hole of the worm wheel 404, a small-diameter shaft section of the worm wheel shaft 405 is fixedly connected with an inner hole of the second turntable bearing 402, a first end of a transmission shaft 412 is connected with the inner hole of the second rolling bearing 411 through a travelling wheel 410, a second end of, an output shaft of the second servo motor 407 is fixedly connected with an input shaft of the second speed reducer 408, and a housing of the second servo motor 407 is fixedly connected with a housing of the second speed reducer 408.

As shown in fig. 15, the worm casing 401 has a rectangular parallelepiped shape, and has cylindrical through holes formed in two casing plates in the longitudinal direction, a rectangular hole is formed in one side box plate, the worm box body 401 is fixedly connected with the lower end face of the connecting plate 403, the outer diameters of a third rolling bearing 414 and a fourth rolling bearing 417 are respectively connected with a cylindrical through hole in the box plate, the worm 413 is of a symmetrical stepped structure and consists of three sections of cylinders, cylinders at two ends of the worm 413 are respectively connected with inner holes of the third rolling bearing 414 and an inner hole of the fourth rolling bearing 417, one end face of the worm 413 is fixedly connected with an output shaft of a third speed reducer 416, a shell of the third speed reducer 416 is fixedly connected with an outer box wall of the worm box body 401, an output shaft of a third servo motor 415 is fixedly connected with an input shaft of the third speed reducer 416, a shell of the third servo motor 415 is fixedly connected with a shell of the third speed reducer 416, and the.

As shown in fig. 16, the dual-jaw system 500 includes a first jaw 501, a fourth servo motor 502, a fourth decelerator 503, a lead screw 504, a nut 505, a second jaw 506, a third rolling-rail slider 507, a first magnetic head 508, a third rolling rail 509, a second magnetic head 510, a fourth rolling-rail slider 511, a fourth rolling rail 512, a fifth rolling-rail slider 513, a fifth rolling rail 514, a sixth rolling rail 515, and a sixth rolling-rail slider 516.

As shown in fig. 17, the first jaw 501 and the second jaw 506 are both in a structure of number "5", two edges of the outer side surface of the upper beam of the first jaw 5015 are respectively and fixedly connected with the first end surface of the third rolling guide rail sliding seat 507 and the first end surface of the sixth rolling guide rail sliding seat 516, the second end surface of the third rolling guide rail sliding seat 507 and the second end surface of the sixth rolling guide rail sliding seat 516 are respectively and fixedly connected with the first end surface of the third rolling guide rail 509 and the first end surface of the sixth rolling guide rail 515, two edges of the outer side surface of the upper beam of the 5-shaped member of the second jaw 506 are respectively and fixedly connected with the first end surface of the fourth rolling guide rail sliding seat 511 and the first end surface of the fifth rolling guide rail sliding seat 513, a second end face of the fourth roller carriage 511 and a second end face of the fifth roller carriage 513 are connected to a first end face of the fourth roller rail 512 and a first end face of the fifth roller rail 514, respectively.

The vertical middle part of the 5-shaped member of the first jaw 501 and the vertical middle part of the 5-shaped member of the second jaw 506 are respectively provided with a cylindrical through hole, the hook part of the 5-shaped member of the first jaw 501 and the hook part of the 5-shaped member of the second jaw 506 are both V-shaped structures and are used for grabbing and clamping wheels, the first end of the screw rod 504 is fixedly connected with the output shaft of the fourth speed reducer 503 through the cylindrical through hole of the first jaw 501, the second end of the screw rod 504 is suspended through the cylindrical through hole of the second jaw 506, the nut 505 is in threaded connection with the screw rod 504, one end of the nut 505 is fixedly connected with the inner wall of the vertical middle part of the second jaw 5065-shaped member, the shell of the fourth speed reducer 503 is fixedly connected with the outer wall of the vertical middle part of the 5-shaped member of the first jaw 501, the output shaft of the fourth servo motor 502 is fixedly connected with the input shaft of the fourth speed reducer 503, the shell of the fourth servo motor 502 is fixedly connected with the shell of the fourth, the second end outer edge of the fourth rolling-rail slider 511 is fixedly connected to the second magnetic head 510.

The lower surface of the car body 300 is fixedly connected with the upper surface of the connecting plate 403 of the driving wheel system 400, the cylindrical through holes of the two columns of the gantry body 105 are respectively connected with the first pin roll 306 and the second pin roll 309, as shown in fig. 3, the second hinge 304 and the third hinge 311 are respectively fixedly connected with the outer walls of the two columns of the gantry body 105, the outer side surfaces of the two rectangular ear plates of the double-lug annular lifting platform 201 are respectively fixedly connected with the first rolling guide rail slide seat 101 and the second rolling guide rail slide seat 109, the end surfaces of the first spiral lifting lead screw 103 and the second spiral lifting lead screw 107 are respectively fixedly connected with the upper side surfaces of the two rectangular ear plates of the double-lug annular lifting platform 201, the second end surface of the third rolling guide rail 509, the second end surface of the sixth rolling guide rail 515, the second end surface of the fourth rolling guide rail 512 and the second end surface of the fifth rolling guide rail 514 are respectively fixedly connected with the front surface of the rectangular cross beam of the double-jaw supporting platform 203, and the third The outer side surface of the first claw 5065-shaped member is fixedly connected with the outer side surface of the upper beam of the second claw 5065-shaped member, a servo motor and a spiral lifter are connected with an electric control system 600 through electric wires, encoders are arranged in the servo motors and are provided with band-type brakes, and the magnetic scale 205, the first magnetic head 508 and the second magnetic head 510 form a relative position detection system of the symmetrical surfaces of the first claw 501 and the second claw 506 and the rotation axis of the double-claw supporting platform 203.

The front and back surfaces of the gantry body 105, the axis of the first rolling guide rail 102 and the axis of the second rolling guide rail 108 are parallel to each other, the axis of a cylindrical through hole on a cross beam of the gantry body 105 is parallel to the side surface of an upright post of the gantry body 105, and the axes of the cylindrical through holes at the lower ends of the upright posts at the two sides of the gantry body 105 are collinear; the two rectangular ear plates of the double-lug annular lifting platform 201 are symmetrically distributed about the axis of a circular ring, the side faces of the two rectangular ear plates are parallel to each other, the geometric center of the rectangular cross beam of the double-jaw supporting platform 203 is located on the central line of the circular ring, the axis of the cylindrical hole of the reducer supporting plate 212 is parallel to the axis of the double-lug annular lifting platform 201, the extending direction of the third spiral elevator screw rod 204 is rightward, the extending direction of the fourth spiral elevator screw rod 207 is leftward, the third spiral elevator screw rod 204 and the fourth spiral elevator screw rod 207 are symmetrically distributed about the symmetric plane of the rectangular cross beam of the double-jaw supporting platform 203, and the motions of the third spiral elevator screw rod 204 and the.

The diameters of the cylindrical through holes in the first lug plate 305, the second lug plate 307, the third lug plate 308 and the fourth lug plate 310 are equal, the axes are on the same straight line, the first lug plate 305, the second lug plate 307, the third lug plate 308 and the fourth lug plate 310 are symmetrically distributed about the symmetrical plane of the bottom beam of the vehicle body 300, the axes of the first pin 306 and the second pin 309 are coincident and perpendicular to the symmetrical plane of the bottom beam of the vehicle body 300, and the first hinge 302, the first hydraulic cylinder 303 and the second hinge 304 are symmetrically distributed about the symmetrical plane of the bottom beam of the vehicle body 300 with the third hinge 311, the second hydraulic cylinder 312 and the fourth hinge 313; the axes of the cylindrical through holes on the two vertical plates of the U-shaped support frame 406 are collinear, and the axes of the cylindrical through holes on the two box plates of the worm box 401 are collinear; the first clamping jaw 501 and the second clamping jaw 506 are symmetrically arranged in space, the second clamping jaw 506 is in a structure with a positive number of 5 on the right, the first clamping jaw 501 is in a structure with a negative number of 5 on the left, and the axes of the cylindrical through holes in the vertical middle parts of the numbers of 5 of the first clamping jaw 501 and the second clamping jaw 506 are collinear.

The diameter of a cylindrical through hole on a cross beam of the gantry body 105 is respectively larger than the outer diameters of a first spiral elevator screw 103 and a second spiral elevator screw 107, the cylindrical through holes at the lower ends of upright columns at two sides of the gantry body 105 are respectively equal to the diameters of a first pin shaft 306 and a second pin shaft 309, the width of a rectangular lug plate is equal to the width of a circular ring, the width of two side surfaces of the rectangular cross beam is equal to the width of two end surfaces of the circular ring, the thickness of a double-clamping-jaw supporting platform 203 is smaller than that of a first turntable bearing 202, the diameter of a cylindrical hole of a reducer supporting plate 212 is larger than that of an output shaft of a first reducer 211, the diameters of cylindrical through holes on two vertical plates of a U-shaped supporting frame 406 are equal, the diameters of cylindrical through holes on two box plates of a worm box 401 are equal, the cylindrical through holes of the U-shaped supporting, the diameters of the cylindrical through holes in the vertical middle parts of the numbers "5" of the first jaw 501 and the second jaw 506 are equal, and the diameters of the cylindrical through holes in the vertical middle parts of the numbers "5" of the first jaw 501 and the second jaw 506 are larger than the outer diameter of the screw rod 504.

The invention has the functions of moving in any direction and rotating in various radiuses, and the specific implementation process is as follows:

1. movement in the direction of the reference line

Firstly, the third servo motors 415 of the four driving wheel systems 400 are started simultaneously, the transmission shafts 412 are driven by the third speed reducer 416, the worm 413, the worm wheel 404, the worm wheel shaft 405 and the U-shaped support frame 406 to rotate together with the traveling wheels 410 until the axes of the traveling wheels 410 are vertical to the reference line, finally, the second servo motors 407 of the four driving wheel systems 400 are started simultaneously, the traveling wheels 410 are driven by the second speed reducer 408 and the transmission shafts 412 to rotate at the same speed simultaneously, and the double-jaw type assembling machine integrally moves along the reference line direction.

2. Movement in a direction perpendicular to the reference line

Firstly, the third servo motors 415 of the four driving wheel systems 400 are started simultaneously, the transmission shafts 412 are driven by the third speed reducer 416, the worm 413, the worm wheel 404, the worm wheel shaft 405 and the U-shaped supporting frame 406 to rotate together with the traveling wheels 410 until the axes of the traveling wheels 410 are parallel to the reference line, finally, the second servo motors 407 of the four driving wheel systems 400 are started simultaneously, the traveling wheels 410 are driven by the second speed reducer 408 and the transmission shafts 412 to rotate at the same speed simultaneously, and the double-jaw type assembling machine integrally moves along the direction vertical to the reference line.

3. Turn at minimum radius

When the two traveling wheels 410 on the left drive the double-jaw type assembly machine to move forwards integrally, and the two traveling wheels 410 on the right drive the double-jaw type assembly machine to move backwards integrally, the double-jaw type assembly machine rotates in situ with the minimum radius integrally; when the left two traveling wheels 410 drive the double-jaw type assembly machine to move backward integrally and the right two traveling wheels 410 drive the double-jaw type assembly machine to move forward integrally, the double-jaw type assembly machine rotates reversely in situ with the minimum radius integrally.

4. Moving in an oblique direction

Firstly, the third servo motors 415 of the four driving wheel systems 400 are started simultaneously, the transmission shafts 412 are driven by the third speed reducer 416, the worm 413, the worm wheel 404, the worm wheel shaft 405 and the U-shaped support frame 406 to rotate together with the traveling wheels 410 until the axes of the traveling wheels 410 all form a certain angle with the reference line, the second servo motors 407 of the four driving wheel systems 400 are started simultaneously, the traveling wheels 410 are driven by the second speed reducer 408 and the transmission shafts 412 to rotate at the same speed simultaneously, and the double-jaw type assembling machine integrally moves along the direction forming a certain angle with the reference line.

The invention will be further described with reference to an embodiment in which a double jaw assembly machine for articulating truck wheels is used:

the wheel mounting process of the double-claw type assembly machine comprises two steps: 1. the double-jaw type assembly machine grabs wheels from the ground; 2. the wheel is mounted to the articulated truck drive axle. The specific implementation steps are as follows:

firstly, the preassembled wheel is placed on the ground in an orientation that the axis is parallel to the ground, then, the first servo motor 210 is started, the inner gear ring 213, the inner ring of the first rotary table bearing 202, the double-jaw support table 203, the third spiral elevator 206, the fourth spiral elevator 208 and the double-jaw system 500 are driven to rotate together through the first speed reducer 211 and the gear 209, when the rectangular cross beam of the double-jaw support table 203 is in a horizontal state, the first servo motor 210 is braked and locked, and the third spiral elevator 206 and the fourth spiral elevator 208 are in a contraction state, namely, the third spiral elevator lead screw 204 and the fourth spiral elevator lead screw 207 are in extreme positions far away from the first jaw 501 and the second jaw 506.

Then, the fourth servo motor 502 is started in a reverse direction, the first jaw a501 and the second jaw 506 are driven to open to the limit positions through the fourth speed reducer 503, the screw rod 504 and the nut 505, that is, when the first jaw a501 and the second jaw 506 are both contacted with the inner wall of the inner ring of the first turntable bearing 202, the fourth servo motor 502 is started to brake. Then, the first screw elevator 104 and the second screw elevator 106 are started in the same direction and at the same speed, and the first screw elevator screw 103 and the second screw elevator screw 107 drive the rotary lifting system 200 and the dual-jaw system 500 to ascend or descend, so that the height of the rotary axis of the rotary lifting system 200 from the ground is equal to the height of the pre-assembly wheel axis from the ground.

The front transmission axle of the articulated truck has a pitch angle of about 2 degrees, so when the front wheels of the articulated truck are installed, the first hydraulic cylinder 303 and the second hydraulic cylinder 312 need to be started at the same speed at the same time, so that the gantry body 105 and all components connected with the gantry body rotate together to generate a tilt angle corresponding to the pitch angle of the front transmission axle of the articulated truck.

Then, the overall moving and rotating functions of the double-claw type articulated truck wheel assembling machine are started, the first claw 501 and the second claw 506 reach a clamping position, the fourth servo motor 502 is started in a forward direction, the fourth speed reducer 503, the screw rod 504 and the nut 505 drive the first claw 501 and the second claw 506 to move towards the mutually approaching direction, after the second claw 506 contacts with the surface of the wheel, the second claw 506 stops moving, the first claw 501 continues moving until the first claw 501 also contacts with the surface of the wheel, the first claw 501 and the second claw 506 simultaneously approach to each other until the two claws clamp the wheel, and the fourth servo motor 502 is started to brake and lock.

Then, the first spiral elevator 104 and the second spiral elevator 106 are started in the same direction and at the same speed, the first spiral elevator screw 103 and the second spiral elevator screw 107 drive the rotary lifting system 200 and the double-jaw system 500 to ascend, so that the rotation axis of the rotary lifting system 200 is approximately equal to the axis of the articulated truck transmission axle, at the moment, the wheel axis is not overlapped with the rotation axis of the rotary lifting system 200, and the magnetic ruler 205, the first magnetic head 508 and the second magnetic head 510 automatically detect the eccentric distances between the symmetry planes of the first jaw 501 and the second jaw 506 and the rotation axis of the double-jaw support platform 203; then, the third screw elevator 206 is started to push the dual-jaw system 500 to move together with the wheel; when the detection system formed by the magnetic scale 205, the first magnetic head 508 and the second magnetic head 510 detects that the symmetry planes of the first jaw 501 and the second jaw 506 coincide with the rotation axis of the double-jaw support table 203, the third screw elevator 206 which pushes the double-jaw system 500 to move is braked, and simultaneously, the fourth screw elevator 208 is started until the end face of the fourth screw elevator screw 207 is in contact with the jaws, and the fourth screw elevator 208 is braked, at which time, the double-jaw system 500 is locked on the double-jaw support table 203.

And starting the first servo motor 210, driving an inner gear ring 213, a first turntable bearing 202 inner ring, a double-jaw support table 203, a third spiral elevator 206, a fourth spiral elevator 208 and the double-jaw system 500 to rotate together through a first speed reducer 211 and a gear 209 to a position where double jaws are not interfered with the body of the articulated truck, and then braking and locking the first servo motor 210.

And finally, starting the integral moving and rotating functions of the double-jaw type assembly machine to enable the wheel to reach the position close to the mounting position, and starting to accurately adjust the position of the wheel: the wheels reach the correct mounting positions through the integral rotation and transverse movement of the double-jaw type assembling machine and the lifting and rotating of the double-jaw system 500, the wheels are conveyed into the mounting positions, after a plurality of connecting nuts are screwed manually, the double-jaw type assembling machine is withdrawn integrally, and the wheel mounting process is finished.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A double-jaw type assembly machine for hinging the wheels of a truck comprises a gantry system, a rotary lifting system, a truck body system, a driving wheel system, a double-jaw system and an electric control system,

the gantry system comprises a first rolling guide rail sliding seat, a first rolling guide rail, a first spiral elevator lead screw, a first spiral elevator, a gantry body, a second spiral elevator lead screw, a second rolling guide rail and a second rolling guide rail sliding seat, wherein the gantry body is of a U-shaped structure and consists of an upright post and a cross beam, a cylindrical hole is formed in the upper surface of the cross beam of the gantry body, and a cylindrical through hole is formed in the lower end of the upright post of the gantry body;

the rotary lifting system comprises a double-lug annular lifting platform, a first turntable bearing, a double-clamping-claw supporting platform, a third spiral lifting screw, a magnetic scale, a third spiral lifting screw, a fourth spiral lifting screw, a gear, a first servo motor, a first speed reducer, a speed reducer supporting plate and an inner gear ring, wherein the double-lug annular lifting platform consists of a circular ring and a rectangular lug plate, an outer ring of the first turntable bearing is fixedly connected with an inner hole of the double-lug annular lifting platform, the width of the first turntable bearing is larger than that of the double-lug annular lifting platform, a first end surface of the first turntable bearing is flush with that of the double-lug annular lifting platform, a second end surface of the first turntable bearing is suspended out of a second end surface of the double-lug annular lifting platform, the double-clamping-claw supporting platform is of a theta-shaped structure and consists of a circular ring and a rectangular cross beam, the outer ring and the inner gear ring of the double-gripper supporting platform are fixedly connected with inner holes of a first end surface and a second end surface of the first turntable bearing respectively, two end surfaces of the double-gripper supporting platform and the inner gear ring are located in two end surfaces of the first turntable bearing, and the inner gear ring is adjacent to the double-gripper supporting platform;

the vehicle body system comprises a vehicle body, a first hinge, a first hydraulic cylinder, a second hinge, a first lug plate, a first pin shaft, a second lug plate, a third lug plate, a second pin shaft, a fourth lug plate, a third hinge, a second hydraulic cylinder and a fourth hinge, wherein the vehicle body is of a U-shaped structure and comprises a bottom beam and a side beam, cylindrical through holes are formed in the first lug plate, the second lug plate, the third lug plate and the fourth lug plate, and the first lug plate, the second lug plate, the third lug plate and the fourth lug plate are fixedly connected with the upper surfaces of the intersection positions of the bottom beam and the side beam respectively;

the driving wheel system comprises a worm box body, a second turntable bearing, a connecting plate, a worm wheel shaft, a U-shaped supporting frame, a second servo motor, a second speed reducer, a rolling bearing, a travelling wheel, a transmission shaft, a worm, a third servo motor and a third speed reducer, wherein the U-shaped supporting frame consists of a cross beam and a vertical plate, a cylindrical through hole is formed in the vertical plate, the outer diameters of the first rolling bearing and the second rolling bearing are respectively connected with the cylindrical through hole in the vertical plate at two sides, the worm wheel shaft is of a stepped structure, one end face of a large-diameter shaft section of the worm wheel shaft is fixedly connected with the central point of the upper surface of the cross beam of the U-shaped supporting frame through the worm wheel, one end face of the second turntable bearing is fixedly connected with the lower end face of the connecting plate, a small-diameter shaft section of the worm wheel shaft is fixedly connected with an inner hole of the second turntable bearing, the second end of the transmission shaft is fixedly connected with an output shaft of the second speed reducer through a first rolling bearing, a shell of the second speed reducer is fixedly connected with the side surface of a vertical plate of the U-shaped support frame, an output shaft of the second servo motor is fixedly connected with an input shaft of the second speed reducer, and the shell of the second servo motor is fixedly connected with the shell of the second speed reducer;

the double-jaw system comprises a first jaw, a fourth servo motor, a fourth speed reducer, a lead screw, a nut, a second jaw, a third rolling guide rail sliding seat, a first magnetic head, a third rolling guide rail, a second magnetic head, a fourth rolling guide rail sliding seat, a fourth rolling guide rail, a fifth rolling guide rail sliding seat, a fifth rolling guide rail, a sixth rolling guide rail and a sixth rolling guide rail sliding seat, wherein the first jaw and the second jaw are of a digital 5 structure, two edges of the outer side surface of the upper beam of the 5-shaped component of the first jaw are fixedly connected with the first end surface of the third rolling guide rail sliding seat and the first end surface of the sixth rolling guide rail sliding seat respectively, the second end surface of the third rolling guide rail sliding seat and the second end surface of the sixth rolling guide rail sliding seat are connected with the first end surface of the third rolling guide rail and the end surface of the sixth rolling guide rail respectively, and two edges of the outer side surface of the upper beam of the 5-shaped component of the second jaw are connected with the fourth rolling guide rail sliding seat respectively The first end surface of the seat is fixedly connected with the first end surface of the fifth rolling guide rail sliding seat, and the second end surface of the fourth rolling guide rail sliding seat and the second end surface of the fifth rolling guide rail sliding seat are respectively connected with one end surface of the fourth rolling guide rail and one end surface of the fifth rolling guide rail; and

the lower surface of the vehicle body is fixedly connected with the upper surface of the connecting plate of the driving wheel system, cylindrical through holes of two upright columns of the gantry body are respectively connected with the first pin shaft and the second pin shaft, the second hinge and the third hinge are respectively fixedly connected with the outer walls of the two upright columns of the gantry body, the outer side surfaces of two rectangular ear plates of the double-lug annular lifting platform are respectively fixedly connected with the first rolling guide rail sliding seat and the second rolling guide rail sliding seat, the end surfaces of the first spiral lifting screw rod and the second spiral lifting screw rod are respectively fixedly connected with the upper side surfaces of the two rectangular ear plates of the double-lug annular lifting platform, the second end surface of the third rolling guide rail, the second end surface of the sixth rolling guide rail, the second end surface of the fourth rolling guide rail and the second end surface of the fifth rolling guide rail are respectively fixedly connected with the front surface of the rectangular cross beam of the double, the third spiral elevator lead screw and the fourth spiral elevator lead screw are fixedly connected with the outer side surface of the upper cross beam of the 5-shaped component of the first clamping jaw and the outer side surface of the upper cross beam of the 5-shaped component of the second clamping jaw respectively, and the servo motor and the spiral elevator are connected with the electric control system through electric wires.

2. The double-jaw assembling machine for articulated truck wheels according to claim 1, wherein in the gantry system, the first end surfaces of the first rolling guide rails and the second rolling guide rails are fixedly connected to the inner side surfaces of the two columns of the gantry body, respectively, the second end surfaces of the first rolling guide rails and the second rolling guide rails are slidably connected to the first surfaces of the first rolling guide rail sliding seats and the first surfaces of the second rolling guide rail sliding seats, respectively, the housings of the first screw elevator and the second screw elevator are fixedly connected to the cross beam of the gantry body, respectively, the output shafts of the first screw elevator and the second screw elevator are connected to the first ends of the first screw elevator lead screws and the first ends of the second screw elevator lead screws, respectively, and the second end of the first spiral elevator screw rod and the second end of the second spiral elevator screw rod are respectively and fixedly connected with the upper side surfaces of the two rectangular ear plates of the double-lug annular lifting platform through cylindrical holes.

3. The assembly machine according to claim 1, wherein in the rotary lifting system, the reducer support plate is provided with a cylindrical hole, a first end surface of the reducer support plate is fixedly connected with an end surface of the double-lug annular lifting platform, a housing of the first reducer is fixedly connected with a second end of the reducer support plate, an output shaft of the first reducer is fixedly connected with the gear through the cylindrical hole, the gear is meshed with the inner gear ring, an output shaft of the first servo motor is fixedly connected with an input shaft of the first reducer, a housing of the first servo motor is fixedly connected with a housing of the first reducer, a housing of the third screw lifter and a housing of the fourth screw lifter are respectively fixedly connected with a side surface of the rectangular cross beam of the double-lug support platform, and a screw of the third screw lifter and a screw of the fourth screw lifter are respectively fixedly connected with a screw of the third screw lifter The output shaft is fixedly connected with the output shaft of the fourth spiral elevator, and the magnetic scale is fixedly connected with the side edge of the rectangular cross beam of the double-clamping-jaw supporting table.

4. The double-jaw assembly machine for articulating wheels of trucks of claim 1 wherein in said body system said first pin is connected to said cylindrical holes of said first and second lugs through a cylindrical through hole in said gantry body riser; the second pin shaft is connected with the cylindrical holes of the third lug plate and the fourth lug plate through a cylindrical through hole in the vertical plate of the gantry body, the upper surface of the side beam of the vehicle body is fixedly connected with the first end of the first hinge and the first end of the fourth hinge respectively, the cylinder body of the first hydraulic cylinder and the cylinder body of the second hydraulic cylinder are connected with the second end of the first hinge and the second end of the fourth hinge respectively, and the piston rod head of the first hydraulic cylinder and the piston rod head of the second hydraulic cylinder are connected with the first end of the second hinge and the first end of the third hinge respectively.

5. The double-jaw assembling machine for articulating wheels of trucks of claim 1, wherein in said driving wheel system, said worm housing is rectangular in shape, cylindrical through holes are provided on two longitudinal plates, a rectangular hole is provided on one lateral plate, said worm housing is fixedly connected to the lower end surface of said connecting plate, the outer diameters of said third rolling bearing and said fourth rolling bearing are respectively connected to the cylindrical through holes on the plates, said worm is symmetrical step structure composed of three sections of cylinders, the two end cylinders of said worm are respectively connected to the inner holes of said third rolling bearing and said fourth rolling bearing, one end surface of said worm is fixedly connected to the output shaft of said third reducer, the housing of said third reducer is fixedly connected to the outer wall of said worm housing, the output shaft of said third servo motor is fixedly connected to the input shaft of said third reducer, and the shell of the third servo motor is fixedly connected with the shell of the third speed reducer, and the worm wheel is meshed with the worm through a rectangular hole.

6. The double-jaw assembly machine for articulating vehicle wheels of claim 1, wherein in said double-jaw system, the vertical middle part of the 5-shaped member of the first jaw and the vertical middle part of the 5-shaped member of the second jaw are respectively provided with a cylindrical through hole, the hook of the 5-shaped member of the first jaw and the hook of the 5-shaped member of the second jaw are both V-shaped structures for grasping and clamping the vehicle wheel, the first end of the screw rod is fixedly connected with the output shaft of the fourth speed reducer through the cylindrical through hole of the first jaw, the second end of the screw rod is suspended through the cylindrical through hole of the second jaw, the nut is in threaded connection with the screw rod, one end of the nut is fixedly connected with the inner wall of the vertical middle part of the 5-shaped member of the second jaw, the shell of the fourth speed reducer is fixedly connected with the outer wall of the vertical middle part of the 5-shaped member of the first jaw, the output shaft of the fourth servo motor is fixedly connected with the input shaft of the fourth speed reducer, the shell of the fourth servo motor is fixedly connected with the shell of the fourth speed reducer, the second end face outer edge of the third rolling guide rail sliding seat is fixedly connected with the first magnetic head, and the second end face outer edge of the fourth rolling guide rail sliding seat is fixedly connected with the second magnetic head.

7. The double-jaw assembling machine for articulating the wheels of trucks of claim 1, 2 or 3, wherein the front and back faces of said gantry body, the axis of said first rolling guide and the axis of said second rolling guide are parallel to each other, the axis of the cylindrical through hole on the cross beam of said gantry body is parallel to the side face of the upright of said gantry body, and the axes of the cylindrical through holes at the lower ends of the uprights at both sides of said gantry body are collinear; the two rectangular ear plates of the double-jaw annular lifting table are symmetrically distributed about the axis of a circular ring, the side faces of the two rectangular ear plates are parallel to each other, the geometric center of the double-jaw supporting table rectangular cross beam is located on the central line of the circular ring, the axis of the cylindrical hole of the reducer supporting plate is parallel to the axis of the double-jaw annular lifting table, the extending direction of the third spiral lifter screw rod is rightward, the extending direction of the fourth spiral lifter screw rod is leftward, the third spiral lifter screw rod and the fourth spiral lifter screw rod are symmetrically distributed about the symmetric plane of the double-jaw supporting table rectangular cross beam, and the motions of the third spiral lifter screw rod and the fourth spiral lifter screw rod are not interfered with each other.

8. The double-jaw assembly machine for articulating wheels of trucks of claim 4, 5 or 6, characterized in that said cylindrical through holes of said first, second, third and fourth ear plates have equal diameter and axis on the same straight line, said first and second ear plates and said third and fourth ear plates are symmetrically distributed about the symmetry plane of said underbody, the axis of said first and second pins coincide and are perpendicular to the symmetry plane of said underbody, said first, first and second hinges and said third, second and fourth hinges are symmetrically distributed about the symmetry plane of said underbody; the axes of the cylindrical through holes on the two vertical plates of the U-shaped support frame are collinear, and the axes of the cylindrical through holes on the two box plates of the worm box body are collinear; the first jack catch with the second jack catch is symmetrical arrangement in space, the second jack catch is positive digit 5's structure on the right side, first jack catch is negative digit 5's structure on the left side, first jack catch with the axis collineation of the cylinder through-hole in the perpendicular middle part of the digit 5 of second jack catch.

9. The double-jaw assembly machine for articulating vehicle wheels of a truck as claimed in claim 7, wherein the diameter of the cylindrical through hole on the cross beam of the gantry body is respectively larger than the outer diameter of the screw of the first screw elevator and the screw of the second screw elevator, the cylindrical through holes on the lower ends of the two side columns of the gantry body are respectively equal to the diameter of the first pin shaft and the diameter of the second pin shaft, the width of the rectangular ear plate is equal to the width of the circular ring, the width of the two side surfaces of the rectangular cross beam is equal to the width of the two end surfaces of the circular ring, the thickness of the double-jaw support platform is smaller than the thickness of the first turntable bearing, the diameter of the cylindrical hole of the support plate of the speed reducer is larger than the diameter of the output shaft of the first speed reducer, the diameter of the cylindrical through hole on the two vertical plates of the U-shaped support frame is equal, the cylinder through-hole of U-shaped support frame the cylinder through-hole of worm box with the external diameter of antifriction bearing equals, the internal diameter of walking wheel with the external diameter of transmission shaft equals, first jack catch with the cylinder through-hole diameter of the perpendicular middle part of the 5 components of digit of second jack catch equals, first jack catch with the diameter of the cylinder through-hole of the perpendicular middle part of the 5 components of digit of second jack catch is greater than the external diameter of lead screw.