CN112338897A

CN112338897A - Transverse pull rod hoisting power-assisted manipulator

Info

Publication number: CN112338897A
Application number: CN202011390753.XA
Authority: CN
Inventors: 许波; 邓日; 田康; 杜高飞; 王洪兵; 胡国宏
Original assignee: Dongfeng Dana Axle Co Ltd
Current assignee: Dongfeng Dana Axle Co Ltd
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-02-09

Abstract

A transverse pull rod hoisting power-assisted manipulator is mainly used for hoisting a front axle transverse pull rod assembly. The suspension device is hung below the longitudinal guide rail at one side of the assembly line body through the transverse guide rail, and can freely move in the front, back, left and right directions of the assembly line body; the large arm and the control cabinet of the mechanical arm are fixed on the rotating body and can rotate 360 degrees around the upright post, the small arm is arranged on the large arm through a connecting shaft, and the small arm can rotate 270 degrees around the connecting shaft; the tail end clamping mechanism penetrates through the tail end pulley and the joint pulley by a steel wire rope to be wound on a winding drum of the control cabinet, so that the transverse pull rod lifting hook can move up and down and grab the transverse pull rod assembly. According to the invention, the suspension device, the mechanical arm, the tail end clamping mechanism and the control cabinet are sequentially connected together, and the steel wire rope is driven by the driving motor to reciprocate, so that the operations of grabbing, carrying, lifting, butt joint and the like of the tie rod assembly can be easily completed, and the operation is convenient and rapid, and the size is large.

Description

Transverse pull rod hoisting power-assisted manipulator

Technical Field

The invention relates to the technical field of part carrying tools in the mechanical manufacturing process, in particular to a power-assisted manipulator for lifting a cross pull rod.

Background

The tie rod assembly on the front axle of the automobile is a long rod part with the length of about 1.8 meters, the diameter phi of 65mm and the weight of 65 Kg. At present, because of the obstruction of a wind gun suspension steel frame on an assembly line body of a bridge assembly, common hoisting devices such as a crown block, a portable crane and the like can not directly hoist a tie rod assembly to an assembly line clamp in the middle of the assembly line body, and only a manual carrying mode is adopted. During the assembly process of the front axle assembly, the transverse pull rod assembly is manually grabbed from a storage rack on the side of the assembly line, is carried to a clamp of the assembly line and is then installed on the front axle assembly. Hundreds of front axle assemblies are produced every day, the manual carrying capacity reaches nearly twenty thousand kilograms, the labor intensity is high, and the efficiency is very low.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide the tie rod lifting power-assisted manipulator which is used for replacing manual handling of the tie rod assembly so as to improve the assembly efficiency of the front axle assembly and reduce the labor intensity.

In order to achieve the purpose, the cross pull rod lifting power-assisted manipulator mainly comprises a suspension device, a control cabinet, a mechanical arm and a tail end clamping mechanism.

The suspension device is a supporting point of the transverse pull rod hoisting power-assisted manipulator, is hung below the longitudinal guide rail on one side of the assembly line body through two transverse guide rails, and can freely move in the front, rear, left and right directions of the assembly line body;

the control cabinet is fixed on a rotating body of the suspension device, and can rotate 360 degrees around the upright post through the rotating body;

the large arm of the mechanical arm is connected with the rotating body, and 360-degree rotation can be realized by the rotating body around the upright post; the small arm is arranged on the large arm through a connecting shaft and can rotate for 270 degrees around the connecting shaft;

and the tail end clamping mechanism penetrates through the tail end pulley and the joint pulley by using a steel wire rope to be wound on a winding drum of the control cabinet, so that the transverse pull rod lifting hook moves up and down and grabs the transverse pull rod assembly.

The suspension device consists of a guide wheel, a suspension bracket, an upright post and a transverse guide rail; the suspension bracket is connected with the transverse guide rail through a guide wheel, and the upper end of the upright post for connecting the rotating body is fixed on the suspension bracket through a bolt; the rotating body is composed of a main shaft, a main body seat, bearings, a locking washer, a groove nut and a clamp spring, the main shaft penetrates through the bearings at the two ends of the main body seat to be connected with the main body seat, the main shaft is axially positioned on the main body seat through the locking washer, the groove nut and the clamp spring, and a flange plate of the main shaft is connected with the stand column.

The control cabinet is fixed on the first end plate of the main body seat of the rotating body and comprises a driving mechanism and an electric control system; a servo motor planetary gear reducer, a pinion, a bull gear and a winding drum are arranged in the control cabinet; a servo motor of the control cabinet drives a pinion to rotate through a planetary gear reducer, the pinion is meshed with a bull gear, the bull gear drives a winding drum to rotate, and the tail end clamping mechanism is controlled to ascend and descend; one end of the steel wire rope is fixed and wound on the winding drum, and the other end of the steel wire rope penetrates through the joint pulley and the tail end pulley of the mechanical arm to hang the tail end clamping mechanism; the cable in the control cabinet is connected with an electronic throttle, an emergency stop switch, a power switch button and an electromagnet adsorption button on the tail end clamping mechanism, an electric control system controls the servo motor to rotate forwards and backwards, and the lifting of the tie rod assembly is realized by the ascending and descending of the tail end clamping mechanism.

The mechanical arm consists of a large arm, a joint pulley, a connecting shaft, a steel wire rope, a small arm and a tail end pulley; big arm and forearm are in same height, and big arm is connected with the end plate two of the main part seat of rotator, and the forearm passes through fastening nut through the connecting axle and installs on big arm, and the forearm adopts Y-shaped structure with big arm junction, and two joint pulleys are installed side by side on the connecting axle, and the smooth and easy motion of guide wire rope, terminal pulley are installed to the end of forearm, convert wire rope into perpendicular gesture from the horizontal gesture on the forearm.

The tail end clamping mechanism consists of an electronic throttle, a handle, a tie rod lifting hook, a force sensor, an emergency stop switch, a power switch button and an electromagnet adsorption button; two tie rod lifting hooks are respectively connected to the tail end of the handle, a force sensor for overload protection in the hoisting process is installed between the tail end clamping mechanism and the steel wire rope, and an electromagnet for adsorbing a tie rod assembly is installed on the tie rod lifting hook.

The invention utilizes the working principles of mechanical rotation, reciprocating motion and the like to ensure that the large arm and the small arm of the mechanical arm can freely rotate like the arm of a person, the steel wire rope is taken as a link to orderly connect the suspension device, the mechanical arm, the tail end clamping mechanism and the control cabinet together, and the steel wire rope is driven by the servo motor to reciprocate, so that an operator can easily complete the operations of grabbing, carrying, lifting, butt joint and the like of the tie rod assembly under the condition that the operator can not basically feel the gravity of an object.

Compared with the prior art, the power-assisted manipulator is suspended beside the assembly line body of the bridge assembly from top to bottom, does not interfere with the original steel structure of the assembly line body, does not occupy a logistics channel beside a production line, does not influence the logistics transportation of the assembly line, can bypass the air gun suspension steel frame on the assembly line body of the bridge assembly by an operator, moves the power-assisted manipulator forwards, backwards, leftwards and rightwards as required, controls a servo motor in a driving mechanism to drive a steel wire rope to reciprocate by operating the tail end clamping mechanism, can freely rotate around the upright post of the suspension device because the mechanical arm, the control cabinet and the tail end clamping mechanism can easily push the tail end clamping mechanism to grab the transverse pull rod assembly at any position, is the same as the horizontal extension of the arm of a person, directly hoists the transverse pull rod assembly to the assembly line clamp, and is convenient and rapid to operate, the assembly efficiency of the bridge assembly can be greatly improved by replacing manual carrying.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic view of the internal structure of the rotating body of fig. 1.

Figure 3 is a schematic view of the robotic arm of figure 1.

Fig. 4 is a schematic structural view of the end holding mechanism of fig. 1.

Fig. 5 is a schematic diagram of the internal structure of the control cabinet of fig. 1.

In the figure: 1. a guide wheel; 2. a suspension bracket; 3. a column; 4. a control cabinet; 5. a rotating body; 6, a big arm; 7. a small arm; 8. a wire rope; 9. a joint pulley; 10. a cable wire; 11. a terminal clamping mechanism; 12. a main shaft; 13. a main body seat; 14. a connecting shaft; 15. fastening a nut; 16. a force sensor; 17. an electromagnet; 18. a tie rod hook; 19. an electronic throttle; 20 electromagnet adsorption button; 21. a power switch button; 22. a scram switch; 23. a handle; 24. a pinion gear; 25. a planetary gear reducer; 26. a servo motor; 27. a bull gear; 28. a reel; 29. a terminal pulley; 30. a transverse guide rail; 31. a longitudinal guide rail; 32. a bearing; 33. a lock washer; 34. a groove nut; 35. a clamp spring; 36. a second end plate; 37. and a first end plate.

Detailed Description

As shown in fig. 1, 2, 3, 4 and 5, the cross-pull rod lifting power-assisted manipulator mainly comprises a suspension device, a control cabinet 4, a mechanical arm and a tail end clamping mechanism 11.

The suspension device is a supporting point of the transverse pull rod hoisting power-assisted manipulator, the suspension device is suspended below the longitudinal guide rail 31 on one side of the assembly line body through two transverse guide rails 30 so as to avoid occupying a material buffer area on the assembly site, and the suspension device can freely move in the front, back, left and right directions of the assembly line body and move along the assembly line. The suspension device mainly comprises a guide wheel 1, a suspension bracket 2, a vertical column 3 and a transverse guide rail 30; the suspension bracket 2 is connected with a transverse guide rail 30 through a guide wheel 1, and the upper end of a vertical column 3 for connecting the rotating body 5 is fixed on the suspension bracket 2 through a bolt; the rotating body 5 is composed of a main shaft 12, a main body seat 13, bearings 32, a locking washer 33, a groove nut 34 and a clamp spring 35, the main shaft 12 penetrates through the bearings 32 at two ends of the main body seat 13 to be connected with the main body seat 13, the main shaft 12 is axially positioned on the main body seat 13 through the locking washer 33, the groove nut 34 and the clamp spring 35, and a flange of the main shaft 12 is connected with the upright post 3.

The control cabinet 4 mainly includes a drive mechanism and an electrical control system. The control cabinet 4 is fixed on the first end plate 37 of the main body seat 13 of the rotating body 5, and the control cabinet 4 can rotate 360 degrees around the upright post 3 through the rotating body 5. A servo motor 26, a planetary gear reducer 25, a pinion 24, a large gear 27 and a winding drum 28 are arranged in the control cabinet 4; a servo motor 26 of the control cabinet 4 drives a pinion 24 to rotate through a planetary gear reducer 25, the pinion 24 is meshed with a bull gear 27, and the bull gear 27 drives a winding drum 28 to rotate so as to control the tail end clamping mechanism 11 to ascend and descend; one end of a steel wire rope 8 is fixed and wound on a winding drum 28, and the other end of the steel wire rope passes through a joint pulley 9 and a tail end pulley 29 of the mechanical arm to hang a tail end clamping mechanism 11; the cable 10 in the control cabinet 4 is connected with an electronic throttle 19, an emergency stop switch 22, a power switch button 21 and an electromagnet adsorption button 20 on the tail end clamping mechanism 11, an electric control system controls a servo motor 26 to rotate forwards and backwards, and the transverse pull rod assembly is lifted and transported by ascending and descending of the tail end clamping mechanism 11. The servo motor 26 is used as the power output of the transverse pull rod hoisting power-assisted manipulator to drive the tail end clamping mechanism 11 to ascend and descend slowly, so that the transverse pull rod assembly is convenient to clamp and hoist.

The mechanical arm mainly comprises a large arm 6, a joint pulley 9, a connecting shaft 14, a steel wire rope 8, a small arm 7 and a tail end pulley 29. The large arm 6 of the mechanical arm is connected with the second end plate 36 of the main body seat 13 of the rotating body 5, 360-degree rotation can be achieved by the rotating body 5 around the upright post 3, the small arm 7 is mounted on the large arm 6 through the connecting shaft 14 through the fastening nut 15, the joint of the small arm 7 and the large arm 6 is of a fork-shaped structure and used for ensuring that the large arm 6 and the small arm 7 are at the same height, space is saved for lifting an upper line of a transverse pull rod assembly, interference with steel structures of an assembly line body is avoided, the small arm 7 is blocked by the large arm 6, the small arm 7 can rotate around the connecting shaft 14 by 270 degrees and is similar to horizontal extension of human arms; the two joint pulleys 9 are arranged on the connecting shaft 14 side by side to guide the steel wire rope 8 to move smoothly, so that the falling risk of the mechanical arm in the rotating process can be effectively avoided; a tip pulley 29 is attached to the tip of the arm 7, and the wire rope 8 is converted from a horizontal posture on the arm 7 to a vertical posture by a guide function of the tip pulley 29. When the mechanical arm is bent, the transverse pull rod assembly on the material frame at the side of the assembly line can be quickly grabbed; when the arm was opened and rotated along with rotator 5, can effectively cover a plurality of pallet on the assembly line, avoided appearing the unable problem with the line of hoist and mount operation.

The tail end clamping mechanism 11 mainly comprises an electronic throttle 19, a handle 23, a tie rod lifting hook 18, a force sensor 16, an emergency stop switch 22, a power switch button 21 and an electromagnet adsorption button 20. The tail end clamping mechanism 11 penetrates through a tail end pulley 29 and a joint pulley 9 by a steel wire rope 8 and is wound on a winding drum 28 of the control cabinet 4, so that the transverse pull rod lifting hook 18 moves up and down and grabs the transverse pull rod assembly. Two tie rod lifting hooks 18 are respectively connected at the tail end of a handle 23, a force sensor 16 is installed between a tail end clamping mechanism 11 and a steel wire rope 8 and used for overload protection in the lifting process of a tie rod assembly and effectively ensuring personnel safety operation, and an electromagnet 17 is installed on the tie rod lifting hook 18 and used for adsorbing the tie rod assembly and avoiding overturning and falling in the process of carrying the tie rod assembly. The electronic throttle 19 is pulled upwards, and the electric control system of the control cabinet 4 controls the servo motor 26 to rotate forwards; the electronic throttle 19 is downwards pulled, and the servo motor 26 reversely rotates; the small gear 24 and the large gear 27 can drive the winding drum 28 to rotate forward and backward, so that the tail end clamping mechanism 11 can lift along with the steel wire rope 8.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a drag link handling helping hand manipulator which characterized in that: the transverse pull rod hoisting power-assisted manipulator consists of a suspension device, a control cabinet (4), a mechanical arm and a tail end clamping mechanism (11);

the suspension device is a supporting point of the transverse pull rod hoisting power-assisted manipulator, is suspended below a longitudinal guide rail (31) on one side of the assembly line body through two transverse guide rails (30), and can freely move in the front, rear, left and right directions of the assembly line body;

the control cabinet (4) is fixed on a rotating body (5) of the suspension device, and the control cabinet (4) can rotate 360 degrees around the upright post (3) through the rotating body (5);

the large arm (6) of the mechanical arm is connected with the rotating body (5), and 360-degree rotation can be realized around the upright post (3) through the rotating body (5); the small arm (7) is arranged on the large arm (6) through a connecting shaft (14), and the small arm (7) can rotate for 270 degrees around the connecting shaft (14);

the tail end clamping mechanism (11) penetrates through a tail end pulley (29) and a joint pulley (9) through a steel wire rope (8) and is wound on a winding drum (28) of the control cabinet (4), so that the transverse pull rod lifting hook (18) can move up and down and can grab the transverse pull rod assembly.

2. The cross-pull rod lifting power-assisted manipulator of claim 1, characterized in that: the suspension device consists of a guide wheel (1), a suspension bracket (2), a vertical column (3) and a transverse guide rail (30); the suspension bracket (2) is connected with the transverse guide rail (30) through the guide wheel (1), and the upper end of the upright post (3) for connecting the rotating body (5) is fixed on the suspension bracket (2) through a bolt; the rotating body (5) is composed of a main shaft (12), a main body seat (13), a bearing (32), a locking washer (33), a groove nut (34) and a clamp spring (35), the main shaft (12) penetrates through the bearing (32) at two ends of the main body seat (13) to be connected with the main body seat (13), the main shaft (12) is axially positioned on the main body seat (13) through the locking washer (33), the groove nut (34) and the clamp spring (35), and the flange of the main shaft (12) is connected with the upright post (3).

3. The cross-pull rod lifting power-assisted manipulator of claim 1, characterized in that: the control cabinet (4) is fixed on a first end plate (37) of the main body seat (13) of the rotating body (5), and the control cabinet (4) comprises a driving mechanism and an electric control system; a servo motor (26), a planetary gear reducer (25), a pinion (24), a bull gear (27) and a winding drum (28) are arranged in the control cabinet (4); a servo motor (26) of the control cabinet (4) drives a pinion (24) to rotate through a planetary gear reducer (25), the pinion (24) is meshed with a large gear (27), and the large gear (27) drives a winding drum (28) to rotate to control the tail end clamping mechanism (11) to ascend and descend; one end of a steel wire rope (8) is fixed and wound on a winding drum (28), and the other end of the steel wire rope passes through a joint pulley (9) and a tail end pulley (29) of the mechanical arm to hang a tail end clamping mechanism (11); a cable (10) in the control cabinet (4) is connected with an electronic throttle (19), an emergency stop switch (22), a power switch button (21) and an electromagnet adsorption button (20) on the tail end clamping mechanism (11), an electric control system controls a servo motor (26) to rotate forwards and backwards, and the tail end clamping mechanism (11) ascends and descends to achieve lifting of the tie rod assembly.

4. The cross-pull rod lifting power-assisted manipulator of claim 1, characterized in that: the mechanical arm consists of a large arm (6), a joint pulley (9), a connecting shaft (14), a steel wire rope (8), a small arm (7) and a tail end pulley (29); big arm (6) are in the same height with forearm (7), big arm (6) are connected with end plate two (36) of main part seat (13) of rotator (5), forearm (7) are installed on big arm (6) through fastening nut (15) through connecting axle (14), forearm (7) and big arm (6) junction adopt Y-shaped structure, install on connecting axle (14) side by side two joint pulley (9), guide wire rope (8) smooth motion, terminal pulley (29) are installed to the end of forearm (7), convert wire rope (8) into perpendicular gesture from the horizontal gesture on forearm (7).

5. The cross-pull rod lifting power-assisted manipulator of claim 1, characterized in that: the tail end clamping mechanism (11) consists of an electronic throttle (19), a handle (23), a transverse pull rod lifting hook (18), a force sensor (16), an emergency stop switch (22), a power switch button (21) and an electromagnet adsorption button (20); two tie rod lifting hooks (18) are respectively connected to the tail end of a handle (23), a force sensor (16) for overload protection in the hoisting process is installed between a tail end clamping mechanism (11) and a steel wire rope (8), and an electromagnet (17) for adsorbing a tie rod assembly is installed on the tie rod lifting hook (18).