CN111791213A

CN111791213A - Cantilever grabbing mechanical arm of railway cantilever installation robot

Info

Publication number: CN111791213A
Application number: CN202010851240.8A
Authority: CN
Inventors: 胥健; 凌正刚; 陈茂林; 肖纪春; 桂仲成
Original assignee: Chengdu Guimu Robot Co ltd
Current assignee: Chengdu Guimu Robot Co ltd
Priority date: 2020-08-21
Filing date: 2020-08-21
Publication date: 2020-10-20
Anticipated expiration: 2040-08-21
Also published as: CN111791213B

Abstract

The invention discloses a cantilever grabbing mechanical arm of a railway cantilever installing robot, which comprises a mechanical arm and a grabbing mechanism, wherein the grabbing mechanism is arranged at the front end of the mechanical arm, and the mechanical arm and a mechanical arm lifting mechanism jointly drive a cantilever on a grabbing cantilever bracket and lift the cantilever to an installation position of a contact net support. The grabbing mechanism comprises a cantilever grabbing rack, a left grabbing mechanism and a right grabbing mechanism which are arranged on the cantilever grabbing rack in a one-to-one correspondence mode along the horizontal direction and have the same structure, and a lower grabbing mechanism arranged at the lower end of the cantilever grabbing rack. Through the scheme, the lifting device has the advantages of reliable action, high lifting efficiency, wide application range and the like.

Description

Cantilever grabbing mechanical arm of railway cantilever installation robot

Technical Field

The invention relates to the technical field of cantilever installation, in particular to a cantilever grabbing mechanical arm of a railway cantilever installation robot.

Background

The cantilever is arranged on the support column, is used for supporting the contact suspension and plays a role in transferring load; the wrist can be divided into a horizontal wrist with a pull rod, a flat wrist with an inclined support, an inclined wrist with a pull rod (or a pressing pipe) and the like according to the structure of the wrist; at present, the installation of the wrists in the prior art mainly adopts a manual mode, at least 5-7 workers need to be equipped for installing each group of wrists, and the working efficiency is too low; in addition, the weight of the wrist arm is about 200Kg, so that the lifting is laborious; in addition, the cantilever is installed in a lifting trolley mode, the fixing step before installation is complicated, and rollover accidents are easy to happen if the fixing is unreliable (the periphery of a railway track is provided with more broken stones and the bottom surface is uneven); moreover, the lifting trolley is difficult to advance on the track.

For this reason, the applicant has specifically proposed chinese invention patent with patent application number "202010175735.3" entitled "a cantilever grabbing mechanical arm of a railway cantilever mounting robot", which can also realize the mounting of the cantilever, but the efficiency of loading, lifting and adjusting the cantilever is to be improved, and the invention is in a semi-automatic form. For this reason, the applicant specially proposes a railway cantilever mounting robot which travels along the track direction and hoists the cantilever to the installation position of the contact net support; the railway cantilever mounting robot comprises a travelling crane, a cantilever bracket, a mechanical arm lifting mechanism, a mechanical arm and a grabbing mechanism, wherein the travelling crane travels along the track direction, the cantilever bracket is arranged on the travelling crane and used for temporarily storing a cantilever to be mounted, the mechanical arm lifting mechanism is fixed on the travelling crane, the mechanical arm is fixed on the mechanical arm lifting mechanism and driven by the mechanical arm lifting mechanism to move forwards, backwards and upwards, and the grabbing mechanism is arranged at the front end of the mechanical arm, and is driven by the mechanical arm and the mechanical arm lifting mechanism to grab the cantilever on the cantilever bracket and hoisted to the mounting position of a contact net. However, in the prior art, a mechanical arm and a grabbing mechanism matched with the mechanical arm are not available temporarily.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a cantilever grabbing mechanical arm of a railway cantilever installation robot, and adopts the following technical scheme:

a cantilever grabbing mechanical arm of a railway cantilever mounting robot moves along a track direction and hoists a cantilever to a mounting position of a contact net support; the railway cantilever mounting robot is provided with a translation mechanism, a lifting mechanism and a grabbing cantilever bracket; the cantilever grabbing mechanical arm comprises a mechanical arm and a grabbing mechanism which is arranged at the front end of the mechanical arm, is driven by the mechanical arm and a mechanical arm lifting mechanism to grab a cantilever on a cantilever bracket and is hoisted to the installation position of a contact net support column.

The grabbing mechanism comprises a cantilever grabbing rack, a left grabbing mechanism and a right grabbing mechanism which are arranged on the cantilever grabbing rack in a one-to-one correspondence mode along the horizontal direction and have the same structure, and a lower grabbing mechanism arranged at the lower end of the cantilever grabbing rack.

Furthermore, the right grabbing mechanism comprises a hinged plate arranged at the top of the cantilever grabbing rack, a push rod fixed on the side edge of the cantilever grabbing rack, a pressing plate, a linkage rod, a first supporting seat and a V-shaped block, wherein the pressing plate is hinged to the top of the hinged plate, the linkage rod is connected between the pressing plate and the push rod, the first supporting seat is fixed on the side edge of the cantilever grabbing rack and is arranged opposite to the push rod, and the V-shaped block is fixed on the first supporting seat and is used for clamping the cantilever together with the pressing plate.

Furthermore, the lower grabbing mechanism comprises an electric sliding table fixed at the lower end of the grabbing rack of the cantilever, a lifting lug arranged at the lower end of the electric sliding table and driven by the electric sliding table to move up and down, and a U-shaped grab fixed on the lifting lug and used for clamping the lower end of the cantilever.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, a cantilever to be installed is skillfully placed on a cantilever bracket, and a mechanical arm lifting mechanism, a mechanical arm and a grabbing mechanism are utilized to be matched together, so that the mechanism can move back and forth and up and down, and the cantilever is quickly hoisted to the installation position of a contact net support; the grabbing and hoisting are all mechanical operations, manual buckle hanging operation is not needed, the efficiency is higher, and the labor cost is saved;

(2) the lifting mechanism of the mechanical arm is skillfully arranged, so that the mechanical arm can move back and forth and up and down to meet the lifting requirements of various conditions, fine distance adjustment through a flat car is not needed, the cantilever can be lifted in place more quickly, and the efficiency is higher;

(3) the mechanical arm is ingeniously arranged, so that the orientation of the mounting fulcrum of the cantilever can be adjusted along a longitudinal plane, the strut is suitable for being arranged on the right side and the left side of the advancing direction of the track, and the application range is wider; therefore, the cantilever installation of the contact net support on any side can be realized when the flat car travels along the track direction;

(4) the invention skillfully arranges the left grabbing mechanism and the right grabbing mechanism, drives the linkage rod through the push rod and pries the hinged plate so as to realize the clamping and loosening of the upper end of the cantilever without manually hanging and releasing the buckle; in addition, the lower grabbing mechanism is arranged to support the lower end of the cantilever, so that the cantilever is uniformly stressed in the grabbing, hoisting and installing processes, and the swinging and collision of the cantilever in the hoisting process are effectively avoided.

(5) The invention skillfully arranges the bracket for placing the cantilever to be installed, which can ensure the continuous feeding of the cantilever and further improve the efficiency.

In conclusion, the cantilever crane has the advantages of reliable action, high hoisting efficiency, wide application range and the like, and has high practical value and popularization value in the technical field of cantilever installation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of protection, and it is obvious for those skilled in the art that other related drawings can be obtained according to these drawings without inventive efforts.

Fig. 1 is a working principle diagram of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic structural view of the hoisting assembly of the present invention.

Fig. 4 is a schematic structural diagram of the robot arm lifting mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the lifting mechanism of the present invention.

Fig. 6 is a schematic structural diagram (one) of the right lift actuator of the present invention.

Fig. 7 is a schematic structural diagram (ii) of the right lift actuator of the present invention.

Fig. 8 is a schematic structural diagram (one) of the translation actuator of the present invention.

Fig. 9 is a structural schematic diagram (two) of the translation actuator of the present invention.

Fig. 10 is a schematic view of the structure of the robotic arm and the wrist gripping mechanism of the present invention.

Fig. 11 is a schematic structural diagram (one) of the robot arm of the present invention.

Fig. 12 is a schematic structural diagram (one) of the cantilever grasping mechanism of the present invention.

Fig. 13 is a structural schematic view (ii) of the cantilever grasping mechanism of the present invention.

Fig. 14 is a schematic structural view of the right grasping mechanism of the present invention.

Fig. 15 is a schematic structural view of the lower gripper mechanism of the present invention.

In the drawings, the names of the parts corresponding to the reference numerals are as follows:

1. a track; 2. a catenary strut; 3. a robot is installed on a railway cantilever; 4. a wrist arm; 31. flatbed vehicle; 33. a wrist-arm bracket; 35. a mechanical arm; 36. a cantilever grasping mechanism; 341. a translation mechanism; 342. a lifting mechanism; 343. a mechanical arm mounting base; 361. a cantilever grabbing frame; 362. a left grabbing mechanism; 363. a right grabbing mechanism; 364. a lower grabbing mechanism; 365. a connecting disc; 3411. a support seat is translated; 3412. a rack; 3413. a second slide rail; 3414. a translation actuator; 3421. lifting and moving a box body supporting seat; 3422. an up-and-down moving driver; 3631. a push rod; 3632. a hinge plate; 3633. a linkage rod; 3634. pressing a plate; 3635. a first support base; 3636. a V-shaped block; 3641. an electric sliding table; 3642. lifting lugs; 3643. a U-shaped grab; 34141. a first drive motor; 34142. a second decelerator; 34143. a slider seat; 34221. a first decelerator; 34222. a second drive motor; 34223. a linkage shaft; 34224. a left sprocket; 34225. a right sprocket; 34226. a chain; 34227. a first slide rail; 34228. a first slider; 34229. and a chain lifting lug.

Detailed Description

To further clarify the objects, technical solutions and advantages of the present application, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Examples

As shown in fig. 1 to 15, the present embodiment provides a railroad cantilever mounting robot, which travels along a track 1 and hoists a cantilever 4 to a catenary strut 2 mounting position. First, the terms "first", "second", and the like in the present embodiment are used only for distinguishing the same kind of components, and are not to be construed as specifically limiting the scope of protection. In the present embodiment, the terms of orientation such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings. Moreover, the present embodiment is based on the structural improvement, and does not improve the software program, which is a combination of conventional program segments, and is not described herein again. The mechanical arm of this embodiment is obtained for purchase, and its internal structure will not be described herein again. In this embodiment, the flatbed is further provided with a controller and a power source, which are all purchased and will not be described herein.

In this embodiment, the railroad cantilever mounting robot includes a flat car 31 traveling along the track 1 direction, a cantilever bracket 33 arranged on the flat car 31 and used for storing a cantilever 4 to be mounted, a translation mechanism 341 fixed on the flat car 31, a lifting mechanism 342 fixed on the translation mechanism 341 and driven by the translation mechanism 341 to move along the track 1 direction, a robot arm 35 fixed on the lifting mechanism 342 and driven by the lifting mechanism 342 to move along the longitudinal direction, and a cantilever grasping mechanism 36 arranged at the front end of the robot arm 35 and driven by the robot arm 35 to grasp the cantilever 4 on the cantilever bracket 33 and hoist to the mounting position of the catenary strut 2.

In this embodiment, the translation mechanism 341 includes a translation support seat 3411 fixed to the flatbed 31, a rack 3412 fixed to the translation support seat 3411 in the track direction, two second slide rails 3413 arranged on the translation support seat 3411 in the track direction and disposed at front and rear sides of the rack 3412, a slider holder 34143 slidably fitted on the second slide rail 3413, and a translation driver 3414 fixed to the slider holder 34143 and engaged with the rack 3412 for driving the slider holder 34143 to move in the track direction. Here, the translation driver 3414 includes a second speed reducer 34142 fixed to the slider holder 34143 and disposed through the slider holder 34143 and engaged with the rack 3412, and a first driving motor 34141 to which the second speed reducer 34142 is connected. In this embodiment, the second reducer 34142 is driven by the first driving motor 34141, and the rack 3412 is engaged to slidably move the slider holder 34143, so that the lifting mechanism 342 can be driven to move in the direction of the rail 1.

In addition, the lifting mechanism 342 of the present embodiment includes a lifting movable casing support 3421 fixed to the translation mechanism 341, and an up-down movement driver 3422 provided on the lifting movable casing support 3421 for driving the robot arm 35 to lift up and down. Wherein, the up-down moving driver 3422 further comprises a first reducer 34221 fixed at the center of the upper part of the up-down moving box supporting base 3421, a second driving motor 34222 connected with the first speed reducer 34221, a left chain wheel 34224 and a right chain wheel 34225 which are arranged on the supporting base 3421 of the lifting moving box body, are correspondingly arranged on two sides of the first speed reducer 34221 one by one and have the same structure, a linkage shaft 34223 connected between the first speed reducer 34221 and the left chain wheel 34224 and between the first speed reducer 34221 and the right chain wheel 34225, a left lifting executing component connected with the left chain wheel 34224 and arranged on the lifting moving box body supporting seat 3421 along the longitudinal direction, a right lifting executing component which is connected with the right chain wheel 34225, arranged on the lifting moving box body supporting seat 3421 along the longitudinal direction and has the same structure with the left lifting executing component, and a robot arm mounting base 343 connected to the right lift actuator assembly and the left lift actuator assembly for fixedly supporting the robot arm 35. Further, the method is carried out. The left lifting executing assembly comprises a first slide rail 34227 which is attached and fixed on the lifting movable box body supporting seat 3421 along the longitudinal direction, a first slide seat 34228 which is sleeved on the first slide rail 34227 and connected with the mechanical arm mounting base 343, a chain 34226 with one end connected with the left chain wheel 34224, and a chain lifting lug 34229 which is connected with the other end of the chain 34226, fixedly connected with the mechanical arm mounting base 343 and used for lifting the mechanical arm mounting base 343. In this embodiment, the second driving motor 34222 is used to drive the linkage 34223 to rotate and drive the chain 34226 and the robot arm mounting base 343 to move up and down, so as to achieve the lifting operation of the robot arm 35.

In addition, the specific structure of the cantilever grasping mechanism 36 of the present embodiment is as follows: the three-dimensional robot arm comprises a triangular-shaped cantilever grabbing rack 361, a left grabbing mechanism 362 and a right grabbing mechanism 363 which are arranged on the cantilever grabbing rack 361 in a one-to-one correspondence mode along the horizontal direction and have the same structure, and a lower grabbing mechanism 364 arranged at the lower end of the cantilever grabbing rack 361. The right grabbing mechanism 363 comprises a hinge plate 3632 arranged at the top of the wrist arm grabbing frame 361, a push rod 3631 fixed at the side of the wrist arm grabbing frame 361, a pressing plate 3634 with the middle hinged to the top of the hinge plate 3632, a linkage rod 3633 connected between the pressing plate 3634 and the push rod 3631, a first supporting seat 3635 fixed at the side of the wrist arm grabbing frame 361 and arranged opposite to the push rod 3631, and a V-shaped block 3636 fixed on the first supporting seat 3635 and used for clamping the wrist arm 4 together with the pressing plate 3634. In addition, the lower grasping mechanism 364 includes an electric slide table 3641 fixed to the lower end of the cantilever grasping frame 361, a lifting lug 3642 provided at the lower end of the electric slide table 3641 and driven by the electric slide table 3641 to move up and down, and a U-shaped grasping 3643 fixed to the lifting lug 3642 for grasping the lower end of the cantilever 4.

In the present embodiment, the wrist to be installed is placed on the wrist bracket 33, and under the action of the translation mechanism 341, the lifting mechanism 342 and the mechanical arm 35, the wrist grabbing mechanism 36 is placed at the wrist bracket 33 and enters into the grabbing stage; a push rod 3631 is utilized to drive a pressing plate 3634 to be opened and is arranged at a cross bar at the upper end of the wrist arm, the push rod 3631 pushes a linkage rod 3633 upwards, and the cross bar at the upper end of the wrist arm is clamped between a V-shaped block 3636 and the pressing plate 3634; meanwhile, the electric sliding table 3641 drives the U-shaped clasp to the lower end of the wrist arm, so that the grabbing of the wrist arm can be realized. After the cantilever is grabbed, the cantilever is hoisted in place under the action of the translation mechanism 341, the lifting mechanism 342 and the mechanical arm 35, so that the installation can be carried out; after installation, the push rod 3631 and the electric sliding table 3641 can be used for detaching the fixing of the wrist arm.

The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the scope of the present invention, but all the modifications made by the principles of the present invention and the non-inventive efforts based on the above-mentioned embodiments shall fall within the scope of the present invention.

Claims

1. A cantilever grabbing mechanical arm of a railway cantilever mounting robot moves along a track direction, and a cantilever (4) is hoisted to a mounting position of a contact net support column (2); the railway cantilever mounting robot is provided with a translation mechanism (341), a lifting mechanism (342) and a grabbing cantilever bracket (33), and is characterized in that the cantilever grabbing mechanical arm of the railway cantilever mounting robot comprises a mechanical arm (35) and a grabbing mechanism (36) which is arranged at the front end of the mechanical arm (35), drives a cantilever (4) on the grabbing cantilever bracket (33) by the mechanical arm (35) and hoists to the installation position of a contact net support column (2);

the cantilever grabbing mechanism (36) comprises a cantilever grabbing rack (361) which is connected with the mechanical arm (35) in the middle and is in a triangular shape, a left grabbing mechanism (362) and a right grabbing mechanism (363) which are arranged on the cantilever grabbing rack (361) in a one-to-one correspondence mode along the horizontal direction and are identical in structure, and a lower grabbing mechanism (364) arranged at the lower end of the cantilever grabbing rack (361).

2. The cantilever grabbing mechanical arm of the railway cantilever mounting robot as claimed in claim 1, wherein the right grabbing mechanism (363) comprises a hinged plate (3632) arranged at the top of the cantilever grabbing frame (361), a push rod (3631) fixed at the side of the cantilever grabbing frame (361), a pressing plate (3634) with the middle hinged to the top of the hinged plate (3632), a linkage rod (3633) connected between the pressing plate (3634) and the push rod (3631), a first supporting seat (3635) fixed at the side of the cantilever grabbing frame (361) and arranged opposite to the push rod (3631), and a V-shaped block (3636) fixed on the first supporting seat (3635) and clamping the cantilever (4) together with the pressing plate (3634).

3. The cantilever grabbing mechanical arm of the railway cantilever installation robot as claimed in claim 1, wherein the lower grabbing mechanism (364) comprises an electric sliding table (3641) fixed at the lower end of the cantilever grabbing rack (361), a lifting lug (3642) arranged at the lower end of the electric sliding table (3641) and driven by the electric sliding table (3641) to move up and down, and a U-shaped grab (3643) fixed on the lifting lug (3642) and used for clamping the lower end of the cantilever (4).