CN112223250A

CN112223250A - Manipulator for disassembling and assembling car coupler

Info

Publication number: CN112223250A
Application number: CN202010951613.9A
Authority: CN
Inventors: 王清林
Original assignee: Shenyang Qinglin Machinery Co ltd
Current assignee: Shenyang Qinglin Machinery Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-01-15
Anticipated expiration: 2040-09-11
Also published as: CN112223250B

Abstract

The invention relates to the field of railway passenger-freight train and subway vehicle equipment machinery, in particular to a manipulator for disassembling and assembling a car coupler, which comprises a frame body, an X-axis main sliding vehicle, a Y-axis side sliding vehicle, a Z-axis lifting cylinder, a rotary driving mechanism and a grabbing device, wherein the X-axis main sliding vehicle is arranged on the frame body, a side panel is arranged on the X-axis main sliding vehicle, the Y-axis side sliding vehicle is arranged on the side panel, the Y-axis side scooter is provided with a first lifting mechanism and a Z-axis lifting column body, the lower end of the Z-axis lifting column body is provided with a rotary driving mechanism, the gripping device comprises a Z-axis connecting column body and a Z1-axis column body, and the upper end of the Z-axis connecting column body is rotationally connected with the lower end of the Z-axis lifting column body and is driven to rotate by the rotary driving mechanism, the lower end of the Z-axis connecting column body is provided with a first adsorption assembly, and the Z1-axis connecting column body is provided with a second lifting mechanism and a second adsorption assembly which is driven to lift by the second lifting mechanism. The coupler can flexibly grab parts and quickly transfer the parts in the disassembly and assembly process of the coupler.

Description

Manipulator for disassembling and assembling car coupler

Technical Field

The invention relates to the field of railway passenger-freight train and subway vehicle equipment machinery, in particular to a manipulator for disassembling and assembling a car coupler.

Background

The coupling is common part on railway passenger-cargo vehicle and railcar automobile body, general coupling is after using a period, need regularly overhaul, and need decompose into various spare parts to the coupling during maintenance, transport the corresponding maintenance station to different parts again and go, carry out classification detection and equipment to different kinds of part by special equipment, this just needs to carry and place the part of different kinds, and part volume weight has big or small, mainly transport corresponding station with the coupling part by means of truss hoist and mount transport or manual handling among the prior art, waste time and energy, low efficiency, and the cost of labor is high, the security is poor.

Disclosure of Invention

The invention aims to provide a manipulator for disassembling and assembling a car coupler, which can flexibly operate and grab parts and quickly convey all the parts to corresponding stations in the process of disassembling and assembling parts of the car coupler, thereby realizing automatic overhauling and assembling and meeting the production and use requirements.

The purpose of the invention is realized by the following technical scheme:

a manipulator for disassembling and assembling a car coupler comprises a frame body, an X-axis main sliding vehicle, a Y-axis side sliding vehicle, a Z-axis lifting cylinder, a rotary driving mechanism and a grabbing device, wherein the X-axis main sliding vehicle is arranged on the frame body, a side panel is arranged on the X-axis main sliding vehicle, the Y-axis side sliding vehicle is arranged on the side panel, a first lifting mechanism and the Z-axis lifting cylinder driven to lift through the first lifting mechanism are arranged on the Y-axis side sliding vehicle, the rotary driving mechanism is arranged at the lower end of the Z-axis lifting cylinder, the grabbing device comprises a Z-axis connecting cylinder and a Z1-axis cylinder, the upper end of the Z-axis connecting cylinder is rotatably connected with the lower end of the Z-axis lifting cylinder and driven to rotate through the rotary driving mechanism, a first adsorption component is arranged at the lower end of the Z-axis connecting cylinder, and a second lifting mechanism and a second adsorption component are arranged on the Z1, and the second adsorption component is driven to lift through the second lifting mechanism.

An X-axis main sliding frame of the X-axis main sliding vehicle is connected with a cross frame on the frame body in a sliding mode, an X-axis sliding motor is arranged on the X-axis main sliding frame, an X-axis sliding gear is arranged on an output shaft of the X-axis sliding motor, and an X-axis sliding rack is arranged on the cross frame and meshed with the X-axis sliding gear.

The crossbearer upside is equipped with the X axle and slides and go up slide rail, downside and be equipped with the X axle and slide down the slide rail, be equipped with first upper slide and first slide on the X axle owner slides the frame, just be equipped with first spacing wheel and first last change gear on the first upper slide along the X axle slides and goes up the slide rail and roll, be equipped with first spacing wheel and first change gear along on the first slide the X axle slides down the slide rail and rolls.

The Y-axis side sliding frame of the Y-axis side sliding vehicle is connected with the side panel in a sliding mode, a Y-axis sliding motor is arranged on the Y-axis side sliding frame, a Y-axis sliding gear is arranged on an output shaft of the Y-axis sliding motor, and a Y-axis sliding rack is arranged on the side panel and meshed with the Y-axis sliding gear.

The side board upside is equipped with Y axle and slides and goes up slide rail, downside and is equipped with Y axle and slides down the slide rail, be equipped with second upper slide and second lower slide on the Y axle side slides the frame, just be equipped with spacing wheel on the second and second on the slide on the second and the change gear along Y axle slides the slide rail and rolls, be equipped with spacing wheel under the second and the change gear along Y axle slides down the slide rail and rolls down on the second lower slide.

The Z-axis lifting column is connected with the Y-axis side sliding frame in a sliding mode, the first lifting mechanism comprises a Z-axis lifting motor, a Z-axis lifting gear and a Z-axis lifting rack, the Z-axis lifting motor is fixedly installed on the Y-axis side sliding frame, the Z-axis lifting gear is installed on an output shaft of the Z-axis lifting motor, the Z-axis lifting rack is installed on the Z-axis lifting column, and the Z-axis lifting gear is meshed with the Z-axis lifting rack.

The second lifting mechanism comprises a Z1 lifting driving device, a lead screw and a nut, wherein the lead screw is arranged in the Z1 shaft column body and is driven to rotate by the Z1 lifting driving device, the lower end of the lead screw is sleeved with the nut, the upper side of the second adsorption component is provided with an installation shaft which is arranged in the Z1 shaft column body and sleeved at the lower end of the lead screw, and the nut is fixedly connected with the installation shaft.

And the Z shaft connecting column is connected with the Z1 shaft column through a connecting plate.

The first adsorption assembly and the second adsorption assembly are identical in structure and comprise mounting plates, springs and magnetic suction heads, mounting shafts are arranged on the mounting plates and mounted on corresponding cylinders, and the magnetic suction heads are connected with the mounting plates through the springs.

The invention has the advantages and positive effects that:

1. the invention can flexibly operate and grab workpieces according to actual needs, wherein the X-axis main sliding vehicle and the Y-axis side sliding vehicle adjust the grabbing device and the X-direction and Y-direction positions of the workpieces, the Z-axis lifting cylinder drives and adjusts the grabbing device and the Z-direction height of the workpieces through the first lifting mechanism, the rotary driving mechanism drives the grabbing device to integrally rotate around the Z axis to adjust the grabbing posture or the workpiece posture, in addition, the second adsorption component on the Z1 shaft cylinder in the grabbing device can also drive and independently lift through the second lifting mechanism on the Z1 shaft cylinder according to the actual needs, so that a single adsorption component can be used for sucking workpieces such as a coupler yoke frame and a coupler head, and two adsorption components can be used for sucking workpieces such as a larger No. 13 coupler under the combined action, thereby realizing the flexible operation and finishing the grabbing of the workpieces.

2. The invention utilizes the magnetic suction head to adsorb the workpiece, does not need to replace a tool lifting appliance, and is simple and rapid to use.

Drawings

Figure 1 is a schematic structural view of the present invention,

figure 2 is a schematic structural view of the shelf body in figure 1,

FIG. 3 is a schematic view of the structure of the main X-axis scooter and the side panels of FIG. 1

Figure 4 is a schematic view of the construction of the Y-axis sideslip scooter of figure 1,

figure 5 is a schematic structural view of the Z-axis lifting column of figure 1,

fig. 6 is a schematic structural view of the grasping apparatus in fig. 1.

Wherein 1 is a frame body, 101 is a cross frame, 102 is a vertical plate, 103 is an X-axis sliding rack, 104 is an X-axis sliding upper slide rail, 105 is a base, 106 is an X-axis sliding lower slide rail, 2 is an X-axis main scooter, 201 is an X-axis main sliding frame, 202 is an X-axis sliding motor, 203 is an X-axis sliding gear, 204 is a first upper slide seat, 205 is a first lower slide seat, 206 is a first upper limit wheel, 207 is a first upper change gear, 208 is a first lower limit wheel, 209 is a first lower change gear, 3 is a Y-axis side scooter, 301 is a Y-axis side sliding frame, 302 is a Y-axis sliding motor, 303 is a Y-axis sliding gear, 304 is a second upper slide seat, 305 is a second lower slide seat, 306 is a second upper change gear, 307 is a second upper limit wheel, 308 is a second lower change gear, 309 is a second lower limit wheel, 310 is a Z-axis lifting slide block, 4 is a Z-axis lifting column body, 401 is a Z-axis lifting motor, 402 is a Z-axis lifting gear, 403 is a mounting substrate, 404 is a Z-axis lifting rack, 405 is a Z-axis lifting slide rail, 5 is a gripping device, 501 is a Z-axis connecting column, 502 is a connecting plate, 503 is a Z1-axis column, 504 is a Z1-axis lifting driving device, 505 is a lead screw, 506 is a mounting shaft, 507 is a mounting plate, 508 is a spring, 509 is a magnetic suction head, 510 is a connecting flange, 6 is a side panel, 601 is a Y-axis sliding rack, 602 is a Y-axis sliding upper slide rail, 603 is a Y-axis sliding lower slide rail, 7 is a rotation driving mechanism, 701 is a rotation motor, and 702 is a slewing bearing.

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 comprises a frame body 1, an X-axis main scooter 2, a Y-axis side scooter 3, a Z-axis lifting column 4, a rotation driving mechanism 7 and a gripping device 5, wherein the X-axis main scooter 2 is arranged on the frame body 1 and moves along the X direction, a side panel 6 is arranged on the X-axis main scooter 2 along the Y direction, the Y-axis side scooter 3 is arranged on the side panel 6 and moves along the Y direction, a first lifting mechanism and a Z-axis lifting column 4 driven by the first lifting mechanism to lift along the Z direction are arranged on the Y-axis side scooter 3, the lower end of the Z-axis lifting column 4 is provided with the rotation driving mechanism 7, as shown in fig. 6, the gripping device 5 comprises a Z-axis connecting column 501 and a Z1-axis column 503, and the upper end of the Z-axis connecting column 501 is rotatably connected with the lower end of the Z-axis lifting column 4 and is driven to rotate by the rotation driving mechanism 7, the lower end of the Z shaft connecting column 501 is provided with a first adsorption component, the Z1 shaft column 503 is provided with a second lifting mechanism and a second adsorption component, and the second adsorption component is driven to lift through the second lifting mechanism.

As shown in fig. 2, the frame body 1 includes a cross frame 101, a vertical plate 102 and a base 105, the vertical plate 102 is vertically disposed at both ends of the cross frame 101, and the base 105 for supporting is disposed at the lower end of the vertical plate 102. The X-axis main scooter 2 is slidably connected to the cross frame 101, as shown in fig. 2, the upper side of the cross frame 101 is provided with an X-axis sliding upper slide rail 104, the lower side of the cross frame 101 is provided with an X-axis sliding lower slide rail 106, as shown in fig. 3, the X-axis main scooter frame 201 of the X-axis main scooter 2 is provided with two first upper slides 204 and a first lower slide 205 in a delta shape, wherein the first upper slide 204 is provided with two first upper limit wheels 206 and a first upper hanging wheel 207 which roll along the X-axis sliding upper slide rail 104 on the upper side of the cross frame 101, and the first lower slide 205 is provided with two first lower limit wheels 208 and a first lower hanging wheel 209 which roll along the X-axis sliding lower slide rail 106 on the lower side of the cross frame 101. As shown in fig. 3, an X-axis sliding motor 202 is disposed on the X-axis main sliding frame 201, an X-axis sliding gear 203 is disposed on an output shaft of the X-axis sliding motor 202, and as shown in fig. 2, an X-axis sliding rack 103 is disposed on the cross frame 101 and meshed with the X-axis sliding gear 203. When the device works, the X-axis sliding motor 202 drives the X-axis sliding gear 203 to rotate and roll along the X-axis sliding rack 103, so as to drive the X-axis main sliding frame 201 to move along the X direction.

As shown in fig. 3, the side panel 6 is vertically disposed on the X-axis main sliding frame 201 along the Y-direction, the Y-axis side sliding vehicle 3 is slidably connected to the side panel 6, the upper side of the side panel 6 is provided with a Y-axis sliding upper slide rail 602, and the lower side of the side panel 6 is provided with a Y-axis sliding lower slide rail 603, as shown in fig. 4, the Y-axis side sliding frame 301 of the Y-axis side sliding vehicle 3 is provided with two second upper slides 304 and a second lower slide 305 in a delta shape, wherein the second upper slide 304 is provided with two second upper limit wheels 307 and a second upper change wheel 306 which roll along the Y-axis sliding upper slide rail 602 on the upper side of the side panel 6, and the second lower slide 305 is provided with two second lower limit wheels 309 and a second lower change wheel 308 which roll along the Y-axis sliding lower slide rail 603 on the lower side of the side panel. As shown in fig. 4, a Y-axis sliding motor 302 is provided on the Y-axis side sliding frame 301, and a Y-axis sliding gear 303 is provided on an output shaft of the Y-axis sliding motor 302, and as shown in fig. 3, a Y-axis sliding rack 601 is provided on the side panel 6 to engage with the Y-axis sliding gear 303. When the device works, the Y-axis sliding motor 302 drives the Y-axis sliding gear 303 to rotate and roll along the Y-axis sliding rack 601, so as to drive the Y-axis side sliding vehicle frame 301 to move along the Y direction.

As shown in fig. 4 to 5, the Z-axis lifting column 4 is slidably connected to the Y-axis side sliding frame 301, wherein as shown in fig. 4, a Z-axis lifting slider 310 is disposed on the Y-axis side sliding frame 301, as shown in fig. 5, a Z-axis lifting slide rail 405 matched with the Z-axis lifting slider 310 is disposed on the Z-axis lifting column 4, a mounting substrate 403 is disposed on the Z-axis lifting column 4, and the Z-axis lifting slide rail 405 is disposed on the mounting substrate 403.

As shown in fig. 4 to 5, the first lifting mechanism includes a Z-axis lifting motor 401, a Z-axis lifting gear 402, and a Z-axis lifting rack 404, wherein the Z-axis lifting motor 401 is fixedly mounted on the Y-axis side sliding frame 301, the Z-axis lifting gear 402 is mounted on an output shaft of the Z-axis lifting motor 401, the Z-axis lifting rack 404 is mounted on the Z-axis lifting column 4, and the Z-axis lifting gear 402 is engaged with the Z-axis lifting rack 404. When the device works, the Z-axis lifting motor 401 drives the Z-axis lifting gear 402 to rotate, and then the Z-axis lifting rack 404 is driven to drive the Z-axis lifting column 4 to lift.

As shown in fig. 5, a rotation driving mechanism 7 is disposed at the lower end of the Z-axis lifting column 4, in this embodiment, the rotation driving mechanism 7 includes a rotating motor 701 and a slewing bearing 702, wherein the slewing bearing 702 is disposed at the lower end of the Z-axis lifting column 4, and the slewing bearing 702 is driven to rotate by the rotating motor 701, as shown in fig. 6, a connecting flange 510 is disposed at the upper end of the Z-axis connecting column 501 of the gripping device 5 and is fixedly connected with the slewing bearing 702. When the device works, the rotating motor 701 drives the rotary support 702 to rotate, and the rotary support 702 drives the Z-axis connecting column 501 to rotate through the connecting flange 510, so that the whole grabbing device 5 is driven to rotate around the Z axis. The slewing bearing 702 is well known in the art and is a commercially available product.

As shown in fig. 6, the gripping device 5 includes a Z-axis connecting column 501 and a Z1-axis column 503, the Z-axis connecting column 501 is connected to the Z1-axis column 503 through a connecting plate 502, the second lifting mechanism includes a Z1-axis lifting driving device 504, a lead screw 505 and a nut, wherein the Z1-axis lifting driving device 504 is disposed at the upper end of the Z1-axis column 503, the lead screw 505 is disposed inside the Z1-axis column 503 and is driven to rotate by the Z1-axis lifting driving device 504, the lower end of the lead screw 505 is sleeved with the nut, the upper side of the second adsorption component is provided with a mounting shaft 506, the mounting shaft 506 is disposed in the Z1-axis column 503 and is sleeved at the lower end of the lead screw 505, and the nut is fixedly connected to the. When the second lifting mechanism works, the screw 505 is driven to rotate by the Z1 shaft lifting driving device 504, and drives the nut to drive the mounting shaft 506 to move up and down, so as to drive the second adsorption assembly to move up and down. In this embodiment, the Z1 shaft lifting driving device 504 is a motor.

As shown in fig. 6, the first and second adsorption assemblies are identical in structure, and each of the first and second adsorption assemblies includes a mounting plate 507, a spring 508 and a magnetic suction head 509, the mounting plate 507 is provided with a mounting shaft mounted on a corresponding column, the magnetic suction head 509 is connected to the mounting plate 507 through a plurality of springs 508, the springs 508 play a role in buffering, and the magnetic suction head 509 is well known in the art and is a commercially available product.

The working principle of the invention is as follows:

the invention uses the frame body 1 fixed on the ground as the supporting body of the whole decomposing manipulator, the X-axis main sliding vehicle 2 can move along the X direction on the frame body 1, when the X-axis main vehicle 2 is moved into position, the Y-axis sideslip vehicle 3 can be moved in the Y-direction on said side panel 6, when the Y-axis sideslip scooter 3 moves in place, the Z-axis lifting column 4 can be driven by the first lifting mechanism to move on the Y-axis sideslip scooter 3 along the Z direction in a lifting way, when the Z-axis lifting column 4 is lifted and lowered to a proper position, the whole gripping device 5 can be driven to rotate around the Z-axis integrally by the rotary driving mechanism 7 arranged at the lower end of the Z-axis lifting column 4, and after the gripping device 5 is rotated to a proper position, the second suction assembly at the lower end of the Z1 shaft column 503 can also be driven to independently lift by the second lifting mechanism on the Z1 shaft column 503, the first adsorption component and the second adsorption component are both provided with magnetic suction heads 509 for adsorbing workpieces. The invention can utilize a single adsorption component to adsorb workpieces such as a coupler yoke and a coupler head, and can utilize two adsorption components to jointly adsorb larger workpieces such as No. 13 coupler, thereby realizing flexible operation to complete workpiece grabbing.

Claims

1. The utility model provides a manipulator for coupling disassembling and assembling which characterized in that: comprises a frame body (1), an X-axis main sliding vehicle (2), a Y-axis side sliding vehicle (3), a Z-axis lifting column body (4), a rotary driving mechanism (7) and a grabbing device (5), wherein the X-axis main sliding vehicle (2) is arranged on the frame body (1), a side panel (6) is arranged on the X-axis main sliding vehicle (2), the Y-axis side sliding vehicle (3) is arranged on the side panel (6), the Y-axis side sliding vehicle (3) is provided with a first lifting mechanism and a Z-axis lifting column body (4) driven to lift by the first lifting mechanism, the lower end of the Z-axis lifting column body (4) is provided with the rotary driving mechanism (7), the grabbing device (5) comprises a Z-axis connecting column body (501) and a Z1-axis column body (503), the upper end of the Z-axis connecting column body (501) is rotatably connected with the lower end of the Z-axis lifting column body (4) and is driven to rotate by the rotary driving mechanism (, the lower end of the Z shaft connecting column (501) is provided with a first adsorption component, the Z1 shaft column (503) is provided with a second lifting mechanism and a second adsorption component, and the second adsorption component is driven to lift through the second lifting mechanism.

2. The manipulator for coupler disassembly and assembly of claim 1, wherein: an X-axis main sliding frame (201) of the X-axis main sliding vehicle (2) is in sliding connection with a cross frame (101) on the frame body (1), an X-axis sliding motor (202) is arranged on the X-axis main sliding frame (201), an X-axis sliding gear (203) is arranged on an output shaft of the X-axis sliding motor (202), and an X-axis sliding rack (103) meshed with the X-axis sliding gear (203) is arranged on the cross frame (101).

3. The manipulator for coupler disassembly and assembly of claim 2, wherein: the X-axis sliding upper slide rail (104) is arranged on the upper side of the transverse frame (101), the X-axis sliding lower slide rail (106) is arranged on the lower side of the transverse frame, a first upper slide seat (204) and a first lower slide seat (205) are arranged on the upper side of the X-axis main sliding frame (201), a first upper limiting wheel (206) and a first upper hanging wheel (207) are arranged on the first upper slide seat (204), the X-axis sliding upper slide rail (104) rolls, a first lower limiting wheel (208) and a first lower hanging wheel (209) are arranged on the first lower slide seat (205), and the X-axis sliding lower slide rail (106) rolls.

4. The manipulator for coupler disassembly and assembly of claim 1, wherein: the Y-axis side sliding vehicle is characterized in that a Y-axis side sliding vehicle frame (301) of the Y-axis side sliding vehicle (3) is in sliding connection with the side panel (6), a Y-axis sliding motor (302) is arranged on the Y-axis side sliding vehicle frame (301), a Y-axis sliding gear (303) is arranged on an output shaft of the Y-axis sliding motor (302), and a Y-axis sliding rack (601) meshed with the Y-axis sliding gear (303) is arranged on the side panel (6).

5. The manipulator for coupler disassembly and assembly of claim 4, wherein: side board (6) upside is equipped with Y axle and slides and goes up slide rail (602), downside are equipped with Y axle and slide down slide rail (603), be equipped with second upper carriage (304) and second lower carriage (305) on Y axle side sliding frame (301), just be equipped with spacing wheel (307) and second upper change gear (306) on second upper carriage (304) and follow Y axle slides and goes up slide rail (602) and roll, be equipped with spacing wheel (309) and second lower change gear (308) under second lower carriage (305) and follow Y axle slides down slide rail (603) and rolls.

6. The manipulator for coupler disassembly and assembly of claim 1, wherein: the Z-axis lifting column (4) is connected with the Y-axis side sliding frame (301) in a sliding mode, the first lifting mechanism comprises a Z-axis lifting motor (401), a Z-axis lifting gear (402) and a Z-axis lifting rack (404), the Z-axis lifting motor (401) is fixedly installed on the Y-axis side sliding frame (301), the Z-axis lifting gear (402) is installed on an output shaft of the Z-axis lifting motor (401), the Z-axis lifting rack (404) is installed on the Z-axis lifting column (4), and the Z-axis lifting gear (402) is meshed with the Z-axis lifting rack (404).

7. The manipulator for coupler disassembly and assembly of claim 1, wherein: the second lifting mechanism comprises a Z1 lifting driving device (504), a lead screw (505) and a nut, wherein the lead screw (505) is arranged inside a Z1 shaft column body (503) and is driven to rotate by the Z1 lifting driving device (504), the nut is sleeved at the lower end of the lead screw (505), a mounting shaft (506) is arranged on the upper side of the second adsorption component and is arranged in the Z1 shaft column body (503) and sleeved at the lower end of the lead screw (505), and the nut is fixedly connected with the mounting shaft (506).

8. The manipulator for coupler disassembly and assembly of claim 1, wherein: the Z-axis connecting column (501) is connected with the Z1-axis column (503) through a connecting plate (502).

9. The manipulator for coupler disassembly and assembly of claim 1, wherein: the first adsorption component and the second adsorption component are identical in structure and respectively comprise an installation plate (507), a spring (508) and a magnetic suction head (509), the installation plate (507) is provided with an installation shaft which is installed on a corresponding column body, and the magnetic suction head (509) is connected with the installation plate (507) through a plurality of springs (508).