Truss robot capable of clamping axles and wheels

Abstract

The truss robot capable of clamping the axles and the wheels is characterized in that a factory building of a railway wheel set overhaul production workshop internally comprises a stand column track, an axle storage logistics system, a wheel storage logistics system and the truss robot, the axle storage logistics system comprises the axles and an axle frame, and the multiple axles can be horizontally placed in the axle frame side by side; the wheel storage logistics system comprises wheels and a wheel hanging frame, the wheel hanging frame comprises a base and a hanging rod fixed to the center of the base, and the wheels are horizontally stacked on the base; the truss robot comprises a clamping jaw device, the truss robot can grab an axle, an axle frame, a wheel lifting frame and wheels in the wheel lifting frame through the clamping jaw device, and the axle, the axle frame, the wheel lifting frame and the wheels in the wheel lifting frame 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 capable of clamping axles and wheels. Background Technology

[0002] Currently, the transportation of axles within the wheel depots of the entire railway system is mainly achieved by ground forklifts and overhead cranes. This method is primitive and outdated. Ground conveyors are also used, but their main disadvantages are high investment and large land area. 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 that can clamp axles and wheels to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The workshop 1) of the railway wheelset maintenance and production workshop includes a column rail 1X, an axle storage and logistics system 2, a wheel storage and logistics system 3, and a gantry robot 5. The axle storage and logistics system 2 includes axles 2A and axle frames 2B. The axle frames 2B can horizontally place multiple axles 2A side by side. The wheel storage logistics system 3 includes wheels 3A and wheel lifting frames 3B. The wheel lifting frames 3B include a base 3B1 and a lifting rod 3B2 fixed at the center of the base 3B1. Several wheels 3A are horizontally stacked on the base 3B1. The gantry robot 5 includes a gripper device 5A. The gantry robot 5 can grasp the axle 2A, the axle frame 2B, the wheel frame 3B, and the wheel 3A inside the wheel frame 3B through the gripper device 5A, and can lift them to their respective set positions within the area of ​​the two column tracks 1X.

[0005] 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, and the small trolley 5C, equipped with the lifting device 5D, can run laterally on the transverse track 5B2. The gripper device 5A includes a translational rotating gripper 6. The translational rotating gripper 6 includes a translational gripper seat 6A, two sets of front and rear sliding devices 6B, and a rotating shaft 6C. The translational gripper seat 6A is fixedly connected to the lifting device 5D. Both sets of front and rear sliding devices 6B are installed on the translational gripper seat 6A. Each set of front and rear sliding devices 6B includes two sets of sliders 6B1. The top of the rotating shaft 6C is installed on the sliders 6B1, and the bottom of the rotating shaft 6C includes an eccentric claw 6C1. By sliding the two sliders 6B1 back and forth, the distance between the two rotating shafts 6C can be adjusted. By rotating the rotating shaft 6C, the eccentric claw 6C1 can be rotated.

[0006] As a further aspect of the present invention: the lifting device 5D includes a two-column three-stage lifting device 5DA, the two-column three-stage lifting device 5DA includes two sets of three-stage lifting columns 5DA1, and each set of three-stage lifting columns 5DA1 includes three sets of linear guide rails.

[0007] As a further aspect of the present invention: the axle frame 2B includes a frame 2B1, a base 2B2 with holes, a top pin 2B3 with a tapered top, and a support bar 2B4 with an array of V-grooves. The axle 2A rests in the V-grooves on the support bar 2B4. When multiple layers of axle frames 2B are stacked, the top pin 2B3 in the lower axle frame 2B can be inserted into the hole in the base 2B1 in the upper axle frame 2B. The rotating shaft 6C of the gantry robot 5 can be vertically inserted into the gap between two adjacent axles 2A on the support bar 2B4. Then, by rotating the rotating shaft 6C, the four eccentric claws 6C1 hook the axle 2A and lift the hooked axle 2A to a set position, or place the axle 2A hooked by the eccentric claws 6C1 in the V-grooves on the support bar 2B4.

[0008] As a further aspect of the present invention: the eccentric claw 6C1 on the rotating shaft 6C can hook onto both sides of the axle frame 2B and lift the axle frame 2B to a set position.

[0009] As a further aspect of the present invention: the center of the lifting device 5D includes a through hole 5D1 with a diameter larger than that of the boom 3B2. The gantry robot 5 can grab the wheel frame 3B or the wheel 3A on the top layer inside the wheel frame 3B by the translational rotating gripper 6, and can lift them to their respective set positions within the area of ​​the two column tracks 1X.

[0010] As a further aspect of the present invention: the top of the boom 3B2 includes a grooved ring 3B2A, the gripper device 5A includes a telescopic gripper 7, the telescopic gripper 7 includes a telescopic gripper seat 7A and a telescopic head gripper 7B, the telescopic head gripper 7B is mounted on the telescopic gripper seat 7A, and the gantry robot 5 can grab the wheel frame 3B by extending the telescopic head gripper 7B into the grooved ring 3B2A.

[0011] In summary, compared with the prior art, the present invention uses a gantry robot that can grasp both a single axle and the entire axle frame. Its main advantages are: high efficiency, low overall investment, and small footprint. Attached Figure Description

[0012] Figure 1 It consists of the column track 1X, the axle storage and logistics system 2, the wheel storage and logistics system 3, and the gantry robot 5 within factory building 1; Figure 2 yes Figure 1View AA is also a structural schematic diagram of the gripper device 5A, the large carriage 5B, the small carriage 5C and the lifting device 5D that make up the gantry robot 5; it is also a structural schematic diagram of the walking device 5B1 and the transverse track 5B2 that make up the large carriage 5B; it is also a structural schematic diagram of the translational rotating gripper 6 that makes up the gripper device 5A; it is also a structural schematic diagram of the translational gripper seat 6A, the front and rear sliding device 6B and the rotating shaft 6C that make up the translational rotating gripper 6; it is also a structural schematic diagram of the slider 6B1 that makes up the front and rear sliding device 6B; and it is also a structural schematic diagram of the eccentric claw 6C1 that makes up the rotating shaft 6C. Figure 3 This is a structural schematic diagram of the axle 2A and axle frame 2B that make up the axle storage and logistics system 2; Figure 4 yes Figure 3 The M-direction view is also a structural schematic diagram of the frame 2B1, base 2B2, top pin 2B3 and support bar 2B4 that make up the axle frame 2B; Figure 5 yes Figure 3 N-direction view; Figure 6 This is a structural schematic diagram of the gantry robot 5 hoisting vehicle axle frame 2B; Figure 7 yes Figure 6 K-direction view; Figure 8 This is a structural schematic diagram of axle 2A of the gantry robot 5 lifting vehicle; Figure 9 yes Figure 8 K-direction view; Figure 10 This is a structural schematic diagram of the gantry robot 5 grasping the wheel 3A, and also a structural schematic diagram of the through hole 5D1 that makes up the lifting device 5D; Figure 11 yes Figure 10 K-direction view; Figure 12 This is a structural schematic diagram of the base 3B1 and the rod 3B2 that make up the wheel hanger frame 3B, and also a structural schematic diagram of the grooved ring 3B2A that makes up the rod 3B2; Figure 13 yes Figure 12 M-direction view; Figure 14 This is a schematic diagram of the structure of the gantry robot 5 grasping the wheel frame 3B; Figure 15 yes Figure 14 The P-direction view is also a structural schematic diagram of the telescopic gripper 7 that makes up the gripper device 5A, as well as a structural schematic diagram of the telescopic gripper base 7A and the telescopic head gripper 7B that make up the telescopic gripper 7. Figure 16 yes Figure 15A magnified view of a section at point I; Figure 17 yes Figure 16 The H-direction view is also a structural schematic diagram of the two-column three-stage lifting device 5DA that makes up the lifting device 5D, and a structural schematic diagram of the three-stage lifting column 5DA1 that makes up the two-column three-stage lifting device 5DA.

[0013] Factory 1, Column Track 1X, Axle Storage and Logistics System 2, Axle 2A, Axle Frame 2B, Frame 2B1, Base 2B2, Top Pin 2B3, Support Strip 2B4, Wheel Storage and Logistics System 3, Wheel 3A, Wheel Hanging Frame 3B, Base 3B1, Hanging Rod 3B2, Groove Ring 3B2A, Gantry Robot 5, Gripper Device 5A, Large Trolley 5B, Walking Device 5B1, Transverse Track 5B2, Small Trolley 5C, Lifting Device 5D, Through Hole 5D1, Two-Column Three-Stage Lifting Device 5DA, Three-Stage Lifting Column 5DA1, Translational Rotating Gripper 6, Translational Gripper Seat 6A, Front and Rear Sliding Device 6B, Slider 6B1, Rotating Shaft 6C, Eccentric Gripper 6C1, Telescopic Gripper 7, Telescopic Gripper Seat 7A, Telescopic Head Gripper 7B. Detailed Implementation

[0014] 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.

[0015] Please see Figures 1-17 In this embodiment of the invention, the workshop 1 of the railway wheelset maintenance and production workshop includes a column rail 1X, an axle storage and logistics system 2, a wheel storage and logistics system 3 and a gantry robot 5. The axle storage and logistics system 2 includes axles 2A and axle frames 2B. The axle frames 2B can horizontally place multiple axles 2A side by side. The wheel storage logistics system 3 includes wheels 3A and wheel lifting frames 3B. The wheel lifting frames 3B include a base 3B1 and a lifting rod 3B2 fixed at the center of the base 3B1. Several wheels 3A are horizontally stacked on the base 3B1. The gantry robot 5 includes a gripper device 5A. The gantry robot 5 can grasp the axle 2A, the axle frame 2B, the wheel frame 3B, and the wheel 3A inside the wheel frame 3B through the gripper device 5A, and can lift them to their respective set positions within the area of ​​the two column tracks 1X.

[0016] 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 gripper device 5A includes a translational rotating gripper 6. The translational rotating gripper 6 includes a translational gripper base 6A, two sets of front and rear sliding devices 6B, and a rotating shaft 6C. The translational gripper base 6A is fixedly connected to the lifting device 5D. Both sets of front and rear sliding devices 6B are installed on the translational gripper base 6A. Each set of front and rear sliding devices 6B includes two sets of sliders 6B1. The top of the rotating shaft 6C is installed on the sliders 6B1, and the bottom of the rotating shaft 6C includes an eccentric claw 6C1. By sliding the two sliders 6B1 back and forth, the distance between the two rotating shafts 6C can be adjusted. By rotating the rotating shaft 6C, the eccentric claw 6C1 can be rotated.

[0017] The lifting device 5D includes a two-column three-stage lifting device 5DA, which includes two sets of three-stage lifting columns 5DA1, and each set of three-stage lifting columns 5DA1 includes three sets of linear guide rails.

[0018] The axle frame 2B includes a frame 2B1, a base 2B2 with holes, a top pin 2B3 with a tapered top, and a support bar 2B4 with an array of V-grooves. The axle 2A rests in the V-grooves on the support bar 2B4. When multiple axle frames 2B are stacked, the top pin 2B3 in the lower axle frame 2B can be inserted into the hole in the base 2B1 in the upper axle frame 2B. The rotating shaft 6C of the gantry robot 5 can be vertically inserted into the gap between two adjacent axles 2A on the support bar 2B4. Then, by rotating the rotating shaft 6C, the four eccentric claws 6C1 hook the axle 2A and lift the hooked axle 2A to a set position, or place the axle 2A hooked by the eccentric claws 6C1 in the V-grooves on the support bar 2B4.

[0019] The eccentric claw 6C1 on the rotating shaft 6C can hook onto both sides of the axle frame 2B and lift the axle frame 2B to the set position.

[0020] The lifting device 5D has a through hole 5D1 at its center, which has a diameter larger than that of the boom 3B2. The gantry robot 5 can grab the wheel frame 3B or the wheel 3A on the top layer inside the wheel frame 3B by the translational rotating gripper 6, and can lift them to their respective set positions within the area of ​​the two column tracks 1X.

[0021] The top of the boom 3B2 includes a grooved ring 3B2A, and the gripper device 5A includes a telescopic gripper 7. The telescopic gripper 7 includes a telescopic gripper seat 7A and a telescopic head gripper 7B. The telescopic head gripper 7B is mounted on the telescopic gripper seat 7A. The gantry robot 5 can grab the wheel frame 3B by extending the telescopic head gripper 7B into the grooved ring 3B2A.

[0022] 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.

[0023] 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 capable of gripping axles and wheels, characterized by: The workshop (1) of the railway wheelset maintenance and production workshop includes a column rail (1X), an axle storage and logistics system (2), a wheel storage and logistics system (3) and a gantry robot (5). The axle storage and logistics system (2) includes an axle (2A) and an axle frame (2B). The axle frame (2B) can hold multiple axles (2A) horizontally side by side. The wheel storage logistics system (3) includes wheels (3A) and wheel frames (3B). The wheel frames (3B) include a base (3B1) and a lifting rod (3B2) fixed at the center of the base (3B1). Several wheels (3A) are stacked horizontally on the base (3B1). The gantry robot (5) includes a gripper device (5A). The gantry robot (5) can grip the axle (2A), axle frame (2B), wheel frame (3B) and wheel (3A) in the wheel frame (3B) through the gripper device (5), and can lift them to their respective set positions in the area of ​​the two column tracks (1X).

2. A gantry robot capable of clamping axles and wheels according to claim 1, 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), and the small trolley (5C) equipped with the lifting device (5D) can run laterally on the transverse track (5B2). The gripper device (5A) includes a translational rotating gripper (6). The translational rotating gripper (6) includes a translational gripper seat (6A), two sets of front and rear sliding devices (6B), and a rotating gripper. The moving shaft (6C), the translational gripper seat (6A), and the lifting device (5D) are fixedly connected as one unit. Two sets of front and rear sliding devices (6B) are installed on the translational gripper seat (6A). Each set of front and rear sliding devices (6B) includes two sets of sliders (6B1). The top of the rotating shaft (6C) is installed on the slider (6B1), and the bottom of the rotating shaft (6C) includes an eccentric claw (6C1). By sliding the two sliders (6B1) back and forth, the distance between the two rotating shafts (6C) can be adjusted. The rotation of the rotating shaft (6C) can cause the eccentric claw (6C1) to rotate.

3. A gantry robot capable of clamping axles and wheels according to claim 2, characterized in that: The lifting device (5D) includes a two-column three-stage lifting device (5DA), which includes two sets of three-stage lifting columns (5DA1), and each set of three-stage lifting columns (5DA1) includes three sets of linear guide rails.

4. A gantry robot capable of clamping axles and wheels according to claim 3, characterized in that: The axle frame (2B) includes a frame (2B1), a base (2B2) with holes, a top pin (2B3) with a tapered top, and a support bar (2B4) with an array of V-grooves. The axle (2A) rests in the V-grooves on the support bar (2B4). When the axle frames (2B) are stacked in multiple layers, the top pin (2B3) in the lower axle frame (2B) can be inserted into the hole in the base (2B1) in the upper axle frame (2B). The rotating shaft (6C) of the gantry robot (5) can be vertically inserted into the gap between two adjacent axles (2A) on the support bar (2B4). The rotation of the rotating shaft (6C) causes four eccentric claws (6C1) to hook the axle (2A) and lift the hooked axle (2A) to a set position, or place the axle (2A) hooked by the eccentric claws (6C1) in the V-grooves on the support bar (2B4).

5. A gantry robot capable of clamping axles and wheels according to claim 4, characterized in that: The eccentric claw (6C1) on the rotating shaft (6C) can hook onto both sides of the axle frame (2B) and lift the axle frame (2B) to the set position.

6. A gantry robot capable of clamping axles and wheels as described in claim 2, characterized in that... The center of the lifting device (5D) includes a through hole (5D1) with a diameter larger than that of the boom (3B2). The gantry robot (5) can grab the wheel (3A) of the wheel frame (3B) or the top layer of the wheel frame (3B) by the translational rotating gripper (6), and can lift them to their respective set positions within the area of ​​the two column tracks (1X).

7. A gantry robot capable of clamping axles and wheels as described in claim 5 or 6, characterized in that: The top of the boom (3B2) includes a grooved ring (3B2A), and the gripper device (5A) includes a telescopic gripper (7). The telescopic gripper (7) includes a telescopic gripper seat (7A) and a telescopic head gripper (7B). The telescopic head gripper (7B) is mounted on the telescopic gripper seat (7A). The gantry robot (5) can grab the wheel frame (3B) by extending the telescopic head gripper (7B) into the grooved ring (3B2A).

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