CN213969777U - Arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine - Google Patents

Abstract

The utility model relates to a special set of arm machine of arm-type ascending vehicle inner and outer arm suit, the suit of the inner and outer arm of mainly used flexible arm-type ascending vehicle and folding arm-type ascending vehicle. The utility model discloses an inner arm drives car, inner arm supporting car, outer arm front end supporting car, outer arm rear end supporting car, ground track and control system, and inner arm drives car, inner arm supporting car, outer arm front end supporting car and the equal activity of outer arm rear end supporting car and sets up on the track of ground. The utility model has the advantages of reasonable design, the suit power is reliable, and the suit degree of automation is higher, and suit easy operation is efficient, and the operation is safe, and suit process work piece adjustment is convenient nimble, satisfies the user demand.

Description

Arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine

Technical Field

The utility model relates to a set arm machine especially relates to a special set arm machine of arm-type ascending vehicle inside and outside arm suit, the suit of the inside and outside arm of mainly used flexible arm-type ascending vehicle and folding arm-type ascending vehicle, the suit of inside and outside arm of products such as also can be used to the truck-mounted crane.

Background

The climbing vehicle product is widely applied to climbing operation in various industries, and the arm type climbing vehicle mainly comprises two major products, namely a telescopic arm type climbing vehicle and a folding arm type climbing vehicle. The sleeving of the inner arm and the outer arm is a key assembling process of the arm type climbing vehicle, the inner structures of the inner arm and the outer arm are complex, and in addition, the products have multiple series and specifications, so that the mechanical sleeving is difficult to realize. The existing sleeving process of the inner arm and the outer arm is mainly operated manually, an inner arm workpiece is lifted and hung through a workshop crane, and sleeving driving force is provided by a forklift, so that the inner arm and the outer arm are sleeved. The disadvantages of this approach are evident: 1) the production line mode cannot be adopted for production, and the parameterized setting and control, the modeled operation and the intelligent organization production of the sleeving process cannot be realized; 2) the number of operators is large, and the production efficiency is low; 3) the equipment occupies common equipment in workshops such as a travelling crane and a forklift for a long time; 4) the occupied area of an operation area is large, and the operation site is disordered; 5) the workpiece is lifted and hung by a crane for sleeving, the workpiece is in a suspension state, uncontrollable factors are more, and potential safety hazards are more; 6) when the workpiece is deformed and can not be sleeved, the inner arm workpiece is difficult to withdraw; 7) transfer equipment is required to realize the over-station conveying of the outer arm workpiece, the inner arm workpiece and the assembled arm assembly.

The invention discloses a telescopic arm assembly system and an assembly method, which are similar to an arm type climbing vehicle, are provided with telescopic arm assemblies in the industries of truck cranes and fire fighting vehicles, are used for telescopic arm assembly equipment in the industries of truck cranes and fire fighting vehicles, and are disclosed in Chinese patent with publication number 110682090A, namely publication number of 2010-01-14. Although this patent has realized the mechanized suit of arm, apply to the arm suit of arm type ascending vehicle, there are a series of problems: 1) the most main problem is that the sleeving process is different from that of an arm type climbing vehicle, and the structure of the arm type climbing vehicle product determines that the sleeving process of most arm type climbing vehicle products is as follows: the outer-most layer arm is sleeved to the inner-most layer arm, and the patent technology is sleeved from the inner-most layer arm to the outer-most layer arm; 2) the suit of arm type climbing vehicle, if adopt this patent technique, it is difficult to realize the automation suit that this patent technique imagined: on one hand, for the truck crane and the fire engine with single product series, the mode of the patent technology can realize automatic sleeving, while the arm type ascending vehicle has more product series due to various and complex use environments, the section shapes of the arms and the structural forms of the arms are many, and for the condition, the patent technology does not provide feasible and reliable technical guarantee; on the other hand, no matter what kind of product's inside and outside arm work piece is the welded structure spare that does not process, inevitably has the work piece to warp, and one of the prerequisite that this patent technology realized automatic suit is that rely on laser induction system to detect, but laser induction system can not detect the straightness accuracy error, the plane degree error of work piece comprehensively, and the influence of these two errors to automatic suit is very big. If an automatic set is pursued, the automatic set can be realized only by improving the manufacturing precision of the arm product, which undoubtedly greatly increases the manufacturing cost of the product; 3) the structural restriction of this patent for if adopt this patent technique, the installation of arm-type ascending vehicle outer layer arm upper and lower slider will be comparatively difficult. The sliding blocks of products such as truck cranes, fire engines and the like are mostly transversely installed from the end parts, and the upper and lower sliding blocks of the outer layer arm of the arm type ascending vehicle are installed from the upper and lower positions; 4) the product structure determines that the angle of the long axis of the workpiece of the inner arm and the outer arm on the vertical plane needs to be changed in the sleeving process of the partial arm type ascending vehicle (for example: the inner cavity of the outer layer arm is provided with a solid transverse rib plate and the process of installing the upper sliding block and the lower sliding block of the outer layer arm is adopted), the process requirement is difficult to realize in the patent; 5) no matter what kind of structure's suit equipment is adopted, all be difficult to accomplish the coincidence of inside and outside arm work piece major axis, this patent technique is no exception yet, and has major axis deviation and just inevitably will change some of suit driving force into the transverse force of perpendicular to suit action direction, and this transverse force is very unfavorable to the suit process, and the influence has: the centering mechanism must provide a greater clamping force to balance with the transverse force, resulting in an increase in the cost of the sleeving equipment; the transverse force can cause the workpiece to deform and even damage; the strength and rigidity of the sleeving equipment are guaranteed under the influence of the transverse force, so that the sleeving equipment is inevitably complex in structure and increased in size, and the cost of the sleeving equipment is increased; because a part of the sheathing power is converted into transverse force, the cost of equipment is increased because the driving power needs to be increased to ensure enough sheathing power, and all structures taking the driving power as the design basis are also increased, so that the cost of the sheathing equipment is increased; 6) the patent technology has no adjusting function of the sleeving power, and for small-sized light products, the damage of workpieces can be caused by the overlarge sleeving driving force, especially under the condition that the transverse force exists; 7) according to the operation scheme of the patent technology, the centering of the workpiece can be realized only by the respective actions of the mechanisms positioned on the two sides of the workpiece, and the self-centering function is not realized, so that on one hand, a detection means needs to be added, on the other hand, the centering efficiency is low, and the centering can be realized only by multiple times of adjustment; 8) the technology of the patent can not realize the over-station conveying of the outer arm workpiece, the inner arm workpiece and the assembled arm assembly, so that the technology is only suitable for a mode of station type centralized production, and if the arm assembly is made into a component unit of a final assembly production line, transfer equipment must be added; 9) according to the technology, the process of sleeving the innermost arm to the outermost arm is adopted, so that the outer arm workpiece must be moved once and centered, positioned and clamped again when each layer of arm is sleeved, the process auxiliary time is increased, and obviously the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the above-mentioned not enough that exists among the prior art, and provide an overall structure reasonable in design, suit power is reliable, and suit degree of automation is higher, suit easy operation, and is efficient, operation safety, the convenient nimble special cover arm machine of inside and outside arm suit of suit process work piece adjustment.

The utility model provides a technical scheme that above-mentioned problem adopted is: this special set of arm machine of arm-type ascending vehicle inner and outer arm suit, including ground track and control system, its characterized in that: the inner arm driving vehicle comprises a frame, a workpiece supporting frame, a driving wheel set, a driving unit, a driven wheel set and a lifting device, wherein the driving wheel set, the driving unit, the driven wheel set and the lifting device are all arranged on the frame, the frame is provided with a guide sleeve vertical to a horizontal plane, the workpiece supporting frame is provided with a guide revolving shaft, and the workpiece supporting frame is sleeved in the guide sleeve through the guide revolving shaft; the inner arm supporting vehicle comprises a second frame, a second lifting device, a second centering mechanism, a second driven wheel, a second driving wheel, a workpiece supporting table and a second driving unit, wherein the second lifting device, the second centering mechanism, the second driven wheel, the second driving wheel and the second driving unit are all arranged on the second frame, and the workpiece supporting table is connected with the second lifting device; the outer arm front end supporting vehicle comprises a third frame, a third driving wheel, a third driving unit, a third driven wheel, a third centering mechanism, a first workpiece limiting frame and a first workpiece supporting plate, wherein the third driving wheel, the third driving unit, the third driven wheel, the third centering mechanism, the first workpiece limiting frame and the first workpiece supporting plate are all arranged on the frame; the outer arm rear end supporting vehicle comprises a fourth frame, a fourth driving wheel, a fourth driving unit, a fourth driven wheel, a fourth centering mechanism, a second workpiece limiting frame and a second workpiece supporting plate, wherein the fourth driving wheel, the fourth driving unit, the fourth driven wheel, the fourth centering mechanism, the second workpiece limiting frame and the second workpiece supporting plate are all arranged on the fourth frame.

Preferably, the driving wheel set in the inner arm driving vehicle comprises a double-rim wheel, a wheel shaft, a walking chain wheel, a key, a transmission chain wheel and a non-rim wheel, the double-rim wheel, the non-rim wheel, the transmission chain wheel and the walking chain wheel are sleeved on the wheel shaft, and the transmission chain wheel and the walking chain wheel are connected with the wheel shaft through the key; the inner arm drives the vehicle to walk by driving the wheel shaft through the driving chain wheel by the driving unit so as to drive the walking chain wheel to rotate, and the walking chain wheel rolls on the sleeve roller chain to move forwards so as to provide power for the inner arm to drive the vehicle to walk and be sleeved; the double-rim wheel and the non-rim wheel only play a bearing role and do not provide walking power.

Preferably, the work piece supporting rack of inner arm drive car adopts the structural style of bearing and the combination of pinhole board, and this bearing is the L type, prescribes a limit to the work piece position in two directions, and this pinhole board adopts many pinhole structures, respectively with corresponding work piece adaptation.

Preferably, the lifting device in the inner arm driving vehicle comprises a lifter and a swing frame, wherein the lifter drives the workpiece supporting frame to move up and down along the guide sleeve of the frame through the swing frame.

Preferably, the centering mechanism II of the inner arm supporting vehicle comprises a speed reduction motor II, a left screw nut mechanism II, a right screw nut mechanism II and a workpiece baffle plate II, and the centering mechanism II drives the left screw nut mechanism II and the right screw nut mechanism II through the speed reduction motor II to open and close the workpiece baffle plate II;

the second lifting device of the inner arm supporting vehicle comprises a second lifting machine and a second guide mechanism, and the second lifting device drives the workpiece supporting table to move up and down through the second lifting machine and is guided through the second guide mechanism.

Preferably, the drive unit of the inner arm supporting vehicle comprises a variable frequency speed motor II, a speed reducer II and a chain wheel set II, and the drive unit II drives the driving wheel II to rotate through the variable frequency speed motor II, the speed reducer II and the chain wheel set II.

Preferably, the third centering mechanism of the outer arm front end supporting vehicle of the utility model comprises a third speed reduction motor, a third left screw nut mechanism, a third right screw nut mechanism and a third workpiece baffle, and the third centering mechanism drives the third left screw nut mechanism and the third right screw nut mechanism through the third speed reduction motor to open and close the third workpiece baffle; and a third driving unit of the outer arm front end supporting vehicle comprises a third motor speed reducer and a third chain wheel set, and the third driving unit is connected with the third motor speed reducer and the third chain wheel set to drive a third driving wheel to rotate.

Preferably, the centering mechanism four of the outer arm rear end supporting vehicle of the present invention includes a gear motor four, a left screw nut mechanism four, a right screw nut mechanism four and a workpiece baffle four, and the centering mechanism four drives the left screw nut mechanism four and the right screw nut mechanism four through the gear motor four to open and close the workpiece baffle four; and the driving unit four-way motor reducer four and the chain wheel group four drive the driving wheel four to rotate.

Preferably, the wheels on the same side of the inner arm driving vehicle, the inner arm supporting vehicle, the outer arm front end supporting vehicle and the outer arm rear end supporting vehicle are double-rim wheels, and the wheels on the other side of each vehicle are wheel structures without rims; the ground tracks corresponding to the double-wheel-rim wheels of each vehicle are guide tracks, the double-wheel-rim wheels of each vehicle run on the guide tracks, and the position precision of the inner arm workpiece and the outer arm workpiece in the sleeving process is guaranteed through the axial limiting effect of the double-wheel-rim wheels.

Preferably, the arm sleeving machine further comprises two sleeve roller chains horizontally laid parallel to the ground track.

Compared with the prior art, the utility model, have following advantage and effect: the overall structure is reasonable in design, a simple manual operation mode is replaced by an industrial production mode, the device is suitable for a station type centralized production mode, and can also be used as a component unit of a final assembly production line, partial parameterization setting and control, mode operation and intelligent organization production of a sleeving process can be realized, the device can be used for products of multiple series and multiple specifications, the sleeving of multiple layers of arms from the innermost arm to the outermost arm can be realized, the sleeving from the outermost arm to the innermost arm can also be realized, and the station passing transfer of workpieces before and after the sleeving can also be realized. The self-aligning function of the workpiece in the sleeving process is realized, so that the influence of the transverse force of sleeving can be eliminated, and the self-aligning function of the sleeving power adjusting function is realized. The sleeving process and the sleeving equipment have the advantages of reasonable structure, reliable sleeving power, higher automation degree, simple sleeving operation and high efficiency, and the workpiece state in the sleeving process is convenient and flexible to adjust, so that the machine does not occupy common equipment resources in workshops such as traveling cranes, forklifts and the like, and the occupied area of a sleeving operation area is reduced compared with a manual operation mode.

Drawings

Fig. 1 is a schematic view of an initial state structure of a set arm machine set according to an embodiment of the present invention.

Fig. 2 is a schematic view of the state structure of the arm sleeving machine according to the embodiment of the present invention after completing the sleeving.

Fig. 3 is a first structural schematic diagram of a sleeving intermediate state of the arm sleeving machine according to the embodiment of the present invention.

Fig. 4 is a schematic view of a state structure in the middle of arm sleeving machine sleeving according to the embodiment of the present invention.

Fig. 5 is a schematic view of a front view structure of an inner arm driving vehicle according to an embodiment of the present invention.

Fig. 6 is a schematic top view of an inner arm driving vehicle according to an embodiment of the present invention.

Fig. 7 is a schematic view of the structure in the direction a in fig. 5.

Fig. 8 is a schematic view of the structure in the direction B in fig. 5.

Fig. 9 is a schematic view of the structure of C-C in fig. 6.

Fig. 10 is a schematic view of a front view structure of an inner arm support vehicle according to an embodiment of the present invention.

Fig. 11 is a schematic top view of an inner arm support vehicle according to an embodiment of the present invention.

Fig. 12 is a schematic side view of the inner arm support vehicle according to the embodiment of the present invention.

Fig. 13 is a schematic view of a front end support vehicle of an outer arm according to an embodiment of the present invention.

Fig. 14 is a schematic top view of the outer arm front end support vehicle according to the embodiment of the present invention.

Fig. 15 is a schematic side view of the outer arm front end support vehicle according to the embodiment of the present invention.

Fig. 16 is a schematic view of a front view structure of an outer arm rear end support vehicle according to an embodiment of the present invention.

Fig. 17 is a schematic top view of the outer arm rear end support vehicle according to the embodiment of the present invention.

Fig. 18 is a side view schematic diagram of the outer arm rear end support vehicle according to the embodiment of the present invention.

In the figure: the device comprises an inner arm driving vehicle 1, an inner arm supporting vehicle 2, an outer arm front end supporting vehicle 3, an outer arm rear end supporting vehicle 4, a control system 5, a ground track 6, a sleeve roller chain 7, an inner arm workpiece 8 and an outer arm workpiece 9;

inner arm drive vehicle 1: the device comprises a frame 11, a workpiece supporting frame 12, a driving wheel set 13, a driving unit 14, a driven wheel set 15 and a lifting device 16;

a frame 11: the guide sleeve 111 is provided with a guide hole,

the workpiece support frame 12: a pin hole plate 121, a guide rotating shaft 122 and a supporting seat 123;

a driving wheel set 13: a double rim wheel 131, a wheel shaft 132, a walking sprocket 133, a key 134, a transmission sprocket 135, a rimless wheel 136;

the drive unit 14: a variable frequency speed regulating motor 141, a reducer 142 and a driving chain wheel 143;

driven wheel set 15: a double-rim wheel 151, a rimless wheel 152;

the lifting device 16: a lifter 161, a swing frame 162;

inner arm support cart 2: the second frame 21, the second lifting device 22, the second centering mechanism 23, the second driven wheel 24, the second driving wheel 25, the workpiece supporting table 26 and the second driving unit 27;

a second lifting device 22: a second elevator 221, a second guide mechanism 222;

a second centering mechanism 23: a second speed reducing motor 231, a second left and right lead screw nut mechanism 232 and a second workpiece baffle 233;

the second driving unit 27: a second variable frequency speed regulating motor 271, a second speed reducer 272 and a second chain wheel set 273;

outer arm front end support vehicle 3: the device comprises a frame III 31, a driving wheel III 32, a driving unit III 33, a driven wheel III 34, a centering mechanism III 35, a workpiece limiting frame I36, a workpiece supporting plate I37 and a pin shaft I38;

driving unit three 33: a motor reducer III 331 and a chain wheel set III 332;

centering mechanism three 35: a third speed reducing motor 351, a third left lead screw nut mechanism 352, a third right lead screw nut mechanism 352 and a third workpiece baffle 353;

outer arm rear end support cart 4: a fourth frame 41, a fourth driving wheel 42, a fourth driving unit 43, a fourth driven wheel 44, a fourth centering mechanism 45, a second workpiece limiting frame 46, a second workpiece supporting plate 47 and a second pin shaft 48;

driving unit four 43: a motor reducer IV 431 and a chain wheel group IV 432;

centering mechanism four 45: a fourth speed reduction motor 451, a fourth left and right lead screw nut mechanism 452, and a fourth workpiece baffle 453.

Detailed Description

The present invention will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not intended to limit the present invention.

Examples are given.

Referring to fig. 1 to 18, the arm type ascending truck inner and outer arm sleeving special arm sleeving machine mainly comprises an inner arm driving truck 1, an inner arm supporting truck 2, an outer arm front end supporting truck 3, an outer arm rear end supporting truck 4, a control system 5, a ground rail 6 and a sleeve roller chain 7.

The number of the ground rails 6 is two in the present embodiment, one of the ground rails is a guide rail, and when the inner arm workpiece 8 and the outer arm workpiece 9 are nested, the inner arm drive vehicle 1, the inner arm support vehicle 2, the outer arm front end support vehicle 3, and the outer arm rear end support vehicle 4 all run on the ground rails 6.

In the present embodiment, the inner arm workpiece 8 is supported on the inner arm drive carriage 1 and the inner arm support carriage 2, and the outer arm workpiece 9 is supported on the outer arm front end support carriage 3 and the outer arm rear end support carriage 4.

Referring to fig. 5 to 9, the inner arm driving vehicle 1 includes a frame 11, a workpiece support frame 12, a driving wheel set 13, a driving unit 14, a driven wheel set 15, a lifting device 16, a guide sleeve 111, a support base 123, a pin hole plate 121, a guide rotating shaft 122, a double rim wheel 131, a wheel axle 132, a traveling sprocket 133, a key 134, a transmission sprocket 135, a non-rim wheel 136, a variable frequency speed motor 141, a reducer 142, a driving sprocket 143, a double rim wheel 151, a non-rim wheel 152, a lifter 161, and a swing frame 162.

The driving wheel set 13, the driven wheel set 15 and the driving unit 14 are arranged on the frame 11; the double-rim wheel 131, the non-rim wheel 136, the transmission chain wheel 135 and the walking chain wheel 133 of the driving wheel set 13 are sleeved on the wheel shaft 132, and the transmission chain wheel 135 and the walking chain wheel 133 are connected with the wheel shaft 132 through keys 134; the driving unit 14 transmits rotary power to the walking sprocket 133 through the variable frequency speed regulating motor 141, the speed reducer 142, the driving sprocket 143 and the transmission sprocket 135, the walking sprocket 133 rolls on the sleeve roller chain 7 to move forwards, power for driving the inner arm to walk and be sleeved on the vehicle 1 is provided, and the double-rim wheel 131, the non-rim wheel 136, the double-rim wheel 151 and the non-rim wheel 152 only play a role in bearing; the motor 141 is controlled by a frequency converter (not shown);

in this embodiment, the workpiece support frame 12 is sleeved in the guide sleeve 111 of the frame 11 through the guide rotating shaft 122, and can be lifted and swung in the guide sleeve 111; the workpiece support frame 12 is composed of an L-shaped support base 123, a pinhole plate 121 and a guide rotating shaft 122 which are connected together, wherein the pinhole plate 121 adopts a multi-pinhole structure and is respectively matched with corresponding workpieces; the elevator 16 is mounted on the frame 11, the elevator 161 drives the workpiece support frame 12 to move up and down along the guide sleeve 111 of the frame 11 via the swing frame 162, and the stroke of the elevator 161 is counted and converted by a rotary encoder (not shown).

The frame 11 of the present embodiment is provided with a guide sleeve 111 in a direction perpendicular to the horizontal plane for mounting a guide rotating shaft 122 of the workpiece support frame 12; the driving unit 14 is mounted on the frame 11 and drives the wheel shaft 132 of the driving wheel set 13 to rotate, and the driving motor 141 is controlled by a frequency converter.

Referring to fig. 10-12, the inner arm supporting vehicle 2 includes a second frame 21, a second lifting device 22, a second centering mechanism 23, a second driven wheel 24, a second driving wheel 25, a second workpiece supporting table 26, a second driving unit 27, a second lifter 221, a second guiding mechanism 222, a second speed reducing motor 231, a second left and right lead screw nut mechanism 232, a second workpiece baffle 233, a second variable frequency speed regulating motor 271, a second speed reducer 272 and a second chain wheel set 273.

In the embodiment, a second lifting device 22, a second centering mechanism 23, a second driven wheel 24, a second driving wheel 25 and a second driving unit 27 are all installed on a second frame 21, and a workpiece supporting table 26 is connected with the second lifting device 22.

The second driving unit 27 of this embodiment drives the second driving wheel 25 to rotate through the second variable frequency speed control motor 271, the second speed reducer 272 and the second sprocket group 273, and the second variable frequency speed control motor 271 is controlled by a frequency converter (not shown).

In this embodiment, one side of the driving wheel II 25 is a double-rim wheel, and the other side is a non-rim wheel, and one side of the driven wheel II 24 is also a double-rim wheel, and the other side is a non-rim wheel.

The second elevator device 22 of this embodiment drives the workpiece support table 26 to move up and down by the second elevator 221, and is guided by the second guide mechanism 222, and the stroke of the second elevator 221 is counted and converted by a rotary encoder (not shown).

In the second centering mechanism 23 of the present embodiment, the second reduction motor 231 drives the second left and right lead screw-nut mechanisms 232 to open and close the second workpiece baffle 233, and the stroke of the second workpiece baffle 233 is counted and converted by a rotary encoder (not shown).

Referring to fig. 13 to 15, the outer arm front end supporting vehicle 3 includes a third frame 31, a third driving wheel 32, a third driving unit 33, a third driven wheel 34, a third centering mechanism 35, a first workpiece limiting frame 36, a first workpiece supporting plate 37, a first pin 38, a third motor reducer 331, a third sprocket set 332, a third speed reducing motor 351, a third left lead screw nut mechanism 352, a third right lead screw nut mechanism 352 and a third workpiece baffle 353.

In the embodiment, a driving wheel III 32, a driven wheel III 34, a driving unit III 33, a workpiece supporting plate I37, a centering mechanism III 35 and a workpiece limiting frame I36 are all arranged on a frame III 31; the driving unit III 33 drives the driving wheel III 32 to rotate through the motor reducer III 331 and the chain wheel set III 332, and the motor reducer III 331 is controlled by a frequency converter (not shown).

In the embodiment, one side of a driving wheel III 32 is a double-rim wheel, and the other side is a non-rim wheel, and one side of a driven wheel III 34 is also a double-rim wheel, and the other side is a non-rim wheel; the centering mechanism III 35 drives the left and right screw rod nut mechanisms III 352 by the speed reducing motor III 351 to open and close the workpiece baffle plate III 353, and the stroke of the workpiece baffle plate III 353 is counted and converted by a rotary encoder (not shown); the outer arm workpiece 9 is positioned on the first workpiece limiting frame 36 through an adjustable flexible chain (not shown); after the outer arm front end supporting vehicle 3 runs to the sleeving station, the outer arm front end supporting vehicle is positioned on the ground through a first pin shaft 38.

Referring to fig. 16 to 18, the outer arm rear end support cart 4 includes a frame four 41, a driving wheel four 42, a driving unit four 43, a driven wheel four 44, a centering mechanism four 45, a workpiece limiting frame two 46, a workpiece supporting plate two 47, a pin shaft two 48, a speed reduction motor four 451, a left lead screw nut mechanism four 452, a right lead screw nut mechanism four 453, a motor reducer four 431, and a sprocket set four 432.

In the embodiment, a driving wheel IV 42, a driven wheel IV 44, a driving unit IV 43, a workpiece supporting plate II 47, a centering mechanism IV 45 and a workpiece limiting frame II 46 are all arranged on a frame IV 41; the driving unit IV 43 drives the driving wheel IV 42 to rotate through a motor reducer IV 431 and a chain wheel group IV 432, and the motor reducer IV 431 is controlled by a frequency converter (not shown).

In the embodiment, one side of a driving wheel IV 42 is a double-rim wheel, and the other side is a non-rim wheel, and one side of a driven wheel IV 44 is also a double-rim wheel, and the other side is a non-rim wheel; the centering mechanism IV 45 drives the left screw rod nut mechanism IV 452 and the right screw rod nut mechanism IV 452 by the speed reducing motor IV 451 to open and close the workpiece baffle plate IV 453, and the stroke of the workpiece baffle plate IV 453 is counted and converted by a rotary encoder (not shown); the outer arm workpiece 9 is positioned on the second workpiece limiting frame 46 through an adjustable flexible chain (not shown); and after the outer arm rear end supporting vehicle 4 runs to the sleeving station, the outer arm rear end supporting vehicle is positioned on the ground through the second pin shaft 48.

In the embodiment, each motion unit and each sensor are electrically connected with the control system 5, and the control system 5 performs independent control or linkage joint control on the arm sleeving machine, and performs parametric setting, control and modular operation on the sleeving process.

In the embodiment, the safe distance between the vehicles of the arm sleeving machine is detected by a sensor and controlled by a control system 5; the control system 5 is an industrial personal computer or a PLC and can be in butt joint with the MES system.

The inner arm workpiece 8 on the arm sleeving machine of the embodiment eliminates transverse force through swinging of the workpiece supporting frame 12 to realize a self-alignment function.

The inner arm driving vehicle 1 of the embodiment adjusts the output power of the motor through the frequency converter to realize the adjustment of the sleeving power.

The arm sleeving machine can realize the over-station conveying of an outer arm workpiece 9, an inner arm workpiece 8 and an assembled arm assembly through an inner arm driving vehicle 1, an inner arm supporting vehicle 2, an outer arm front end supporting vehicle 3 and an outer arm rear end supporting vehicle 4, and the operation synchronization of two vehicles for conveying the same workpiece is controlled by a frequency converter.

The arm sleeving machine of the embodiment can realize the sleeving of a multi-layer arm product from the outermost arm to the innermost arm and can also realize the sleeving of the multi-layer arm product from the innermost arm to the outermost arm by fixing the height of the outer arm workpiece and adjusting the height of the inner arm workpiece 8 through the lifting device.

The arm sleeving machine can set parameters such as the stroke of the lifting device, the stroke of the centering mechanism, sleeving power, a parking position and the like and operates according to a mode.

Safe distance between each car of cover arm machine detect by the sensor (in the figure), control system 5 controls.

The process of this example is as follows (see fig. 1-18):

(1) positioning and fixing of workpiece on sleeve arm machine

a. Positioning and fixing of outer arm workpiece 9

Two ends of the outer arm workpiece 9 are respectively placed on a first workpiece supporting plate 37 on the outer arm front end supporting vehicle 3 and a second workpiece supporting plate 47 on the outer arm rear end supporting vehicle 4, and the outer arm workpiece 9 is transversely positioned (in a direction perpendicular to the long axis of the workpiece) through a third centering mechanism 35 on the outer arm front end supporting vehicle 3 and a fourth centering mechanism 45 on the outer arm rear end supporting vehicle 4; the outer arm workpiece 9 is connected with the first workpiece limiting frame 36 on the third frame 31 and the second workpiece limiting frame 46 on the fourth frame 41 through the adjustable flexible chain, so that the workpiece is limited along the sleeving action direction (the long axis direction of the workpiece) and prevented from overturning.

b. Positioning and fixing of inner arm workpiece 8

Two ends of the inner arm workpiece 8 are respectively supported on the workpiece supporting table 26 of the inner arm supporting vehicle 2 and the workpiece supporting frame 12 of the inner arm driving vehicle 1, and one end of the workpiece is transversely positioned on the inner arm workpiece through a second centering mechanism 23 of the inner arm supporting vehicle 2; the other end of the workpiece is positioned by a pin hole workpiece and a non-pin hole workpiece, for the workpiece with the pin hole, the workpiece is connected with the adaptive pin hole on the pin hole plate 121 of the workpiece supporting frame 12 through a pin shaft to realize positioning, and for the workpiece without the pin hole, the workpiece is positioned through the L-shaped supporting seat 123 on the workpiece supporting frame 12.

(2) Positioning of arm sleeving machine

a. Positioning of the outer arm front end support carriage 3 and the outer arm rear end support carriage 4 in the nesting operation direction (the workpiece long axis direction)

The ground foundation is provided with a plurality of embedded pipes according to the specification of a workpiece, and after the front end supporting vehicle 3 and the rear end supporting vehicle 4 of the outer arm drive to the sleeving working positions, the embedded pipes of the foundation are inserted through a first pin shaft 38 and a second pin shaft 48 respectively to fix the vehicles and the ground.

b. Positioning of carriages in a direction perpendicular to the long axis of the workpiece

The wheels on the same side of each vehicle are double-rim wheels and are positioned on the guide track of the ground track 6, so that each vehicle is positioned in the direction vertical to the long axis of the workpiece, and the reference is uniform; the wheels on the other side of each vehicle are of wheel structures without wheel rims, so that the over-positioning of each vehicle is avoided.

(3) Suit power

One end of the inner arm workpiece 8 is connected with the frame 11 through a workpiece supporting frame 12 of the inner arm driving vehicle 1, the workpiece moves along with the inner arm driving vehicle 1 without relative movement between the inner arm driving vehicle 1 and the workpiece, and therefore the walking power of the inner arm driving vehicle 1 is converted into power for driving the inner arm workpiece 8 to perform sleeving action. The inner arm driving vehicle 1 is driven by the driving unit 14 to rotate the traveling sprocket 133, and the traveling sprocket 133 rolls on the bush roller chain 7 to advance, thereby providing the traveling power for the inner arm driving vehicle 1.

The conventional vehicle body walking is realized by rolling the power wheels on the track, and when certain resistance is met, the wheels can slip on the track or even bite the track, so that the sleeving power is unreliable and the track can be damaged. The power is transmitted by the way that the walking chain wheel 133 rolls on the sleeve roller chain 7 to move forward, so that the phenomenon is completely avoided, and reliable power is provided for sleeving.

(4) Sleeving process from outermost arm to innermost arm

The sleeving process is that the inner arm workpiece 8a on the outermost layer, the inner arm workpiece 8b on the secondary outer layer and the inner arm workpiece 8n on the innermost layer are sleeved on the outer arm workpiece 9 in sequence.

a. Suit of outermost layer inner arm work piece

1) Firstly, respectively fixing an inner arm workpiece 8a and an outer arm workpiece 9 on each lathe; 2) the outer arm front end supporting vehicle 3 and the outer arm rear end supporting vehicle 4 convey the outer arm workpiece 9 to a sleeving station, and stop to fix the two wheels and the ground; 3) after the inner arm workpiece 8 is conveyed to the sleeving position by the inner arm driving vehicle 1 and the inner arm supporting vehicle 2, two vehicles stop (the inner arm supporting vehicle 2 is close to one side of the outer arm front end supporting vehicle 3); 4) after the position of the workpiece is confirmed to be accurate through manual inspection, the inner arm driving vehicle 1 is started to move towards the direction of the outer arm workpiece 9, and after one end of the inner arm workpiece 8 supported by the inner arm supporting vehicle 2 enters the outer arm workpiece 9, one end supported by the inner arm supporting vehicle 2 is changed into being supported by the outer arm workpiece 9; 5) starting the avoidance action of the inner arm supporting vehicle 2: the centering mechanism II 23 of the inner arm supporting vehicle 2 is started, and the left and right screw rod nut mechanisms II 232 enable the workpiece baffle plate II 233 to loosen the inner arm workpiece 8; meanwhile, the second lifting device 22 of the inner arm supporting vehicle 2 is automatically started to drive the workpiece supporting table 26 of the inner arm supporting vehicle 2 to move downwards to be separated from the inner arm workpiece 8; after the workpiece supporting table 26 descends to the right position and stops, the inner arm supporting vehicle 2 automatically starts to move towards the outer arm workpiece 9 to an avoidance position below the outer arm workpiece 9; 6) in the process, the inner arm driving vehicle 1 always drives the inner arm workpiece 8 to move forwards, and after the inner arm driving vehicle 1 stops when the slide block is at the installation position; 7) starting a lifting device 16 of the inner arm driving vehicle 1 to lift one end of the inner arm workpiece 8, and after the installation of the upper sliding block of the outer arm workpiece 9 is completed manually, the lifting mechanism 16 of the inner arm supporting vehicle 1 moves downwards to reset; 8) Starting a second lifting device 22 of the inner arm supporting vehicle 2 to move upwards to lift one end of the outer arm workpiece 9, and after the installation of the lower sliding block of the outer arm workpiece 9 is completed manually, the second lifting device 22 of the inner arm supporting vehicle 2 moves downwards to reset; 9) starting the inner arm driving vehicle 1 to continue to travel towards the outer arm workpiece 9, and sleeving the inner arm workpiece 8 in place; 10) for the workpieces connected by the hinge shaft, the inner arm driving vehicle 1, the lifting device 16 of the inner arm supporting vehicle 2 and the second lifting device 22 assist in manually completing the hinge shaft installation between the inner arm workpiece and the outer arm workpiece.

b. Suit of inferior outer layer inner arm work piece

When the arm sleeving machine is used for sleeving the inner arm workpiece and the outer arm workpiece, the supporting height of the outer arm workpiece 9 is unchanged, after the outermost layer inner arm workpiece 8a is sleeved, the supporting height of the second layer inner arm workpiece 8b needs to be adjusted before the second layer inner arm workpiece 8b is sleeved: one end of the inner arm workpiece 8b close to the outer arm workpiece 9 is realized by the second lifting device 22 of the inner arm support vehicle 2, and the other end of the workpiece is realized by the lifting device 16 (for a workpiece without a pin hole) of the inner arm drive vehicle 1 or a pin hole (for a workpiece with a pin hole) on the corresponding pin hole plate 121. And after the support height adjustment is completed and the second inner arm workpiece 8b is fixed on the vehicle, the arm sleeving machine repeats the action 2-10 of sleeving the outermost inner arm workpiece 8a to complete the sleeving of the second inner arm workpiece 8 b.

In the above manner, the supporting height of the arm workpieces 8 a-8 n in each layer is adjusted, and the arm sleeving of multiple layers can be realized.

(5) Sheathing process from innermost arm to outermost arm

The sleeving process comprises the steps of sleeving the innermost inner arm workpiece on the secondary inner layer, sleeving the assembled workpieces on the next inner arm workpiece until all the assembled workpieces of the inner arms are sleeved on the outer arm workpiece 9.

The arm sleeving machine has no substantial difference from the sleeving process from the outermost arm to the innermost arm when the sleeving process is realized.

(6) Adjustment of the sleeving process

a. Self-alignment of inner arm workpiece

The ideal state of the inner and outer arm sleeving process is that the long axis of the inner arm workpiece 8 coincides with the long axis of the outer arm workpiece 9, but the coincidence of the long axis of the inner and outer arm workpieces is difficult to realize due to the inevitable accumulative errors of a plurality of links, such as civil engineering errors, equipment manufacturing errors, installation errors, workpiece manufacturing errors, workpiece positioning errors and the like. The cost of solving this problem by improving the accuracy of each link is very large. The misalignment of the axes entails that the fitting process generates transverse forces perpendicular to the fitting action, which are very disadvantageous for the fitting process: 1) each centering mechanism must provide a larger clamping force to balance the transverse force, resulting in increased equipment cost; 2) causing deformation and even damage to the workpiece; 3) the strength and rigidity of the equipment are guaranteed under the influence of the transverse force, so that the equipment is inevitably complex in structure and increased in size, and the equipment cost is increased; 4) part of the power is converted into transverse force, and power loss is caused. In the arm sleeving machine of the embodiment, when a transverse force is generated, the transverse force can enable the workpiece supporting frame 12 to swing in a horizontal plane through the workpiece, when the inner arm workpiece 8 swings to the point that the axes of the long axes of the inner arm workpiece and the outer arm workpiece are overlapped, the transverse force is eliminated, the workpiece supporting frame 12 which is not subjected to the transverse force loses the driving force for continuous swinging and rotation and does not swing any more, and therefore the self-alignment of the workpieces is realized, and the self-alignment instantly generates axis overlap ratio deviation and instantly eliminates the deviation.

b. Adjustment and limitation of package power

The driving power of the arm sleeving machine is determined according to the maximum sleeving resistance, the maximum sleeving resistance is caused by workpiece deformation, the inner arm workpiece and the outer arm workpiece are welded structural parts which are not machined, workpiece deformation inevitably exists, the workpiece deformation can be eliminated through proper sleeving power, and when one workpiece is excessively deformed and the workpiece deformation is eliminated through the excessive sleeving power, one workpiece may be unqualified, so that two workpieces are damaged. The sleeving arm machine initially adopts the low-power output of the motor, when resistance is met, sleeving power is controlled in a mode of manually increasing the output power of the motor, and different maximum output powers can be set according to the driving force of the oil cylinder of different products. The arm sleeving machine of the embodiment controls the output power of the motor through the frequency converter.

c. Adjusting the up-down position of the inner and outer arm workpieces in the process of sleeving

The inner cavity of the outer arm of the workpiece has a solid structure, the angle of the inner arm workpiece and the outer arm workpiece on the vertical plane needs to be changed in the sleeving process, the sleeving arm machine adjusts the angle of the inner arm workpiece and the outer arm workpiece on the vertical plane through the lifting device 16 and the lifting device II 22 of the inner arm driving vehicle 1 and the inner arm supporting vehicle 2, and the situation is similar to the situation of installing the upper sliding block and the lower sliding block, and the situation is shown in figures 3-4.

(7) Parameterized setting, control and modeled operation of arm sleeving machine

a. Parameterization setting

According to different products and different inner arm workpieces 8x of the same product, the arm sleeving machine can carry out parameterization setting and control on the following parameters: 1) for different products, different opening and closing strokes are set for each centering mechanism; 2) for different layer inner arm workpieces 8x of the same product, different opening and closing strokes are set for each pair of centering mechanisms; 3) corresponding strokes are set for the lifting device 16 of the inner arm driving vehicle 1 and the lifting device II 22 of the inner arm supporting vehicle 2 at the workpiece loading positions of different products; 4) when the upper sliding blocks of the outer-layer arms of different workpieces are installed, the second lifting device 22 of the inner-arm supporting vehicle 2 sets corresponding strokes; 5) when the upper sliding blocks of the outer-layer arms of different workpieces are installed, the inner arm drives the lifting device 16 of the vehicle 1 to set a corresponding stroke; 6) for different products, different avoidance positions of the inner arm supporting vehicle 2 are set; 7) for different products, different inner arm driving vehicles 1 are set with initial power and power increasing amplitude.

b. Patterned operation

The first level is the selection of a process mode and is divided into two modes: a sleeving mode from the outermost arm to the innermost arm; and a sleeving mode from the innermost arm to the outermost arm.

The second level is product series selection, and the packaging process of different series of products is distinguished.

The third level is product specification selection, which distinguishes different specifications of the same series.

And will be apparent to those skilled in the art from the foregoing description.

In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above description is only an example of the structure of the present invention. All the equivalent changes or simple changes made according to the structure, characteristics and principle of the utility model are included in the protection scope of the utility model. Various modifications, additions and substitutions may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims (10)

1. The utility model provides a special set of arm machine of arm-type car of ascending a height inner and outer arm suit, includes ground track and control system, its characterized in that: the inner arm driving vehicle comprises a frame, a workpiece supporting frame, a driving wheel set, a driving unit, a driven wheel set and a lifting device, wherein the driving wheel set, the driving unit, the driven wheel set and the lifting device are all arranged on the frame, the frame is provided with a guide sleeve vertical to a horizontal plane, the workpiece supporting frame is provided with a guide revolving shaft, and the workpiece supporting frame is sleeved in the guide sleeve through the guide revolving shaft; the inner arm supporting vehicle comprises a second frame, a second lifting device, a second centering mechanism, a second driven wheel, a second driving wheel, a workpiece supporting table and a second driving unit, wherein the second lifting device, the second centering mechanism, the second driven wheel, the second driving wheel and the second driving unit are all arranged on the second frame, and the workpiece supporting table is connected with the second lifting device; the outer arm front end supporting vehicle comprises a third frame, a third driving wheel, a third driving unit, a third driven wheel, a third centering mechanism, a first workpiece limiting frame and a first workpiece supporting plate, wherein the third driving wheel, the third driving unit, the third driven wheel, the third centering mechanism, the first workpiece limiting frame and the first workpiece supporting plate are all arranged on the frame; the outer arm rear end supporting vehicle comprises a fourth frame, a fourth driving wheel, a fourth driving unit, a fourth driven wheel, a fourth centering mechanism, a second workpiece limiting frame and a second workpiece supporting plate, wherein the fourth driving wheel, the fourth driving unit, the fourth driven wheel, the fourth centering mechanism, the second workpiece limiting frame and the second workpiece supporting plate are all arranged on the fourth frame.

2. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the driving wheel set in the inner arm driving vehicle comprises double-rim wheels, a wheel shaft, a walking chain wheel, a key, a transmission chain wheel and a non-rim wheel, wherein the double-rim wheels, the non-rim wheels, the transmission chain wheel and the walking chain wheel are sleeved on the wheel shaft, and the transmission chain wheel and the walking chain wheel are connected with the wheel shaft through the key.

3. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the workpiece support frame of the inner arm driving vehicle adopts a structural form of combining a support seat and a pin hole plate, the support seat is L-shaped, the position of a workpiece is limited in two directions, and the pin hole plate adopts a multi-pin hole structure and is respectively matched with the corresponding workpiece.

4. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the lifting device in the inner arm driving vehicle comprises a lifter and a swing frame, and the lifter drives the workpiece supporting frame to move up and down along the guide sleeve of the vehicle frame through the swing frame.

5. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the centering mechanism II of the inner arm supporting vehicle comprises a speed reducing motor II, a left screw nut mechanism II, a right screw nut mechanism II and a workpiece baffle plate II, and the centering mechanism II drives the left screw nut mechanism II and the right screw nut mechanism II through the speed reducing motor II to open and close the workpiece baffle plate II;

the second lifting device of the inner arm supporting vehicle comprises a second lifting machine and a second guide mechanism, and the second lifting device drives the workpiece supporting table to move up and down through the second lifting machine and is guided through the second guide mechanism.

6. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: and the second driving unit of the inner arm supporting vehicle comprises a second variable frequency speed regulating motor, a second speed reducer and a second chain wheel set, and the second driving unit drives the second driving wheel to rotate through the second variable frequency speed regulating motor, the second speed reducer and the second chain wheel set.

7. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the centering mechanism III of the outer arm front end supporting vehicle comprises a speed reducing motor III, a left screw rod nut mechanism III, a right screw rod nut mechanism III and a workpiece baffle plate III, and the centering mechanism III drives the left screw rod nut mechanism III and the right screw rod nut mechanism III through the speed reducing motor III to open and close the workpiece baffle plate III;

and a third driving unit of the outer arm front end supporting vehicle comprises a third motor speed reducer and a third chain wheel set, and the third driving unit is connected with the third motor speed reducer and the third chain wheel set to drive a third driving wheel to rotate.

8. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the centering mechanism IV of the outer arm rear end supporting vehicle comprises a speed reducing motor IV, a left screw rod nut mechanism IV, a right screw rod nut mechanism IV and a workpiece baffle plate IV, and the centering mechanism IV drives the left screw rod nut mechanism IV and the right screw rod nut mechanism IV through the speed reducing motor IV to enable the workpiece baffle plate IV to open and close;

and the driving unit four-way motor reducer four and the chain wheel group four drive the driving wheel four to rotate.

9. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the wheels on the same side of the inner arm driving vehicle, the inner arm supporting vehicle, the outer arm front end supporting vehicle and the outer arm rear end supporting vehicle are double-rim wheels, and the wheels on the other side of each vehicle are wheel structures without rims.

10. The arm type climbing vehicle inner and outer arm sleeving special arm sleeving machine according to claim 1, characterized in that: the arm sleeving machine further comprises two sleeve roller chains horizontally laid parallel to the ground track.

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