Clamping device for grabbing CRH (China Railway Harmony) and harmony rotating arm and node

Abstract

The utility model provides a clamping device for grabbing CRH (China Railway Harmony) and harmony rotating arms and nodes. The clamping device comprises a rack; the two first clamping jaws can move in the opposite directions and are connected with the rack, the opposite faces of the two first clamping jaws are each provided with a first clamping groove and a second clamping groove which are arranged in an inwards-concave mode and correspond to each other in position, and the length direction of the first clamping grooves is perpendicular to the length direction of the second clamping grooves; the three-finger mechanical gripper is mounted on the rack; the node grabbing and transferring device is reasonable in design structure, can grab and transfer a rotating arm during working, can also grab and transfer nodes, can meet the grabbing requirements of the nodes in the horizontal direction and the vertical direction at the same time during node grabbing, has the advantage of being wide in application range, and further has the advantages of being simple in structure and convenient to use. The whole clamping device can be installed on a robot arm, so that the grabbing work of the rotating arm and the joint is more flexible and unified, the automatic grabbing capacity of the rotating arm and the joint is improved, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of clamping devices, and in particular relates to a clamping device for grabbing a CRH Harmony rotating arm and a node. Background Art

[0002] After years of efforts, my country's CRH Harmony EMU has been continuously developed, and more and more EMUs have been put into use. Among them, the arm structure on the CRH Harmony is as follows: Figure 5 As shown, the node structure is as follows Figure 6 As shown, the swivel arm is a component of the bogie suspension system of the CRH Harmony EMU. It is over 500mm long and has a through-hole at one end. The node is a key component on the EMU that ensures the proper functioning of the vehicle suspension system and is generally cylindrical in shape. Traditionally, the manufacture and assembly of these swivel arms and nodes typically utilize cranes and trolleys for transportation, resulting in low efficiency. To enable the grasping of both the swivel arm and the node, the inventors have developed a clamping device for grasping the swivel arm and the node of the CRH Harmony train. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a clamping device for grabbing the CRH Harmony boom and nodes, which can realize the grabbing and transportation of the boom and the nodes during operation, and can also realize the grabbing and transportation of the nodes. When grabbing the nodes, it can simultaneously meet the grabbing requirements of the nodes in the horizontal and vertical directions, and has the advantage of a wide range of applications. In addition, the clamping device can be installed on the robot arm as a whole, making the grabbing work of the boom and the nodes more flexible and unified, which is conducive to improving the automated grabbing capability of the boom and the nodes and improving work efficiency.

[0004] The technical solution adopted by the utility model is: a clamping device for grabbing the CRH Harmony boom and node, comprising:

[0005] frame;

[0006] Two first clamping jaws capable of moving toward each other are connected to the frame, and the facing surfaces of the two first clamping jaws are provided with a first clamping groove and a second clamping groove that are concave and corresponding in position, and the length direction of the first clamping groove is perpendicular to the length direction of the second clamping groove;

[0007] A three-finger mechanical gripper, which is mounted on the frame;

[0008] Among them, the two first grippers grasp the nodes of CRH Harmony, and the three-finger mechanical gripper grasps the rotating arm of CRH Harmony. By moving the frame, the grasped rotating arm and node can be controlled to move in position.

[0009] The clamping device also includes a visual recognition device installed on the side of the frame.

[0010] The frame includes a base and a connecting plate. The base is installed on the mechanical arm of the robot. The connecting plate is fixedly connected to one end of the base and is arranged perpendicular to the base. The three-finger mechanical gripper is installed on the lower surface of the base.

[0011] A pneumatic manipulator is installed at the lower end of the connecting plate, and movable plates are installed at both ends of the pneumatic manipulator. The first clamping claw is installed at the end positions of the facing surfaces of the two movable plates.

[0012] A positioning groove is provided on the back side of the first clamping jaw, and the end of the movable plate is placed in the positioning groove.

[0013] The three-finger mechanical gripper includes a three-finger chuck fixed on the lower surface of the base, and three second clamping jaws that are evenly distributed around the center of the three-finger chuck and can move are installed at the end surface of the three-finger chuck.

[0014] A pad is detachably connected to the outer surface of the second clamping jaw.

[0015] The first clamping groove and the second clamping groove are both V-shaped grooves.

[0016] The beneficial effects of the utility model are:

[0017] The utility model has a reasonable design structure, which can realize the grasping and transportation of the rotating arm and the grasping and transportation of the nodes during operation. When grasping the nodes, it can simultaneously meet the grasping requirements of the nodes in the horizontal and vertical directions, and has the advantage of a wide range of applications. In addition, the clamping device as a whole can be installed on the robot arm, making the grasping work of the rotating arm and the node more flexible and unified, which is conducive to improving the automated grasping capability of the rotating arm and the nodes and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the utility model;

[0019] Figure 2 This is an exploded diagram of the connection between the three-finger mechanical gripper of the utility model and the base;

[0020] Figure 3 The three-dimensional structure of the first clamping jaw of the utility model Figure 1 ;

[0021] Figure 4 The three-dimensional structure of the first clamping jaw of the utility model Figure 2 ;

[0022] Figure 5 It is the structural diagram of the rotating arm;

[0023] Figure 6 A structural diagram of a node.

[0024] Among them: 1. Base; 2. Connecting plate; 3. Pneumatic manipulator; 4. Movable plate; 5. First clamping jaw; 501. First clamping groove; 502. Second clamping groove; 503. Positioning groove; 6. Three-finger chuck; 7. Second clamping jaw; 8. Pad; 9. Visual recognition device; 10. Rotating arm; 1001. Through hole; 11. Node. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] As shown in the figure, a clamping device for grabbing the CRH Harmony arm and node includes:

[0027] frame;

[0028] Two first clamping jaws 5 capable of moving toward each other are connected to the frame, and the facing surfaces of the two first clamping jaws 5 are provided with a first clamping groove 501 and a second clamping groove 502 with an inwardly concave arrangement and corresponding positions, and the length direction of the first clamping groove 501 and the length direction of the second clamping groove 502 are perpendicular to each other; wherein, the first clamping groove 501 and the second clamping groove 502 can both realize the grasping work of the cylindrical node 11. In this example, the first clamping groove 501 on the first clamping jaw 5 is mainly used for clamping the node 11 when it is placed horizontally, and the second clamping groove 502 is used for clamping the node 11 when it is placed vertically, thereby meeting the grasping work of the node 11 in different states and improving work efficiency;

[0029] A three-finger mechanical gripper, which is mounted on the frame;

[0030] Among them, the two first grippers 5 grab the node 11 of the CRH Harmony, and the three-finger mechanical gripper grabs the rotating arm 10 of the CRH Harmony. By moving the frame, the grasped rotating arm 10 and the node 11 can be controlled to move in position. In this example, by connecting the three-finger mechanical gripper for grabbing the rotating arm 10 and the first gripper 5 for grabbing the node 11 to the frame, it is convenient to grab and transport the rotating arm 10 and the node 11 at the same time, which can improve the assembly efficiency during assembly.

[0031] The clamping device also includes a visual recognition device 9 installed on the side of the frame. In this example, the visual recognition device 9 adopts the two-dimensional vision system of the FANUC robot, which is an integrated visual detection system for realizing the detection and positioning of spatial objects, and for improving the accuracy and efficiency of the robot when working on an automated production line. The structure and principle of the visual recognition device 9 belong to conventional technologies in the prior art and will not be elaborated on here.

[0032] The frame includes a base 1 and a connecting plate 2. The base 1 is installed on the robot's robotic arm. The connecting plate 2 is fixedly connected to one end of the base 1 and is arranged perpendicular to the base 1. The three-finger robotic gripper is installed on the lower surface of the base 1. The base 1 is a plate-like structure as a whole, and its surface has mounting holes for connecting to the robot's robotic arm.

[0033] A pneumatic manipulator 3 is installed at the lower end of the connecting plate 2, and movable plates 4 are installed at both ends of the pneumatic manipulator 3. The first clamping jaws 5 are installed at the end positions of the facing surfaces of the two movable plates 4. In this case, the pneumatic manipulator 3 adopts SCHUNK's sealed universal manipulator, model DPG-plus160-1, which is used to realize the opposite movement of the movable plates 4 at both ends after being connected to the air source, and then drive the two first clamping jaws 5 on the movable plates 4 to realize the clamping and loosening actions, thereby completing the automatic grasping of the node 11.

[0034] A positioning groove 503 is provided on the back side of the first clamping jaw 5, and the end of the movable plate 4 is placed in the positioning groove 503, which is used to ensure the stability of the first clamping jaw 5 when installed on the movable plate 4, and avoid the problem of relative movement between the first clamping jaw 5 and the movable plate 4. In this example, after the movable plate 4 is placed in the positioning groove 503, the first clamping jaw 5 is fixed to the movable plate 4 by bolt connection.

[0035] The three-finger mechanical gripper includes a three-finger chuck 6 fixed on the lower surface of the base 1, and three second clamping jaws 7 are evenly distributed around the center of the three-finger chuck 6 and can move are installed at the end surface of the three-finger chuck 6. In this case, the three-finger chuck 6 adopts a three-finger centrifugal pneumatic clamp produced by ZIMMER Group, and its model is GPD5035NO-00-A. More specifically, the three second clamping jaws 7 are installed at the end of the three-finger chuck 6. When the three-finger chuck 6 is working, the three second clamping jaws 7 can act on the through hole 1001 at the end of the rotating arm 10, thereby supporting the position of the through hole 1001 to realize the grasping of the rotating arm 10.

[0036] The outer surface of the second clamping jaw 7 is detachably connected to a pad 8. When working, the pad 8 directly contacts the inner wall of the through hole 1001 of the rotating arm 10. The pad 8 can be replaced in size according to the actual size of the through hole 1001, and it is easy to replace if it is damaged for a long time, thereby preventing damage to the second clamping jaw 7.

[0037] In this example, the first clamping groove 501 and the second clamping groove 502 are both V-shaped grooves.

[0038] When the clamping device for grasping the CRH Harmony arm 10 and node 11 is in use, the base 1 is connected to the robot's mechanical arm. Driven by the mechanical arm, the clamping device can be moved to a specified position. When grasping the arm 10, the three-finger chuck 6 can drive the three second jaws 7 at its end to open, so that the pad 8 on the second jaw 7 is supported on the inner wall position of the through hole 1001 of the arm 10, thereby grasping the arm 10; when grasping the node 11, the pneumatic manipulator 3 can be used to control the opening or tightening of the two first jaws 5 to grasp the node 11 in a horizontal or vertical state. It has the advantages of high degree of automation, high work efficiency and wide range of applications.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A clamping device for grabbing the CRH Harmony boom and nodes, characterized in that: include: frame; Two first clamping jaws capable of moving toward each other are connected to the frame, and the facing surfaces of the two first clamping jaws are provided with a first clamping groove and a second clamping groove that are concave and corresponding in position, and the length direction of the first clamping groove is perpendicular to the length direction of the second clamping groove; A three-finger mechanical gripper, which is mounted on the frame; Among them, the two first grippers grasp the nodes of CRH Harmony, and the three-finger mechanical gripper grasps the rotating arm of CRH Harmony. By moving the frame, the grasped rotating arm and node can be controlled to move in position.

2. A clamping device for grabbing the CRH Harmony arm and node according to claim 1, characterized in that: The clamping device also includes a visual recognition device installed on the side of the frame.

3. The clamping device for grabbing the CRH Harmony arm and node according to claim 1 is characterized in that: The frame includes a base and a connecting plate. The base is installed on the robot's mechanical arm. The connecting plate is fixedly connected to one end of the base and is arranged perpendicular to the base. The three-finger mechanical gripper is installed on the lower surface of the base.

4. A clamping device for grabbing the CRH Harmony arm and node according to claim 3, characterized in that: A pneumatic manipulator is installed at the lower end of the connecting plate, movable plates are installed at both ends of the pneumatic manipulator, and the first clamping claw is installed at the end position of the facing surfaces of the two movable plates.

5. A clamping device for grabbing the CRH Harmony arm and node according to claim 4, characterized in that: A positioning groove is provided on the back side of the first clamping jaw, and the end portion of the movable plate is placed in the positioning groove.

6. The clamping device for grabbing the CRH Harmony arm and node according to claim 3 is characterized in that: The three-finger mechanical gripper includes a three-finger chuck fixed on the lower surface of the base, and three second clamping jaws that are evenly distributed around the center of the three-finger chuck and can move are installed at the end surface of the three-finger chuck.

7. A clamping device for grabbing the CRH Harmony arm and node according to claim 6, characterized in that: A pad is detachably connected to the outer surface of the second clamping jaw.

8. The clamping device for grabbing the CRH Harmony arm and node according to claim 1 is characterized in that: The first clamping groove and the second clamping groove are both V-shaped grooves.

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