Mechanical clamping jaw for carrying wheel set
By designing a mechanical jaw for automated maintenance of rail transit, the automatic grasping and release of wheel pairs is achieved by using the cooperation of the suspender seat and hook head, the complexity and cost problems of the robot caused by the uncertainty of the wheel pair position are solved, and the automatic and accurate operation and structural simplification of the robot are achieved.
Patent Information
- Application Number
- CN202421203558.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-29
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2034-05-29
AI Technical Summary
During the automated maintenance of rail transit, the position movement and deviation angle of the wheel pair lead to uncertainty in incoming material position, increasing the complexity and cost of the robot.
A mechanical jaw for wheel pair handling is designed. Through the movement of the suspender in the vertical direction, the hook claw head and the wheel pair are touched, so that the four-link structure formed by the two swing links and the two hook claw arms can be swung, realizing automatic grabbing and release.
Without the need for a positioning system and additional servo mechanism, the robot can automatically complete the accurate grasp and placement of the wheel pair, simplifying the structure of the transportation device and reducing costs.
Smart Images
Figure CN222661789U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automated maintenance of rail transportation, in particular to a mechanical clamping claw used for wheel pair transportation. Background Art
[0002] In the process of automated maintenance of rail transit, whether it is a single machine or a maintenance station, as well as an automatic production line, a manipulator is used to complete the pick-up and placement of workpieces. The control of the manipulator mainly includes position recognition, movement direction control and the determination of whether the material exists. The task of the manipulator is to move the workpiece or item on the conveyor chain A to the conveyor chain B, which can be completed in all directions by a six-axis manipulator. The manipulator is an automatic device that imitates the movements of human hands and realizes automatic grasping, handling and operation according to given procedures, trajectories and requirements, especially in harsh environments such as high temperature, high pressure, dust, flammable, explosive, radioactive, etc., and replaces human operations in bulky, monotonous and frequent operations, so it is increasingly widely used. The manipulator is generally composed of three major parts: actuator, drive system, control system and detection device. The intelligent manipulator also has a sensory system and an intelligent system.
[0003] Wheel set conveying is a common dynamic flow method in production and logistics sites. Whether it is rail-type or chain-type conveying, it will cause the position movement and deflection angle changes of the wheelset to varying degrees, which will cause uncertainty in the position of the incoming materials. In practical applications, a 3D visual positioning system is required to obtain the real-time spatial coordinates of the wheelset in motion to guide the manipulator to accurately complete operations such as grabbing, feeding, and sorting. This will lead to the complication of the structure of the conveying device, the reduction of the reliability of the device, and the one-time investment cost and operation and maintenance cost of the device are huge.
[0004] The six-axis articulated manipulator uses a rotating axis (or live joint) for loading, unloading and post-processing. It uses a linear axis for repositioning and can make flexible movements like humans. It has six axes of freedom and can execute the operator's instructions to complete most operations, from workpiece rotation to complex workpiece placement and assembly. But at the same time, the positioning accuracy of the six-axis manipulator is extremely high, and the positioning level of the grasped workpiece is also extremely high. The claws used by the manipulator often require very complex structures and complex servo control modules.
[0005] Therefore, it is necessary to study a mechanical gripper for wheelset handling to solve the above problems or alleviate the impact of the above problems. Utility Model Content
[0006] The utility model provides a mechanical clamping claw for transporting a wheelset, which, through the movement of a hanging seat in the vertical direction and the contact of a hook claw head with the wheelset, causes a four-bar structure formed by two swinging connecting rods and two hook claw arms to swing accordingly, thereby realizing automatic grasping and releasing of the wheelset, so as to effectively solve the above-mentioned problems or alleviate the effects of the above-mentioned problems.
[0007] The mechanical clamping claw for wheelset transportation of the utility model comprises:
[0008] A suspension seat, the suspension seat being used to connect to the end of the robot arm;
[0009] Two hooks, each of which comprises a hook arm and a hook head connected to each other, ends of the two hook arms away from the hook heads being rotatably connected to each other, and the two hook heads being used to hook the reverse side of the wheelset tread;
[0010] Two swing connecting rods, the first ends of the two swing connecting rods are hinged to the suspension seat, and the second ends of the two swing connecting rods are respectively hinged to the two hook claw arms;
[0011] The two swing links and the two hook arms swing under the action of external force, so that the two hook heads move closer to or farther from each other to clamp the wheelset.
[0012] In one embodiment, gears are fixedly provided at ends of the two hook arms away from the hook heads, and the two gears are meshed with each other.
[0013] In one embodiment, the gears are in a fan-shaped structure, and when the two gears mesh and rotate to the ends of the gear surfaces, they can form a self-locking structure to limit the relative swing angle of the two hook claw arms.
[0014] In one embodiment, the suspension seat is provided with a first hinge shaft, and the first ends of the two swing links are both sleeved on the first hinge shaft.
[0015] In one embodiment, the arm body of the hook arm is provided with a second hinge shaft near the rotation connection between the two hook arms, and the second end of the swing link is sleeved on the second hinge shaft.
[0016] In one embodiment, the hook is in a J-shaped structure, wherein the straight portion is the hook arm and the curved portion is the hook head.
[0017] In one embodiment, the outer side surface of the hook claw head is an arc-shaped inclined surface.
[0018] In one embodiment, a rubber pad is fixedly provided on the inner side of the hook claw head.
[0019] In one embodiment, the surface of the rubber pad is in an arc shape matching the reverse side of the wheelset tread.
[0020] In one embodiment, a connecting hole is provided on the hanging seat, and the connecting hole is used to connect with the end of the robot arm.
[0021] The mechanical clamping claw for wheelset handling provided by the utility model has at least the following beneficial effects compared with the prior art:
[0022] The mechanical claw for wheelset transportation of the utility model moves the suspension in the vertical direction, cooperates with the hook head to touch the wheelset, so that the four-bar structure formed by the two swing links and the two hook arms swings accordingly, and the wheelset can be automatically grasped and released. In this way, when the wheelset is transported by the manipulator, there is no need for a positioning system, an auxiliary system, and an additional servo mechanism, and the wheelset can be accurately grasped and placed automatically, which can simplify the structure of the transport device and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.
[0024] Figure 1 It is a structural schematic diagram of the mechanical claw of an embodiment of the utility model;
[0025] Figure 2 It is a structural schematic diagram of the gear meshing of an embodiment of the utility model;
[0026] Figure 3 It is a structural schematic diagram of the hook head of the embodiment of the utility model being inserted into the reverse side of the tread;
[0027] Figure 4 It is a structural schematic diagram of the mechanical claw of the embodiment of the utility model when it touches the wheelset;
[0028] Figure 5 It is a structural schematic diagram of the mechanical claw of the embodiment of the utility model when it is fully opened;
[0029] Figure 6 It is a structural schematic diagram of the mechanical clamping claw of the embodiment of the utility model clamping the wheelset.
[0030] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale.
[0031] Reference numerals:
[0032] 1-suspension seat, 2-hook, 3-hook arm, 4-hook head, 5-swing connecting rod, 6-gear, 7-first hinge shaft,
[0033] 8-second hinge shaft, 9-rubber pad, 10-connecting hole, 11-wheel set. DETAILED DESCRIPTION
[0034] The utility model will be further described below in conjunction with the accompanying drawings.
[0035] like Figures 1 to 5 As shown, the mechanical gripper for wheelset handling of the utility model comprises:
[0036] A suspension seat 1, which is used to connect to the end of the robot arm;
[0037] Two hooks 2, each hook 2 comprises a hook arm 3 and a hook head 4 connected to each other, ends of the two hook arms 3 away from the hook head 4 are rotatably connected to each other, and the two hook heads 4 are used to hook the reverse side of the wheelset tread;
[0038] Two swing links 5, the first ends of the two swing links 5 are hinged to the suspension seat 1, and the second ends of the two swing links 5 are respectively hinged to the two hook arms 3;
[0039] The two swing links 5 and the two hook arms 3 swing under the action of external force, so that the two hook heads 4 move closer to or farther away from each other to clamp the wheelset 11 .
[0040] Specifically, the mechanical claw moves the suspension base 1 in the vertical direction, and the claw head 4 contacts the wheelset 11, so that the four-bar structure formed by the two swing links 5 and the two claw arms 3 swings accordingly, and the wheelset 11 can be automatically grasped and released. In this way, when the manipulator is used to transport the wheelset 11, there is no need for a positioning system, an auxiliary system, and an additional servo mechanism, and the wheelset 11 can be accurately grasped and placed automatically, which can simplify the structure of the transport device and reduce costs.
[0041] It should be noted that the reverse side of the wheelset tread is the side opposite to the wheel tread, that is, the inner side of the wheel rim used to connect with the wheel cake.
[0042] In an example, Figure 1 and Figure 2 As shown, gears 6 are fixedly arranged at the ends of the two hook claw arms 3 away from the hook claw heads 4, and the two gears 6 mesh with each other. The gears 6 on the two hook claw arms 3 have the same structure and size, and the meshing and rotation of the two gears 6 make the rotation between the two hook claw arms 3 synchronous, that is, the two hook claws 2 are opened or locked synchronously.
[0043] In one example, the gear 6 is in a fan-shaped structure, and when the two gears 6 mesh and rotate to the end of the gear surface, they can form a self-locking state to limit the relative swing angle of the two hook claw arms 3.
[0044] Specifically, the two sector-shaped gears 6 are meshed, and when the two gears 6 rotate to the end of the gear surface on one side, the two hook arms 3 are in the minimum closed state, that is, the angle between the two hook arms 3 cannot be reduced any further. At this time, it is necessary to meet the requirement that the distance between the two hook heads 4 is not less than the distance between the two wheels of the wheelset 11, so that the two hook heads 4 can slide and open relative to the wheels when they touch the wheelset 11. When the two gears 6 rotate to the end of the gear surface on the other side, the two hook arms 3 are in the maximum open state, that is, the angle between the two hook arms 3 cannot be increased any further. At this time, the two hook arms 3 are limited and locked to form a certain support, so that the force of the mechanical arm on the mechanical claw is zero.
[0045] In one example, as shown in Figure 1, the suspension seat 1 is provided with a first hinge shaft 7, and the first ends of the two swing links 5 are sleeved on the first hinge shaft 7. The two swing links 5 are connected to the first hinge shaft 7 of the suspension seat 1, so that the suspension seat 1 has a simple structure and is easy to process.
[0046] In one example, as shown in Figure 1, the arm of the hook arm 3 is provided with a second hinge shaft 8 near the rotation connection of the two hook arms 3, and the second end of the swing link 5 is sleeved on the second hinge shaft 8. It should be noted that the distance between the setting position of the second hinge shaft 8 of the two hook arms 3 and the rotation connection of the two hook arms 3 is the same, so as to ensure that the two hook arms 3 are symmetrical and the rotation between the two is synchronous.
[0047] In one example, as shown in Figure 1 , the hook 2 is in a J-shaped structure, wherein the straight portion is the hook arm 3 , and the curved portion is the hook head 4 .
[0048] In an example, how 1 and Figure 3 As shown, the outer side surface of the hook head 4 is an arc-shaped inclined surface, so that the hook head 4 can smoothly slide relative to the wheelset 11 when the hook arm 3 swings, and the outer side surface of the hook head 4 is smooth and has a small friction coefficient.
[0049] In an example, how 1 and Figure 3 As shown, a rubber pad 9 is fixedly provided on the inner side of the hook head 4. The rubber pad 9 can prevent the hook head 4 from contacting the opposite side of the wheelset tread as a hard contact, can prevent the wheelset 11 from being damaged, and can increase the friction generated by the hook head 4 contacting the opposite side of the wheelset tread, and clamp more firmly.
[0050] In one example, the surface of the rubber pad 9 is an arc shape matching the reverse side of the wheelset tread, so as to better fit into the reverse side of the wheelset tread. The friction coefficient of the surface of the rubber pad 9 is large, which can further increase the friction force during contact.
[0051] In an example, Figure 1As shown, the suspension seat 1 is provided with a connection hole 10, and the connection hole 10 is used to connect with the end of the robot arm. The suspension seat 1 can be stably connected with the robot arm through the connection hole 10 and the corresponding connecting piece.
[0052] In order to better understand the present invention, the working principle of using a mechanical arm to connect the mechanical claws of the present invention to carry the wheelset 11 is further explained below in conjunction with the accompanying drawings.
[0053] First, the mechanical claw is connected to the mechanical arm through the suspension seat 1. When the hook 2 is unloaded, the two hooks 2 naturally droop under the action of gravity, and because the gear 6 between the two hook arms 3 plays a limit locking role, it can ensure that the minimum closing degree of the two hook arms 3 is not less than the requirement for collision and clamping the outside of the wheelset 11, that is, the distance between the two hook heads 4 is not less than the distance between the two wheels of the wheelset 11.
[0054] When grabbing the wheelset 11, the mechanical arm drives the mechanical claw to move downward. When the lower part of the hook head 4 collides with the wheelset 11 (such as Figure 4 As shown in the figure, the mechanical arm continues to drive the suspension seat 1 downward, the swing link 5 is forced to swing and push the two hook claw arms 3 to swing open, and the lower part of the hook claw head 4 slides relative to the wheelset tread. The outer arc slope of the lower part promotes the sliding process smoothly, so that the hook claw head 4 can slide into the opposite side of the wheelset tread. After the hook claw head 4 slides into the opposite side of the wheelset 11 tread, it continues to move downward as a whole. When the two hook claws 2 are fully opened (as shown in the figure), the hook claw head 4 slides into the opposite side of the wheelset 11 tread. Figure 5 As shown), the gear 6 meshes to the position of the maximum open state of the two hook claw arms 3 and forms a limit lock. The hook claw arm 3 collides with the top of the wheel rim of the wheelset 11. The deadweight of the mechanical claw is completely supported by the wheelset 11. At this time, the pulling force of the mechanical arm on the suspension seat 1 returns to zero. After receiving the transmission feedback of the force, the mechanical arm starts to lift, driving the mechanical claw to move up, and the suspension seat 1 is lifted again. The swing connecting rod 5 drives the gear meshing ends of the two hook claw arms 3 to move up, and the movements and positions of the two hook claw arms 3 are synchronized. The two hook claw heads 4 are affected by gravity and the structural force of the hook claw arms 3 and are hooked inward from both sides. The rubber pad 9 of the hook claw 2 is close to the opposite side of the wheelset tread. After continuing to lift, the supporting force of the hook claw head 4 on the wheelset 11 is decomposed into a longitudinal lifting force and a horizontal inward clamping force, thereby forming a stable state of clamping self-locking. In this way, the mechanical arm can drive the mechanical claw to clamp the wheelset 11 for transportation (as shown in FIG. Figure 6 When the wheelset 11 is transported to the destination, the mechanical arm moves downward to drive the mechanical claw to move horizontally until it is fully opened, thereby completing the separation of the mechanical claw from the wheelset 11.
[0055] The mechanical claw is a hinged four-bar structure formed by two swinging links 5 and two hook arms 3, and the gear 6 is meshed at the connection part of the two hook arms 3 to ensure the synchronous opening and locking of the hooks 2 on both sides. The outer side of the hook head 4 adopts a special arc-shaped inclined surface design, which can meet the requirements that the hook head 4 can easily slide into the opposite side of the wheelset tread when the hook 2 falls. When the inner side of the hook arm 3 touches the wheel rim position, the hook head 4 can be automatically opened through the force structure, and the hook heads 4 on both sides are opened and inserted into the opposite side of the wheelset tread. When the hanger 1 reaches the limit position, the two swinging links 5 and the two hook arms 3 can no longer open. The mechanical arm can know that the mechanical claw has been fully opened through torque feedback, and then perform the lifting action. During lifting, the hooks 2 on both sides can make the hook heads 4 on the left and right sides clamp the wheelset 11 inward synchronously due to the meshing action of the intermediate gear 6. The hook head 4 can be closely fitted with the reverse side of the wheelset tread through the specially designed rubber pad 9, and its shape design can smoothly insert the hook head 4 into the reverse side of the wheelset tread when the wheelset 11 is clamped. When the hanger 1 is lifted, the rubber pad 9 forms a close fit with the mating surface on the reverse side of the wheelset tread, thereby ensuring that sufficient friction is provided to maintain a stable clamping state of the wheelset 11, so that the mechanical claw can stably grasp the wheelset 11.
[0056] In summary, the beneficial effects of the mechanical claw of the utility model may include:
[0057] (1) The mechanical gripper of the utility model has the functions of self-positioning, automatic wheelset clamping, and adaptive wheelset position. It does not require a mechanical arm to accurately position the wheelset. The positioning accuracy is within a range of ±50 mm, and it can automatically complete the accurate grasping and placement of wheelsets on a roughly positioned wheelset conveyor line.
[0058] (2) The mechanical claw of the utility model has a simple structure and does not require additional positioning and auxiliary systems. It can realize automatic grasping and releasing of the wheelset only by moving the suspension seat in the vertical direction, which can greatly reduce the cost and has wide versatility. The mechanical claw can be used in combination with any robotic arm and does not require additional servo control. The robotic arm connected to it can know the connection status of the mechanical claw only through torque feedback. The hook head is provided with a rubber pad, which can further ensure that the mechanical claw can stably clamp the wheelset.
[0059] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A mechanical gripper for wheelset handling, characterized in that: The mechanical claw comprises: A suspension seat, the suspension seat being used to connect to the end of the robot arm; Two hooks, each of which comprises a hook arm and a hook head connected to each other, ends of the two hook arms away from the hook heads being rotatably connected to each other, and the two hook heads being used to hook the reverse side of the wheelset tread; Two swing connecting rods, the first ends of the two swing connecting rods are hinged to the suspension seat, and the second ends of the two swing connecting rods are respectively hinged to the two hook claw arms; The two swing links and the two hook arms swing under the action of external force, so that the two hook heads move closer to or farther from each other to clamp the wheelset; Gears are fixedly provided at the ends of the two hook claw arms away from the hook claw heads, and the two gears are meshed with each other; the gears are fan-shaped structures, and when the two gears are meshed and rotated to the ends of the gear surfaces, they can form self-locking to limit the relative swinging angle of the two hook claw arms.
2. The mechanical gripper for wheelset handling according to claim 1, characterized in that: The suspension seat is provided with a first hinge shaft, and the first ends of the two swing connecting rods are both sleeved on the first hinge shaft.
3. The mechanical gripper for wheelset handling according to claim 1, characterized in that: The arm body of the hook arm is provided with a second hinge shaft near the rotation connection of the two hook arms, and the second end of the swing connecting rod is sleeved on the second hinge shaft.
4. The mechanical gripper for wheelset handling according to any one of claims 1 to 3, characterized in that: The hook claw is in a J-shaped structure, the straight portion of which is the hook claw arm, and the curved portion of which is the hook claw head.
5. The mechanical gripper for wheelset handling according to any one of claims 1 to 3, characterized in that: The outer side surface of the hook claw head is an arc-shaped inclined surface.
6. The mechanical gripper for wheelset handling according to any one of claims 1 to 3, characterized in that: A rubber pad is fixedly provided on the inner side of the hook claw head.
7. The mechanical gripper for wheelset handling according to claim 6, characterized in that: The surface of the rubber pad is in an arc shape matching the reverse side of the wheelset tread.
8. The mechanical gripper for wheelset handling according to any one of claims 1 to 3, characterized in that: The suspension seat is provided with a connecting hole, and the connecting hole is used to connect with the end of the mechanical arm.