CN112223250B - Manipulator for disassembling and assembling car coupler - Google Patents
Manipulator for disassembling and assembling car coupler Download PDFInfo
- Publication number
- CN112223250B CN112223250B CN202010951613.9A CN202010951613A CN112223250B CN 112223250 B CN112223250 B CN 112223250B CN 202010951613 A CN202010951613 A CN 202010951613A CN 112223250 B CN112223250 B CN 112223250B
- Authority
- CN
- China
- Prior art keywords
- axis
- sliding
- lifting
- frame
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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, a first lifting mechanism and a Z-axis lifting cylinder are arranged on the Y-axis side sliding vehicle, the lower end of the Z-axis lifting cylinder is provided with the rotary driving mechanism, 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 is driven to rotate by the rotary driving mechanism, the lower end of the Z-axis connecting cylinder is provided with a first adsorption component, and the Z1-axis cylinder is provided with a second lifting mechanism and a second adsorption component 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
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:
the utility model provides a manipulator for coupling disassembly and assembly, includes support body, X axle owner's scooter, Y axle side scooter, Z axle lift cylinder, rotary driving mechanism and grabbing device, wherein X axle owner's scooter is located on the support body be equipped with the side board on the X axle owner's scooter, Y axle side scooter is located on the side board be equipped with first elevating system on the Y axle side scooter and pass through the Z axle lift cylinder of first elevating system drive lift, Z axle lift cylinder lower extreme is equipped with rotary driving mechanism, grabbing device includes Z hub connection cylinder and Z1 axle cylinder, just Z hub connection cylinder upper end with Z axle lift cylinder lower extreme rotates to be connected and passes through rotary driving mechanism drive is rotatory, Z hub connection cylinder lower extreme is equipped with first adsorption component, be equipped with second elevating system and second adsorption component on the Z1 axle cylinder, just second adsorption component passes through second elevating system drive lift.
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 cylinder and 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 cylinder 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 body is connected with the Z1 shaft connecting column body 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 attitude or the workpiece attitude, and in addition, the second adsorption component on the Z1-axis cylinder in the grabbing device can also drive and independently lift through the second lifting mechanism on the Z1-axis cylinder according to the actual needs, so that a single adsorption component can be used for sucking workpieces such as a coupler yoke, a coupler head and the like, and two adsorption components can be used for sucking workpieces such as a larger No. 13 coupler and the like together, thereby realizing the flexible operation and finishing of grabbing the workpieces.
2. The invention utilizes the magnetic suction head to adsorb the workpiece, does not need to replace a tool hanger, 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 frame 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 lateral 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 scooter 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 scooter 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 hanging wheel, 309 is a second lower limiting wheel, 310 is a Z-axis lifting slide block, 4 is a Z-axis lifting column, 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 more detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention includes a frame body 1, an X-axis main vehicle 2, a Y-axis side vehicle 3, a Z-axis lifting column 4, a rotation driving mechanism 7, and a gripping device 5, wherein the X-axis main vehicle 2 is disposed on the frame body 1 and moves along the X direction, a side panel 6 is disposed on the X-axis main vehicle 2 along the Y direction, the Y-axis side vehicle 3 is disposed on the side panel 6 and moves along the Y direction, the Y-axis side vehicle 3 is provided with a first lifting mechanism and a Z-axis lifting column 4 which is driven by the first lifting mechanism to lift along the Z direction, 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 includes a Z-axis connecting column 501 and a Z1-axis column 503, 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-axis connecting column 501 is provided with a first adsorption component, the Z-axis connecting column 503 is provided with a second lifting mechanism and a second adsorption component, and the second lifting mechanism is provided with the second lifting drive 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 arranged 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 hanging 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 hanging wheel 308 which roll along the Y-axis sliding lower slide rail 603 on the lower side of the side panel 6. As shown in fig. 4, a Y-axis sliding motor 302 is disposed on the Y-axis side sliding frame 301, and a Y-axis sliding gear 303 is disposed on an output shaft of the Y-axis sliding motor 302, and as shown in fig. 3, a Y-axis sliding rack 601 is disposed on the side panel 6 and is engaged 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, and then the Y-axis side sliding frame 301 is driven 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 slewing bearing 702 to rotate, and the slewing bearing 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 nut is sleeved at the lower end of the lead screw 505, a mounting shaft 506 is disposed at the upper side of the second adsorption assembly, and is disposed in the Z1-axis column 503 and sleeved at the lower end of the lead screw 505, and the nut is fixedly connected to the mounting shaft 506. 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-axis 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 a rack body 1 fixed on the ground as a support body of the whole decomposition manipulator, an X-axis main sliding vehicle 2 can move on the rack body 1 along the X direction, when the X-axis main sliding vehicle 2 moves in place, a Y-axis side sliding vehicle 3 can move on a side panel 6 along the Y direction, when the Y-axis side sliding vehicle 3 moves in place, a Z-axis lifting column 4 can drive on the Y-axis side sliding vehicle 3 to move up and down along the Z direction through a first lifting mechanism, when the Z-axis lifting column 4 lifts in place, the whole grabbing device 5 can drive to rotate around the Z-axis integrally through a rotary driving mechanism 7 arranged at the lower end of the Z-axis lifting column 4, and after the grabbing device 5 rotates in place, a second adsorption component at the lower end of the Z1-axis column 503 can also drive to lift independently through a second lifting mechanism on the Z1-axis column 503, and the first adsorption component and the second adsorption component are both provided with a magnetic suction head 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 (3)
1. The utility model provides a manipulator for coupling disassembling and assembling which characterized in that: the device comprises a rack body (1), an X-axis main sliding vehicle (2), a Y-axis side sliding vehicle (3), Z-axis lifting cylinders (4), a rotary driving mechanism (7) and a grabbing device (5), wherein the X-axis main sliding vehicle (2) is arranged on the rack body (1), side panels (6) are arranged on the X-axis main sliding vehicle (2), the Y-axis side sliding vehicle (3) is arranged on the side panels (6), a first lifting mechanism and the Z-axis lifting cylinders (4) driven to lift through the first lifting mechanism are arranged on the Y-axis side sliding vehicle (3), the rotary driving mechanism (7) is arranged at the lower ends of the Z-axis lifting cylinders (4), the grabbing device (5) comprises Z-axis connecting cylinders (501) and Z1-axis cylinders (503), the upper ends of the Z-axis connecting cylinders (501) are rotatably connected with the lower ends of the Z-axis lifting cylinders (4) and are driven to rotate through the rotary driving mechanism (7), a first adsorption component is arranged at the lower ends of the Z-axis connecting cylinders (501), a second adsorption component and a second adsorption component is arranged on the Z-axis connecting cylinders (503), and a second lifting mechanism (7) is arranged on the second lifting mechanism;
an X-axis main sliding frame (201) of the X-axis main sliding vehicle (2) is connected with a cross frame (101) on the frame body (1) in a sliding mode, 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);
an X-axis sliding upper slide rail (104) is arranged on the upper side of the transverse frame (101), an 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 X-axis main sliding frame (201), a first upper limiting wheel (206) and a first upper change gear (207) are arranged on the first upper slide seat (204) and roll along the X-axis sliding upper slide rail (104), and a first lower limiting wheel (208) and a first lower change gear (209) are arranged on the first lower slide seat (205) and roll along the X-axis sliding lower slide rail (106);
a Y-axis side sliding frame (301) of the Y-axis side sliding vehicle (3) is connected with the side panel (6) in a sliding mode, a Y-axis sliding motor (302) is arranged on the Y-axis side sliding 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);
a Y-axis sliding upper slide rail (602) is arranged on the upper side of the side panel (6), a Y-axis sliding lower slide rail (603) is arranged on the lower side of the side panel, a second upper slide seat (304) and a second lower slide seat (305) are arranged on the Y-axis side sliding frame (301), a second upper limiting wheel (307) and a second upper change gear (306) are arranged on the second upper slide seat (304) and roll along the Y-axis sliding upper slide rail (602), and a second lower limiting wheel (309) and a second lower change gear (308) are arranged on the second lower slide seat (305) and roll along the Y-axis sliding lower slide rail (603);
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 the 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);
the Z shaft connecting column (501) is connected with the Z1 shaft connecting column (503) through a connecting plate (502);
rotation driving mechanism (7) include rotating electrical machines (701) and slewing bearing (702), and wherein slewing bearing (702) are located Z axle lift cylinder (4) lower extreme, just slewing bearing (702) pass through rotating electrical machines (701) drive rotates, the Z axle connecting cylinder (501) upper end of grabbing device (5) be equipped with flange (510) with slewing bearing (702) link firmly.
2. The manipulator for disassembling and assembling a coupler according to claim 1, characterized in that: 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).
3. The manipulator for disassembling and assembling a coupler according to claim 1, characterized in that: 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010951613.9A CN112223250B (en) | 2020-09-11 | 2020-09-11 | Manipulator for disassembling and assembling car coupler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010951613.9A CN112223250B (en) | 2020-09-11 | 2020-09-11 | Manipulator for disassembling and assembling car coupler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112223250A CN112223250A (en) | 2021-01-15 |
| CN112223250B true CN112223250B (en) | 2022-11-29 |
Family
ID=74117247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010951613.9A Active CN112223250B (en) | 2020-09-11 | 2020-09-11 | Manipulator for disassembling and assembling car coupler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112223250B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174281A (en) * | 1994-12-26 | 1996-07-09 | Chuo Giken:Kk | Mechanism for taking out and pressing reinforcement to be used in device for manufacturing large steel structure |
| JP2008239292A (en) * | 2007-03-27 | 2008-10-09 | Nakanishi Metal Works Co Ltd | Transfer device |
| JP2010017836A (en) * | 2008-07-14 | 2010-01-28 | Atel Corp | Substrate transfer device |
| CN107030472A (en) * | 2017-06-21 | 2017-08-11 | 沈阳清林机械有限公司 | Wheel is to vertical disassembler |
| CN207915464U (en) * | 2017-10-17 | 2018-09-28 | 重庆合玉智能装备有限公司 | Three-D manipulator |
| CN208460729U (en) * | 2018-05-29 | 2019-02-01 | 深圳市倍斯特科技股份有限公司 | Overturn feeding mechanism |
| CN210795033U (en) * | 2019-11-07 | 2020-06-19 | 斯泰克工业机械(昆山)有限公司 | Carrying and stacking manipulator |
| CN111546370A (en) * | 2020-04-29 | 2020-08-18 | 沈阳清林机械有限公司 | Coupler disassembling and assembling manipulator |
-
2020
- 2020-09-11 CN CN202010951613.9A patent/CN112223250B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174281A (en) * | 1994-12-26 | 1996-07-09 | Chuo Giken:Kk | Mechanism for taking out and pressing reinforcement to be used in device for manufacturing large steel structure |
| JP2008239292A (en) * | 2007-03-27 | 2008-10-09 | Nakanishi Metal Works Co Ltd | Transfer device |
| JP2010017836A (en) * | 2008-07-14 | 2010-01-28 | Atel Corp | Substrate transfer device |
| CN107030472A (en) * | 2017-06-21 | 2017-08-11 | 沈阳清林机械有限公司 | Wheel is to vertical disassembler |
| CN207915464U (en) * | 2017-10-17 | 2018-09-28 | 重庆合玉智能装备有限公司 | Three-D manipulator |
| CN208460729U (en) * | 2018-05-29 | 2019-02-01 | 深圳市倍斯特科技股份有限公司 | Overturn feeding mechanism |
| CN210795033U (en) * | 2019-11-07 | 2020-06-19 | 斯泰克工业机械(昆山)有限公司 | Carrying and stacking manipulator |
| CN111546370A (en) * | 2020-04-29 | 2020-08-18 | 沈阳清林机械有限公司 | Coupler disassembling and assembling manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112223250A (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111906531B (en) | Electric locomotive wheel drive unit assembly line | |
| CN110948206A (en) | Bogie assembling and forming process and bolster and side frame assembling machine | |
| CN111390816A (en) | Six-freedom-degree posture adjusting platform for assembling shaft products | |
| CN113173389A (en) | Automatic transmission device of train wheel axle that can adapt to many gauge and can turn to | |
| CN206502556U (en) | Wireless remote control omnibearing ambulation lifting platform truck with self-locking | |
| CN206325749U (en) | Many gauge wheels are to the wheel of paint line to whirligig | |
| CN112223250B (en) | Manipulator for disassembling and assembling car coupler | |
| CN202037179U (en) | Multifunctional overhaul device of rolling mill | |
| CN108689172A (en) | A kind of automatic loading/unloading processing unit (plant) of glass panel | |
| CN202717267U (en) | Heavy workpiece conveying structure | |
| CN111546370B (en) | Coupler disassembling and assembling manipulator | |
| CN216709313U (en) | Bogie replacing equipment | |
| CN217596328U (en) | Welding production line system for arm body of climbing vehicle crank arm | |
| CN114212169B (en) | Automobile combined flexible assembly production line | |
| CN115890586A (en) | Mechanical device for assisting in assembling and disassembling train door leaf | |
| CN112938371B (en) | Multi-vehicle traveling vehicle receiving machine | |
| CN213106669U (en) | Wheel set driving device maintenance workbench | |
| CN212653367U (en) | Six-freedom-degree posture adjusting platform for assembling shaft products | |
| CN2795147Y (en) | Moving turnover car | |
| CN219705102U (en) | Modularized assembly process trolley for overhauling truck braking system | |
| CN111633615A (en) | Auxiliary sleeving machine, system and method formed by bogie frame | |
| CN115446587B (en) | Railway wagon wheel pair bearing front cover dismounting system | |
| CN211278245U (en) | Assembling mechanism for bogie primary suspension device | |
| CN217703448U (en) | Railway transportation operation re-hooking robot | |
| CN213768039U (en) | Automatic pen point steering mechanism of pen holder thermal transfer printer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |