CN111908325A - Suspension device - Google Patents
Suspension device Download PDFInfo
- Publication number
- CN111908325A CN111908325A CN201910374155.4A CN201910374155A CN111908325A CN 111908325 A CN111908325 A CN 111908325A CN 201910374155 A CN201910374155 A CN 201910374155A CN 111908325 A CN111908325 A CN 111908325A
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- China
- Prior art keywords
- suspension
- steering gear
- lifting appliance
- frame
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/24—Single members engaging the loads from one side only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a suspension device for polishing a product line or spraying a product line.A suspension wheel travels along a suspension transport line of the polishing product line or spraying the product line, a suspension wheel frame is arranged on the suspension wheel, and a corrector and a steering gear row are respectively arranged on the suspension transport line; the upper end of a connecting rod shaft is hinged with the suspension wheel frame through a connecting piece, the lower end of the connecting rod shaft is hinged with a lifting hook, a correction piece and a steering gear which are arranged up and down are respectively linked on the connecting rod shaft, the correction piece is contacted with a corrector in the process that the suspension wheel travels along the suspension transport line to avoid the posture deflection of the suspended motor, and the steering gear is meshed with a steering gear row in the process that the suspension wheel travels along the suspension transport line to realize the horizontal turning of the suspended motor; the lower extreme of hoist links to each other with the motor that is suspended in midair, and the upper end is hung on the lifting hook, wears to be equipped with on the hoist and avoids the relative hoist pivoted of motor to spline anchor clamps. The invention eliminates the dynamic grinding force and vibration of the spraying robot during working, and improves the production efficiency and the process quality.
Description
Technical Field
The invention relates to a supporting facility of a polishing product line or a spraying product line, in particular to a suspension device of a robot system matched with the polishing product line or the spraying product line.
Background
For a polished product line or a sprayed product line, a polished or sprayed workpiece without a spatial position and posture needs to be arranged into a certain spatial position and posture, a motor with one degree of freedom is subjected to under-freedom positioning under the action of a gravity field, and a suspension mechanism compensates dynamic grinding force and vibration of the polished product line robot or the sprayed product line robot in working.
Disclosure of Invention
In order to eliminate the dynamic grinding force and vibration of the work of the grinding product line robot or the spraying product line robot, the invention aims to provide a suspension device of a grinding product line or a spraying product line matched robot system.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a lifting appliance, a rotation stopping clamp, a lifting hook component, a corrector, a steering gear row, a connecting piece, a suspension wheel frame and a suspension wheel, wherein the suspension wheel travels along a suspension transport line for polishing a product line or spraying a product line; the lifting hook component comprises a lifting hook, a connecting rod shaft, a correcting piece and a steering gear, the upper end of the connecting rod shaft is hinged with the suspension wheel frame through a connecting piece, the lower end of the connecting rod shaft is hinged with the lifting hook, the connecting rod shaft is respectively linked with the correcting piece and the steering gear which are arranged up and down, the correcting piece is in contact with the corrector in the process that the suspension wheel travels along the suspension conveying line to avoid the posture deflection of the suspended motor, and the steering gear is meshed with the steering gear row in the process that the suspension wheel travels along the suspension conveying line to realize the horizontal turnover of the suspended motor; the lower end of the lifting appliance is connected with a suspended motor, the upper end of the lifting appliance is hung on the lifting hook, and a rotation stopping clamp for preventing the motor from rotating relative to the lifting appliance is arranged on the lifting appliance in a penetrating mode;
wherein: the corrector is arranged on the suspension transportation line through a corrector frame, is plate-shaped, and has front and rear ends which are inclined outwards;
the front side and the rear side of the steering gear row are both provided with a corrector;
the correcting piece is positioned below the steering gear, and the left side and the right side of the front end and the rear end of the correcting piece are both inclined inwards; the straightener is positioned below the steering gear row;
the lifting appliance comprises a body lifting appliance frame and an elastic floating sleeve, wherein the lower end of the body lifting appliance frame is sleeved at one end of a rotor of the motor, the elastic floating sleeve is sleeved between the rotor and the lower end of the body lifting appliance frame, and the upper end of the body lifting appliance frame is provided with a hanging hole for hanging on a lifting hook; a waist hole for the rotation stopping clamp to penetrate through is formed in the body lifting appliance frame;
the body hanger frame is in a U shape which is turned by 90 degrees, the lower end of the body hanger frame is a hollow sleeve with one end open and one end closed, the upper end of the body hanger frame is provided with a plurality of hanging holes, and the waist hole is formed in the bottom of the U shape;
the rotation stopping clamp comprises a plum blossom handle, a guide rod, a return spring and a tail end elastic limiting part, the guide rod penetrates through the lifting appliance, one end of the guide rod is connected with the plum blossom handle, and the other end of the guide rod is connected with the tail end elastic limiting part; a return spring is sleeved on the guide rod, one end of the return spring is abutted against the tail end elastic limiting part, and the other end of the return spring is abutted against the lifting appliance;
the end face of the guide rod is square.
The invention has the advantages and positive effects that:
the invention eliminates the dynamic grinding force and vibration of the spraying robot, has high automation degree, improves the production efficiency and the process quality, and reduces the labor intensity of workers.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 5 is a front cross-sectional view of the present invention;
FIG. 6 is a partial enlarged view of FIG. 5 at C;
wherein: the device comprises a motor 1, a stator 101, a rotor 102, a central axis 103, a lifting appliance 2, a body lifting appliance frame 201, an elastic floating sleeve 202, a waist hole 203, a stop-turn fixture 3, a plum blossom handle 301, a guide rod 302, a return spring 303, an end elastic limiting part 304, a lifting hook part 4, a lifting hook 401, a connecting rod shaft 402, a correcting sheet 403, a steering gear 404, a corrector 5, a steering gear row 6, a hanging transport line 7, a connecting piece 8, a hanging wheel frame 9, a hanging wheel 10 and a corrector frame 11.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention includes a lifting appliance 2, a rotation stopping clamp 3, a lifting hook component 4, a straightener 5, a steering gear row 6, a connecting component 8, a suspension wheel carrier 9 and a suspension wheel 10, wherein a suspension transport line 7 is arranged on a polishing product line or a spraying product line, and the suspension transport line 7 of the present embodiment is an i-shaped steel; install unscrambler 5 and turn to the dentition 6 on hanging the supply line 7 respectively, both sides all are equipped with unscrambler 5 around turning to the dentition 6 in this embodiment, and unscrambler 5 is located the below that turns to the dentition 6, and unscrambler 5 passes through unscrambler frame 11 to be fixed on hanging the supply line 7, and this unscrambler 5 is the platelike, and both ends all lean out around.
Each suspended motor 1 corresponds to a suspension wheel 10, the suspension wheel 10 runs along a suspension transport line 7 of a polishing product line or a spraying product line, and a suspension wheel frame 9 is installed on the suspension wheel 10.
The hook component 4 comprises a hook 401, a connecting rod shaft 402, a correcting piece 403 and a steering gear 404, the upper end of the connecting rod shaft 402 is connected with the connecting piece 8, the lower end of the connecting rod shaft 402 is hinged with the hook 401, the upper end of the suspension wheel frame 9 is connected with the suspension wheel 10, the lower end of the suspension wheel frame is hinged with the connecting piece 8, and the correcting piece 403 and the steering gear 404 which are arranged up and down are respectively linked on the connecting rod shaft 402. The correction piece 403 is positioned below the steering gear 404, and both the left and right sides of the front and rear ends of the correction piece 403 are inclined inward.
The lower extreme of hoist 2 links to each other with the motor 1 that is suspended in midair, and the upper end is hung on lifting hook 401, wears to be equipped with on this hoist 2 and avoids motor 1 relative hoist 2 pivoted to only rotate anchor clamps 3. The lifting appliance 2 comprises a body lifting appliance frame 201 and an elastic floating sleeve 202, wherein the body lifting appliance frame 201 is in a U shape which is turned by 90 degrees, the lower end of the body lifting appliance frame is a hollow sleeve with an opening at one end and a closed end, and the upper end of the body lifting appliance frame is provided with a plurality of hanging holes for hanging on a lifting hook 401; the hollow sleeve at the lower end is sleeved at one end of the rotor 102 (but the motor output shaft) of the motor 1, and an elastic floating sleeve 202 is sleeved between the rotor 102 and the lower end of the body hanger frame 201. The bottom of the U shape is provided with a waist hole 203 for the rotation-stopping clamp 3 to penetrate through. The rotation stopping clamp 3 comprises a plum blossom-shaped handle 301, a guide rod 302, a return spring 303 and a tail end elastic limiting piece 304, wherein the end surface of the guide rod 302 in the embodiment is square, and three degrees of freedom (namely horizontal rotation of the guide rod 302, horizontal movement of the guide rod 302 in the width direction and rolling of the guide rod 302 in the length direction) limiting are formed with the waist hole 203 on the body hanger frame 201; the guide rod 302 passes through a waist hole 203 formed in the body hanger frame 201, one end of the guide rod is fixedly connected with a plum blossom handle 301, the other end of the guide rod is connected with a terminal elastic limiting piece 304, the terminal elastic limiting piece 304 is sleeved on a screw cap on the stator 101 of the motor 1, and the screw cap on the stator 101 of the motor 1 can be limited by one degree of freedom (axial rotation of the stator 101 of the motor 1) including damping and elasticity. A return spring 303 is sleeved on the guide rod 302, one end of the return spring 303 abuts against the tail end elastic limiting part 304, and the other end of the return spring 303 abuts against the body hanger frame 201; the return spring 303 functions to define the position and return of the end elastic stopper 304.
The working principle of the invention is as follows:
the suspended motor 1 of the present embodiment includes a stator 101 and a rotor 102, the axis of the motor 1 is a central axis 103, and the stator 101 and the rotor 102 have relative rotational freedom. The main body hanger frame 201 of the hanger 2 restricts four degrees of freedom of the rotor 102 (vertical movement of the rotor 102, horizontal radial movement of the rotor 102, horizontal tilt and swing in the axial direction of the rotor 102, and tilt and swing in the axial direction of the rotor 102) by the elastic floating sleeve 202. The body hanger frame 201 of the hanger 2 limits the stator 101 of the motor 1 by one degree of freedom (rotation of the stator 101 of the motor 1 in the axial direction) through the rotation stopping clamp 3 provided with the end elastic limiting piece 304 at the end. Because the central axis 103 of the motor 1 is not parallel to the ground, the motor 1 forms dynamic supporting counter force in a gravity field, the lifting appliance 2 and the rotation stopping clamp 3 and drives the external running force of the motor 1 by the suspension transportation line 7 to carry out dynamic balance.
The hook 401 at the lower end of the hook member 4 is used to lift one of the hanging holes above the body spreader frame 201. A painted or polished workpiece motor 1 without spatial position and attitude is arranged into a motor 1 with set spatial position and attitude by matching with a straightener 5 on a suspension transport line 7 of a robot system and a straightening sheet 403 on a connecting rod shaft 402 in a hook part 4. Completing the grinding or painting of the motor 1, the steering gear row 6 and the steering gear 404 on the link shaft 402 in the hook part 4 make a spatial position and posture change. That is, the straightening piece 403 contacts the straightener 5 to prevent the suspended motor 1 from deflecting in attitude while the suspension wheel 10 travels along the suspension transport line 7, and the steering gear 404 engages with the steering rack 6 to horizontally turn the suspended motor 1 while the suspension wheel 10 travels along the suspension transport line 7.
The invention carries out the under-freedom degree positioning of the motor 1 with one degree of freedom under the action of a gravity field, and the elasticity and the damping of the suspension device can dynamically compensate the dynamic grinding force and the vibration of the grinding robot or the spraying robot during working. The external disturbance energy of the motor 1 after being sprayed or polished is balanced and absorbed by the rigidity and damping of the system, so that the robot system is adapted.
The motor 1 of the present invention comprises a stator 101 and a rotor 102, and any painted or sanded workpiece requiring suspension positioning, such as couplings, knuckles, bearings, piston rods, hinged connections, etc. comprising one or more degrees of freedom, is envisioned.
Claims (8)
1. A suspension device, characterized by: the lifting appliance comprises a lifting appliance (2), a rotation stopping clamp (3), a lifting hook component (4), a corrector (5), a steering gear row (6), a connecting piece (8), a suspension wheel frame (9) and a suspension wheel (10), wherein the suspension wheel (10) travels along a suspension transport line (7) of a polishing product line or a spraying product line, the suspension wheel frame (9) is installed on the suspension wheel (10), and the corrector (5) and the steering gear row (6) are respectively installed on the suspension transport line (7); the lifting hook component (4) comprises a lifting hook (401), a connecting rod shaft (402), a correcting piece (403) and a steering gear (404), the upper end of the connecting rod shaft (402) is hinged with the suspension wheel frame (9) through a connecting piece (8), the lower end of the connecting rod shaft is hinged with the lifting hook (401), the connecting rod shaft (402) is respectively linked with the correcting piece (403) and the steering gear (404) which are arranged up and down, the correcting piece (403) is in contact with the corrector (5) and avoids the posture deflection of the suspended motor (1) in the process that the suspension wheel (10) travels along the suspension transport line (7), and the steering gear (404) is meshed with the steering gear row (6) in the process that the suspension wheel (10) travels along the suspension transport line (7) to realize the horizontal turnover of the suspended motor (1); the lower extreme of hoist (2) links to each other with motor (1) that is suspended in midair, and the upper end is hung on lifting hook (401), wear to be equipped with on this hoist (2) and avoid motor (1) to rotate relative hoist (2) to spline anchor clamps (3).
2. The suspension device according to claim 1, wherein: the straightener (5) is arranged on a suspended conveying line (7) through a straightener frame (11), the straightener (5) is plate-shaped, and the front end and the rear end of the straightener are inclined outwards.
3. The suspension device according to claim 1, wherein: the front side and the rear side of the steering gear row (6) are respectively provided with a corrector (5).
4. The suspension device according to claim 1, wherein: the correcting piece (403) is positioned below the steering gear (404), and the left side and the right side of the front end and the rear end of the correcting piece (403) are both inclined inwards; the straightener (5) is located below the row of turning teeth (6).
5. The suspension device according to claim 1, wherein: the lifting appliance (2) comprises a body lifting appliance frame (201) and an elastic floating sleeve (202), the lower end of the body lifting appliance frame (201) is sleeved at one end of a rotor (102) of the motor (1), the elastic floating sleeve (202) is sleeved between the rotor (102) and the lower end of the body lifting appliance frame (201), and the upper end of the body lifting appliance frame (201) is provided with a hanging hole for hanging on a lifting hook (401); and a waist hole (203) for the rotation stopping clamp (3) to penetrate is formed in the body lifting appliance frame (201).
6. The suspension device according to claim 5, wherein: the body lifting appliance frame (201) is in a U shape which is turned for 90 degrees, the lower end of the body lifting appliance frame is a hollow sleeve with one open end and one closed end, the upper end of the body lifting appliance frame is provided with a plurality of hanging holes, and the waist hole (203) is arranged at the bottom of the U shape.
7. The suspension device according to claim 1, wherein: the rotation stopping clamp (3) comprises a plum blossom handle (301), a guide rod (302), a return spring (303) and a tail end elastic limiting piece (304), wherein the guide rod (302) penetrates through the lifting appliance (2), one end of the guide rod is connected with the plum blossom handle (301), and the other end of the guide rod is connected with the tail end elastic limiting piece (304); the guide rod (302) is sleeved with a return spring (303), one end of the return spring (303) abuts against the tail end elastic limiting piece (304), and the other end of the return spring (303) abuts against the lifting appliance (2).
8. The suspension device according to claim 7, wherein: the end surface of the guide rod (302) is square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910374155.4A CN111908325B (en) | 2019-05-07 | 2019-05-07 | Suspension device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910374155.4A CN111908325B (en) | 2019-05-07 | 2019-05-07 | Suspension device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111908325A true CN111908325A (en) | 2020-11-10 |
| CN111908325B CN111908325B (en) | 2022-06-14 |
Family
ID=73241660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910374155.4A Active CN111908325B (en) | 2019-05-07 | 2019-05-07 | Suspension device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111908325B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112551075A (en) * | 2020-12-10 | 2021-03-26 | 滁州丰源机械有限公司 | Flywheel housing conveying device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH107375A (en) * | 1996-06-18 | 1998-01-13 | Suzuki Shoji:Kk | Hoisting accessory of side groove block |
| CN105731241A (en) * | 2014-12-10 | 2016-07-06 | 襄阳南车电机技术有限公司 | Lifting appliance for assembling motor |
| CN107381347A (en) * | 2017-08-24 | 2017-11-24 | 安徽骏达起重机械有限公司 | The walking Lift-on/Lift-off System of underhung crane |
| CN108892035A (en) * | 2018-07-12 | 2018-11-27 | 绍兴南特起重设备有限公司 | A kind of tubing special purpose crane |
-
2019
- 2019-05-07 CN CN201910374155.4A patent/CN111908325B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH107375A (en) * | 1996-06-18 | 1998-01-13 | Suzuki Shoji:Kk | Hoisting accessory of side groove block |
| CN105731241A (en) * | 2014-12-10 | 2016-07-06 | 襄阳南车电机技术有限公司 | Lifting appliance for assembling motor |
| CN107381347A (en) * | 2017-08-24 | 2017-11-24 | 安徽骏达起重机械有限公司 | The walking Lift-on/Lift-off System of underhung crane |
| CN108892035A (en) * | 2018-07-12 | 2018-11-27 | 绍兴南特起重设备有限公司 | A kind of tubing special purpose crane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112551075A (en) * | 2020-12-10 | 2021-03-26 | 滁州丰源机械有限公司 | Flywheel housing conveying device |
| CN112551075B (en) * | 2020-12-10 | 2022-07-22 | 千科(苏州)医疗科技有限公司 | Flywheel casing conveying device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111908325B (en) | 2022-06-14 |
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