CN111151992A - Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door - Google Patents
Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door Download PDFInfo
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- CN111151992A CN111151992A CN202010134949.6A CN202010134949A CN111151992A CN 111151992 A CN111151992 A CN 111151992A CN 202010134949 A CN202010134949 A CN 202010134949A CN 111151992 A CN111151992 A CN 111151992A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention relates to the technical field of transportation, in particular to a full-automatic transferring and auxiliary positioning assembly device for a subway shield door, which comprises a rail flat car, an XY axis moving mechanism, a ZY axis moving mechanism, a lifting turnover mechanism and a positioning and grabbing mechanism, wherein the top of the rail flat car is provided with a material bearing frame, the material bearing frame is provided with a plurality of material bearing grooves for placing the shield door, the ZY axis moving mechanism comprises a rectangular frame and a transverse moving frame, the XY axis moving mechanism comprises a longitudinal moving frame capable of horizontally moving on the moving frame, the lifting turnover mechanism comprises a lifting rod capable of vertically lifting in the longitudinal moving frame, the bottom of the lifting rod is provided with a turnover assembly, the positioning and grabbing mechanism comprises a pneumatic clamping jaw, the pneumatic clamping jaw is fixedly arranged at the working end of the turnover assembly, and the device can sequentially grab and transport the shield door, and the shield door can be accurately assembled in an auxiliary manner, so that the assembly efficiency is improved.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to full-automatic transfer and auxiliary positioning assembly equipment for a subway shield door.
Background
Subway platform screen door comprises several layers of toughened glass plus steel frame, seals subway platform and subway tunnel or semi-closed, and the area is big, and weight is big, consequently, transports and installs all very difficultly at subway tunnel and platform, all uses hand tool, and the installation need many personnel and various manual handling tool, and work efficiency is low and work danger, china's patent application number: CN107379149A discloses a subway shielded door installation location template, its characterized in that: this subway shield door installation positioning template includes 4 parts, be the steel sheet bottom plate respectively, found the gusset, the location hole, wherein, found gusset and erect on the steel sheet bottom plate, found gusset and gusset mutually perpendicular, be equipped with the location hole at the both ends of steel sheet bottom plate, the locating hole includes threshold chemical bolt locating hole under template locating hole and the subway shield door, this patent only provides the precision of installation, and subway construction needs a large amount of installation shield doors, and need carry out the assistance-localization real-time assembly with the shield door in proper order, therefore, we have proposed a subway shield door full-automatic transportation, assistance-localization real-time rigging equipment, so as to solve the above-mentioned problem that proposes.
Disclosure of Invention
The invention aims to solve the technical problem of providing the full-automatic transferring and auxiliary positioning assembly equipment for the subway shield door, which can sequentially grab and transport the shield door, accurately perform auxiliary assembly on the shield door and improve the assembly efficiency.
In order to solve the technical problems, the invention provides the following technical scheme: a subway shield door full-automatic transfer and auxiliary positioning assembly device comprises a rail flat car, an XY axis moving mechanism, a ZY axis moving mechanism, a lifting turnover mechanism and a positioning grabbing mechanism, wherein a material bearing frame is arranged at the top of the rail flat car, a plurality of material bearing tanks for placing shield doors are arranged on the material bearing frame, the ZY axis moving mechanism comprises a rectangular frame and a transverse moving frame, the rectangular frame is horizontally arranged above the material bearing frame, each corner of the bottom of the rectangular frame is fixedly connected with the top of the rail flat car through a vertical support, the moving frame is horizontally arranged in the rectangular frame in a horizontally moving mode, the XY axis moving mechanism comprises a longitudinal moving frame capable of horizontally moving on the moving frame, the lifting turnover mechanism comprises a lifting rod capable of vertically lifting in the longitudinal moving frame, and a turnover assembly capable of overturning is arranged at the bottom of the lifting rod, the positioning and grabbing mechanism comprises a pneumatic clamping jaw which is fixedly arranged at the working end of the overturning assembly.
Preferably, the two sides of the top of the rectangular frame are respectively provided with a first limiting slide bar, the two ends of the transverse moving frame are respectively provided with a hollow first connecting frame in one-to-one correspondence with each first limiting slide bar, the two ends of the inside of each first connecting frame are respectively provided with a first limiting idler wheel capable of rotating inside the first connecting frame, and each first limiting idler wheel is respectively arranged on each first limiting slide bar in a sliding manner.
Preferably, one side center department of lateral shifting frame is equipped with first double-shaft motor, first double-shaft motor is horizontal fixed mounting on the outer wall of lateral shifting frame, the both ends of first double-shaft motor are equipped with first rotary rod respectively, the both ends of first rotary rod extend to rectangular frame's bottom both sides direction respectively, the one end of every first rotary rod respectively with the output fixed connection of first double-shaft motor, be equipped with the bearing housing on every first rotary rod respectively, every bearing housing is respectively through the lateral wall fixed connection of first support with lateral shifting frame, the one end that first double-shaft motor was kept away from to every first rotary rod is equipped with first step wheel respectively, rectangular frame's bottom is equipped with the first step slide that is used for supplying every first step wheel to remove respectively.
Preferably, the longitudinal movement frame is of a rectangular hollow structure, two sides of the top of the transverse movement frame are respectively provided with a second limiting slide rod of the longitudinal movement frame which is horizontally arranged, two sides of the top of the transverse movement frame are respectively provided with a hollow second connecting frame, two ends of the inside of each second connecting frame are respectively provided with a second limiting roller which can rotate inside the second connecting frame, and each second limiting roller is respectively arranged on each second limiting slide rod in a sliding manner.
Preferably, the inside one end of longitudinal movement frame is equipped with the second double-shaft motor that is the level setting, the both ends of second double-shaft motor are equipped with the second rotary rod that is the level setting respectively, the one end of every second rotary rod respectively with the output fixed connection of second double-shaft motor, the other end of every second rotary rod can be rotatory respectively pass the inner wall and the outer wall of longitudinal movement frame and extend to the inside both sides of lateral movement frame, the extension end of every second rotary rod is equipped with the second step wheel respectively, the inside of lateral movement frame is equipped with respectively and is used for supplying the second step slide that every second step wheel removed.
Preferably, lift tilting mechanism still includes direction rectangle cover and first rotating electrical machines, the direction rectangle cover is the inside of vertical fixed mounting at longitudinal movement frame, the lifter is vertical and can gliding setting at the inner circle of direction rectangle cover and its one end downwardly extending, first rotating electrical machines is horizontal fixed mounting in one side of direction rectangle cover, the output of first rotating electrical machines is equipped with the step gear who is vertical setting, the center department of step gear and first rotating electrical machines's output fixed connection, one side of step gear extends to the inside of direction rectangle cover, be equipped with on the direction rectangle cover and be used for dodging the rotatory incision of dodging of step gear, one side that the lifter is close to step gear is equipped with the rack that is vertical setting, step gear and rack toothing set up.
Preferably, the outer walls of the upper section and the lower section of the guide rectangular sleeve are respectively provided with a plurality of guide rollers, each guide roller is uniformly arranged on the guide rectangular sleeve, one side of each guide roller extends to the inside of the guide rectangular sleeve respectively, and each guide roller can be arranged with the outer wall of the lifting rod in a sliding manner respectively.
Preferably, the upset subassembly is including the upset cylinder, the upset seat, second rotating electrical machines and column spinner, the lifter is hollow structure, the upset seat sets up the inside lower extreme at the lifter, the upset cylinder is horizontal fixed mounting on the lower extreme outer wall of lifter, the both sides of upset seat are equipped with the upset pole respectively, the one end of every upset pole can be rotatory respectively insert the inner wall of locating the lifter and outwards extend, the output of upset cylinder and the one end fixed connection of one of them upset pole, the second rotating electrical machines is vertical fixed mounting in the one end of upset seat, the output of second rotating electrical machines is equipped with the carousel, the column spinner is vertical fixed mounting in the center department of carousel, the other end of column spinner and the inside fixed connection of pneumatic clamping jaw, be equipped with on the lifter and be used for dodging the carousel and the groove of dodging of column spinner upset.
Preferably, the pneumatic clamping jaw includes sucking disc frame and a plurality of pneumatic sucking disc, the center department of sucking disc frame and the one end fixed connection of rotary rod, be equipped with the buffering mouth of wearing with every pneumatic sucking disc one-to-one on the sucking disc frame, the inside of every buffering mouth of wearing is equipped with the buffering post respectively, every buffering post can gliding setting respectively and outside extension at the inner circle of buffering mouth of wearing, the one end and every pneumatic sucking disc fixed connection of every buffering post, the other end of every buffering post is equipped with respectively supports the touch post, every touch post can contact with sucking disc frame respectively, be equipped with buffer spring on every buffering post respectively, every buffer spring's both ends can be supported the setting with sucking disc frame and sucking disc respectively.
Compared with the prior art, the invention has the beneficial effects that: the utility model provides a full-automatic transportation of subway shield door, assistance-localization real-time rigging equipment, it stops to remove the position that needs installation shield door through track flatbed, the output of pneumatic clamping jaw sets up with the top butt joint of one of them row of shield door of placing on bearing material frame, start first rotating electrical machines, first rotating electrical machines drives step gear rotatory, step gear makes the lifter move down through the rack on the lifter, the lifter drives upset subassembly and pneumatic clamping jaw downstream simultaneously, stop until the output of pneumatic clamping jaw and the top contact of single shield door, and snatch the shield door through the output of pneumatic clamping jaw, then pneumatic clamping jaw drives the shield door and goes up and down through the lifter, when the lifter goes up and down, the guide roller who sets up can make the lifter go up and down more stably, absorb the shield door through every pneumatic sucking disc, every buffering post that sets up, The collision column and the buffer spring can play a buffer role during grabbing, when the pneumatic clamping jaw grabs a single shielding door and rises, the turning cylinder is started, the turning cylinder drives the turning seat to simultaneously drive the second rotating motor, the rotary column and the pneumatic clamping jaw turn right and left, so that the shielding door grabbed on the pneumatic clamping jaw and the position of the shielding door required to be installed extend, the second rotating motor can adjust the angle of the shielding door grabbed by the pneumatic clamping jaw, when the shielding door grabbed by the pneumatic clamping jaw extends towards the position of the shielding door required to be installed through the turning assembly, the first double-shaft motor is started, the first double-shaft motor respectively drives each first rotating rod to rotate, each first rotating rod respectively drives each first step wheel to rotate, each first step wheel respectively moves along each first step slideway on the rectangular frame, so that the transverse moving frame transversely and horizontally moves, and driving the shielding door grabbed by the pneumatic clamping jaw to be in butt joint with the position where the shielding door needs to be installed and then stop, when the transverse moving frame moves horizontally, each first limiting roller and each first limiting slide rod are arranged to play a role in limiting movement, when the shielding door grabbed by the pneumatic clamping jaw is in butt joint with the position where the shielding door needs to be installed, a second double-shaft motor is started, the second double-shaft motor respectively drives each second rotating rod to rotate, one end of each second rotating rod respectively drives each second stepping wheel to rotate, each second stepping wheel respectively carries out longitudinal horizontal movement along each second stepping slideway on the transverse moving frame and simultaneously drives the longitudinal moving frame and the shielding door grabbed by the pneumatic clamping jaw to move to the position where the shielding door needs to be installed for butt joint assembly, when the longitudinal moving frame moves, each second limiting slide rod and each second limiting roller are arranged to play a role in limiting movement, this equipment can snatch and carry the shield door in proper order to can be accurate carry out supplementary assembly with the shield door, improve assembly efficiency.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a partial perspective view of the first embodiment of the present invention;
FIG. 5 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;
FIG. 6 is an enlarged view of the invention at B of FIG. 4;
FIG. 7 is a partial top view of the present invention;
FIG. 8 is a cross-sectional view taken along line C-C of FIG. 7 of the present invention;
FIG. 9 is an enlarged view of the invention at D of FIG. 8;
FIG. 10 is an enlarged view of the invention at E of FIG. 8;
fig. 11 is a partial perspective view illustrating a second embodiment of the present invention.
The reference numbers in the figures are: 1-a rail flat car; a 2-XY axis moving mechanism; 3-ZY axis moving mechanism; 4-lifting and turning over mechanism; 5, positioning and grabbing a mechanism; 6-material bearing frame; 7-a rectangular frame; 8-a transverse moving frame; 9-a longitudinal moving frame; 10-a lifting rod; 11-a flip assembly; 12-a pneumatic gripper; 13-a first limit slide bar; 14-a first connecting frame; 15-a first limiting roller; 16-a first dual-shaft motor; 17-a first rotary lever; 18-a first step wheel; 19-a first step slide; 20-a second limit slide bar; 21-a second connecting frame; 22-a second limit roller; 23-a second dual shaft motor; 24-a second rotary bar; 25-a second step wheel; 26-a second stepping slideway; 27-a guide rectangular sleeve; 28-a first rotating electrical machine; 29-step gear; 30-a rack; 31-guide rollers; 32-a turnover cylinder; 33-turning over the seat; 34-a second rotating electrical machine; 35-spin columns; 36-a turntable; 37-avoiding cutting grooves; 38-pneumatic suction cup; 39-a suction cup frame; 40-a buffer column; 41-a contact post; 42-buffer spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 11, the full-automatic transporting and auxiliary positioning assembly equipment for the subway platform screen door comprises a rail platform wagon 1, and further comprises an XY axis moving mechanism 2, a ZY axis moving mechanism 3, a lifting turnover mechanism 4 and a positioning and grabbing mechanism 5, wherein a material bearing frame 6 is arranged at the top of the rail platform wagon 1, a plurality of material bearing tanks for placing the platform screen door are arranged on the material bearing frame 6, the ZY axis moving mechanism 3 comprises a rectangular frame 7 and a transverse moving frame 8, the rectangular frame 7 is horizontally arranged above the material bearing frame 6, each corner at the bottom of the rectangular frame 7 is fixedly connected with the top of the rail platform wagon 1 through a vertical support, the moving frame is horizontally arranged in the rectangular frame 7 and can horizontally move, the XY axis moving mechanism 2 comprises a longitudinal moving frame 9 capable of horizontally moving on the moving frame, the lifting turnover mechanism 4 comprises a lifting rod 10 capable of vertically moving in the longitudinal moving frame 9, the bottom of the lifting rod 10 is provided with a turnover assembly 11 capable of being turned over, the positioning and grabbing mechanism 5 comprises a pneumatic clamping jaw 12, and the pneumatic clamping jaw 12 is fixedly installed at the working end of the turnover assembly 11.
The top both sides of rectangular frame 7 are equipped with first spacing slide bar 13 respectively, the both ends of lateral shifting frame 8 are equipped with respectively with the first link 14 of cavity of every first spacing slide bar 13 one-to-one, the inside both ends of every first link 14 are equipped with respectively can be at the first spacing gyro wheel 15 of the inside rotation of first link 14, every first spacing gyro wheel 15 can gliding setting respectively on every first spacing slide bar 13, when lateral shifting frame 8 carries out horizontal migration, every first spacing gyro wheel 15 and every first spacing slide bar 13 that set up play limiting displacement's effect.
A first double-shaft motor 16 is arranged at the center of one side of the transverse moving frame 8, the first double-shaft motor 16 is horizontally and fixedly installed on the outer wall of the transverse moving frame 8, first rotating rods 17 are respectively arranged at two ends of the first double-shaft motor 16, two ends of each first rotating rod 17 respectively extend towards two sides of the bottom of the rectangular frame 7, one end of each first rotating rod 17 is respectively and fixedly connected with the output end of the first double-shaft motor 16, a bearing sleeve is respectively arranged on each first rotating rod 17, each bearing sleeve is respectively and fixedly connected with the side wall of the transverse moving frame 8 through a first bracket, one end of each first rotating rod 17 far away from the first double-shaft motor 16 is respectively provided with a first step wheel 18, the bottom of the rectangular frame 7 is respectively provided with a first step slideway 19 for each first step wheel 18 to move, when the shielding door grabbed by the pneumatic clamping jaw 12 extends towards the position where the shielding door needs to be installed through the overturning assembly 11, the first double-shaft motor 16 is started, the first double-shaft motor 16 drives each first rotating rod 17 to rotate respectively, each first rotating rod 17 drives each first stepping wheel 18 to rotate respectively, each first stepping wheel 18 moves along each first stepping slideway 19 on the rectangular frame 7 respectively, the transverse moving frame 8 is enabled to transversely and horizontally move, and the shielding door grabbed by the pneumatic clamping jaws 12 is driven to be butted with a position where the shielding door needs to be installed and then is stopped.
The vertical removal frame 9 is rectangle hollow structure, the top both sides of horizontal removal frame 8 are equipped with the spacing slide bar 20 of the second that is the vertical removal frame 9 of level setting respectively, both sides are equipped with cavity second link 21 respectively, the inside both ends of every second link 21 are equipped with the spacing gyro wheel 22 of second that can be at the inside rotation of second link 21 respectively, every spacing gyro wheel 22 of second can gliding setting respectively on every spacing slide bar 20 of second, when vertical removal frame 9 removed, every spacing slide bar 20 of second and every spacing gyro wheel 22 of second that set up play the effect of spacing removal.
A second double-shaft motor 23 which is horizontally arranged is arranged at one end inside the longitudinal moving frame 9, second rotating rods 24 which are horizontally arranged are respectively arranged at two ends of the second double-shaft motor 23, one end of each second rotating rod 24 is fixedly connected with the output end of the second double-shaft motor 23, the other end of each second rotating rod 24 can respectively penetrate through the inner wall and the outer wall of the longitudinal moving frame 9 in a rotating manner and extend towards two sides inside the transverse moving frame 8, a second stepping wheel 25 is respectively arranged at the extending end of each second rotating rod 24, a second stepping slideway 26 for each second stepping wheel 25 to move is respectively arranged inside the transverse moving frame 8, when the shielding door grabbed by the pneumatic clamping jaw 12 is butted with the position where the shielding door needs to be installed, the second double-shaft motor 23 is started, each second rotating rod 24 is respectively driven by the second double-shaft motor 23 to rotate, one end of each second rotating rod 24 respectively drives each second stepping wheel 25 to rotate, each second stepping wheel 25 respectively carries out longitudinal horizontal movement along each second stepping slideway 26 on the transverse moving frame 8, and simultaneously drives the longitudinal moving frame 9 and the shielding door grabbed by the pneumatic clamping jaws 12 to move to the position where the shielding door needs to be installed for butt joint assembly.
The lifting turnover mechanism 4 further comprises a guide rectangular sleeve 27 and a first rotating motor 28, the guide rectangular sleeve 27 is vertically and fixedly installed inside the longitudinal moving frame 9, the lifting rod 10 is vertically and slidably arranged at the inner ring of the guide rectangular sleeve 27, one end of the lifting rod extends downwards, the first rotating motor 28 is horizontally and fixedly installed at one side of the guide rectangular sleeve 27, the output end of the first rotating motor 28 is provided with a step gear 29 which is vertically arranged, the center of the step gear 29 is fixedly connected with the output end of the first rotating motor 28, one side of the step gear 29 extends towards the inside of the guide rectangular sleeve 27, the guide rectangular sleeve 27 is provided with an avoiding notch for avoiding the rotation of the step gear 29, one side of the lifting rod 10, which is close to the step gear 29, is provided with a rack 30 which is vertically arranged, the step gear 29 is meshed with the rack 30, and moves to the position where a screen door needs to be installed through the rail flat car 1 to, the output of pneumatic clamping jaw 12 and the top butt joint setting of one of them row of shield door of placing on holding material frame 6, start first rotating electrical machines 28, first rotating electrical machines 28 drives step gear 29 rotatory, step gear 29 makes lifter 10 downstream through rack 30 on the lifter 10, lifter 10 drives upset subassembly 11 and pneumatic clamping jaw 12 downstream simultaneously, the top contact of the output of until pneumatic clamping jaw 12 and single shield door stops, and snatch the shield door through the output of pneumatic clamping jaw 12, pneumatic clamping jaw 12 drives the shield door afterwards and goes up and down through lifter 10.
The outer walls of the upper section and the lower section of the guide rectangular sleeve 27 are respectively provided with a plurality of guide rollers 31, each guide roller 31 is uniformly arranged on the guide rectangular sleeve 27, one side of each guide roller 31 extends to the inside of the guide rectangular sleeve 27, each guide roller 31 can be arranged in a sliding mode with the outer wall of the lifting rod 10, and when the lifting rod 10 is lifted, the arranged guide rollers 31 can enable the lifting rod 10 to lift more stably.
The turnover assembly 11 comprises a turnover cylinder 32, a turnover seat 33, a second rotating motor 34 and a rotating column 35, the lifting rod 10 is of a hollow structure, the turnover seat 33 is arranged at the lower end of the interior of the lifting rod 10, the turnover cylinder 32 is horizontally and fixedly arranged on the outer wall of the lower end of the lifting rod 10, the turnover rods are respectively arranged at two sides of the turnover seat 33, one end of each turnover rod is respectively inserted into the inner wall of the lifting rod 10 in a rotatable manner and extends outwards, the output end of the turnover cylinder 32 is fixedly connected with one end of one of the turnover rods, the second rotating motor 34 is vertically and fixedly arranged at one end of the turnover seat 33, the output end of the second rotating motor 34 is provided with a rotating disk 36, the rotating column 35 is vertically and fixedly arranged at the center of the rotating disk 36, the other end of the rotating column 35 is fixedly connected with the interior of the pneumatic clamping jaw 12, the lifting rod 10 is provided with an avoiding, snatch and rise the back when pneumatic clamping jaw 12 is with single shield door, start upset cylinder 32, upset cylinder 32 drives upset seat 33 and drives second rotating electrical machines 34, column spinner 35 and pneumatic clamping jaw 12 simultaneously and carry out the ninety degrees upset, makes the shield door that is snatched on the pneumatic clamping jaw 12 extend with the position that needs to install the shield door, and the angle of the shield door that is snatched by pneumatic clamping jaw 12 can be adjusted to the second rotating electrical machines 34 of setting.
The pneumatic clamping jaw 12 comprises a suction cup frame 39 and a plurality of pneumatic suction cups 38, the center of the suction cup frame 39 is fixedly connected with one end of a rotating rod 35, the suction cup frame 39 is provided with a buffering penetrating hole corresponding to each pneumatic suction cup 38 one by one, the inside of each buffering penetrating hole is respectively provided with a buffering column 40, each buffering column 40 is respectively arranged at the inner ring of the buffering penetrating hole in a sliding manner and extends outwards, one end of each buffering column 40 is fixedly connected with each pneumatic suction cup 38, the other end of each buffering column 40 is respectively provided with a contact column 41, each contact column 41 can be respectively contacted with the suction cup frame 39, each buffering column 40 is respectively provided with a buffering spring 42, the two ends of each buffering spring 42 can be respectively contacted with the suction cup frame 39 and the suction cups, the shield door is sucked by each pneumatic suction cup 38, and each buffer column 40, each abutting column 41 and each buffer spring 42 are arranged to play a buffer role in grabbing.
The working principle is as follows: the platform lorry 1 is moved to a position where a shielding door needs to be installed to stop, the output end of the pneumatic clamping jaw 12 is in butt joint with the top of one row of shielding doors placed on the material bearing frame 6, the first rotating motor 28 is started, the first rotating motor 28 drives the stepping gear 29 to rotate, the stepping gear 29 enables the lifting rod 10 to move downwards through the rack 30 on the lifting rod 10, the lifting rod 10 simultaneously drives the overturning assembly 11 and the pneumatic clamping jaw 12 to move downwards until the output end of the pneumatic clamping jaw 12 stops contacting with the top of a single shielding door, the shielding door is grabbed through the output end of the pneumatic clamping jaw 12, then the pneumatic clamping jaw 12 drives the shielding door to lift through the lifting rod 10, when the lifting rod 10 lifts, the lifting rod 10 can lift more stably through the guide roller 31, the shielding door is sucked through each pneumatic sucker 38, and each buffer column 40, The contact column 41 and the buffer spring 42 can play a buffer role during grabbing, when the pneumatic clamping jaw 12 grabs a single shield door and rises, the turnover cylinder 32 is started, the turnover cylinder 32 drives the turnover seat 33 to simultaneously drive the second rotating motor 34, the rotating column 35 and the pneumatic clamping jaw 12 to turn right and left, so that the position of the shield door grabbed on the pneumatic clamping jaw 12 and the position of the shield door to be installed extend, the second rotating motor 34 can adjust the angle of the shield door grabbed by the pneumatic clamping jaw 12, when the shield door grabbed by the pneumatic clamping jaw 12 extends towards the position of the shield door to be installed through the turnover assembly 11, the first double-shaft motor 16 is started, the first double-shaft motor 16 respectively drives each first rotating rod 17 to rotate, each first rotating rod 17 respectively drives each first stepping wheel 18 to rotate, each first stepping wheel 18 respectively moves along each first stepping slideway 19 on the rectangular frame 7, the transverse moving frame 8 is enabled to transversely and horizontally move, the shielding door grabbed by the pneumatic clamping jaw 12 is driven to be in butt joint with a position where the shielding door needs to be installed and then stopped, when the transverse moving frame 8 horizontally moves, each first limiting roller 15 and each first limiting sliding rod 13 which are arranged have the limiting movement function, after the shielding door grabbed by the pneumatic clamping jaw 12 is in butt joint with the position where the shielding door needs to be installed, a second double-shaft motor 23 is started, the second double-shaft motor 23 respectively drives each second rotating rod 24 to rotate, one end of each second rotating rod 24 respectively drives each second stepping wheel 25 to rotate, each second stepping wheel 25 respectively carries out longitudinal and horizontal movement along each second stepping slideway 26 on the transverse moving frame 8, and simultaneously drives the longitudinal moving frame 9 and the shielding door grabbed by the pneumatic clamping jaw 12 to move to the position where the shielding door needs to be installed and carry out butt joint assembly, when the longitudinal moving frame 9 moves, each second limit slide bar 20 and each second limit roller 22 are provided to perform a limit movement.
Claims (9)
1. A full-automatic transfer and auxiliary positioning assembly device for a subway platform screen door comprises a rail flat car (1) and is characterized by further comprising an XY axis moving mechanism (2), a ZY axis moving mechanism (3), a lifting turnover mechanism (4) and a positioning grabbing mechanism (5), wherein a material bearing frame (6) is arranged at the top of the rail flat car (1), a plurality of material bearing grooves used for placing the platform screen door are formed in the material bearing frame (6), the ZY axis moving mechanism (3) comprises a rectangular frame (7) and a transverse moving frame (8), the rectangular frame (7) is horizontally arranged above the material bearing frame (6), each corner at the bottom of the rectangular frame (7) is fixedly connected with the top of the rail flat car (1) through a vertical support respectively, the moving frame is horizontal and can be horizontally moved and arranged in the rectangular frame (7), the XY axis moving mechanism (2) comprises a longitudinal moving frame (9) capable of horizontally moving on the moving frame, the lifting turnover mechanism (4) comprises a lifting rod (10) capable of lifting up and down in the longitudinal moving frame (9), a turnover assembly (11) capable of being turned over is arranged at the bottom of the lifting rod (10), the positioning grabbing mechanism (5) comprises a pneumatic clamping jaw (12), and the pneumatic clamping jaw (12) is fixedly installed at the working end of the turnover assembly (11).
2. The full-automatic transporting and auxiliary positioning assembly equipment for the subway screen door as claimed in claim 1, wherein two sides of the top of the rectangular frame (7) are respectively provided with a first limiting slide bar (13), two ends of the transverse moving frame (8) are respectively provided with a hollow first connecting frame (14) corresponding to each first limiting slide bar (13) one by one, two ends of the inside of each first connecting frame (14) are respectively provided with a first limiting roller (15) capable of rotating inside the first connecting frame (14), and each first limiting roller (15) is respectively slidably arranged on each first limiting slide bar (13).
3. The full-automatic transporting and auxiliary positioning assembly equipment for the metro platform screen door according to claim 2, wherein a first double-shaft motor (16) is arranged at the center of one side of the transverse moving frame (8), the first double-shaft motor (16) is horizontally and fixedly installed on the outer wall of the transverse moving frame (8), first rotating rods (17) are respectively arranged at two ends of the first double-shaft motor (16), two ends of each first rotating rod (17) respectively extend towards two sides of the bottom of the rectangular frame (7), one end of each first rotating rod (17) is respectively and fixedly connected with the output end of the first double-shaft motor (16), a bearing sleeve is respectively arranged on each first rotating rod (17), each bearing sleeve is respectively and fixedly connected with the side wall of the transverse moving frame (8) through a first bracket, and a first stepping wheel (18) is respectively arranged at one end of each first rotating rod (17) far away from the first double-shaft motor (16), the bottoms of the rectangular frames (7) are respectively provided with a first stepping slideway (19) for each first stepping wheel (18) to move.
4. The full-automatic transporting and auxiliary positioning assembly equipment for the subway screen door according to claim 3, wherein the longitudinal moving frame (9) is of a rectangular hollow structure, two sides of the top of the transverse moving frame (8) are respectively provided with a second limiting slide bar (20) of the longitudinal moving frame (9) which is horizontally arranged, two sides of the top of the transverse moving frame are respectively provided with a hollow second connecting frame (21), two ends of the inside of each second connecting frame (21) are respectively provided with a second limiting roller (22) which can rotate inside the second connecting frame (21), each second limiting roller (22) is respectively arranged on each second limiting slide bar (20) in a sliding manner, and when the longitudinal moving frame (9) moves, each second limiting slide bar (20) and each second limiting roller (22) which are arranged play a role in limiting movement.
5. The full-automatic transporting and auxiliary positioning assembling equipment for the subway screen door as claimed in claim 4, the device is characterized in that one end of the inside of the longitudinal moving frame (9) is provided with a second double-shaft motor (23) which is horizontally arranged, two ends of the second double-shaft motor (23) are respectively provided with a second rotating rod (24) which is horizontally arranged, one end of each second rotating rod (24) is respectively fixedly connected with the output end of the second double-shaft motor (23), the other end of each second rotating rod (24) can respectively rotate to penetrate through the inner wall and the outer wall of the longitudinal moving frame (9) and extend to two sides of the inside of the transverse moving frame (8), the extending end of each second rotating rod (24) is respectively provided with a second stepping wheel (25), and the inside of the transverse moving frame (8) is respectively provided with a second stepping slide way (26) used for moving each second stepping wheel (25).
6. The full-automatic transporting and auxiliary positioning assembly equipment for the subway screen door according to claim 5, wherein the lifting and turning mechanism (4) further comprises a guiding rectangular sleeve (27) and a first rotating motor (28), the guiding rectangular sleeve (27) is vertically and fixedly installed inside the longitudinal moving frame (9), the lifting rod (10) is vertically and slidably arranged at the inner ring of the guiding rectangular sleeve (27) and one end of the lifting rod extends downwards, the first rotating motor (28) is horizontally and fixedly installed at one side of the guiding rectangular sleeve (27), the output end of the first rotating motor (28) is provided with a vertically arranged step gear (29), the center of the step gear (29) is fixedly connected with the output end of the first rotating motor (28), one side of the step gear (29) extends towards the inside of the guiding rectangular sleeve (27), the guiding rectangular sleeve (27) is provided with an avoiding notch for avoiding the rotation of the step gear (29), one side of the lifting rod (10) close to the stepping gear (29) is provided with a vertically arranged rack (30), and the stepping gear (29) is meshed with the rack (30).
7. The full-automatic transporting and auxiliary positioning assembly equipment for the subway screen door as claimed in claim 6, wherein the outer walls of the upper section and the lower section of the guide rectangular sleeve (27) are respectively provided with a plurality of guide rollers (31), each guide roller (31) is uniformly arranged on the guide rectangular sleeve (27), one side of each guide roller (31) extends towards the inside of the guide rectangular sleeve (27), and each guide roller (31) can be slidably arranged with the outer wall of the lifting rod (10).
8. The full-automatic transporting and auxiliary positioning assembly equipment for the subway shielding door according to claim 7, wherein the overturning assembly (11) comprises an overturning cylinder (32), an overturning seat (33), a second rotating motor (34) and a rotating column (35), the lifting rod (10) is of a hollow structure, the overturning seat (33) is arranged at the lower end of the inside of the lifting rod (10), the overturning cylinder (32) is horizontally and fixedly installed on the outer wall of the lower end of the lifting rod (10), the overturning rods are respectively arranged on two sides of the overturning seat (33), one end of each overturning rod is respectively inserted into the inner wall of the lifting rod (10) in a rotatable manner and extends outwards, the output end of the overturning cylinder (32) is fixedly connected with one end of one of the overturning rods, the second rotating motor (34) is vertically and fixedly installed at one end of the overturning seat (33), the output end of the second rotating motor (34) is provided with a rotating disc (36), the rotary column (35) is vertically and fixedly installed at the center of the rotary disc (36), the other end of the rotary column (35) is fixedly connected with the inner part of the pneumatic clamping jaw (12), and an avoiding cutting groove (37) used for avoiding the rotary disc (36) and the rotary column (35) from turning is arranged on the lifting rod (10).
9. The full-automatic transferring and auxiliary positioning assembly equipment for the subway shielding door according to claim 8, wherein the pneumatic clamping jaw (12) comprises a suction disc frame (39) and a plurality of pneumatic suction discs (38), the center of the suction disc frame (39) is fixedly connected with one end of a rotating rod (35), the suction disc frame (39) is provided with buffering penetrating openings corresponding to the pneumatic suction discs (38) one by one, the inside of each buffering penetrating opening is respectively provided with a buffering column (40), each buffering column (40) is slidably arranged at the inner ring of the buffering penetrating opening and extends outwards, one end of each buffering column (40) is fixedly connected with each pneumatic suction disc (38), the other end of each buffering column (40) is respectively provided with a contact column (41), each contact column (41) can be contacted with the suction disc frame (39) respectively, each buffering column (40) is respectively provided with a buffering spring (42), two ends of each buffer spring (42) can be respectively abutted against the suction disc frame (39) and the suction disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010134949.6A CN111151992A (en) | 2020-03-02 | 2020-03-02 | Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010134949.6A CN111151992A (en) | 2020-03-02 | 2020-03-02 | Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door |
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| Publication Number | Publication Date |
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| CN111151992A true CN111151992A (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010134949.6A Pending CN111151992A (en) | 2020-03-02 | 2020-03-02 | Full-automatic transfer and auxiliary positioning assembly equipment for subway shielding door |
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| CN (1) | CN111151992A (en) |
Cited By (6)
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| CN112091880A (en) * | 2020-09-15 | 2020-12-18 | 中铁一局集团有限公司 | Swift rigging equipment is used to track traffic website wall fitment |
| CN112623952A (en) * | 2020-12-03 | 2021-04-09 | 上海江南长兴造船有限责任公司 | Ship craft lifting code sorting and arranging method |
| CN113059729A (en) * | 2021-03-23 | 2021-07-02 | 合肥壹物新材料科技股份有限公司 | A supplementary robot that snatchs for EPO packaging products production and processing |
| CN113858176A (en) * | 2021-10-15 | 2021-12-31 | 北京中车重工机械有限公司 | Intelligent maintenance system and method for open wagon carriage |
| CN114131411A (en) * | 2021-12-23 | 2022-03-04 | 伟本智能机电（上海）股份有限公司 | Steel plate moving device and moving method |
| CN114162595A (en) * | 2021-12-10 | 2022-03-11 | 东风汽车股份有限公司 | Bottom plate overturning and transferring mechanism |
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| CN114131411A (en) * | 2021-12-23 | 2022-03-04 | 伟本智能机电（上海）股份有限公司 | Steel plate moving device and moving method |
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Application publication date: 20200515 |
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