Movable mechanical gripper group for disassembling air conditioner filter screen of motor train unit

Abstract

A movable mechanical claw set for disassembling a motor train unit air conditioner filter screen comprises a movable lifting parallel mechanical arm and a translation rotating mechanical claw. The motor train unit air conditioner filter screen automatic dismounting and mounting device has the advantages that efficiency is improved, the motor train unit air conditioner filter screen automatic dismounting and mounting device developed on the basis of the mechanical structure does not have a fatigue period, dismounting of the filter screen can be rapidly completed for a long time, maintenance time is greatly shortened, and overall maintenance efficiency is improved; 2, consistency and standardization: the automatic dismounting technology developed based on the mechanical structure can ensure the consistency of each operation, reduce the difference caused by human factors, and ensure that the maintenance quality meets the standard; 3, the labor cost is reduced: by introducing an automatic dismounting technology, the dependence on professionals can be reduced, the labor cost is reduced, and the human resource configuration is optimized; and 4, the safety is improved, the requirement of manual operation is reduced through the automatic dismounting technology, the risk of operation of operators in a severe environment is reduced, potential safety hazards caused by misoperation of technicians are reduced, and therefore the safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motor vehicle filter disassembly, in particular to a mobile mechanical claw group used for disassembling an air conditioning filter of a motor vehicle. Background Art

[0002] With the continuous advancement of high-speed rail technology, the number of EMUs is increasing. Nowadays, the removal of EMU air conditioning filters is largely done manually. However, manual removal of EMU air conditioning filters presents many difficulties.

[0003] First, the filter structure is complex and highly delicate, requiring skilled technicians to operate. Improper operation by technicians may damage the filter, and in serious cases, even cause safety hazards.

[0004] Secondly, cleaning the air conditioning filters on EMU trains is a laborious and tedious task. Each EMU train is equipped with multiple filters, each of which needs to be removed individually. Furthermore, due to the frequent operation of EMU trains, the filters easily accumulate dust and dirt, further increasing the workload of removal and installation. The high-intensity, long, and monotonous production work leads to fatigue among mechanics, reducing efficiency, and potentially posing a serious safety hazard to personnel and equipment.

[0005] Furthermore, the removal and cleaning of EMU air conditioning filters present significant challenges in terms of time and environmental conditions. During EMU operation, these operations must be completed within a limited timeframe to ensure passenger comfort and air quality. However, the removal and installation process often requires operators to work in extremely hot or freezing weather, which not only tests their physical strength and endurance but can also reduce work efficiency, negatively impacting the EMU's operating time.

[0006] Finally, due to the limitations of manual operation, it may be difficult to ensure consistency and accuracy in the high-intensity and high-demand EMU air conditioning filter removal task. Utility Model Content

[0007] The technical problem to be solved by the present invention is to provide a mobile mechanical claw group for disassembling the air conditioning filter of an EMU. The automatic disassembly technology of the EMU air conditioning filter developed based on this mechanical structure can effectively solve the problems raised in the above background technology.

[0008] In order to solve the above problems, the technical solution adopted by the present invention is: a mobile mechanical claw group for removing the air conditioning filter of an EMU includes a movable lifting parallel mechanical arm and a translational rotation mechanical claw, characterized in that the movable lifting parallel mechanical arm is located on one side of the translational rotation mechanical claw, wherein:

[0009] The movable lifting parallel robotic arm consists of a first slide rail base, a mobile platform, a lifting mechanism and a gripping mechanism; the mobile platform is mounted on the first slide rail base, and the first slide rail base controls the lateral horizontal movement of the mobile platform; the lifting mechanism is mounted on the mobile platform, and the mobile platform controls the longitudinal horizontal movement of the lifting mechanism; the gripping mechanism is mounted on the lifting mechanism, and the lifting mechanism controls the vertical movement of the gripping mechanism;

[0010] The translational rotation mechanical claw consists of a second slide rail base, a motor base and a four-arm mechanical claw; the motor base is installed on the second slide rail base, and the second slide rail base controls the lateral horizontal movement of the motor base; the four-arm mechanical claw is installed on the motor base, and the motor base controls the rotational movement of the four-arm mechanical claw.

[0011] As a further preferred embodiment of the present invention, a first slide groove is provided on the inner side of the first slide rail base, first screws are installed at both ends of the first slide rail base through bearings, and a first stepper motor is connected to one end of the first slide rail base; the output end of the first stepper motor is connected to one end of the first screw by a coupling; a first transmission slider is installed on the first screw; the first transmission slider is threadedly connected to the first screw, and a first roller is provided at the bottom of the first transmission slider and is slidably connected to the first slide groove; the movable platform is installed on the first transmission slider.

[0012] As a further preferred embodiment of the present invention, the mobile platform includes a platform base plate, a translation base and a platform motor; the platform base plate is installed on the first transmission slider, and the platform base plate is provided with a limit frame; the translation base is located in the limit frame, pulleys are provided at both ends of the translation base, and a rack is provided on the translation base; the platform motor is installed on the platform base plate and is located on one side of the translation base, and a gear is provided at the output end of the platform motor to engage with the rack; the lifting mechanism is installed on the translation base.

[0013] As a further preferred embodiment of the present invention, the lifting mechanism includes a lifting seat, a column guide rail, a lifting screw, a lifting slide and a lifting motor; the lifting seat is installed on a translation base; the column guide rail is provided with two parallel embedded in the lifting seat; the lifting screw is embedded in the lifting seat, and the lifting screw is located between the two column guide rails; the lifting slide is provided with corresponding holes and is installed on the column guide rail and the lifting screw, the lifting slide is slidably connected to the column guide rail, and the lifting slide is threadedly connected to the lifting screw; the lifting motor is installed on the top of the lifting seat, and the output end of the lifting motor is connected to one end of the lifting screw through a coupling.

[0014] As a further preferred embodiment of the present invention, the grabbing mechanism includes a third stepper motor, a guide rail seat, a grabbing motor and a triangular mechanical claw; the third stepper motor is installed on the lifting slide, the output end of the third stepper motor faces downward, and the output end of the third stepper motor is provided with a coupling to connect with the guide rail seat; the bottom of the guide rail seat is slidingly connected with the triangular mechanical claw; the grabbing motor is installed on the side of the guide rail seat, and the output end of the grabbing motor is a motor arm, wherein arc connectors are provided at both ends of the motor arm to be hinged with the triangular mechanical claw.

[0015] As a further preferred embodiment of the present invention, a second slide groove is provided on the inner side of the second slide rail base, second screws are installed at both ends of the second slide rail base through bearings, and a second stepper motor is connected to one end of the second slide rail base; the output end of the second stepper motor is connected to one end of the second screw by a coupling; a second transmission slider is installed on the second screw; the second transmission slider is threadedly connected to the second screw, and a second roller is provided at the bottom of the second transmission slider and is slidably connected to the second slide groove; the motor base is installed on the second transmission slider.

[0016] As a further preferred solution of the present invention, a fourth stepper motor is provided at the end of the motor base; the fourth stepper motor is provided with a coupling and connected to the four-arm mechanical claw.

[0017] As a further preferred embodiment of the present invention, the length of the first screw is 1300-1500 mm.

[0018] As a further preferred embodiment of the present invention, the length of the second screw is 500-700 mm.

[0019] Compared with the prior art, the present invention provides a mobile mechanical claw assembly for removing the air conditioning filter of an EMU, which has the following beneficial effects:

[0020] 1. Improve efficiency: The EMU air conditioning filter automatic disassembly and assembly equipment developed based on this mechanical structure has no fatigue period and can complete the filter disassembly for a long time and quickly, greatly shortening the maintenance time and improving the overall maintenance efficiency.

[0021] 2. Consistency and standardization: The automatic disassembly technology developed based on this mechanical structure can ensure the consistency of each operation, reduce the differences caused by human factors, and ensure that the maintenance quality meets the standards.

[0022] 3. Reduce labor costs: By introducing automatic disassembly technology, you can reduce dependence on professionals, reduce labor costs, and optimize human resource allocation.

[0023] 4. Improved safety: Automated disassembly technology reduces the need for manual operation, reduces the risk of operators working in harsh environments, and also helps reduce safety hazards caused by improper operation by technicians, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the utility model;

[0025] Figure 2 This is a schematic diagram of the structure of a movable lifting parallel robotic arm;

[0026] Figure 3 It is a schematic diagram of the structure of the movable lifting parallel robotic arm;

[0027] Figure 4 It is a schematic diagram of the structure of the mobile platform;

[0028] Figure 5 It is a schematic diagram of the partial structure of the lifting mechanism;

[0029] Figure 6 Schematic diagram of the translation and rotation mechanical claw structure;

[0030] Among them: 1. Movable lifting parallel robot arm; 1-1. First slide rail base; 1-11. First slide groove; 1-12. First screw; 1-13. First stepper motor; 1-14. First transmission slider; 1-15. First roller; 1-2. Mobile platform; 1-21. Platform base plate; 1-22. Translation base; 1-23. Platform motor; 1-24. Limit frame; 1-25. Pulley; 1-26. Rack; 1-3. Lifting mechanism; 1-31. Lifting seat; 1-32. Column guide rail; 1-33. Lifting screw; 1- 34. Lifting slide; 1-35. Lifting motor; 1-4. Grasping mechanism; 1-41. Third stepper motor; 1-42. Guide rail seat; 1-43. Grasping motor; 1-44. Triangular mechanical claw; 1-45. Arc connector; 2. Translational and rotary mechanical claw; 2-1. Second slide rail base; 2-11. Second slide groove; 2-12. Second screw; 2-13. Second stepper motor; 2-14. Second transmission slider; 2-15. Second roller; 2-2. Motor seat; 2-21. Fourth stepper motor; 2-3. Four-arm mechanical claw. DETAILED DESCRIPTION

[0031] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0033] In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel options. Taking "A and / or B" as an example, it includes option A, or option B, or options in which A and B are satisfied at the same time.

[0034] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0035] Reference Figures 1-6 The utility model provides a mobile mechanical claw group for removing the air conditioning filter of an EMU, comprising a movable lifting parallel mechanical arm 1 and a translational rotation mechanical claw 2, characterized in that the movable lifting parallel mechanical arm 1 is located on one side of the translational rotation mechanical claw 2, wherein:

[0036] The movable lifting parallel robot arm 1 consists of a first slide rail base 1-1, a mobile platform 1-2, a lifting mechanism 1-3 and a gripping mechanism 1-4; the mobile platform 1-2 is mounted on the first slide rail base 1-1, and the first slide rail base 1-1 controls the lateral horizontal movement of the mobile platform 1-2; the lifting mechanism 1-3 is mounted on the mobile platform 1-2, and the mobile platform 1-2 controls the longitudinal horizontal movement of the lifting mechanism 1-3; the gripping mechanism 1-4 is mounted on the lifting mechanism 1-3, and the lifting mechanism 1-3 controls the vertical movement of the gripping mechanism 1-4;

[0037] The translational rotation mechanical claw 2 consists of a second slide rail base 2-1, a motor base 2-2 and a four-arm mechanical claw 2-3; the motor base 2-2 is installed on the second slide rail base 2-1, and the second slide rail base 2-1 controls the lateral horizontal movement of the motor base 2-2; the four-arm mechanical claw 2-3 is installed on the motor base 2-2, and the motor base 2-2 controls the rotation of the four-arm mechanical claw 2-3 around the axis.

[0038] As a further preferred embodiment of the present invention, a first slide groove 1-11 is provided on the inner side of the first slide rail base 1-1, and first screws 1-12 are installed at both ends of the first slide rail base 1-1 through bearings, and a first stepper motor 1-13 is connected to one end of the first slide rail base 1-1; the output end of the first stepper motor 1-13 is connected to one end of the first screw 1-12 by a coupling; a first transmission slider 1-14 is installed on the first screw 1-12; the first transmission slider 1-14 is threadedly connected to the first screw 1-12, and a first roller 1-15 is provided at the bottom of the first transmission slider 1-14 and is slidably connected to the first slide groove 1-11 to increase the load capacity; the mobile platform 1-2 is installed on the first transmission slider 1-14.

[0039] As a further preferred embodiment of the present invention, the mobile platform 1-2 includes a platform base plate 1-21, a translation base 1-22 and a platform motor 1-23; the platform base plate 1-21 is installed on the first transmission slider 1-14, and the platform base plate 1-21 is provided with a limit frame 1-24; the translation base 1-22 is located in the limit frame 1-24, pulleys 1-25 are provided at both ends of the translation base 1-22, and a rack 1-26 is provided on the translation base 1-22; the platform motor 1-23 is installed on the platform base plate 1-21 and is located on one side of the translation base 1-22, and a gear is provided at the output end of the platform motor 1-23 to engage with the rack 1-26; the lifting mechanism 1-3 is installed on the translation base 1-22.

[0040] As a further preferred embodiment of the present invention, the lifting mechanism 1-3 includes a lifting seat 1-31, a columnar guide rail 1-32, a lifting screw 1-33, a lifting slide 1-34 and a lifting motor 1-35; the lifting seat 1-31 is installed on the translation base 1-22; the columnar guide rail 1-32 is provided with two parallel embedded in the lifting seat 1-31; the lifting screw 1-33 is embedded in the lifting seat 1-31, and the lifting screw 1-33 is located between the two columnar guide rails 1-32; the lifting slide 1-34 is provided with corresponding holes and is installed on the columnar guide rail 1-32 and the lifting screw 1-33, the lifting slide 1-34 is slidably connected to the columnar guide rail 1-32, and the lifting slide 1-34 is threadedly connected to the lifting screw 1-33; the lifting motor 1-35 is installed on the top of the lifting seat 1-31, and the output end of the lifting motor 1-35 is connected to one end of the lifting screw 1-33 through a coupling.

[0041] As a further preferred embodiment of the present invention, the grabbing mechanism 1-4 includes a third stepper motor 1-41, a guide rail seat 1-42, a grabbing motor 1-43 and a triangular mechanical claw 1-44; the third stepper motor 1-41 is installed on the lifting slide 1-34, the output end of the third stepper motor 1-41 faces downward, and the output end of the third stepper motor 1-41 is provided with a coupling to connect with the guide rail seat 1-42; the bottom of the guide rail seat 1-42 is slidingly connected with the triangular mechanical claw 1-44; the grabbing motor 1-43 is installed on the side of the guide rail seat 1-42, and the output end of the grabbing motor 1-43 is a motor arm, wherein arc connectors 1-45 are provided at both ends of the motor arm to be hinged with the triangular mechanical claw 1-44.

[0042] As a further preferred embodiment of the present invention, a second slide groove 2-11 is provided on the inner side of the second slide rail base 2-1, and second screws 2-12 are installed at both ends of the second slide rail base 2-1 through bearings, and a second stepper motor 2-13 is connected to one end of the second slide rail base 2-1; the output end of the second stepper motor 2-13 is connected to one end of the second screw 2-12 by a coupling; a second transmission slider 2-14 is installed on the second screw 2-12; the second transmission slider 2-14 is threadedly connected to the second screw 2-12, and a second roller 2-15 is provided at the bottom of the second transmission slider 2-14 and is slidably connected to the second slide groove 2-11 to increase the load capacity; the motor base 2-2 is installed on the second transmission slider 2-14.

[0043] As a further preferred embodiment of the present invention, a fourth stepper motor 2-21 is provided at the end of the motor base 2-2; the fourth stepper motor 2-21 is provided with a coupling to be connected to the four-arm mechanical claw 2-3.

[0044] As a further preferred embodiment of the present invention, the length of the first screw 1-12 is 1300-1500 mm.

[0045] As a further preferred embodiment of the present invention, the length of the second screw 2-12 is 500-700 mm.

[0046] As a specific embodiment of the present invention: the movable lifting parallel mechanical arm 1 is used to separate the filter screen, bottom shell and outer shell of the EMU air conditioning filter; the translational rotating mechanical claw 2 is used to remove the filter cotton.

[0047] In the automated disassembly technology developed based on this mechanical structure, the movable, parallel-lifting robotic arm 1 primarily operates in the following ways: the first drive slider 1-14 translates horizontally via the output of the first stepper motor 1-13; the lift slide 1-34 moves vertically via the output of the lift motor 1-35; the platform motor 1-23 drives the lift mechanism 1-3 forward and backward; and the gripping motor 1-43 rotates and drives the triangular claw 1-44 toward and away from each other to grip or release the object. These actions enable the robotic arm to approach the filter, grasp it, and separate it.

[0048] The translation and rotation of the mechanical claw 2 involves two actions: left and right translation of the second transmission slider 2-14 and rotation of the four-arm mechanical claw 2-3 driven by the fourth stepper motor 2-21 to separate the filter cotton. Once the four-arm mechanical claw 2-3 penetrates the filter cotton, the rotation of the four-arm mechanical claw 2-3 presses the filter cotton onto the four-arm mechanical claw 2-3, and the left and right translation of the second transmission slider 2-14 completes the filter cotton separation.

[0049] As needed, the above-mentioned installation, setting, provision or connection methods include but are not limited to screws, rivets, welding or socketing, fixing and the like. The installation, setting or connection method is selected according to the work scenario.

[0050] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the utility model concept, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mobile mechanical claw assembly for disassembling an air conditioning filter screen of an EMU, comprising a movable lifting parallel mechanical arm (1) and a translation and rotation mechanical claw (2), characterized in that: The movable lifting parallel mechanical arm (1) is located on one side of the translational rotation mechanical claw (2), wherein: The movable lifting parallel mechanical arm (1) is composed of a first slide rail base (1-1), a mobile platform (1-2), a lifting mechanism (1-3) and a gripping mechanism (1-4); the mobile platform (1-2) is mounted on the first slide rail base (1-1), and the first slide rail base (1-1) controls the lateral horizontal movement of the mobile platform (1-2); the lifting mechanism (1-3) is mounted on the mobile platform (1-2), and the mobile platform (1-2) controls the longitudinal horizontal movement of the lifting mechanism (1-3); the gripping mechanism (1-4) is mounted on the lifting mechanism (1-3), and the lifting mechanism (1-3) controls the vertical movement of the gripping mechanism (1-4); The translational rotation mechanical claw (2) is composed of a second slide rail base (2-1), a motor base (2-2) and a four-arm mechanical claw (2-3); the motor base (2-2) is mounted on the second slide rail base (2-1), and the second slide rail base (2-1) controls the lateral horizontal movement of the motor base (2-2); the four-arm mechanical claw (2-3) is mounted on the motor base (2-2), and the motor base (2-2) controls the rotation of the four-arm mechanical claw (2-3) around an axis.

2. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 1, characterized in that: A first slide groove (1-11) is provided on the inner side of the first slide rail base (1-1), first screws (1-12) are installed at both ends of the first slide rail base (1-1) through bearings, and a first stepper motor (1-13) is connected to one end of the first slide rail base (1-1); a coupling is provided between the output end of the first stepper motor (1-13) and one end of the first screw (1-12); a first transmission slider (1-14) is installed on the first screw (1-12); the first transmission slider (1-14) is threadedly connected to the first screw (1-12), and a first roller (1-15) is provided at the bottom of the first transmission slider (1-14) and is slidably connected to the first slide groove (1-11); the mobile platform (1-2) is installed on the first transmission slider (1-14).

3. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 2, characterized in that: The mobile platform (1-2) comprises a platform base plate (1-21), a translation base (1-22) and a platform motor (1-23); the platform base plate (1-21) is mounted on a first transmission slider (1-14), and the platform base plate (1-21) is provided with a limit frame (1-24); the translation base (1-22) is located in the limit frame (1-24), pulleys (1-25) are provided at both ends of the translation base (1-22), and a rack (1-26) is provided on the translation base (1-22); the platform motor (1-23) is mounted on the platform base plate (1-21) and is located on one side of the translation base (1-22), and a gear is provided at the output end of the platform motor (1-23) and is meshed with the rack (1-26); the lifting mechanism (1-3) is mounted on the translation base (1-22).

4. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 3 is characterized in that: The lifting mechanism (1-3) comprises a lifting seat (1-31), a column guide rail (1-32), a lifting screw (1-33), a lifting slide (1-34) and a lifting motor (1-35); the lifting seat (1-31) is mounted on a translation base (1-22); two column guide rails (1-32) are provided and embedded in the lifting seat (1-31) in parallel; the lifting screw (1-33) is embedded in the lifting seat (1-31), and the lifting screw (1-33) is located between the two column guide rails ( 1-32); the lifting slide (1-34) is provided with corresponding holes and is installed on the column guide rail (1-32) and the lifting screw (1-33); the lifting slide (1-34) is slidably connected to the column guide rail (1-32), and the lifting slide (1-34) is threadedly connected to the lifting screw (1-33); the lifting motor (1-35) is installed on the top of the lifting seat (1-31), and the output end of the lifting motor (1-35) is connected to one end of the lifting screw (1-33) through a coupling.

5. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 4, characterized in that: The grabbing mechanism (1-4) comprises a third stepper motor (1-41), a guide rail seat (1-42), a grabbing motor (1-43) and a triangular mechanical claw (1-44); the third stepper motor (1-41) is mounted on the lifting slide (1-34), the output end of the third stepper motor (1-41) faces downward, and a coupling is provided at the output end of the third stepper motor (1-41) to be connected to the guide rail seat (1-42); the bottom of the guide rail seat (1-42) is slidably connected to the triangular mechanical claw (1-44); the grabbing motor (1-43) is mounted on the side of the guide rail seat (1-42), and the output end of the grabbing motor (1-43) is a motor arm, wherein arc connectors (1-45) are provided at both ends of the motor arm to be hinged to the triangular mechanical claw (1-44).

6. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 1, characterized in that: A second slide groove (2-11) is provided on the inner side of the second slide rail base (2-1), second screws (2-12) are installed at both ends of the second slide rail base (2-1) through bearings, and a second stepping motor (2-13) is connected to one end of the second slide rail base (2-1); a coupling is provided to connect the output end of the second stepping motor (2-13) and one end of the second screw (2-12); a second transmission slider (2-14) is installed on the second screw (2-12); the second transmission slider (2-14) is threadedly connected to the second screw (2-12), and a second roller (2-15) is provided at the bottom of the second transmission slider (2-14) and is slidably connected to the second slide groove (2-11); the motor base (2-2) is installed on the second transmission slider (2-14).

7. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 6, characterized in that: A fourth stepping motor (2-21) is provided at the end of the motor seat (2-2); the fourth stepping motor (2-21) is provided with a coupling and connected to the four-arm mechanical claw (2-3).

8. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 2, characterized in that: The length of the first screw (1-12) is 1300-1500 mm.

9. The mobile mechanical claw assembly for removing the air conditioning filter of an EMU according to claim 6, characterized in that: The length of the second screw (2-12) is 500-700 mm.

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