Truss robot with visual system and clamping jaw capable of grabbing hanging seat and wheel

Abstract

The invention discloses a truss robot with a visual system and a clamping jaw capable of grabbing a hanging seat and a wheel, which is characterized in that a room of a railway wheel production workshop internally comprises a stand column track, a wheel storage logistics system and the truss robot, and the wheel storage logistics system comprises the wheel and the wheel hanging seat; the wheel hanging seat comprises a base and a hanging rod fixed to the center of the base, and a plurality of wheels are horizontally stacked on the base. The truss robot comprises a clamping jaw device, the truss robot can grab the horizontal wheels and the wheel lifting seats through the clamping jaw device, and the horizontal wheels and the wheel lifting seats can be lifted to respective set positions in the area of the two stand column rails; the device has the main advantages of high efficiency, low comprehensive investment and small occupied area.

Description

Technical Field

[0001] This invention belongs to the field of railway vehicle maintenance and production equipment technology, specifically a gantry robot with a vision system that can grasp the hanger and wheels. Background Technology

[0002] Currently, their main drawbacks are: In most depots across the railway network, wheel transport is primarily handled by ground forklifts or overhead cranes, which is labor-intensive. Some depots utilize AGVs for wheel transport, but considering personnel safety, AGVs operate at slow speeds and are easily disturbed by personnel movement and forklifts, resulting in low efficiency. Other depots use ground conveyors for wheel transport. Their main drawbacks are large footprint and high investment. Summary of the Invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a gantry robot with a vision system that can grasp the hanger and wheels, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A wheel production workshop 1 in a railway vehicle depot or vehicle factory includes a column rail 1X, wheels 2, a processing machine tool 3 for wheels 2, and a storage and logistics system 1A. The wheel storage and logistics system 1A includes a storage area 1A1 for storing wheels 2, a wheel hanger 4, and a gantry robot 5. The wheel hanger 4 includes a base 4A and a lifting rod 4B fixed to the center of the base 4A. The top of the lifting rod 4B includes a lifting ring 4B1. Several wheels 2 are horizontally stacked above the base 4A, and the center hole of each wheel 2 fits onto the lifting rod 4B. The processing machine tool 3, located between two column rails 1X, includes an unprocessed buffer position 3A for buffering unprocessed wheels 2 and a processed buffer position 3B for buffering completed wheels 2. The gantry robot 5 operating on the column track 1X includes a rotary combination gripper 5A and a vision system 6. The rotary combination gripper 5A includes an outer gripper 5A1, an inner gripper 5A2, and a rotating device 5A3. The gantry robot 5 can grasp one or more wheels 2 on the wheel hanger 4 through the outer gripper 5A1. The vision system 6 includes a camera 6A. After the vision system 6 determines the position of the lifting ring 4B1 through the camera 6A, it uses the rotating device 5A3 to align and clamp the inner gripper 5A2. The gantry robot 5 can pick up and put the wheel hanger 4 in the storage area 1A1 through the inner gripper 5A2. The gantry robot 5 can place the wheel 2 to be processed in the unprocessed buffer position 3A through the outer gripper 5A1 and take away the wheelset 2 in the processed buffer position 3B.

[0005] As a further aspect of the present invention: the machine tool 3 includes a bed 3C, a machining position 3D, and a robot arm 3E. The machining position 3D is located inside the bed 3C, while the unprocessed buffer position 3A, the processed buffer position 3B, and the robot arm 3E are all located around the periphery outside the bed 3C. The robot arm 3E can place the wheel 2 in the unprocessed buffer position 3A into the machining position 3D, and can also place the wheel 2 that has been processed in the machining position 3D into the processed buffer position 3B.

[0006] As a further aspect of the present invention: the gantry robot 5 includes a large trolley 5B, a small trolley 5C, and a lifting device 5D. The large trolley 5B includes a walking device 5B1 and a transverse track 5B2. The large trolley 5B can run on the column track 1X via the walking device 5B1. The small trolley 5C, which is equipped with the lifting device 5D, can run laterally on the transverse track 5B2. The rotary combination gripper 5A includes a gripper seat 5A4. The outer gripper 5A1, the inner gripper 5A2, and the rotating device 5A3 are all installed on the gripper seat 5A4. The gripper seat 5A4 installed at the bottom of the lifting device 5D includes a gripper seat through hole 5A4A larger than the diameter of the boom 4B. When the outer gripper 5A1 grabs the wheel 2 on the wheel hanger 4, the top of the boom 4B can extend out of the gripper seat through hole 5A4A. As a further aspect of the present invention: the lifting device 5D includes a two-column three-stage lifting device 5D2, the two-column three-stage lifting device 5D2 includes two sets of three-stage lifting columns 5D2A, and each set of three-stage lifting columns 5D2A includes three sets of linear guide rails.

[0007] As a further aspect of the present invention: the external gripper 5A1 includes 3 or 4 sets of rotating shafts 7, and the bottom of the rotating shaft 7 includes an eccentric claw 7A. When the rotating shaft 7 rotates, the eccentric claw 7A can hook one or more wheels 2 in the wheel hanger 4.

[0008] As a further aspect of the present invention: the inner gripper 5A2 includes an inner rotating gripper 8, the inner rotating gripper 8 includes a rotating body 8A, a telescopic rod 8B and an inner rotating drive 8C, the inner rotating drive 8C can realize the rotation of the rotating body 8A, and the telescopic rod 8B is installed on the rotating body 8A.

[0009] As a further aspect of the present invention: the rotary combination gripper 5A includes an integral rotary gripper 5E, wherein the rotating shaft 7 and the inner gripper 5A2 in the integral rotary gripper 5E rotate as a whole.

[0010] As a further aspect of the present invention: the storage area 1A1 includes a peripheral storage area 1A1A located around the machine tool 3.

[0011] As a further aspect of the present invention: the wheel production workshop 1 includes a wheel loading and unloading area 9, and the gantry robot 5 can grab the wheel hanger 4 on the transport vehicle in the wheel loading and unloading area 9 and carry the wheel 2 for unloading operations.

[0012] In summary, compared with the prior art, the main advantages of this invention are: the creative use of combined grippers, which enables both the inner gripper to grasp the wheel hanger and the outer gripper to grasp the wheel; and the use of a gantry robot that can operate at high speed in the air without being disturbed by pedestrians and forklifts on the ground; the wheel hanger can be directly stored around the machine tool, and the fully automated loading and unloading of the machine tool can be achieved through the robotic arm. Its main advantages are: high degree of automation, small footprint, low overall investment, and high efficiency. Attached Figure Description

[0013] Figure 1 This is a structural diagram of the column track 1X, wheel 2, machine tool 3 and storage logistics system 1A in wheel production workshop 1; a structural diagram of the storage area 1A1 and gantry robot 5 that make up the wheel storage logistics system 1A; a structural diagram of the surrounding storage area 1A1A that makes up the storage area 1A1; and a structural diagram of the unprocessed buffer position 3A, processed buffer position 3B, bed 3C, processing position 3D and robot arm 3E that make up the machine tool 3. Figure 2 yes Figure 1 Figure AA is a structural diagram of the outer jaw 5A1, inner jaw 5A2, rotating device 5A3 and jaw seat 5A4 that make up the rotary combination jaw 5A, and a structural diagram of the jaw seat through hole 5A4A that makes up the jaw seat 5A4. Figure 3 yes Figure 1 BB image; Figure 4 yes Figure 2 The K-direction view is a schematic diagram of the structure of the eccentric claw 7A that makes up the rotating shaft 7; Figure 5 This is a structural schematic diagram of the base 4A and the lifting rod 4B that make up the wheel hanger 4, and a structural schematic diagram of the lifting ring 4B1 that makes up the lifting rod 4B. Figure 6 yes Figure 5 M-direction view; Figure 7 It is a structural diagram of the rotary combination gripper 5A, the large trolley 5B, the small trolley 5C and the lifting device 5D that make up the gantry robot 5; it is a structural diagram of the walking device 5B1 and the transverse track 5B2 that make up the large trolley 5B; it is a structural diagram of the two-column three-stage lifting device 5D2 that makes up the lifting device 5D; and it is a structural diagram of the three-stage lifting column 5D2A that makes up the two-column three-stage lifting device 5D2. Figure 8 This is a schematic diagram of the internal rotation drive 8C that makes up the internal rotating gripper 8, and a schematic diagram of the wheel loading and unloading area 9 that makes up the wheel production workshop 1. Figure 9 yes Figure 8 The enlarged view at point I is a schematic diagram of the structure of the telescopic rod 8B that makes up the rotating body 8A of the inner rotating gripper 8. Figure 10 yes Figure 8 The P-direction view is a schematic diagram of the camera 6A that makes up the vision system 6; Figure 11 yes Figure 10 H-direction view; Figure 12 This is a schematic diagram of the overall rotating gripper 5E that makes up the rotating combination gripper 5A.

[0014] Wheel production workshop 1, storage and logistics system 1A, storage area 1A1, column rail 1X, wheel 2, processing machine tool 3, unprocessed buffer position 3A, processed buffer position 3B, bed 3C, processing position 3D, robot arm 3E, wheel hanger 4, base 4A, lifting rod 4B, lifting ring 4B1, gantry robot 5, rotary combination gripper 5A, outer gripper 5A1, inner gripper 5A2, telescopic lifting rod 5A2A, rotating device 5A3, gripper seat 5A4, gripper seat through hole 5A4A, trolley 5B, traveling device 5B1, transverse rail 5B2, trolley 5C, lifting device 5D, two-column three-stage lifting device 5D2, three-stage lifting column 5D2A, overall rotating gripper 5E, vision system 6, camera 6A, rotating shaft 7, eccentric gripper 7A, inner rotating gripper 8, rotating body 8A, telescopic rod 8B, inner rotating drive 8C, wheel loading and unloading area 9. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0016] Please see Figures 1-12In this embodiment of the invention, the wheel production workshop 1 of a railway vehicle depot or vehicle factory includes a column rail 1X, wheels 2, a processing machine tool 3 for wheels 2, and a storage and logistics system 1A. The wheel storage and logistics system 1A includes a storage area 1A1 for storing wheels 2, a wheel hanger 4, and a gantry robot 5. The wheel hanger 4 includes a base 4A and a lifting rod 4B fixed to the center of the base 4A. The top of the lifting rod 4B includes a lifting ring 4B1. Several wheels 2 are horizontally stacked on top of the base 4A, and the center hole of the wheels 2 is fitted onto the lifting rod 4B. The processing machine tool 3 located between two column rails 1X includes an unprocessed buffer position 3A for buffering unprocessed wheels 2 to be processed and a processed buffer position 3B for buffering processed wheels 2. The X-shaped gantry robot 5 includes a rotary combination gripper 5A and a vision system 6. The rotary combination gripper 5A includes an outer gripper 5A1, an inner gripper 5A2, and a rotating device 5A3. The gantry robot 5 can grasp one or more wheels 2 on the wheel hanger 4 using the outer gripper 5A1. The vision system 6 includes a camera 6A. After determining the position of the lifting ring 4B1 using the camera 6A, the vision system 6 uses the rotating device 5A3 to align and grip the inner gripper 5A2. The gantry robot 5 can pick up and place the wheel hanger 4 in the storage area 1A1 using the inner gripper 5A2. The gantry robot 5 can place the wheel 2 to be processed in the unprocessed buffer position 3A using the outer gripper 5A1 and remove the wheelset 2 from the processed buffer position 3B. It should be noted that the unprocessed buffer position 3A and the processed buffer position 3B can be combined into one.

[0017] The machine tool 3 includes a bed 3C, a machining station 3D, and a robot arm 3E. The machining station 3D is located inside the bed 3C, while the unprocessed buffer station 3A, the processed buffer station 3B, and the robot arm 3E are all located around the periphery outside the bed 3C. The robot arm 3E can place the wheel 2 in the unprocessed buffer station 3A into the machining station 3D, and can also place the wheel 2 that has been processed in the machining station 3D into the processed buffer station 3B.

[0018] The gantry robot 5 includes a large trolley 5B, a small trolley 5C, and a lifting device 5D. The large trolley 5B includes a walking device 5B1 and a transverse track 5B2. The large trolley 5B can run on the column track 1X via the walking device 5B1. The small trolley 5C, which is equipped with the lifting device 5D, can run laterally on the transverse track 5B2. The rotary combination gripper 5A includes a gripper seat 5A4. The outer gripper 5A1, the inner gripper 5A2, and the rotating device 5A3 are all installed on the gripper seat 5A4. The gripper seat 5A4, which is installed at the bottom of the lifting device 5D, includes a gripper seat through hole 5A4A that is larger than the diameter of the boom 4B. When the outer gripper 5A1 grabs the wheel 2 on the wheel hanger 4, the top of the boom 4B can extend out of the gripper seat through hole 5A4A. The lifting device 5D includes a two-column three-stage lifting device 5D2, which includes two sets of three-stage lifting columns 5D2A, and each set of three-stage lifting columns 5D2A includes three sets of linear guide rails.

[0019] The external gripper 5A1 includes 3 or 4 sets of rotating shafts 7. The bottom of the rotating shaft 7 includes an eccentric claw 7A. When the rotating shaft 7 rotates, the eccentric claw 7A can hook one or more wheels 2 in the wheel hanger 4.

[0020] The inner gripper 5A2 includes an inner rotating gripper 8, which includes a rotating body 8A, a telescopic rod 8B, and an inner rotating drive 8C. The inner rotating drive 8C enables the rotating body 8A to rotate, and the telescopic rod 8B is mounted on the rotating body 8A.

[0021] The rotary combination gripper 5A includes an integral rotary gripper 5E, in which the rotating shaft 7 and the inner gripper 5A2 rotate as a whole.

[0022] The storage area 1A1 includes a peripheral storage area 1A1A located around the machine tool 3.

[0023] The wheel production workshop 1 includes a wheel loading and unloading area 9. A gantry robot 5 can grab the wheel hanger 4 from the transport vehicle in the wheel loading and unloading area 9 and carry the wheel 2 for unloading operations.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element 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. In this invention, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium. The specific meaning of the terms in this invention can be understood according to the specific circumstances.

[0025] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels, characterized in that: The wheel production workshop (1) of the railway vehicle depot or vehicle factory includes a column rail (1X), a wheel (2), a wheel (2) processing machine tool (3), and a storage and logistics system (1A). The wheel storage and logistics system (1A) includes a storage area (1A1) for storing wheels (2), a wheel hanger (4), and a gantry robot (5). The wheel hanger (4) includes a base (4A) and a lifting rod (4B) fixed at the center of the base (4A). The top of the lifting rod (4B) includes a lifting ring (4B1). Several wheels (2) are horizontally stacked on top of the base (4A), and the center hole of the wheel (2) is fitted onto the lifting rod (4B). The processing machine tool (3) located between the two column rails (1X) includes an unprocessed buffer position (3A) for buffering wheels (2) to be processed and a processed buffer position (3B) for buffering wheels (2) that have been processed. A gantry robot runs on the column rail (1X). The robot (5) includes a rotary combination gripper (5A) and a vision system (6). The rotary combination gripper (5A) includes an outer gripper (5A1), an inner gripper (5A2), and a rotating device (5A3). The gantry robot (5) can grab one or more wheels (2) on the wheel hanger (4) through the outer gripper (5A1). The vision system (6) includes a camera (6A). After the vision system (6) determines the position of the lifting ring (4B1) through the camera (6A), it uses the rotating device (5A3) to align the inner gripper (5A2) and clamp the lifting ring (4B1). The gantry robot (5) can pick up and put the wheel hanger (4) in the storage area (1A1) through the inner gripper (5A2). The gantry robot (5) can place the wheel to be processed (2) in the unprocessed buffer position (3A) through the outer gripper (5A1) and take away the wheelset (2) in the processed buffer position (3B).

2. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels according to claim 1, characterized in that: The machine tool (3) includes a bed (3C), a machining station (3D), and a robot (3E). The machining station (3D) is located inside the bed (3C). The unprocessed buffer station (3A), the processed buffer station (3B), and the robot (3E) are all located around the bed (3C). The robot (3E) can place the wheel (2) in the unprocessed buffer station (3A) into the machining station (3D), and can also place the wheel (2) that has been processed in the machining station (3D) into the processed buffer station (3B).

3. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels according to claim 2, characterized in that: The gantry robot (5) includes a large trolley (5B), a small trolley (5C), and a lifting device (5D). The large trolley (5B) includes a walking device (5B1) and a transverse track (5B2). The large trolley (5B) can run on the column track (1X) via the walking device (5B1). The small trolley (5C) equipped with the lifting device (5D) can run laterally on the transverse track (5B2). The rotary combination gripper (5A) includes a gripper seat (5A4). The outer gripper (5A1), the inner gripper (5A2), and the rotating device (5A3) are all installed on the gripper seat (5A4). The gripper seat (5A4) installed at the bottom of the lifting device (5D) includes a gripper seat through hole (5A4A) larger than the diameter of the boom (4B). When the outer gripper (5A1) grabs the wheel (2) on the wheel hanger (4), the top of the boom (4B) can extend out of the gripper seat through hole (5A4A). The inner gripper (5A2) includes a telescopic boom (5A2A) that can be inserted into a lifting ring (4B1).

4. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels according to claim 3, characterized in that: The lifting device (5D) includes a two-column three-stage lifting device (5D2), which includes two sets of three-stage lifting columns (5D2A), and each set of three-stage lifting columns (5D2A) includes three sets of linear guide rails.

5. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels according to claim 4, characterized in that: The external gripper (5A1) includes 3 or 4 sets of rotating shafts (7), and the bottom of the rotating shaft (7) includes an eccentric claw (7A). When the rotating shaft (7) rotates, the eccentric claw (7A) can hook one or more wheels (2) in the wheel hanger (4).

6. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels according to claim 4, characterized in that: The inner gripper (5A2) includes an inner rotating gripper (8), which includes a rotating body (8A), a telescopic rod (8B), and an inner rotating drive (8C). The inner rotating drive (8C) enables the rotating body (8A) to rotate, and the telescopic rod (8B) is mounted on the rotating body (8A).

7. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels, as described in claim 5 or 6, characterized in that: The rotary combination gripper (5A) includes an integral rotary gripper (5E), in which the rotating shaft (7) and the inner gripper (5A2) rotate as a whole.

8. A gantry robot with a vision system and grippers capable of grasping a suspension seat and wheels, as described in claim 5 or 6, characterized in that: The storage area (1A1) includes a peripheral storage area (1A1A) located around the machine tool (3).

9. A gantry robot with a vision system and grippers capable of grasping a hanging seat and wheels according to claim 1, characterized in that: The wheel production workshop (1) includes a wheel loading and unloading area (9). A gantry robot (5) can grab the wheel hanger (4) on the transport vehicle in the wheel loading and unloading area (9) and carry the wheel (2) for unloading.

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