CN211813093U - Truss robot for transferring wheel lifting appliance tray - Google Patents
Truss robot for transferring wheel lifting appliance tray Download PDFInfo
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- CN211813093U CN211813093U CN201922483848.5U CN201922483848U CN211813093U CN 211813093 U CN211813093 U CN 211813093U CN 201922483848 U CN201922483848 U CN 201922483848U CN 211813093 U CN211813093 U CN 211813093U
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- trolley
- grabbing
- track
- wheel
- temporary storage
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Abstract
The invention provides a truss robot for transferring wheel sling trays, which comprises a rail, a transverse big trolley, a longitudinal trolley and a grabbing trolley, wherein the transverse big trolley runs on a fixed transverse rail along the X direction, the longitudinal trolley runs on a longitudinal rail along the Y direction, the grabbing trolley runs on a moving transverse rail along the X direction, the longitudinal trolley is provided with a temporary storage table for placing the wheel sling trays, the temporary storage table is fixed on the inner side of the lower part of a trolley body, the temporary storage table is provided with a fixing hole for limiting a positioning taper pin, the grabbing trolley comprises a rack, a lifting device and a grabbing device, and the lifting device is fixed on the rack. The invention has the advantages that: the truss robot can lift a plurality of wheel lifting appliance trays once or for a plurality of times and place the wheel lifting appliance trays on the temporary storage table, then the plane moves to a set position, the grabbing trolley takes out the corresponding wheel lifting appliance trays and sends the wheel lifting appliance trays to the corresponding positions, the plane moving distance of the truss robot is reduced, the lifting time is shortened, and the efficiency is improved.
Description
Technical Field
The invention relates to a truss robot for transferring a wheel lifting appliance tray, and belongs to the technical field of conveying equipment of lifting appliance trays.
Background
The wheel lifting appliance tray in the existing railway vehicle wheel production workshop is transported without a set of special conveying equipment, a travelling crane is manually operated to be lifted, and the travelling crane has a too long travelling path in the direction X, Y, long time and low efficiency.
Disclosure of Invention
The invention provides a truss robot for transferring a wheel lifting appliance tray, which aims to overcome the defects in the prior art and has the main advantages that: the truss robot 1 can lift a plurality of wheel lifting appliance trays 2 once or for a plurality of times and place the wheel lifting appliance trays 2 on the temporary storage table 7, then the plane moves to a set position, the grabbing trolley 6 takes out the corresponding wheel lifting appliance trays 2 and sends the wheel lifting appliance trays 2 to the corresponding position, the distance of plane movement of the truss robot 1 is reduced, the lifting time is shortened, and the efficiency is improved.
The technical solution of the invention is as follows: wheel hoist tray 2 is used for loading handling rail vehicle wheel, including centre gripping recess 2-1, jib 2-2, tray 2-3 and location taper pin 2-4, jib 2-2 be located the center of wheel hoist tray 2, the bottom links to each other with tray 2-3, centre gripping recess 2-1 is located the top of jib 2-2, location taper pin 2-4 is located the bottom center of jib 2-2, its characterized in that: the truss robot 1 comprises a track 3, a transverse large trolley 4, a longitudinal trolley 5 and a grabbing trolley 6, wherein the track 3 comprises a transverse track 3X and a longitudinal track 3Y, the transverse track 3X comprises a fixed transverse track 3X-1 and a movable transverse track 3X-2, the fixed transverse track 3X-1 is positioned on an upright post on the ground, the movable transverse track 3X-2 is positioned on a small trolley body 5-1 of the longitudinal trolley 5, the longitudinal track 3Y is positioned on a large trolley body 4-1 of the transverse large trolley 4, the transverse large trolley 4 runs on the fixed transverse track 3X-1 along the X direction, the longitudinal trolley 5 runs on the longitudinal track 3Y along the Y direction, the grabbing trolley 6 runs on the movable transverse track 3X-2 along the X direction, the longitudinal small trolley 5 is provided with a temporary storage table 7 for placing a wheel hanger tray 2, the temporary storage table 7 is fixed on the inner side of the lower part of the trolley body 5-1, the temporary storage table 7 is provided with a fixing hole 7-1 for limiting a positioning taper pin 2-4, the grabbing trolley 6 comprises a trolley frame 6-1, a lifting device 8 and a grabbing device 9, the lifting device 8 is fixed on the trolley frame 6-1, the grabbing device 9 is connected with the lower end part of the lifting device 8 and is used for grabbing the wheel hanger tray 2, the grabbing device 9 comprises a frame 9-1, a suspender limiting hole 9-2 and a locking pin 9-3, more than three locking pins 9-3 are uniformly distributed around the suspender limiting hole 9-2, the locking pin 9-3 extends out of a clamping groove 2-1 for locking the wheel hanger tray 2 towards the middle part, when the grabbing trolley 6 moves along a transverse track 3X-2, the center of a fixing hole 7-1 on the temporary storage table 7 is positioned on the moving track of the center of a suspender limiting hole 9-2, the grabbing trolley 6 grabs the wheel sling tray 2 positioned below the large trolley body 4-1 through a lifting device 8 and a grabbing device 9, moves to the upper part of the temporary storage table 7 along a moving transverse track 3X-2 on the trolley body 5-1, inserts a positioning taper pin 2-4 into the fixing hole 7-1 to complete temporary storage of the wheel sling tray 2, then sends the grabbing trolley 6 to a set position through the movement of the transverse large trolley 4 and the longitudinal trolley 5 in the direction X, Y respectively, and the grabbing trolley 6 hoists the wheel sling tray 2 on the temporary storage table 7 to the set position below the large trolley body 4-1 through the lifting device 8 and the grabbing device 9.
The invention has the advantages that: the truss robot 1 can lift a plurality of wheel lifting appliance trays 2 once or for a plurality of times and place the wheel lifting appliance trays 2 on the temporary storage table 7, then the plane moves to a set position, the grabbing trolley 6 takes out the corresponding wheel lifting appliance trays 2 and sends the wheel lifting appliance trays 2 to the corresponding position, the distance of plane movement of the truss robot 1 is reduced, the lifting time is shortened, and the efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a truss robot 1 composed of a track 3, a transverse big traveling crane 4, a longitudinal trolley 5 and a grabbing trolley 6, and a schematic structural diagram of the grabbing trolley 6 grabbing a wheel hanger tray 2 from the ground and placing the wheel hanger tray into a temporary storage table 7;
FIG. 2 is a view from the direction A of FIG. 1, and is a schematic structural view of a fixing hole 7-1 for limiting a positioning taper pin 2-4 on the temporary storage table 7;
FIG. 3 is a partial view of FIG. 1, also showing the construction of the gripping device 9 including the frame 9-1, boom defining holes 9-2 and locking pins 9-3;
FIG. 4 is a view A-A of FIG. 3, also showing the structure of three locking pins 9-3 evenly distributed around the boom limiting hole 9-2, wherein the locking pins 9-3 can be hydraulically driven or electric push rods;
FIG. 5 is a schematic structural diagram of a temporary storage table 7 arranged on the inner side of a trolley body 5-1 in bilateral symmetry, and is also a schematic structural diagram of a wheel spreader tray 2 which is stored on the ground and is grabbed by a grabbing device 9 when a lifting device 8 extends out, and is also a schematic structural diagram of the lifting device 8 comprising a multi-stage guide post and guide sleeve device 10, a pulley assembly 11, a winch 8-1 and a steel wire rope 8-2;
FIG. 6 is a schematic structural view of the left temporary storage table 7 with two fixing holes 7-1, and the lifting device 8 is driven by a motor to lift by a screw pair;
fig. 7 is a structural schematic diagram corresponding to that two sets of gripping devices 9 are arranged at the bottom of the lifting device 8, and two sets of temporary storage tables 7 are provided with corresponding fixing holes 7-1.
Detailed Description
The wheel lifting appliance tray 2 is used for loading and lifting railway vehicle wheels and comprises a clamping groove 2-1, a lifting rod 2-2, a tray 2-3 and a positioning taper pin 2-4, wherein the lifting rod 2-2 is positioned at the center of the wheel lifting appliance tray 2, the bottom of the lifting rod is connected with the tray 2-3, the clamping groove 2-1 is positioned at the top of the lifting rod 2-2, and the positioning taper pin 2-4 is positioned at the center of the bottom of the lifting rod 2-2, and the wheel lifting appliance tray is characterized in that: the truss robot 1 comprises a track 3, a transverse large trolley 4, a longitudinal trolley 5 and a grabbing trolley 6, wherein the track 3 comprises a transverse track 3X and a longitudinal track 3Y, the transverse track 3X comprises a fixed transverse track 3X-1 and a movable transverse track 3X-2, the fixed transverse track 3X-1 is positioned on an upright post on the ground, the movable transverse track 3X-2 is positioned on a small trolley body 5-1 of the longitudinal trolley 5, the longitudinal track 3Y is positioned on a large trolley body 4-1 of the transverse large trolley 4, the transverse large trolley 4 runs on the fixed transverse track 3X-1 along the X direction, the longitudinal trolley 5 runs on the longitudinal track 3Y along the Y direction, the grabbing trolley 6 runs on the movable transverse track 3X-2 along the X direction, the longitudinal small trolley 5 is provided with a temporary storage table 7 for placing a wheel hanger tray 2, the temporary storage table 7 is fixed on the inner side of the lower part of the trolley body 5-1, the temporary storage table 7 is provided with a fixing hole 7-1 for limiting a positioning taper pin 2-4, the grabbing trolley 6 comprises a trolley frame 6-1, a lifting device 8 and a grabbing device 9, the lifting device 8 is fixed on the trolley frame 6-1, the grabbing device 9 is connected with the lower end part of the lifting device 8 and is used for grabbing the wheel hanger tray 2, the grabbing device 9 comprises a frame 9-1, a suspender limiting hole 9-2 and a locking pin 9-3, more than three locking pins 9-3 are uniformly distributed around the suspender limiting hole 9-2, the locking pin 9-3 extends out of a clamping groove 2-1 for locking the wheel hanger tray 2 towards the middle part, when the grabbing trolley 6 moves along a transverse track 3X-2, the center of a fixing hole 7-1 on the temporary storage table 7 is positioned on the moving track of the center of a suspender limiting hole 9-2, the grabbing trolley 6 grabs the wheel sling tray 2 positioned below the large trolley body 4-1 through a lifting device 8 and a grabbing device 9, moves to the upper part of the temporary storage table 7 along a moving transverse track 3X-2 on the trolley body 5-1, inserts a positioning taper pin 2-4 into the fixing hole 7-1 to complete temporary storage of the wheel sling tray 2, then sends the grabbing trolley 6 to a set position through the movement of the transverse large trolley 4 and the longitudinal trolley 5 in the direction X, Y respectively, and the grabbing trolley 6 hoists the wheel sling tray 2 on the temporary storage table 7 to the set position below the large trolley body 4-1 through the lifting device 8 and the grabbing device 9.
The longitudinal trolley 5 is provided with a temporary storage table 7 which is arranged in bilateral symmetry near the inner side of the trolley body 5-1 in the running direction of the grabbing trolley 6 by taking the center of the trolley body 5-1 as a symmetry point.
The temporary storage table 7 is provided with more than two fixing holes 7-1.
The bottom of the lifting device 8 of the gripping trolley 6 is provided with two sets of gripping devices 9, the central connecting line of the two sets of gripping devices 9 is vertical to the running direction of the gripping trolley 6, and the center of the lifting device 8 is taken as a symmetrical point.
The lifting device 8 comprises a multi-stage guide post and guide sleeve device 10, a pulley assembly 11, a winch 8-1 and a steel wire rope 8-2, the multi-stage guide post and guide sleeve device 10 comprises a first guide post and guide sleeve section 10-1, a middle moving guide sleeve 10-2 and a last guide post 10-3, the limit value of the extension and retraction between the guide post and guide sleeve sections is a fixed value, the first guide post section 10-1 is fixed on a trolley frame 6-1 of a grabbing trolley 6, the last guide post section 10-3 is fixedly connected with the grabbing device 9, the winch 8-1 is arranged at the top of the first guide post section 10-1, the pulley assembly 11 comprises a fixed pulley 11-1 and a movable pulley 11-2, the top of the first guide post section 10-1 is provided with the fixed pulley 11-1, and the bottom of the last guide post section 10-3 is provided with the movable, one end of a steel wire rope 8-2 is connected to a winch 8-1, the middle of the steel wire rope passes through a fixed pulley 11-1 at the top to a movable pulley 11-2 at the bottom, the other end of the steel wire rope is fixed to the top of a first guide sleeve section 10-1, and when the winch 8-1 receives and releases the steel wire rope 8-2, the last guide column section 10-3 is lifted and lowered.
The invention is further described with reference to the following figures
As shown in fig. 1-4, the wheel spreader pallet 2 is used for loading and lifting railway vehicle wheels, and comprises a clamping groove 2-1, a suspender 2-2, a pallet 2-3 and a positioning taper pin 2-4, wherein the suspender 2-2 is positioned at the center of the wheel spreader pallet 2, the bottom of the wheel spreader pallet 2 is connected with the pallet 2-3, the clamping groove 2-1 is positioned at the top of the suspender 2-2, and the positioning taper pin 2-4 is positioned at the center of the bottom of the suspender 2-2, and the wheel spreader pallet is characterized in that: the truss robot 1 comprises a track 3, a transverse large trolley 4, a longitudinal trolley 5 and a grabbing trolley 6, wherein the track 3 comprises a transverse track 3X and a longitudinal track 3Y, the transverse track 3X comprises a fixed transverse track 3X-1 and a movable transverse track 3X-2, the fixed transverse track 3X-1 is positioned on an upright post on the ground, the movable transverse track 3X-2 is positioned on a small trolley body 5-1 of the longitudinal trolley 5, the longitudinal track 3Y is positioned on a large trolley body 4-1 of the transverse large trolley 4, the transverse large trolley 4 runs on the fixed transverse track 3X-1 along the X direction, the longitudinal trolley 5 runs on the longitudinal track 3Y along the Y direction, the grabbing trolley 6 runs on the movable transverse track 3X-2 along the X direction, the longitudinal small trolley 5 is provided with a temporary storage table 7 for placing a wheel hanger tray 2, the temporary storage table 7 is fixed on the inner side of the lower part of the trolley body 5-1, the temporary storage table 7 is provided with a fixing hole 7-1 for limiting a positioning taper pin 2-4, the grabbing trolley 6 comprises a trolley frame 6-1, a lifting device 8 and a grabbing device 9, the lifting device 8 is fixed on the trolley frame 6-1, the grabbing device 9 is connected with the lower end part of the lifting device 8 and is used for grabbing the wheel hanger tray 2, the grabbing device 9 comprises a frame 9-1, a suspender limiting hole 9-2 and a locking pin 9-3, more than three locking pins 9-3 are uniformly distributed around the suspender limiting hole 9-2, the locking pin 9-3 extends out of a clamping groove 2-1 for locking the wheel hanger tray 2 towards the middle part, when the grabbing trolley 6 moves along a transverse track 3X-2, the center of a fixing hole 7-1 on the temporary storage table 7 is positioned on the moving track of the center of a suspender limiting hole 9-2, the grabbing trolley 6 grabs the wheel sling tray 2 positioned below the large trolley body 4-1 through a lifting device 8 and a grabbing device 9, moves to the upper part of the temporary storage table 7 along a moving transverse track 3X-2 on the trolley body 5-1, inserts a positioning taper pin 2-4 into the fixing hole 7-1 to complete temporary storage of the wheel sling tray 2, then sends the grabbing trolley 6 to a set position through the movement of the transverse large trolley 4 and the longitudinal trolley 5 in the direction X, Y respectively, and the grabbing trolley 6 hoists the wheel sling tray 2 on the temporary storage table 7 to the set position below the large trolley body 4-1 through the lifting device 8 and the grabbing device 9.
As shown in figure 5, the longitudinal trolley 5 is provided with a temporary storage table 7 which is arranged in bilateral symmetry near the inner side of the trolley body 5-1 in the running direction of the grabbing trolley 6 by taking the center of the trolley body 5-1 as a symmetrical point.
As shown in FIG. 6, the temporary storage table 7 is provided with two fixing holes 7-1, or a plurality of fixing holes 7-1.
As shown in fig. 7, the gripping trolley 6 is provided with two sets of gripping devices 9 at the bottom of the lifting device 8, and the central connecting line of the two sets of gripping devices 9 is perpendicular to the running direction of the gripping trolley 6 and takes the center of the lifting device 8 as a symmetrical point.
As shown in figure 5, the lifting device 8 comprises a multi-stage guide post and guide sleeve device 10, a pulley assembly 11, a winch 8-1 and a steel wire rope 8-2, the multi-stage guide post and guide sleeve device 10 comprises a first guide post and guide sleeve 10-1, a middle moving guide sleeve 10-2 and a last guide post 10-3, the limit value of the extension and retraction between the guide post and guide sleeves of all stages is a fixed value, the first guide sleeve 10-1 is fixed on a trolley frame 6-1 of a grabbing trolley 6, the last guide post 10-3 is fixedly connected with the grabbing device 9, the winch 8-1 is arranged at the top of the first guide sleeve 10-1, the pulley assembly 11 comprises a fixed pulley 11-1 and a movable pulley 11-2, the top of the first guide sleeve 10-1 is provided with the fixed pulley 11-1, the bottom of the last guide post 10-3 is provided with the movable pulley 11, one end of a steel wire rope 8-2 is connected to a winch 8-1, the middle of the steel wire rope passes through a fixed pulley 11-1 at the top to a movable pulley 11-2 at the bottom, the other end of the steel wire rope is fixed to the top of a first guide sleeve section 10-1, and when the winch 8-1 receives and releases the steel wire rope 8-2, the last guide column section 10-3 is lifted and lowered.
Claims (5)
1. The utility model provides a truss robot for wheel hoist tray (2) are transported, wheel hoist tray (2) be used for loading handling rail vehicle wheel, including centre gripping recess (2-1), jib (2-2), tray (2-3) and location taper pin (2-4), jib (2-2) be located the center of wheel hoist tray (2), the bottom links to each other with tray (2-3), centre gripping recess (2-1) are located the top of jib (2-2), location taper pin (2-4) are located the bottom center of jib (2-2), its characterized in that: the truss robot (1) comprises a track (3), a transverse large traveling crane (4), a longitudinal small vehicle (5) and a grabbing small vehicle (6), wherein the track (3) comprises a transverse track (3X) and a longitudinal track (3Y), the transverse track (3X) comprises a fixed transverse track (3X-1) and a movable transverse track (3X-2), the fixed transverse track (3X-1) is located on an upright post on the ground, the movable transverse track (3X-2) is located on a small vehicle body (5-1) of the longitudinal small vehicle (5), the longitudinal track (3Y) is located on a large vehicle body (4-1) of the transverse large traveling crane (4), the transverse large traveling crane (4) runs on the fixed transverse track (3X-1) along the X direction, and the longitudinal small vehicle (5) runs on the longitudinal track (3Y) along the Y direction, the grabbing trolley (6) runs along the X direction on a moving transverse track (3X-2), the longitudinal trolley (5) is provided with a temporary storage table (7) for placing a wheel lifting appliance tray (2), the temporary storage table (7) is fixed on the inner side of the lower part of a trolley body (5-1), a fixing hole (7-1) for limiting a positioning taper pin (2-4) is formed in the temporary storage table (7), the grabbing trolley (6) comprises a trolley frame (6-1), a lifting device (8) and a grabbing device (9), the lifting device (8) is fixed on the trolley frame (6-1), the grabbing device (9) is connected to the lower end part of the lifting device (8) and used for grabbing the wheel lifting appliance tray (2), the grabbing device (9) comprises a frame (9-1), a suspender limiting hole (9-2) and a locking pin (9-3), more than three locking pins (9-3) are uniformly distributed around the boom limiting hole (9-2), the locking pins (9-3) extend out of clamping grooves (2-1) for locking the wheel hanger tray (2) towards the middle, when the grabbing trolley (6) moves along the transverse moving track (3X-2), the center of a fixing hole (7-1) on the temporary storage table (7) is positioned on the moving track of the center of the boom limiting hole (9-2), the grabbing trolley (6) grabs the wheel hanger tray (2) positioned below the large trolley body (4-1) through a lifting device (8) and a grabbing device (9), moves to the upper part of the temporary storage table (7) along the transverse moving track (3X-2) on the small trolley body (5-1), and inserts the positioning taper pins (2-4) into the fixing holes (7-1), the temporary storage of the wheel hanger tray (2) is completed, the grabbing trolley (6) is conveyed to a set position through the movement of the transverse large travelling crane (4) and the longitudinal small trolley (5) in the direction X, Y, and the wheel hanger tray (2) on the temporary storage table (7) is lifted to the set position below the large trolley body (4-1) through the lifting device (8) and the grabbing device (9) by the grabbing trolley (6).
2. The truss robot of claim 1, wherein: the longitudinal trolley (5) is provided with a temporary storage table (7) which is arranged in a bilateral symmetry manner near the inner side of the trolley body (5-1) by taking the center of the trolley body (5-1) as a symmetry point in the running direction of the grabbing trolley (6).
3. The truss robot of claim 1, wherein: the temporary storage table (7) is provided with more than two fixing holes (7-1).
4. The truss robot of any one of claims 1-3, wherein: the bottom of the lifting device (8) of the grabbing trolley (6) is provided with two sets of grabbing devices (9), the central connecting line of the two sets of grabbing devices (9) is perpendicular to the running direction of the grabbing trolley (6), and the center of the lifting device (8) is taken as a symmetrical point.
5. The truss robot of claim 1, wherein: the lifting device (8) comprises a multi-stage guide post and guide sleeve device (10), a pulley assembly (11), a winch (8-1) and a steel wire rope (8-2), the multi-stage guide post and guide sleeve device (10) comprises a first guide sleeve (10-1), a middle moving guide sleeve (10-2) and a last guide post (10-3), the limit value of the extension and retraction between the guide posts and the guide sleeves of all stages is a fixed value, the first guide sleeve (10-1) is fixed on a trolley frame (6-1) of a grabbing trolley (6), the last guide post (10-3) is fixedly connected with the grabbing device (9), the winch (8-1) is arranged at the top of the first guide sleeve (10-1), the pulley assembly (11) comprises a fixed pulley (11-1) and a movable pulley (11-2), the top of the first guide sleeve (10-1) is provided with the fixed pulley (11-1), the bottom of the last guide pillar section (10-3) is provided with a movable pulley (11-2), one end of a steel wire rope (8-2) is connected to a winch (8-1), the middle of the steel wire rope passes through a fixed pulley (11-1) at the top to the movable pulley (11-2) at the bottom, the other end of the steel wire rope is fixed at the top of the first guide sleeve section (10-1), and when the winch (8-1) receives and releases the steel wire rope (8-2), the last guide pillar section (10-3) can ascend and descend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922483848.5U CN211813093U (en) | 2019-12-31 | 2019-12-31 | Truss robot for transferring wheel lifting appliance tray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922483848.5U CN211813093U (en) | 2019-12-31 | 2019-12-31 | Truss robot for transferring wheel lifting appliance tray |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211813093U true CN211813093U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922483848.5U Active CN211813093U (en) | 2019-12-31 | 2019-12-31 | Truss robot for transferring wheel lifting appliance tray |
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| Country | Link |
|---|---|
| CN (1) | CN211813093U (en) |
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2019
- 2019-12-31 CN CN201922483848.5U patent/CN211813093U/en active Active
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