A wheel side reducer dismounting device and method for a self-unloading vehicle

Abstract

This invention relates to a device and method for disassembling and assembling a wheel-side reducer for dump trucks. The device includes a truss with a three-axis linkage mechanism at the top. The three-axis linkage mechanism is connected to a slewing mechanism, which is connected to a lifting assembly. The lifting assembly includes a horizontal lifting assembly, a vertical lifting assembly, and a conversion lifting assembly. A tilting mechanism is located below the lifting assembly. A first ground rail assembly is located on one side of the tilting mechanism, and at least two first disassembly / assembly robots are mounted on the first ground rail assembly. A second disassembly / assembly robot is connected to the three-axis linkage mechanism. The tilting mechanism is located on one side of the first ground rail assembly, and a rotor disassembly / assembly mechanism is located on the other side. Using this disassembly / assembly device improves the automation level of disassembling and assembling the wheel-side reducer for dump trucks, reduces the labor intensity of workers, and improves work safety.

Description

Technical Field

[0001] This invention relates to the field of wheel-side reducer disassembly and assembly technology, specifically to a device and method for disassembling and assembling a wheel-side reducer for dump trucks. Background Technology

[0002] The statements herein provide only background information in relation to this invention and necessarily constitute prior art.

[0003] The disassembly and assembly of the wheel-side reducer for dump trucks involves disassembling, transporting, and assembling various components. Currently, the disassembly and assembly of the wheel-side reducer for dump trucks are all done manually, using a bridge-type wire rope gantry crane and disassembly and assembly tools (such as ratchet wrenches, pneumatic wrenches, torque wrenches, pry bars, jigs, etc.). The maintenance process requires multiple people to operate manually and work together, which is labor-intensive and poses safety hazards. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a device and method for disassembling and assembling wheel-side reducers for dump trucks, which improves the automation level of disassembly and assembly of wheel-side reducers for dump trucks, solves the problems associated with manual operation, ensures quality, and enhances safety.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] In a first aspect, embodiments of the present invention provide a disassembly and assembly device for a dump truck wheel-side reducer, including a truss. A three-axis linkage mechanism is provided at the top of the truss. The three-axis linkage mechanism is connected to a slewing mechanism. The slewing mechanism is connected to a lifting assembly. The lifting assembly includes a horizontal lifting assembly, a vertical lifting assembly, and a conversion lifting assembly. A tilting mechanism is provided below the lifting assembly. A first ground rail assembly is provided on one side of the tilting mechanism. At least two first disassembly and assembly robots are provided on the first ground rail assembly. The three-axis linkage mechanism is connected to a second disassembly and assembly robot. A tilting mechanism is provided on one side of the first ground rail assembly, and a rotor disassembly and assembly mechanism is provided on the other side.

[0007] Optionally, the horizontal lifting device assembly is used to lift the horizontally positioned wheel-side reducer, including a first fixed plate connected to a slewing mechanism. The first fixed plate is provided with at least two sets of first clamping assemblies, each including a first clamp and a second clamp. The first clamp and the second clamp are connected to a first drive mechanism to achieve opposite or opposite movements.

[0008] Optionally, the vertical lifting device assembly is used to lift the components of the vertically arranged wheel-side reducer that are being disassembled and assembled. It includes a second fixed plate, which is connected to a slewing mechanism. The second fixed plate is provided with a second clamping assembly, which includes a third clamp and a fourth clamp. The third and fourth clamps are connected to a second drive mechanism to achieve opposite or opposite movements.

[0009] Optionally, the conversion lifting device assembly includes a support frame, which is connected to a slewing mechanism. A rotating plate is rotatably connected to the support frame, and the rotating plate can be fixedly connected to the end of the rotor assembly. The support frame is provided with a rotation drive mechanism connected to the rotating plate to drive the rotating plate to rotate.

[0010] Optionally, both the first and second disassembly / assembly robots are six-axis robots. The six-axis robots are equipped with camera elements and quick-change discs at their ends, with disassembly / assembly tools installed on the quick-change discs.

[0011] Optionally, the three-axis linkage mechanism includes an X-axis moving mechanism installed on the top of the truss. The X-axis moving mechanism is connected to the first Y-axis moving mechanism and can drive the first Y-axis moving mechanism to move along the Y direction. The first Y-axis moving mechanism is connected to the Z-axis moving mechanism and can drive the Z-axis moving mechanism to move along the Y direction. The Z-axis moving mechanism is connected to the rotary mechanism. The X and Y directions are two mutually perpendicular directions in the horizontal plane, and the Z direction is the vertical direction. The moving part of the X-axis moving mechanism is connected to the second Y-axis moving mechanism, and the second Y-axis moving mechanism is connected to the second disassembly and assembly robot.

[0012] Optionally, the flipping mechanism includes a flipping plate, with both ends of the flipping plate rotatably connected to a first support assembly and a second support assembly, respectively. The first support assembly and the second support assembly are connected to a rotational power mechanism, which is connected to the flipping plate to drive the flipping plate to rotate. The flipping plate is provided with holes, and a hollow rotating platform is provided at the holes. The rotating part of the hollow rotating platform can be fixed to the base of the wheel-side reducer of the dump truck.

[0013] Optionally, the rotor disassembly and assembly mechanism includes a second ground rail assembly, the movable part of the second ground rail assembly is provided with a rotor support mechanism, and an automatic puller is provided on one side of the second ground rail assembly.

[0014] Furthermore, the rotor support mechanism employs an electric roller frame.

[0015] Secondly, embodiments of the present invention provide a method for disassembling and assembling the wheel-side reducer of the dump truck as described in the first aspect, for disassembling the wheel-side reducer, comprising the following steps:

[0016] The horizontal lifting device works to lift the wheel-side reducer to be disassembled in a horizontal position. Then, the three-axis linkage mechanism drives the wheel-side reducer to move to the target position and fixes the wheel-side reducer on the tilting mechanism.

[0017] The tilting mechanism operates, causing the wheel-side reducer of the dump truck to be in a horizontal position with its rear cover facing the first ground rail assembly; the first disassembly and assembly robot on the first ground rail assembly disassembles the rear cover and planetary gear system of the wheel-side reducer of the dump truck.

[0018] The flipping mechanism operates, causing the wheel-side reducer of the dump truck to be in a vertical position with the brake assembly facing upwards. The vertical lifting device clamps the components of the vertically positioned wheel-side reducer of the dump truck and, in cooperation with the second disassembly and assembly robot, completes the disassembly of the corresponding components inside and outside the wheel-side reducer base.

[0019] After the rotor assembly inside the base is removed, it is changed from a vertical to a horizontal state using a conversion lifting assembly. Driven by the three-axis linkage mechanism, the conversion lifting assembly places the rotor assembly onto the rotor disassembly and assembly mechanism. The rotor disassembly and assembly mechanism works with the first disassembly and assembly robot to complete the disassembly of the rotor assembly.

[0020] Thirdly, embodiments of the present invention provide a method for assembling the wheel-side reducer disassembly and assembly device described in the first aspect, for assembling the wheel-side reducer, comprising the following steps:

[0021] The base of the wheel-side reducer is lifted vertically to the tilting mechanism using a vertical lifting device assembly and then fixed to the tilting mechanism.

[0022] The vertical lifting device assembly, in conjunction with the first disassembly and assembly robot, assembles the components inside and outside the base. The rotor assembly, after being assembled on the rotor disassembly and assembly platform in conjunction with the first disassembly and assembly robot, is changed from a horizontal state to a vertical state by the conversion lifting device assembly, and then assembled into the base.

[0023] The flipping mechanism operates, causing the base to shift to a horizontal position with the bottom of the base facing the first ground rail assembly. The planetary gear train and the rear cover are then installed by the first disassembly and assembly robot.

[0024] The beneficial effects of this invention are as follows:

[0025] The dump truck wheel-side reducer disassembly and assembly device of the present invention, through the coordinated use of a three-axis linkage mechanism, a horizontal lifting tool assembly, a vertical lifting tool assembly, a conversion lifting tool assembly, a tilting mechanism, a first disassembly and assembly robot, a second disassembly and assembly robot, and a rotor disassembly and assembly mechanism, can realize the semi-automatic disassembly and assembly of the dump truck wheel-side reducer, improve the automation level of the disassembly and assembly of the dump truck wheel-side reducer, reduce the labor intensity of workers, improve the level of intelligence and automation, and does not require multiple people to work together, thus ensuring good safety. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0027] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention. Figure 2 ;

[0029] Figure 3 This is a front view of the overall structure of Embodiment 1 of the present invention;

[0030] Figure 4 This is a schematic diagram of the assembly of the rotary mechanism and the lifting mechanism in Embodiment 1 of the present invention;

[0031] Figure 5 This is a schematic diagram of the horizontal lifting device assembly structure according to Embodiment 1 of the present invention;

[0032] Figure 6 This is a schematic diagram of the vertical lifting device assembly structure according to Embodiment 1 of the present invention;

[0033] Figure 7 This is a schematic diagram of the conversion lifting device assembly structure according to Embodiment 1 of the present invention;

[0034] Among them, 1. Truss, 2. X-axis moving mechanism, 3. First Y-axis moving mechanism, 4. Z-axis moving mechanism, 5. Rotation mechanism, 6. Horizontal lifting device assembly, 6-1. First fixed plate, 6-2. First gripper, 6-3. Second gripper, 6-4. First connecting plate, 6-5. Second connecting plate, 6-6. First drive mechanism, 6-7. First connecting plate, 7. Vertical lifting device assembly, 7-1. Second fixed plate, 7-2. Third gripper, 7-3. Fourth gripper, 7-4. Second drive mechanism, 8. Tilting plate, 9. Hollow rotating platform, 10. First ground rail assembly, 11. First disassembly and assembly robot, 12. Second disassembly and assembly robot, 13. Second ground rail assembly, 14. Roller, 15. Roller drive mechanism, 16. Automatic puller, 17. Convertible lifting device assembly, 17-1 support frame, 17-2. Turning plate, 17-3. Rotation drive mechanism. Detailed Implementation

[0035] For ease of description, the words "upper" and "lower" appearing in this invention only indicate that they are consistent with the upper and lower directions of the accompanying drawings and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Example 1

[0037] This embodiment provides a device for disassembling and assembling a wheel-side reducer for dump trucks, such as... Figures 1-7As shown, it includes truss 1, three-axis linkage mechanism, slewing mechanism, lifting mechanism, flipping mechanism, first disassembly and assembly robot, first ground rail assembly, second disassembly and assembly robot, rotor disassembly and assembly mechanism, etc., wherein the lifting mechanism includes horizontal lifting assembly, vertical lifting assembly and conversion lifting assembly.

[0038] The truss 1 includes multiple columns, and a rectangular frame is fixed to the top of each column. The rectangular frame and the columns together constitute the truss. A reinforcing column is also provided between the columns and the rectangular frame to increase the structural strength of the entire truss.

[0039] A three-axis linkage mechanism is installed on the rectangular frame, and the existing structure can be used for the three-axis linkage mechanism.

[0040] Specifically, the three-axis linkage mechanism includes an X-axis moving mechanism 2, which is an X-axis screw drive mechanism fixed on two beams with longer sides of the rectangular frame. The moving part of the screw drive mechanism is connected to the first support and can drive the first support to move along the X-axis. Alternatively, the X-axis moving mechanism can be an electric vehicle mounted on a beam with longer sides of the rectangular frame, with the first support fixed between two electric vehicles.

[0041] The first support is equipped with a first Y-axis moving mechanism 3, which can output Y-axis movement, wherein the Y-axis is perpendicular to the X-axis, and the X-axis and Y-axis are two directions in the horizontal plane.

[0042] The first Y-direction moving mechanism 3 includes a Y-direction screw transmission mechanism fixed on the first support. The moving part of the Y-direction screw transmission mechanism is connected to the second support. The second support can move along the Y direction, or the first Y-direction moving mechanism can be an electric vehicle installed on the first support and capable of moving along the Y direction.

[0043] The second support is equipped with a Z-axis moving mechanism 4, where Z is the vertical direction. The Z-axis moving mechanism 4 adopts an existing screw lifting mechanism, the specific structure of which will not be described in detail here.

[0044] The moving part of the Z-axis moving mechanism 4 is connected to the rotary mechanism 5. The rotary mechanism can use an existing rotary platform, and its specific structure will not be described in detail here. The rotary mechanism 5 can output motion around the vertical axis.

[0045] The rotating part of the slewing mechanism 5 is connected to a lifting mechanism, which includes a horizontal lifting assembly 6, a vertical lifting assembly 7, and a conversion lifting assembly 17. The horizontal lifting assembly 6, the vertical lifting assembly 7, and the conversion lifting assembly 17 are respectively installed at the edge of the rotating part of the slewing mechanism 5 and are spaced 180° apart.

[0046] The horizontal lifting device assembly 6 is used to lift the wheel-side reducer of the dump truck in a horizontal state. The vertical lifting device assembly 7 is used to lift the parts disassembled from the wheel-side reducer in a vertical state. The conversion lifting device assembly is used to lift the rotor assembly in a vertical state from the base, rotate it to a horizontal state and place the rotor assembly on the rotor disassembly and assembly platform, or lift the rotor assembly assembled on the rotor disassembly and assembly platform in a horizontal state, and then convert it to a vertical state and install it into the base.

[0047] The horizontal lifting device assembly includes a first fixed plate 6-1, which is fixedly connected to the rotating part of the slewing mechanism 5. The first fixed plate 6-1 is provided with at least two sets of first gripper assemblies. Preferably, two sets of first gripper assemblies are provided. The same set of first gripper assemblies includes a first gripper 6-2 and a second gripper 6-3 arranged opposite to each other.

[0048] The top ends of the two first grippers 6-2 are fixedly connected to the first connecting plate 6-7. The connecting plate 6-5 fixes one end of the first linear slide rail, which is fixedly connected to the first fixing plate 6-1. The top ends of the two second grippers 6-3 are fixed to the second connecting plate 6-5, and the second connecting plate 6-5 is slidably connected to the first linear slide rail. The second connecting plate is connected to the first driving mechanism 6-6, which can drive the second connecting plate to move towards or away from the first connecting plate.

[0049] The first drive mechanism 6-6 adopts a screw transmission mechanism fixedly installed on the bottom surface of the first fixed plate 6-1. The moving part of the screw transmission mechanism is connected to the second connecting plate 6-5 to drive the second connecting plate to move.

[0050] The first gripper 6-2 and the second gripper 6-3 both include a vertically arranged gripper body. Both ends of the gripper body are provided with lifting claws. The lifting claws are used to clamp the outer surface of the tooth ring housing and the wheel hub of the dump truck wheel reducer, so as to fix it to the horizontally arranged dump truck wheel reducer.

[0051] In some other embodiments, the first connecting plate 6-7 and the second connecting plate 6-5 are both slidably connected to the first linear slide rail, and the first drive adopts a bidirectional screw transmission mechanism. The first connecting plate and the second connecting plate are respectively connected to the two sections of the bidirectional screw transmission mechanism with opposite rotation directions to achieve synchronous movement towards each other or away from each other.

[0052] The vertical lifting device assembly 7 includes a second fixing plate 7-1, which is fixedly connected to the rotating part of the slewing mechanism 5.

[0053] The bottom surface of the second fixed plate 7-1 is provided with a second gripper assembly, which includes a third gripper 7-2 and a fourth gripper 7-3, wherein the top end of the third gripper 7-2 is fixedly connected to one end of the second linear slide rail.

[0054] The tops of all the fourth grippers 7-3 are slidably connected to the second linear slide rail, and the bottom of the tops of the fourth grippers 7-3 are fixed to the second drive mechanism on the bottom surface of the second fixed plate to achieve movement toward or away from the third gripper 7-2.

[0055] Both the third gripper 7-2 and the fourth gripper 7-3 include a vertically arranged gripper body. Both ends of the gripper body are provided with lifting claws, which are used to hold the outer surface of the parts to achieve gripping of the vertically arranged parts.

[0056] Preferably, the second drive mechanism 7-6 adopts a screw drive mechanism fixedly installed on the bottom surface of the second fixed plate 7-1, and the moving part of the screw drive mechanism is connected to the top of the fourth gripper.

[0057] In another embodiment, the third gripper 7-2 and the fourth gripper 7-3 are both slidably connected to the second linear slide rail. The second drive mechanism adopts a bidirectional screw drive mechanism. The third gripper and the fourth gripper are respectively connected to two rod segments with opposite rotation directions of the screw of the bidirectional screw drive mechanism to achieve synchronous movement towards each other or away from each other.

[0058] The conversion lifting assembly 17 includes a support frame 17-1, which is a U-shaped plate. It includes a first plate and a second and a third plate that are vertically arranged at both ends of the first plate. The first plate is fixed to the rotating part of the slewing mechanism. A rotating plate 17-2 is rotatably connected between the second and third plates. The rotating plate 17-2 is provided with locking holes that match the fixing holes at the ends of the rotor assembly for fixing to the rotor assembly. A rotation drive mechanism 17-3 is provided on the second plate. The rotation drive mechanism 17-3 is a motor and a reducer. The output shaft of the rotation drive mechanism 17-3 is connected to the rotating plate 17-2 to drive the rotating plate 17-2 to rotate.

[0059] The lifting mechanism is provided with a flipping mechanism below it. The flipping mechanism includes a flipping plate 8. One end of the flipping plate 8 is rotatably connected to the first support component, and the other end is rotatably connected to the second support component. Both the first support component and the second support component are support plates. One end of the flipping plate 8 is connected to a rotating power mechanism fixed to the first support component. The rotating power mechanism can drive the flipping plate to rotate. The rotating power mechanism is a motor, a reducer, or other equipment that can output rotational motion.

[0060] A hole is provided at the center of the flip plate 8, and a hollow rotating platform 9 is fixed at the hole. The hollow rotating platform 9 has a ring structure and can output rotational motion around its own axis. The rotating part of the hollow rotating platform 9 is provided with multiple locking holes, which match the fixing holes on the flange behind the wheel-side reducer base of the dump truck. The hollow rotating platform 9 can be fixed to the wheel-side reducer of the dump truck through the locking holes and the fixing holes on the flange.

[0061] The flipping mechanism is provided with a first ground rail assembly 10 on one side. The first ground rail assembly 10 can be made of existing equipment and includes a fixed part that is fixed to the ground foundation. The fixed part is provided with multiple moving parts that can move along the fixed part. In this embodiment, the first ground rail assembly is provided with two moving parts, and a first disassembly and assembly robot 11 is installed on each moving part. In this embodiment, the first disassembly and assembly robot 11 is a six-axis robot. The six-axis robot can be made of existing equipment and will not be described in detail here.

[0062] The end effector of the six-axis robot is equipped with a quick-change disc, which is equipped with disassembly and assembly tools. Existing tools can be used for disassembly and assembly, and those skilled in the art can select and install them according to actual needs.

[0063] The end effector of the six-axis robot is also equipped with a camera element, which is a CCD camera that can capture images, facilitating positioning and disassembly operations of the six-axis robot.

[0064] In this embodiment, a second Y-axis moving mechanism is also installed on the bottom surface of the first support. The second Y-axis moving mechanism can output movement along the Y direction. Preferably, the second Y-axis moving mechanism adopts a screw drive mechanism arranged along the Y direction, and the screw drive mechanism is installed on the bottom surface of the first support.

[0065] The moving part of the second Y-axis moving mechanism is connected to the second disassembly and assembly robot 12. The second disassembly and assembly robot 12 adopts an existing six-axis robot, and its end is equipped with a quick-change plate with disassembly and assembly tools. The end of the six-axis robot is also equipped with a camera element, which is a CCD camera, capable of capturing images to facilitate positioning and disassembly / assembly of the six-axis robot.

[0066] The flipping mechanism is located on one side of the first ground rail assembly 10, and a rotor disassembly and assembly mechanism is located on the other side of one end of the first ground rail assembly 10.

[0067] The rotor assembly / disassembly mechanism includes a second ground rail assembly 13. The second ground rail assembly 13 can adopt an existing ground rail structure, including a fixed part and a movable part located on the fixed part. The movable part can move along the fixed part, and a support mechanism is provided on the movable part to support the rotor.

[0068] In this embodiment, the support mechanism adopts an existing electric roller frame, including a frame body, and a set of rollers 14 are provided at both ends of the frame body. The two sets of rollers 14 are used to support the bottom of both ends of the rotor.

[0069] The same group includes two oppositely arranged rollers 14, which are rotatably connected to the roller frame, and the roller frame is fixed on the frame.

[0070] Of the four rollers, at least one roller is connected to the roller drive mechanism 15. The roller drive mechanism 15 can drive the roller 14 connected to it to rotate, thereby realizing the rotation of the rotor around its own axis.

[0071] The roller drive mechanism 15 is a motor, reducer or other device capable of outputting rotational motion that is mounted on the roller frame.

[0072] An automatic puller 16 is provided on one side of the second ground rail assembly 13. At the same time, the automatic puller 16 is also located on one side of the end of the first ground rail assembly. That is, the automatic puller and the first ground rail assembly are located on the same side of the second ground rail assembly, which facilitates the automatic puller and the first disassembly and assembly robot to disassemble and assemble the rotor.

[0073] The automatic puller 16 can be made using existing equipment, and its specific structure will not be described in detail here.

[0074] The automatic puller 16 can work in conjunction with the first disassembly and assembly robot 11 to disassemble and assemble the rotor and its corresponding parts.

[0075] A second ground rail assembly is installed on one side of the first ground rail assembly. The remaining space on the same side of the first ground rail assembly serves as a standby space for the wheel-side reducer to be disassembled and assembled. Guide rails can be laid there, and the wheel-side reducer can be transported in by an RGV trolley or directly by a gantry crane.

[0076] When a gantry crane is used to transport the wheel-side reducer of the dump truck, a support frame is set up in the standby space to support the wheel-side reducer of the dump truck. The support frame adopts two V-shaped structures to support the horizontally placed wheel-side reducer of the dump truck.

[0077] The three-axis linkage mechanism, including the first drive mechanism, the second drive mechanism, the first disassembly and assembly robot, the second disassembly and assembly robot, the first ground rail assembly, the second ground rail assembly, and the automatic puller, is all connected to the control system and its operation is controlled by the control system.

[0078] Example 2

[0079] This embodiment provides a method for disassembling and assembling the wheel-side reducer of the dump truck as described in Embodiment 1, which is used to disassemble the wheel-side reducer, including the following steps:

[0080] Step 1: The three-axis linkage mechanism operates, moving the horizontal lifting device assembly to the position corresponding to the horizontally placed wheel-side reducer of the dump truck to be disassembled and assembled within the waiting space. The first drive mechanism of the horizontal lifting device assembly operates, causing the first and second grippers to clamp the wheel-side reducer of the dump truck, and then the wheel-side reducer of the dump truck is lifted to the target position.

[0081] Step 2: The flipping mechanism operates, bringing the flipping plate to a vertical position. The three-axis linkage mechanism operates, aligning the fixing holes on the rear flange of the dump truck wheel-side reducer base with the locking holes on the hollow rotating platform on the flipping plate. Then, the first disassembly and assembly robot acquires an image of the rear flange of the dump truck wheel-side reducer base. The acquired image is then processed, and the rear flange of the dump truck wheel-side reducer base is fixed to the rotating part of the hollow rotating platform using disassembly and assembly tools and bolts. At this point, the wheel-side reducer is in a horizontal position.

[0082] Existing methods can be used for image processing, and will not be described in detail here.

[0083] Step 3: The flipping mechanism drives the flipping plate to rotate 180°, so that the rear cover faces the first ground rail assembly. The two first disassembly and assembly robots on the first ground rail assembly work together with the hollow rotary table to remove the rear cover and planetary gear system of the wheel-side reducer of the dump truck. The removed parts are put into the material frame or corresponding transportation equipment by the first disassembly and assembly robots.

[0084] Step 4: After the rear cover and planetary gear system are removed, the flipping mechanism drives the flipping plate to rotate 90°. At this time, the wheel-side reducer of the dump truck with the rear cover and planetary gear system removed is in a vertical position, and the brake assembly is set upward.

[0085] Step 5: The three-axis linkage mechanism and the second disassembly and assembly robot work together with the rotary mechanism to disassemble the corresponding parts inside and outside the base, such as the brake assembly, rotor assembly, oil seal seat, bearing shell, bearing, large bearing cover, wheel hub end face pressure ring, large bearing on the upper part of the wheel hub, wheel hub, gear ring housing, and base. The disassembled large parts, such as gear ring housing, base, and wheel hub, are lifted by the vertical lifting assembly, while the smaller parts, such as bearings and bearing shells, are sent by the first disassembly and assembly robot to the corresponding material frame or transportation equipment.

[0086] The removed rotor is operated by a three-axis linkage mechanism. The conversion lifting assembly lifts the rotor assembly vertically from the base, rotates it horizontally and backwards to place the rotor assembly on the rotor disassembly and assembly platform.

[0087] The automatic puller of the rotor disassembly and assembly mechanism works in conjunction with two first disassembly and assembly robots to complete the disassembly of the rotor and rotor outer end cover, end cover bearing, bushing, bearing cover, rotor inner bearing inner ring, bushing, and spline.

[0088] Example 3

[0089] This embodiment provides a method for assembling the wheel-side reducer disassembly and assembly device described in Embodiment 1, which includes the following specific steps:

[0090] Step a: The three-axis linkage mechanism drives the vertical lifting device assembly to the position corresponding to the wheel-side reducer base of the dump truck. The vertical lifting device assembly clamps the wheel-side reducer base of the dump truck. Then, driven by the three-axis linkage mechanism, the outer base is transported to the tilting plate. The first disassembly and assembly robot cooperates with the hollow rotating platform to collect the shell image and locate the locking hole position. The first disassembly and assembly robot uses bolts to fix the flange of the base to the rotating part of the hollow rotating platform. At this time, the base is in a vertical state.

[0091] Step b: The three-axis linkage mechanism drives the vertical lifting device assembly to insert the gear ring housing into the mounting position of the base.

[0092] Step c: The vertical lifting device assembly clamps the hub using the same method and installs the hub into the mounting position on the base.

[0093] Step d: The vertical lifting device assembly clamps the large bearing at the top of the wheel hub in sequence and injects oil. The wheel hub end face pressure ring and the large bearing cover are installed into the wheel hub. The CCD camera of the first disassembly and assembly robot takes pictures to determine the installation hole position, and then fixes the wheel hub end face pressure ring and the large bearing cover to the wheel hub with bolts.

[0094] Step e: The first assembly / disassembly robot places the bearing shell and bearing into the base in sequence. Then, one of the first assembly / disassembly robots uses a CCD camera to take pictures to determine the hole position on the bearing shell and fixes the bearing shell to the base with bolts. The vertical lifting device rotates the hub and works with the first assembly / disassembly robot to complete the installation of the remaining two sets of bearing shells and bearings. After that, the gear ring shell is fixed by the first assembly / disassembly robot.

[0095] Step f: The first disassembly and assembly robot places the oil seal seat onto the gear ring housing. Then, one of the first disassembly and assembly robots uses a CCD camera to take pictures to determine the hole positions on the gear ring housing and fixes the oil seal seat to the gear ring housing with bolts.

[0096] Step g: The rotor, rotor outer end cover, end cover bearing, bushing, bearing cover, rotor inner bearing inner ring, bushing, and spline are sequentially moved to the installation position by the rotor disassembly and assembly mechanism and the first disassembly and assembly robot. The two first disassembly and assembly robots, the automatic puller and the support mechanism cooperate to complete the assembly on the rotor disassembly and assembly mechanism.

[0097] Step h: The three-axis linkage mechanism drives the conversion lifting device assembly to clamp the rotor, raise and rotate the rotor, and move it to install the rotor into the hub;

[0098] Step i: The flipping mechanism drives the flipping plate to rotate 90°, so that the upper end of the base faces the manual work area, where the carbon brushes are assembled manually and the rotor is tested.

[0099] Step j: The flipping mechanism drives the flipping plate to rotate 90°, so that the outer shell is in a vertical state. The three-axis linkage mechanism drives the lifting assembly to clamp the brake assembly and send it to the mounting position of the base or wheel hub. The CCD camera of the second disassembly and assembly robot takes pictures and confirms the mounting hole position, and then completes the installation of the brake assembly.

[0100] Step k: The flipping mechanism operates, flipping the outer shell 90° so that the lower end of the base faces the first ground rail assembly, and the two first disassembly and assembly robots complete the installation of the planetary gear train and the rear cover.

[0101] Step 1: The flipping mechanism drives the flipping plate to rotate 180°, so that the upper end of the outer shell faces the manual operation area, and the manual operation is completed by the operator to test the wheel-side reducer assembly.

[0102] Step m: The flipping mechanism drives the flipping plate to rotate 180°, and the assembled wheel-side reducer is ready to be taken off the production line.

[0103] In this embodiment, the disassembly and installation process can be carried out using CCD camera positioning for bolt operations, and then using a disassembly and assembly robot to tighten and loosen the bolts. Existing technology can be used, so it will not be described in detail here.

[0104] The disassembly and assembly device of this embodiment improves the automation level of wheel-side reducer disassembly and assembly, reduces the labor intensity of workers, improves the level of intelligence and automation, and does not require multiple people to work together, thus ensuring good safety.

[0105] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wheel end reduction gear dismounting device for a self-unloading vehicle, characterized in that The truss is provided with a three-axis linkage mechanism at the top end; the three-axis linkage mechanism comprises an X-direction moving mechanism installed at the top of the truss, the X-direction moving mechanism is connected with a first Y-direction moving mechanism to drive the first Y-direction moving mechanism to move along the Y-direction, the first Y-direction moving mechanism is connected with a Z-direction moving mechanism to drive the Z-direction moving mechanism to move along the Y-direction, the Z-direction moving mechanism is connected with a rotating mechanism, wherein the X-direction and the Y-direction are two directions perpendicular to each other in the horizontal plane, and the Z-direction is the vertical direction, a moving part of the X-direction moving mechanism is connected with a second Y-direction moving mechanism, and the second Y-direction moving mechanism is connected with a second dismounting robot; the three-axis linkage mechanism is connected with the rotating mechanism, the rotating mechanism is connected with a sling assembly, the sling assembly comprises a horizontal sling assembly, a vertical sling assembly and a conversion sling assembly, a turnover mechanism is arranged below the sling assembly, a first ground rail assembly is arranged on one side of the turnover mechanism, the first ground rail assembly is provided with at least two first dismounting robots, the three-axis linkage mechanism is connected with a second dismounting robot, one side of the first ground rail assembly is provided with the turnover mechanism, and the other side is provided with a rotor dismounting mechanism; the rotor dismounting mechanism comprises a second ground rail assembly, a rotor supporting mechanism is arranged on a moving part of the second ground rail assembly, and an automatic puller is arranged on one side of the second ground rail assembly.

2. A wheel end reduction gear removal device for a dump truck as set forth in claim 1, characterized in that, The horizontal sling assembly is used for lifting the horizontally arranged wheel-side reducer, and comprises a first fixed plate connected with the rotating mechanism, at least two groups of first clamping assemblies are arranged on the first fixed plate, the first clamping assembly comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are connected with a first driving mechanism to realize the approaching or moving away motion.

3. A wheel end reduction gear removal device for a dump truck as set forth in claim 1, characterized in that, The vertical sling assembly is used for lifting the parts of the vertically arranged wheel-side reducer, and comprises a second fixed plate connected with the rotating mechanism, a second clamping assembly is arranged on the second fixed plate, the second clamping assembly comprises a third clamping jaw and a fourth clamping jaw, and the third clamping jaw and the fourth clamping jaw are connected with a second driving mechanism to realize the approaching or moving away motion.

4. A wheel end reduction gear removal device for a dump truck as set forth in claim 1, characterized in that, The conversion sling assembly comprises a support frame connected with the rotating mechanism, the support frame is rotationally connected with a rotating plate, the rotating plate can be fixedly connected with the rotor end, and a rotating driving mechanism connected with the rotating plate is arranged on the support frame to drive the rotation of the rotating plate.

5. A wheel end reduction gear removal device for a dump truck as set forth in claim 1, characterized in that, The first dismounting robot and the second dismounting robot are both six-axis robots, a camera element is arranged on the six-axis robot, a quick-change disc is arranged at the tail end of the six-axis robot, and a dismounting tool is arranged on the quick-change disc.

6. A wheel end reduction gear removal device for a dump truck as set forth in claim 1, characterized in that, The turnover mechanism comprises a turnover plate, both ends of the turnover plate are rotationally connected with a first support assembly and a second support assembly, the first support assembly and the second support assembly are connected with a rotating power mechanism, the rotating power mechanism is connected with the turnover plate to drive the rotation of the turnover plate, the turnover plate is provided with a hole, a hollow rotating platform is arranged at the hole, and a rotating part of the hollow rotating platform can be fixed with the base of the wheel-side reducer of the dump truck.

7. A wheel end reduction gear removal device for a dump truck as set forth in claim 1, characterized in that, The rotor supporting mechanism adopts an electric roller frame.

8. A method of dismounting a wheel end reduction gear of a dump truck according to any one of claims 1-7, for dismounting a wheel end reduction gear, characterized in that, The method comprises the following steps: The horizontal lifting assembly works to hoist the horizontally arranged wheel-side reducer to be disassembled, and then the three-axis linkage mechanism drives the wheel-side reducer to move to a target position, and the wheel-side reducer is fixed on the turnover mechanism; The turnover mechanism works to drive the wheel-side reducer of the dump truck to be in a horizontal state with the rear cover facing the first ground rail assembly; the first dismounting robot on the first ground rail assembly dismounts the rear cover and the planetary gear train of the wheel-side reducer of the dump truck; The turnover mechanism works to drive the wheel-side reducer of the dump truck to be in a vertical state with the brake assembly facing upward; the vertical lifting assembly clamps the parts of the wheel-side reducer of the dump truck in the vertical state, and cooperates with the second dismounting robot to complete the dismounting of the corresponding parts inside and outside the base of the wheel-side reducer; After the rotor assembly inside the base is dismounted, the conversion lifting assembly is used to change the rotor assembly from the vertical state to the horizontal state, and under the driving of the three-axis linkage mechanism, the conversion lifting assembly places the rotor assembly on the rotor dismounting mechanism, and the rotor dismounting mechanism cooperates with the first dismounting robot to complete the dismounting of the rotor assembly.

9. A method of assembling a wheel end reduction gear of a dump truck according to any one of claims 1 to 7, characterized in that, The steps include: The vertical lifting assembly hoists the base of the wheel-side reducer to the turnover mechanism in a vertical posture and fixes the base to the turnover mechanism; The vertical lifting assembly cooperates with the first dismounting robot to assemble the parts inside and outside the base, wherein the rotor assembly is assembled on the rotor dismounting platform in cooperation with the first dismounting robot, and then the conversion lifting assembly changes the rotor assembly from the horizontal state to the vertical state and then assembles the rotor assembly into the base; The turnover mechanism works to change the position of the base to be in a horizontal state with the bottom of the base facing the first ground rail assembly, and the first dismounting robot installs the planetary gear train and the rear cover.

Images