CN113001579A - Passenger train front windshield installation manipulator - Google Patents
Passenger train front windshield installation manipulator Download PDFInfo
- Publication number
- CN113001579A CN113001579A CN202110339418.5A CN202110339418A CN113001579A CN 113001579 A CN113001579 A CN 113001579A CN 202110339418 A CN202110339418 A CN 202110339418A CN 113001579 A CN113001579 A CN 113001579A
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- CN
- China
- Prior art keywords
- pin shaft
- connecting rod
- hinged
- support
- manipulator
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- 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.)
- Pending
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Classifications
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- 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
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- 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
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses a passenger car front windshield glass mounting manipulator which comprises a base and a supporting rod, wherein the supporting rod is connected to the base, the top end of the supporting rod is connected with a support through a bearing, a hinged support is connected above the support, the hinged support is connected with a rotating seat through a crank arm device, and an adsorption device is arranged at the bottom end of the rotating seat. On just alone can install the passenger train with front windshield through this manipulator, degree of automation improves to some extent, has improved the installation effectiveness greatly, has reduced manufacturing cost, has also improved the security simultaneously, has gained fine result of use.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a passenger car front windshield glass mounting mechanical arm, and belongs to the technical field of automobile manufacturing and mounting equipment.
Background
The preceding windshield area of passenger train is bigger, weight is heavier, in current installation, adopt artifical manual transport to passenger train the place ahead usually, the reuse is manual to installing on the passenger train, an installation needs 5 people's cooperation to install the completion smoothly simultaneously, there is the potential safety hazard still, inefficiency, install this higher problem into, the manipulator that does not have the preceding windshield of being exclusively used in on the present market yet, how to reduce the cost of labor, improve the installation effectiveness, guarantee the installation quality, the safety is improved, this is the problem that needs to solve.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a passenger train windscreen installs manipulator, just alone can install windscreen to the passenger train through this manipulator on, degree of automation improves to some extent, has improved the installation effectiveness greatly, has reduced manufacturing cost, has also improved the security simultaneously, the effectual problem of having solved the aforesaid existence.
The technical scheme of the invention is as follows: the utility model provides a windscreen installation manipulator before passenger train, it includes base and bracing piece, the bracing piece is connected on the base, and the bracing piece top is connected with the support through the bearing, connects the hinged-support in the support top, the hinged-support is connected with the roating seat through cranking arm device, is equipped with adsorption equipment in the roating seat bottom.
The crank arm device comprises two lug plates, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod, the two lug plates are symmetrically arranged, a first pin shaft, a second pin shaft and a third pin shaft are respectively arranged between the two lug plates, the third connecting rod is hinged to the first pin shaft, the fifth connecting rod is hinged to the third pin shaft, the fourth connecting rod and the first connecting rod are hinged to the second pin shaft, the fourth connecting rod is provided with a fourth pin shaft, and the first connecting rod is hinged to the fourth pin shaft.
And a fifth pin shaft and a sixth pin shaft are arranged on the rotating seat, and a fourth connecting rod and a fifth connecting rod are respectively hinged to the fifth pin shaft and the sixth pin shaft.
The hinged support comprises two outer side plates and two inner side plates which are symmetrically arranged respectively, the inner side plates are arranged between the outer side plates, the outer side plates are connected to the top end of the support, a pin shaft seven and a pin shaft eight are arranged between the outer side plates respectively, a connecting rod three and a connecting rod two are hinged to the pin shaft seven and the pin shaft eight respectively, a vertical sliding groove I is formed in each outer side plate, two pin shafts nine are arranged in each sliding groove I, the inner side plates are fixedly connected to the pin shafts nine, a sliding groove II is formed in each inner side plate, a pin shaft ten is arranged in each sliding groove II, the connecting rod I is hinged to the pin shaft eleven, a transverse shaft is fixedly connected between the inner side plates, the bottom ends of the transverse.
The base below is equipped with universal castor, is equipped with threaded connection's support positioning screw all around, and the side is equipped with the handrail.
The support rod is of a cylindrical structure, a rotating shaft is connected inside the support rod through a bearing, the top end of the rotating shaft is fixedly connected with the bottom of the support, a brake disc is connected to the outer side of the support rod through a bolt, and a pneumatic brake device matched with the brake disc for use is hinged to the outer side of the bottom plate through a pin shaft twelve.
The adsorption device comprises a vertical frame, a rotary brake device, a rocker arm frame and a sucker, wherein the top end of the vertical frame is connected to the bottom end of the rotary seat through the rotary brake device, the side edge of the vertical frame is hinged to the rocker arm frame through a pin shaft thirteen, the middle of the rocker arm frame is connected with a horizontal shaft through a bearing, the outer side end of the horizontal shaft is fixedly connected with four telescopic adjusting arms, the sucker is connected to the end part of the adjusting arms, and the side edge of the rotary brake device is provided with.
And the tail end of the second connecting rod is provided with a balancing weight.
The vertical frame is also provided with an operating handle, the bottom end of the vertical frame is provided with a screw rod, one end of the screw rod is provided with a hand wheel, and the other end of the screw rod is hinged to the bottom end of the rocker arm frame.
The side edge of the bottom end of the rocker arm frame is provided with a chain wheel, the top end of the rocker arm frame is provided with a worm, the worm is connected with the chain wheel through a chain, a rack is connected below the worm in a matching mode, and the rack is fixedly connected to a horizontal shaft.
The invention has the beneficial effects that: compared with the prior art, by adopting the technical scheme, only one operator holds the operating handle, the sucker is adsorbed on the glass plate under negative pressure, the glass can be firmly adsorbed, the glass can be moved up and down front and back and left and right conveniently, the labor intensity is greatly reduced due to the action of the balancing weight, and the labor intensity is greatly reduced because of no large force required during movement.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is an enlarged view of a portion of the present invention A;
FIG. 4 is a schematic view of the construction of the hinge support of the present invention;
FIG. 5 is a perspective view of an adsorption device of the present invention;
FIG. 6 is a side view of an adsorption device of the present invention;
FIG. 7 is a front view of an adsorption device of the present invention;
FIG. 8 is a top view of an adsorption device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Example 1: as shown in attached figures 1-8, the manipulator for installing the front windshield glass of the passenger car comprises a base 3 and a support rod 8, wherein the support rod 8 is connected to the base 3, the top end of the support rod 8 is connected with a support 10 through a bearing 34, a hinged support 14 is connected above the support 10, the hinged support 14 is connected with a rotary seat 29 through a crank arm device, and an adsorption device 7 is arranged at the bottom end of the rotary seat 29. Only need an operative employee's hand to hold operating handle, adsorb the sucking disc negative pressure on the glass board, can live with adsorbing firmly of glass, can reciprocate glass all around, and is very convenient, owing to there is the effect of balancing weight, also need not big strength when removing, so intensity of labour greatly reduced, and production efficiency obtains great promotion.
Further, the crank arm device comprises two lug plates 18, a first connecting rod 17, a second connecting rod 23, a third connecting rod 22, a fourth connecting rod 21 and a fifth connecting rod 26, the two lug plates 18 are symmetrically arranged, a first pin 24, a second pin 19 and a third pin 25 are respectively arranged between the two lug plates 18, the third connecting rod 22 is hinged to the first pin 24, the fifth connecting rod 26 is hinged to the third pin 25, the fourth connecting rod 21 and the first connecting rod 17 are hinged to the second pin 19, a fourth pin 20 is arranged on the fourth connecting rod 21, and the first connecting rod 17 is hinged to the fourth pin 20. The crank arm device can move the rotary seat 29 and the adsorption device 7 in all directions up and down and left and right, so that the glass can be conveniently moved from a goods shelf to the front of a passenger car to be installed on site without moving the position of a manipulator.
Further, a pin five 27 and a pin six 28 are arranged on the rotating base 29, and the link four 21 and the link five 26 are respectively hinged to the pin five 27 and the pin six 28.
Further, the hinged support 14 comprises two outer side plates 35 and two inner side plates 39 which are symmetrically arranged respectively, the inner side plates 39 are arranged between the outer side plates 35, the outer side plates 35 are connected to the top end of the support 10, pin shafts seven 12 and eight pin shafts 13 are arranged between the outer side plates 35 respectively, connecting rods three 22 and two connecting rods 23 are hinged to the pin shafts seven 12 and the pin shafts eight 13 respectively, vertical sliding grooves one 37 are formed in the outer side plates 35, two pin shafts nine 15 are arranged in the sliding grooves one 37, the inner side plates 39 are fixedly connected to the pin shafts nine 15, sliding grooves two 36 are arranged on the inner side plates 39, pin shafts ten 16 are arranged in the sliding grooves two 36, the connecting rods one 17 are hinged to the pin shafts ten 16, transverse shafts 38 are fixedly connected between the inner side plates 39, the bottoms of the transverse shafts 38 are connected with the air cylinders 6 in a shaft mode, the bottom ends of.
The cylinder 6 can move the inner side plate 39 up and down along the first sliding groove 37, can push the first connecting rod 17 to move up and down, namely can move the rotating seat 29 and the adsorption device 7 up and down and left and right to reach the required position, and the pin shaft ten 16 can freely move left and right along the second sliding groove 36 to achieve the purpose of matching the rotating seat 29 and the adsorption device 7 to move, and has the effect of the cylinder 6, so that the movement is labor-saving.
Further, a universal caster 1 is arranged below the base 3, supporting and positioning screws 2 in threaded connection are arranged around the universal caster, and handrails 4 are arranged on the side edges of the universal caster. The universal caster is equipped with to this manipulator bottom, and it is also very convenient to remove, fixes a position the back on the working face, will support positioning screw again and turn round tightly and can fix, and this manipulator freely removes in can the installation workshop, also can not occupy too much place, the result of use that is showing of acquireing with the arm shrink.
Furthermore, the support rod 8 is of a cylindrical structure, the inside of the support rod 8 is connected with a rotating shaft 30 through a bearing 34, the top end of the rotating shaft 30 is fixedly connected with the bottom of the support 10, the outer side of the support rod 8 is connected with a brake disc 31 through a bolt, and the outer side of the bottom plate 32 is hinged with a pneumatic brake device 9 matched with the brake disc 31 through a pin shaft twelve 33. The support rod 8 at the bottom is fixed, the support 10 at the upper part can rotate freely, the rotating seat 29 and the adsorption device 7 can move in all directions conveniently, and when the support rod moves in place, the support rod can be fixed by the pneumatic brake device 9.
Further, the adsorption device 7 comprises an upright frame 52, a rotary brake device 41, a rocker arm frame 53 and a suction cup 40, the top end of the upright frame 52 is connected to the bottom end of the rotary base 29 through the rotary brake device 41, the side edge of the upright frame 52 is hinged to the rocker arm frame 53 through a pin thirteen 44, the middle of the rocker arm frame 53 is connected with a horizontal shaft 48 through a bearing, the outer side end of the horizontal shaft 48 is fixedly connected with four telescopic adjusting arms 50, the suction cup 40 is connected to the end portion of the adjusting arm 50, and the side edge of the rotary brake device 41 is provided with a pneumatic brake.
The rotary brake device 41 can rotate freely under the condition that the rotary seat 29 is fixed, and the rotary brake device 41 is fixed in place by the pneumatic brake valve 49, so that the installation angle of the glass can be adjusted conveniently, and the glass is convenient to use on site.
The length of the adjusting arm 50 can be adjusted, and the adjusting arm is fixed by screws after being adjusted, so that the glass can be suitable for glass with different sizes.
Furthermore, a counterweight 11 is arranged at the tail end of the second connecting rod 23. The clump weights 11 with different weights can be suitable for glass with different weights, and the labor intensity of operators can be greatly reduced.
Furthermore, an operating handle 47 is arranged on the vertical frame 52, a screw rod 45 is arranged at the bottom end of the vertical frame 52, one end of the screw rod 45 is provided with a hand wheel 46, and the other end of the screw rod is hinged to the bottom end of the rocker arm frame 53. The handle 47 can be operated by hand to drive the screw rod 45 to rotate, and the included angle between the vertical frame 52 and the rocker arm frame 53 is adjusted to adjust the inclination angle of the rocker arm frame 53, so that the angle of the glass can be adjusted, and the best installation direction can be conveniently achieved.
Furthermore, a chain wheel 54 is arranged on the side edge of the bottom end of the rocker arm frame 53, a worm 42 is arranged at the top end of the rocker arm frame, the worm 42 is connected with the chain wheel 54 through a chain 51, an arc-shaped rack 43 is connected below the worm 42 in a matching mode, and the rack 43 is fixedly connected to the horizontal shaft 48. The worm 42 is driven to rotate by rotating the chain wheel 54, so that the arc-shaped rack 43 is driven to rotate along the horizontal shaft 48 by a small angle, the small-angle rotation of the glass can be adjusted, and the field installation work is greatly facilitated.
By adopting the technical scheme of the invention, only one operator holds the operating handle, the sucker is adsorbed on the glass plate under negative pressure, the glass can be firmly adsorbed, the glass can be moved up and down front and back and left and right, the operation is very convenient, and the labor intensity is greatly reduced because of the action of the balancing weight, so that the labor intensity is greatly reduced, the production efficiency is greatly improved, the universal casters are arranged at the bottom of the mechanical arm, the movement is very convenient, the supporting and positioning screw rod can be fastened and fixed after the positioning on a working surface, the mechanical arm can be freely moved in a workshop, the mechanical arm can be contracted, too many places are not occupied, and the remarkable use effect is obtained.
The present invention is not described in detail, but is known to those skilled in the art. Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a windscreen installation manipulator before passenger train which characterized in that: it includes base (3) and bracing piece (8), bracing piece (8) are connected on base (3), and bracing piece (8) top is connected with support (10) through bearing (34), connects hinged-support (14) in support (10) top, hinged-support (14) are connected with roating seat (29) through cranking arm device, are equipped with adsorption equipment (7) in roating seat (29) bottom.
2. The manipulator for installing a front windshield of a passenger car according to claim 1, wherein: the crank arm device comprises two lug plates (18), a first connecting rod (17), a second connecting rod (23), a third connecting rod (22), a fourth connecting rod (21) and a fifth connecting rod (26), the lug plates (18) are symmetrically arranged, a first pin shaft (24), a second pin shaft (19) and a third pin shaft (25) are respectively arranged between the two lug plates (18), the third connecting rod (22) is hinged to the first pin shaft (24), the fifth connecting rod (26) is hinged to the third pin shaft (25), the fourth connecting rod (21) and the first connecting rod (17) are hinged to the second pin shaft (19), a fourth pin shaft (20) is arranged on the fourth connecting rod (21), and the first connecting rod (17) is hinged to the fourth pin shaft (20).
3. The manipulator for installing a front windshield of a passenger car according to claim 1, wherein: and a fifth pin shaft (27) and a sixth pin shaft (28) are arranged on the rotating seat (29), and a fourth connecting rod (21) and a fifth connecting rod (26) are respectively hinged to the fifth pin shaft (27) and the sixth pin shaft (28).
4. The manipulator for installing a front windshield of a passenger car according to claim 1, wherein: the hinged support (14) comprises two outer side plates (35) and two inner side plates (39) which are symmetrically arranged respectively, the inner side plates (39) are arranged between the outer side plates (35), the outer side plates (35) are connected to the top end of the support (10), a pin shaft seven (12) and a pin shaft eight (13) are arranged between the outer side plates (35), a connecting rod three (22) and a connecting rod two (23) are hinged to the pin shaft seven (12) and the pin shaft eight (13) respectively, a vertical sliding groove I (37) is arranged on the outer side plates (35), two pin shafts nine (15) are arranged in the sliding groove I (37), the inner side plates (39) are fixedly connected to the pin shaft nine (15), a sliding groove II (36) is arranged on the inner side plates (39), a pin shaft ten (16) is arranged in the sliding groove II (36), the connecting rod I (17) is hinged to the pin shaft ten (16), a transverse shaft (38) is fixedly connected between the inner side plates (39), and the, the bottom end of the cylinder (6) is hinged to the bottom plate (32) through a pin eleven (5), and the bottom plate (32) is fixedly connected to the side edge of the bottom end of the support (10).
5. The manipulator for installing a front windshield of a passenger car according to claim 1, wherein: the universal caster (1) is arranged below the base (3), the supporting and positioning screws (2) are connected with each other in a threaded mode and arranged on the periphery of the base, and the handrails (4) are arranged on the side edges of the base.
6. The manipulator for installing a front windshield of a passenger car according to claim 1, wherein: the support rod (8) is of a cylindrical structure, the inside of the support rod (8) is connected with a rotating shaft (30) through a bearing (34), the top end of the rotating shaft (30) is fixedly connected with the bottom of the support (10), the outer side of the support rod (8) is connected with a brake disc (31) through a bolt, and the outer side of the bottom plate (32) is hinged with a pneumatic brake device (9) matched with the brake disc (31) through a pin shaft twelve (33).
7. The manipulator for installing a front windshield of a passenger car according to claim 1, wherein: the adsorption device (7) comprises a vertical frame (52), a rotary brake device (41), a rocker arm frame (53) and a sucker (40), the top end of the vertical frame (52) is connected to the bottom end of the rotary base (29) through the rotary brake device (41), the side edge of the vertical frame (52) is hinged to the rocker arm frame (53) through a pin shaft thirteen (44), the middle of the rocker arm frame (53) is connected with a horizontal shaft (48) through a bearing, the outer side end of the horizontal shaft (48) is fixedly connected with four telescopic adjusting arms (50), the sucker (40) is connected to the end portion of each adjusting arm (50), and the side edge of the rotary brake device (41) is provided with a pneumatic brake valve (.
8. The manipulator for installing a front windshield of a passenger car according to claim 2, wherein: and a balancing weight (11) is arranged at the tail end of the second connecting rod (23).
9. The passenger vehicle front windshield installation manipulator of claim 7, wherein: the vertical frame (52) is also provided with an operating handle (47), the bottom end of the vertical frame (52) is provided with a screw rod (45), one end of the screw rod (45) is provided with a hand wheel (46), and the other end of the screw rod is hinged to the bottom end of the rocker arm frame (53).
10. The passenger vehicle front windshield installation manipulator of claim 7, wherein: the side edge of the bottom end of the rocker arm frame (53) is provided with a chain wheel (54), the top end of the rocker arm frame is provided with a worm (42), the worm (42) is connected with the chain wheel (54) through a chain (51), a rack (43) is connected below the worm (42) in a matched mode, and the rack (43) is fixedly connected to a horizontal shaft (48).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339418.5A CN113001579A (en) | 2021-03-30 | 2021-03-30 | Passenger train front windshield installation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339418.5A CN113001579A (en) | 2021-03-30 | 2021-03-30 | Passenger train front windshield installation manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113001579A true CN113001579A (en) | 2021-06-22 |
Family
ID=76409244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110339418.5A Pending CN113001579A (en) | 2021-03-30 | 2021-03-30 | Passenger train front windshield installation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113001579A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083528A (en) * | 2021-12-31 | 2022-02-25 | 浙江鼎力机械股份有限公司 | High-load mechanical arm |
| CN116945206A (en) * | 2023-09-07 | 2023-10-27 | 广州慧谷动力科技有限公司 | Universal science and technology information service robot based on AI artificial intelligence |
-
2021
- 2021-03-30 CN CN202110339418.5A patent/CN113001579A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083528A (en) * | 2021-12-31 | 2022-02-25 | 浙江鼎力机械股份有限公司 | High-load mechanical arm |
| CN116945206A (en) * | 2023-09-07 | 2023-10-27 | 广州慧谷动力科技有限公司 | Universal science and technology information service robot based on AI artificial intelligence |
| CN116945206B (en) * | 2023-09-07 | 2023-12-22 | 广州慧谷动力科技有限公司 | Universal science and technology information service robot based on AI artificial intelligence |
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