A mechanical hand end effector module having an oil plug and cleaning assembly

Abstract

The utility model discloses a kind of mechanical hand end execution module with screwing oil plug and cleaning assembly, belong to EMU maintenance technical field, including base, plug processing assembly and cleaning assembly;The plug processing assembly and the cleaning assembly are all set in the base, and the base is connected with the end of mechanical hand;The plug processing assembly includes telescopic mechanism, rotary drive mechanism and sleeve, the telescopic mechanism is set in the base, the rotary drive mechanism is connected with the telescopic shaft of telescopic mechanism, and the sleeve is set in the rotary shaft of rotary drive mechanism.The mechanical hand end execution module with screwing oil plug and cleaning assembly solves the problem that the existing operation mode is low in efficiency and prone to safety accidents.

Description

Technical Field

[0001] This utility model relates to the field of high-speed train maintenance technology, and in particular to a robotic end effector module with oil plug tightening and cleaning components. Background Technology

[0002] The gearbox is a key component of the EMU's running gear, directly driving the train's operation. To ensure optimal lubrication during operation, the gearbox lubricating oil needs to be changed regularly. Historically, both domestically and internationally, gearbox oil changes have been performed entirely manually. The current manual process typically involves: first, cleaning the drain plug, filler plug, and surrounding area with a wire brush; then, unscrewing the filler plug with a hexagonal socket; next, unscrewing the drain plug with the hexagonal socket to drain the residual oil into a waste oil container; after draining, tightening the drain plug with the hexagonal socket; then, injecting lubricating oil into the gearbox through the filler port using a grease gun; finally, tightening the filler plug with a hexagonal socket; and finally, cleaning the surfaces and surrounding area of ​​the drain plug and filler plug with a cleaning agent and non-woven fabric. This entire process is cumbersome, inefficient, and prone to accidents due to the harsh working environment. Utility Model Content

[0003] In order to overcome the defects of the existing technology, this utility model provides a robotic end effector module with oil plug tightening and cleaning components to solve the above problems.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a robotic arm end effector module with an oil plug tightening and cleaning component, including a base, a plug handling component and a cleaning component; the plug handling component and the cleaning component are both disposed on the base, and the base is connected to the end of the robotic arm;

[0005] The plug processing assembly includes a telescopic mechanism, a rotary drive mechanism, and a sleeve. The telescopic mechanism is disposed on the base, the rotary drive mechanism is connected to the telescopic shaft of the telescopic mechanism, and the sleeve is disposed on the rotary shaft of the rotary drive mechanism.

[0006] Preferably, the telescopic mechanism includes a drive cylinder and a mounting base, the drive cylinder is disposed on the base, the mounting base is connected to the telescopic shaft of the drive cylinder, and the rotary drive mechanism is disposed on the mounting base.

[0007] Optionally, the telescopic mechanism further includes a cylinder seat, which is connected to the base, and the drive cylinder is disposed on the cylinder seat.

[0008] Specifically, the telescopic mechanism further includes a guide rail and a slider. The guide rail is connected to the base, and the length direction of the guide rail is parallel to the telescopic direction of the telescopic shaft of the drive cylinder. The slider is slidably connected to the guide rail, and the mounting base is connected to the slider.

[0009] It is worth noting that the cleaning assembly includes a cleaning head and an outer cover. The outer cover is connected to the base and has an opening. The cleaning head is disposed on the outer cover and extends to the outside of the outer cover in the direction of the opening.

[0010] Specifically, the base is also equipped with an industrial camera and a displacement sensor, both of which are communicatively connected to the drive cylinder and the rotary drive mechanism via a host computer.

[0011] The beneficial effects of this utility model are as follows: In the end-effector module of the robotic arm with oil plug tightening and cleaning components, the combination of the plug handling component and the cleaning component can replace manual maintenance of the EMU gearbox. Specifically, after the end-effector module approaches the oil drain plug and oil filling plug of the EMU gearbox, the cleaning component is first moved by the base to clean the oil drain plug, oil filling plug and surrounding area; then, the plug handling component is moved by the base to align the sleeve with the oil filling plug, the telescopic mechanism moves the sleeve to cover the oil filling plug, and the rotation drive mechanism rotates the sleeve to achieve the function of tightening the oil filling plug; then, the plug handling component is moved by the base to align the sleeve with the oil drain plug, the telescopic mechanism moves the sleeve to cover the oil drain plug, and the rotation drive mechanism rotates the sleeve to achieve the function of tightening the oil filling plug; then, the plug handling component is moved by the base to align the sleeve with the oil drain plug, the telescopic mechanism moves the sleeve to cover the oil drain plug, and the rotation drive mechanism rotates the sleeve to tighten the sleeve to cover the oil drain plug. The system operates by rotating a sleeve to unscrew the drain plug. After draining residual oil, the plug treatment assembly moves, and the telescopic mechanism moves the sleeve to insert the drain plug into the drain hole. A rotary drive mechanism then rotates the sleeve in the opposite direction to tighten the drain plug. After lubricating oil is injected, the plug treatment assembly moves, and the telescopic mechanism moves the sleeve to insert the injection plug into the injection hole. A rotary drive mechanism then rotates the sleeve in the opposite direction to tighten the injection plug. Finally, the base moves a cleaning assembly to clean the drain plug, injection plug, and surrounding area. The entire process requires no manual intervention, thus improving efficiency and avoiding safety hazards associated with human intervention. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the end-effector module in one embodiment of the present invention;

[0013] Figure 2 This is a schematic diagram of the structure of the robotic arm and the end effector module in one embodiment of the present invention;

[0014] Figure 3 This is a schematic diagram of the structure of the base, cleaning component, industrial camera, and displacement sensor in one embodiment of the present invention;

[0015] Figure 4 This is a schematic diagram of the structure of the base and plug processing assembly in one embodiment of the present invention;

[0016] In the diagram: 1. Base; 2. End cap treatment assembly; 21. Telescopic mechanism; 211. Drive cylinder; 212. Mounting base; 213. Cylinder seat; 214. Guide rail; 215. Slider; 22. Rotary drive mechanism; 23. Sleeve; 3. Cleaning assembly; 31. Cleaning head; 32. Outer cover; 321. Opening; 4. Industrial camera; 5. Displacement sensor; 6. Robotic arm. Detailed Implementation

[0017] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0018] like Figures 1-4 As shown, a robotic arm end effector module with an oil plug tightening and cleaning component includes a base 1, a plug handling component 2, and a cleaning component 3; the plug handling component 2 and the cleaning component 3 are both disposed on the base 1, and the base 1 is connected to the end of the robotic arm 6;

[0019] The plug processing assembly 2 includes a telescopic mechanism 21, a rotary drive mechanism 22, and a sleeve 23. The telescopic mechanism 21 is disposed on the base 1, the rotary drive mechanism 22 is connected to the telescopic shaft of the telescopic mechanism 21, and the sleeve 23 is disposed on the rotary shaft of the rotary drive mechanism 22.

[0020] In the robotic end-effector module equipped with oil plug tightening and cleaning components, the combination of the plug handling component 2 and the cleaning component 3 enables manual maintenance of the EMU gearbox. Specifically, after the end-effector module approaches the oil drain plug and oil filling plug of the EMU gearbox, the cleaning component 3 is first moved by the base 1 to clean the oil drain plug, oil filling plug, and surrounding area. Then, the plug handling component 2 is moved by the base 1, aligning the sleeve 23 with the oil filling plug. The telescopic mechanism 21 moves the sleeve 23, causing it to fit over the oil filling plug. The rotation drive mechanism 22 then rotates the sleeve 23, thus tightening the oil filling plug. Finally, the plug handling component 2 is moved by the base 1, aligning the sleeve 23 with the oil drain plug. The telescopic mechanism 21 moves the sleeve 23, causing it to fit over the oil drain plug. The rotation drive mechanism 22 then rotates the sleeve 23, thus tightening the oil filling plug. The action drives the sleeve 23 to rotate, thus unscrewing the drain plug. After draining the residual oil, the plug treatment component 2 is moved, and the extension mechanism 21 drives the sleeve 23 to move, inserting the drain plug into the drain hole. The rotation drive mechanism 22 drives the sleeve 23 to rotate in the opposite direction, tightening the drain plug. After lubricating oil is injected, the plug treatment component 2 is moved, and the extension mechanism 21 drives the sleeve 23 to move, inserting the oil injection plug into the oil injection hole. The rotation drive mechanism 22 drives the sleeve 23 to rotate in the opposite direction, tightening the oil injection plug. Finally, the base 1 drives the cleaning component 3 to move, cleaning the drain plug, oil injection plug, and surrounding area again. The entire operation process requires no manual intervention, thus improving efficiency and avoiding safety accidents caused by manual intervention.

[0021] The rotary drive mechanism 22 is a servo motor. For example... Figure 2 As shown, the robotic arm 6 is preferably a Wasu Collaborative Six-Axis Robot, which drives the end effector module to achieve displacement.

[0022] It is worth noting that, such as Figure 4 As shown, the telescopic mechanism 21 includes a drive cylinder 211 and a mounting base 212. The drive cylinder 211 is disposed on the base 1, the mounting base 212 is connected to the telescopic shaft of the drive cylinder 211, and the rotary drive mechanism 22 is disposed on the mounting base 212.

[0023] Thus, when the robotic arm 6 moves the base 1, the base 1 can move the drive cylinder 211, and the base 1 can also move the rotary drive mechanism 22 via the mounting seat 212. Furthermore, when the telescopic shaft of the drive cylinder 211 extends or retracts, it can move the mounting seat 212, thereby causing the rotary drive mechanism 22 to move closer to or further away from the oil filling or drain plug, thus causing the sleeve 23 to move closer to or further away from the oil filling or drain plug.

[0024] Preferably, the telescopic mechanism 21 further includes a cylinder seat 213, which is connected to the base 1, and the drive cylinder 211 is disposed on the cylinder seat 213. The cylinder seat 213 securely fixes the telescopic cylinder to the base 1, preventing it from falling off.

[0025] Optionally, the telescopic mechanism 21 further includes a guide rail 214 and a slider 215. The guide rail 214 is connected to the base 1, and the length direction of the guide rail 214 is parallel to the telescopic direction of the telescopic shaft of the drive cylinder 211. The slider 215 is slidably connected to the guide rail 214, and the mounting base 212 is connected to the slider 215. The cooperation of the guide rail 214 and the slider 215 increases the stability of the mounting base 212 when the telescopic shaft of the drive cylinder 211 drives it to telescopically move, ensuring that the sleeve 23 can accurately fit over the oil filling plug or the oil drain plug.

[0026] Specifically, such as Figure 3 As shown, the cleaning assembly 3 includes a cleaning head 31 and an outer cover 32. The outer cover 32 is connected to the base 1 and has an opening 321. The cleaning head 31 is disposed on the outer cover 32 and extends to the outside of the outer cover 32 in the direction of the opening 321. The outer cover 32 protects the cleaning head 31 by covering its sidewalls, leaving only the front side of the cleaning head 31 exposed and extending to the outside of the outer cover 32. After the cleaning head 31 comes into contact with the drain plug or fill plug, the robotic arm 6 moves the cleaning assembly 3 horizontally via the base 1 to achieve the cleaning purpose.

[0027] It is worth noting that, such as Figure 1 and 3 As shown, the base 1 is also equipped with an industrial camera 4 and a displacement sensor 5. The industrial camera 4 and the displacement sensor 5 are both connected to the drive cylinder 211 and the rotary drive mechanism 22 via a host computer.

[0028] The host computer is preferably an MCU or a computer. The industrial camera 4, in conjunction with the host computer, identifies the positions of the drain plug and the fill plug. The displacement sensor 5, in conjunction with the host computer, determines the distance to the drain plug and the fill plug. After the industrial camera 4 identifies the drain plug or the fill plug, the robotic arm 6 moves the end effector module close to the drain plug or the fill plug. When the displacement sensor 5 detects that the cleaning component 3 has contacted the drain plug or the fill plug based on the distance, the host computer drives the robotic arm 6 to perform a reciprocating translational motion to achieve cleaning. After cleaning, the host computer drives the drive cylinder 211 and the rotary drive mechanism 22 to unscrew the drain plug or the fill plug through the sleeve 23.

[0029] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, and these variations still fall within the protection scope of this utility model.

Claims

1. A robotic end effector module with an oil plug tightening and cleaning assembly, characterized in that: It includes a base, a plug treatment component, and a cleaning component; both the plug treatment component and the cleaning component are disposed on the base, and the base is connected to the end of the robot arm; The plug processing assembly includes a telescopic mechanism, a rotary drive mechanism, and a sleeve. The telescopic mechanism is disposed on the base, the rotary drive mechanism is connected to the telescopic shaft of the telescopic mechanism, and the sleeve is disposed on the rotary shaft of the rotary drive mechanism.

2. The robotic end effector module with an oil plug tightening and cleaning component according to claim 1, characterized in that: The telescopic mechanism includes a drive cylinder and a mounting base. The drive cylinder is disposed on the base, and the mounting base is connected to the telescopic shaft of the drive cylinder. The rotary drive mechanism is disposed on the mounting base.

3. The robotic end effector module with an oil plug tightening and cleaning component according to claim 2, characterized in that: The telescopic mechanism also includes a cylinder seat, which is connected to the base, and the drive cylinder is disposed on the cylinder seat.

4. The robotic end effector module with an oil plug tightening and cleaning component according to claim 2, characterized in that: The telescopic mechanism further includes a guide rail and a slider. The guide rail is connected to the base, and the length direction of the guide rail is parallel to the telescopic direction of the drive cylinder. The slider is slidably connected to the guide rail, and the mounting base is connected to the slider.

5. The robotic end effector module with an oil plug tightening and cleaning component according to claim 1, characterized in that: The cleaning assembly includes a cleaning head and an outer cover. The outer cover is connected to the base and has an opening. The cleaning head is disposed on the outer cover and extends to the outside of the outer cover in the direction of the opening.

6. The robotic end effector module with an oil plug tightening and cleaning component according to claim 2, characterized in that: The base is also equipped with an industrial camera and a displacement sensor. Both the industrial camera and the displacement sensor are connected to the drive cylinder and the rotary drive mechanism via a host computer.

Images