Embedded type automatic carrying and grabbing device based on mechanical sliding table

Abstract

The utility model belongs to the technical field of carrying and grabbing devices, and particularly relates to an embedded type automatic carrying and grabbing device based on a mechanical sliding table, which comprises an X-axis sliding table, a Y-axis sliding table, a Z-axis sliding table, a linear guide rail, a rotating device, a clamping jaw and a sliding table connecting fastener, the other end of the Z-axis sliding table is connected with the linear guide rail in a sliding mode, the Y-axis sliding table is connected with the Z-axis sliding table in a sliding mode, the Y-axis sliding table is connected with the clamping jaw through the rotating device, and the linear guide rail is fixed to the mechanical sliding table through the sliding table connecting fastener. According to the utility model, the automatic grabbing and carrying device and the test bed are combined into a whole, so that actions such as automatic grabbing, carrying, mounting, unloading and the like can be completed on the premise of not breaking the technological process standard on site, not expanding the occupied area of equipment and not hindering the operation actions of workers.

Description

Technical Field

[0001] The utility model belongs to the technical field of transport and grabbing devices, and in particular relates to an embedded automatic transport and grabbing device based on a mechanical slide. Background Art

[0002] When inspecting and repairing railway locomotives and vehicle parts, many valve bodies need to complete performance tests on the corresponding type of test bench in accordance with the regulations in the railway standards, and then put into use after the quality is qualified. The main materials of these valve bodies are copper, iron, aluminum, stainless steel and other metals, and the weight is in the range of 20kg to 40kg. These valve bodies need to be moved from the fixed position of the maintenance assembly line to the fixture position of the test bench, and clamped by the fixture. Different valve bodies are installed on the corresponding test bench. The angles presented by the mounting surface of the valve body and the joint surface after the fixture is fitted are different. Some joint surfaces are horizontal, and some joint surfaces are vertical. When the valve body is transported on the assembly line, the mounting surface is in the horizontal direction. Therefore, when the joint surface after installation on the test bench is horizontal, the valve body is directly picked up from the assembly line, translated to the top of the fixture, aligned with the fixture joint surface and put down to complete the clamping action. When the joint surface of the valve body is vertical after being installed on the test bench, the valve body needs to be flipped during the process from the assembly line to the installation on the test bench so that the valve body installation surface is also in a vertical state before it can be docked and installed with the fixture.

[0003] So far, there are several ways of transporting in on-site work scenarios. The first is to manually transport the valve body to be tested from the assembly line to the vicinity of the fixture of the test bench, flip it over, align the valve body mounting surface with the fixture mounting surface and press it tightly, and turn on the fixture switch to clamp it. This is the most commonly used method on site. The second is to use an industrial robot to grab the valve body from the assembly line, align the valve body and the fixture mounting surface tightly to achieve clamping. The third is to use a truss-mounted slide structure, build a truss around the test bench, and the slide relies on the truss to move, and install the valve body on the fixture. The following is an analysis of the advantages and disadvantages of the above three methods.

[0004] The first method is to manually carry and install the valve body to be tested. The advantage is that it is more flexible. The valve body to be tested does not need to be accurately positioned on the assembly line. Workers can adjust the direction of the randomly placed valve body first, and then carry it to the fixture for installation. However, the disadvantages of this method are also very prominent. Due to the large variety of valve bodies to be tested and the weight of 20kg to 40kg, the number of tests per working day ranges from a dozen to dozens. Each valve body needs to be carried once during installation, and after the test is completed, it needs to be unloaded and placed on the assembly line. In this way, the daily handling workload is between dozens and hundreds of times, which is a heavy physical labor for the operator. Working in this position for a long time will cause occupational injuries to the operator's waist, wrists and other body parts, affecting the operator's health. At present, various railway locomotive and vehicle maintenance units have a strong desire to change the status quo and hope to replace this manual operation method with mechanical methods.

[0005] The second method is to use a multi-axis industrial robot to carry and clamp the valve body to be tested. The industrial robot is installed near the assembly line, with the robot as the center of the circle and multiple test benches placed around it. The robot grabs the target valve body from the assembly line, and aligns the installation surface of the valve body with the installation surface of the test bench fixture through movement and flipping to achieve the clamping work. In this way, the automatic handling, installation and unloading process of the valve body can be realized, and one robot can face multiple test benches, with high equipment utilization. However, there are also disadvantages in using this method. When the valve body is tested on the test bench, it is not automatically tested from the beginning to the end, and no one participates in the intermediate process. Instead, workers are required to apply leakage detection agents and continuously observe. At this time, people need to be in front of the test bench. However, when using a robot to carry the valve body, no one is allowed to enter the robot's range of activity to prevent the robot from causing harm to people and causing danger when it moves. This shields the operator's prescribed actions during the test process, which is inconsistent with the requirements of the standard test method. Therefore, this method cannot be applied to the actual work site.

[0006] The third method is to use a truss structure to carry a slide. The specific implementation method is to build columns around the test bench, and then install a beam above the column. The robot arm slide assembly is installed on the beam. The slide relies on the truss to move. The robot arm has a claw that can grab the valve body from the assembly line. By moving and flipping, the valve body installation surface is aligned with the test bench fixture installation surface to achieve installation. When unloading, the valve body can be moved from the test bench to the assembly line. In this way, in order to have enough space for the robot arm to move and flip, the area enclosed by the column must be larger than the floor area of ​​the test bench itself, and no one is allowed in the space where the robot arm moves. In order to ensure safety, it is necessary to set up a guardrail with the column as the edge, and the movement space of the robot arm is all within the guardrail. During the test, when the worker needs to apply the leakage detection agent and continue to observe, the worker needs to open the guardrail, enter the space built by the truss, and retreat outside the guardrail after completing the work. During the test of a valve body, the leakage detection agent needs to be applied several times, and this action needs to be repeated several times, which complicates the work process and affects the work efficiency. In addition, the location and range of the test bench have been specified in the process specifications for valve body overhaul, but the truss setting exceeds the original space size, so there is a possibility that there is no space to implement the truss erection in the actual on-site environment. Therefore, the applicability of this method is very low. Utility Model Content

[0007] In response to the above-mentioned technical problems, the utility model provides an embedded automatic handling and grabbing device based on a mechanical slide. The claws of the automatic handling and grabbing device are used to hold the valve body to be operated. The embedded automatic handling and grabbing device can be installed corresponding to different types of test benches. The automatic handling and grabbing action of the valve body can be realized by simply replacing the claws.

[0008] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0009] An embedded automatic handling and grasping device based on a mechanical slide, comprising an X-axis slide, a Y-axis slide, a Z-axis slide, a linear guide, a rotating device, a clamping claw, and a slide connecting fastener. One end of the Z-axis slide is slidably connected to the X-axis slide, the other end of the Z-axis slide is slidably connected to the linear guide, the Y-axis slide is slidably connected to the Z-axis slide, the Y-axis slide is connected to the clamping claw through a rotating device, and the linear guide is fixed to the mechanical slide through a slide connecting fastener.

[0010] The X-axis slide and the Y-axis slide are arranged perpendicular to each other, the Y-axis slide and the Z-axis slide are arranged perpendicular to each other, and the Z-axis slide and the X-axis slide are arranged perpendicular to each other.

[0011] The clamping claw includes a mounting plate, a rotating device connecting shaft, a fastening bolt hole, a clamping claw fixing plate, a clamping claw fixing plate clamping disk, a clamping claw movable plate, a sliding cylinder, a sliding cylinder mounting plate, and a movable plate clamping disk. The mounting plate is fixed with a rotating device connecting shaft, and the rotating device connecting shaft is inserted into the mounting hole and fixed through the surrounding fastening bolt holes.

[0012] The clamping claw fixing plate is fixedly connected to the mounting plate, and the relative positions of the clamping claw fixing plate and the mounting plate remain unchanged.

[0013] The claw fixing plate is provided with a clamping plate, the sliding cylinder mounting plate is mounted on the claw fixing plate, and the sliding cylinder is mounted on the sliding cylinder mounting plate.

[0014] The clamping claw movable plate is installed on the sliding cylinder, and the movable plate clamping disc is installed on the clamping claw movable plate.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] The utility model combines the automatic grabbing and handling device with the test bench into a whole, and can realize automatic grabbing, handling, installation, unloading and other actions without breaking the on-site process flow standards, expanding the equipment area, and hindering the workers' operation. And by designing different claw devices, automatic operation of different valve bodies can be realized, so it can be applied to various types of railway locomotives and vehicle valve body component performance test benches, and has a wide range of applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0018] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment in size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2It is a structural schematic diagram of the utility model from another angle;

[0021] Figure 3 It is a structural schematic diagram of the clamping claw of the utility model;

[0022] Figure 4 This is a schematic diagram of the claw structure of the utility model from another angle.

[0023] Among them: 1 is an X-axis slide, 3 is a Y-axis slide, 4 is a Z-axis slide, 5 is a linear guide, 6 is a rotating device, 7 is a claw, 701 is a mounting plate, 702 is a rotating device connecting shaft, 703 is a fastening bolt hole, 704 is a claw fixing plate, 705 is a claw fixing plate clamping disk, 706 is a claw movable plate, 707 is a sliding cylinder, 708 is a sliding cylinder mounting plate, 709 is a movable plate clamping disk, and 8 is a slide connecting fastener. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. These descriptions are only to further illustrate the features and advantages of the utility model, rather than to limit the claims of the utility model. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0025] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] The automatic grabbing and handling device assembly is installed on the test bench in an embedded manner and becomes a part of the test bench.

[0029] The automatic grabbing and handling device grabs the valve body from the assembly line and transports it to the fixture position to complete the installation process as follows (the following positions and movement directions are based on the operator facing the front of the test bench, and the placement position of the grabbed valve body on the assembly line is horizontal to the installation surface and the ground):

[0030] The Z-axis slide 4 is located at the initial position on the right side of the X-axis slide 1. The Y-axis slide is located at the initial position above the Z-axis slide 4. The sliding cylinder 707 on the claw 7 is in the retracted position, and the movable plate clamping disk 709 and the claw fixed plate clamping disk 705 are in the open position.

[0031] The X-axis slide motor runs forward, driving the Z-axis slide 4 to move leftward and stops when reaching the grabbing position. The Z-axis slide motor runs forward, driving the Y-axis slide 3 to move downward, so that the movable plate clamping disc 709 and the claw fixed plate clamping disc 705 can be aligned with the valve body to be grabbed.

[0032] Open the sliding cylinder 707 to drive the movable plate of the claw 7 to move toward the valve body. After the movable plate clamping plate 709 contacts the valve body, the valve body is pushed toward the clamping plate clamping plate 705 of the claw fixing plate until the movable plate clamping plate 709 and the clamping plate clamping plate 705 cooperate to clamp the valve body.

[0033] The Z-axis slide motor runs in the reverse direction, driving the Y-axis slide 3 to move upward, and stops when it reaches the height of the test bench fixture joint surface. The rotating device rotates 90° to rotate the valve body mounting surface from the horizontal direction to the vertical direction facing the test bench joint surface. The X-axis slide motor runs in the reverse direction, driving the Z-axis slide 4 to move to the right. It stops when the valve body mounting surface is opposite to the test bench fixture joint surface. The Y-axis slide motor moves forward, driving the clamping claw 7 to move in the direction of the fixture joint surface. When the valve body mounting surface coincides with the fixture joint surface, the movement stops, and the fixture switch is turned on to clamp the valve body. Close the sliding cylinder 707 of the clamping claw 7, and the movable plate of the clamping claw 7 releases the valve body. The Y-axis slide motor moves in the reverse direction, driving the clamping claw 7 to move in the opposite direction of the fixture joint surface and leave the valve body. The X-axis slide motor runs in the reverse direction, driving the Z-axis slide 4 to move to the right, returning to the starting position and stopping.

[0034] The automatic grabbing and handling device grabs the valve body from the fixture and transports it to the assembly line to complete the unloading process as follows:

[0035] The Z-axis slide 4 is located at the initial position on the right side of the X-axis slide 1. The Y-axis slide 3 is located at the initial position above the Z-axis slide 4. The sliding cylinder 707 on the claw 7 is in the retracted position, and the movable plate clamping disk 709 and the claw fixed plate clamping disk 705 are in the open position.

[0036] The X-axis slide motor runs forward, driving the Z-axis slide 4 to move to the left. It stops when it reaches the test bench fixture position. The Z-axis slide motor runs forward, driving the Y-axis slide 3 to move downward. The movable plate clamping disc 709 of the clamping claw 7 and the clamping claw fixed plate clamping disc 705 are opened to align with the valve body. The Y-axis slide motor moves forward, driving the clamping claw 7 to move toward the fixture joint surface, so that the movable plate clamping disc 709 and the clamping claw fixed plate clamping disc 705 can align with the valve body to be grasped.

[0037] Open the sliding cylinder 707 to drive the movable plate of the clamping claw 7 to move toward the valve body. After the movable plate clamping disc 709 contacts the valve body, it cooperates with the clamping disc 705 of the clamping claw fixed plate to clamp the valve body. Close the clamp switch to release the valve body. The Y-axis slide motor moves in the reverse direction, driving the clamping claw 7 to move in the opposite direction of the clamp joint surface, so that the valve body leaves the clamp.

[0038] When the valve body mounting surface coincides with the fixture joint surface, stop the movement, turn on the fixture switch to clamp the valve body. The X-axis slide motor runs in the forward direction, driving the Z-axis slide 4 to move to the left. Stop when it reaches the upper position of the assembly line placement position. The rotating device rotates 90° to rotate the valve body mounting surface from the vertical direction to the horizontal direction. The Z-axis slide motor runs in the forward direction, driving the Y-axis slide 3 to move downward. Make the valve body joint surface contact the assembly line and stop the movement.

[0039] Open the sliding cylinder 707 on the claw 7, drive the movable plate of the claw 7 to move in the opposite direction of the valve body, and release the valve body. The Z-axis slide motor runs in the reverse direction, drives the Y-axis slide 3 to move upward, and stops at the initial position. The X-axis slide motor runs in the reverse direction, drives the Z-axis slide 4 to move to the right, and stops at the initial position.

[0040] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention, and various changes should be included in the protection scope of the present invention.

Claims

1. An embedded automatic handling and grabbing device based on a mechanical slide, characterized in that: The invention comprises an X-axis slide (1), a Y-axis slide (3), a Z-axis slide (4), a linear guide rail (5), a rotating device (6), a clamping claw (7), and a slide connecting fastener (8), wherein one end of the Z-axis slide (4) is slidably connected to the X-axis slide (1), the other end of the Z-axis slide (4) is slidably connected to the linear guide rail (5), the Y-axis slide (3) is slidably connected to the Z-axis slide (4), the Y-axis slide (3) is connected to the clamping claw (7) via the rotating device (6), and the linear guide rail (5) is fixed to the mechanical slide via the slide connecting fastener (8).

2. According to claim 1, the embedded automatic handling and grabbing device based on a mechanical slide is characterized in that: The X-axis slide (1) and the Y-axis slide (3) are arranged perpendicularly to each other, the Y-axis slide (3) and the Z-axis slide (4) are arranged perpendicularly to each other, and the Z-axis slide (4) and the X-axis slide (1) are arranged perpendicularly to each other.

3. The embedded automatic handling and grabbing device based on a mechanical slide according to claim 1, characterized in that: The clamping claw (7) comprises a mounting plate (701), a rotating device connecting shaft (702), a fastening bolt hole (703), a clamping claw fixing plate (704), a clamping claw fixing plate clamping disk (705), a clamping claw movable plate (706), a sliding cylinder (707), a sliding cylinder mounting plate (708), and a movable plate clamping disk (709); a rotating device connecting shaft (702) is fixed on the mounting plate (701); the rotating device connecting shaft (702) is inserted into the mounting hole and fixed through the surrounding fastening bolt holes (703).

4. The embedded automatic handling and grabbing device based on a mechanical slide according to claim 3 is characterized in that: The clamping claw fixing plate (704) is fixedly connected to the mounting plate (701), and the relative position of the clamping claw fixing plate (704) and the mounting plate (701) remains unchanged.

5. The embedded automatic handling and grabbing device based on a mechanical slide according to claim 3 is characterized in that: The claw fixing plate (704) is mounted with a claw fixing plate clamping disc (705), the sliding cylinder mounting plate (708) is mounted on the claw fixing plate (704), and the sliding cylinder (707) is mounted on the sliding cylinder mounting plate (708).

6. The embedded automatic handling and grabbing device based on a mechanical slide according to claim 3, characterized in that: The clamping claw movable plate (706) is mounted on the sliding cylinder (707), and the movable plate clamping disc (709) is mounted on the clamping claw movable plate (706).

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