Bus axle box spring positioning, grabbing and conveying device

Abstract

The utility model discloses a bus axle box spring positioning and grabbing conveying device, including six -axis robot and the control box of control six -axis robot action, its characterized in that still includes tray conveying device, is provided with the conveying guide rail of sliding connection with the sliding support platform in tray conveying device, and the sliding support platform is driven along the conveying guide rail reciprocating movement through the drive arrangement, and the axle box spring tray is borne on the sliding support platform, and the lateral of tray conveying device is provided with the robot guide rail parallel with it, and six -axis robot reciprocating sliding movement is on the robot guide rail, and the top of six -axis robot is provided with the axle box clamping assembly for clamping axle box spring. The technical scheme of the present application replaces the existing single spring feeding and discharging mode, can reduce the labor intensity of the operator, adopts the mode that mechanical positioning and visual positioning are combined, and ensures positioning accuracy.

Description

Technical Field

[0001] This utility model relates to the field of axle box positioning and gripping technology, specifically to a passenger car axle box spring positioning and gripping conveying device. Background Technology

[0002] Currently, the maintenance of axle box springs in buses involves personnel using a truss to hoist the steel springs onto a steel spring test bench for testing.

[0003] The current method of manually hoisting steel springs in the industry has the following disadvantages:

[0004] 1) Frequent loading and unloading of steel springs by operators takes up a lot of their time;

[0005] 2) The work is physically demanding for the operators, who need to manually place the equipment in different positions on the test bench. Utility Model Content

[0006] Therefore, this utility model provides a bus axle box spring positioning and gripping conveying device to solve the above-mentioned problems in the prior art. To achieve the above objective, this utility model provides the following technical solution: According to a first aspect of this utility model, a bus axle box spring positioning and gripping conveying device includes a six-axis robot and a control box for controlling the movement of the six-axis robot, and also includes a pallet conveying device. The pallet conveying device is provided with a conveying guide rail slidably connected to a sliding support platform. The sliding support platform is driven by a driving device to reciprocate along the conveying guide rail, and the sliding support platform carries an axle box spring pallet.

[0007] A robot guide rail parallel to the pallet conveyor is provided on the side. The six-axis robot slides back and forth on the robot guide rail. The top of the six-axis robot is provided with an axle box clamping assembly for clamping the axle box spring.

[0008] Furthermore, the pallet conveying device also includes a bracket, a grating, a fixing plate, and a side protective plate; the fixing plate is connected to the four feet of the bracket, the four sides of the bracket are covered with side protective plates, two transversely distributed conveying guide rails are arranged inside the top surface of the bracket, and gratings for detecting whether the loading position has a spring pallet are installed on the two edges of the top surface of the bracket.

[0009] Furthermore, anti-collision plates are provided on the front and rear edges of the sliding support platform in the direction of travel, and anti-collision blocks corresponding to the anti-collision plates are provided on the inner edge of the support in the length direction.

[0010] Furthermore, the left and right edges of the sliding support platform are provided with guide blocks for positioning the axle box spring tray when it is placed. The cross-section of the guide block is a right triangle.

[0011] Furthermore, tray nylon support blocks are provided at the four top corners of the sliding support platform to support the axle box spring tray.

[0012] Furthermore, the side edge of the bracket is also equipped with a positioning detection sensor to detect the positioning information of the sliding support platform.

[0013] Furthermore, a button box is provided on the outer side of the bracket.

[0014] Furthermore, an upper protective plate is installed above the conveyor rail to protect the upper side of the support; foot cups are installed at the four feet of the support.

[0015] Furthermore, the drive device includes a drive motor, the output shaft of which is equipped with a drive sprocket, and a driven sprocket is rotatably connected to the bottom of the bracket. The drive sprocket and the driven sprocket are connected by a chain drive. A tensioning mechanism is provided in the middle of the chain. A tensioning sprocket A is rotatably connected to the top of the tensioning mechanism, and a tensioning sprocket B is rotatably connected to the bottom of the tensioning mechanism. Tensioning sprockets A and B provide tension support for the upper and lower chains, respectively. An adapter plate is also installed on the upper chain. The adapter plate is connected to the lower end of the chain connecting block, and the upper end of the chain connecting block is connected to a connecting plate. The connecting plate is used to install on the bottom of the sliding support platform.

[0016] Furthermore, the axle box clamping assembly includes axle box spring grippers for clamping axle box springs; a mounting plate is connected to the side of the axle box spring grippers, and the mounting plate is equipped with a camera for taking pictures of the axle box spring tray, a distance sensor for measuring the height of the axle box springs, and a light source for illuminating the camera for taking pictures.

[0017] This utility model has the following advantages: The passenger car axle box spring positioning gripping and conveying device of this utility model...

[0018] To facilitate precise loading and unloading by robots, this equipment has the following features:

[0019] 1. The entire pallet is loaded and unloaded, and a six-axis robot picks up steel springs from the pallet, replacing the existing method of loading and unloading individual springs.

[0020] 2. Robots can grasp steel springs, reducing the labor intensity of operators;

[0021] 3. The robot uses a combination of mechanical and visual positioning to grasp the steel spring, ensuring positioning accuracy. Attached Figure Description

[0022] Figure 1 This is an overall structural diagram of a passenger car axle box spring positioning gripping and conveying device provided for some embodiments of this utility model.

[0023] Figure 2This is a first-view structural diagram of an axle box spring positioning and gripping conveying device for passenger vehicles, provided for some embodiments of the present invention.

[0024] Figure 3 This is a second-view structural diagram of an axle box spring positioning and gripping conveying device for passenger vehicles, provided for some embodiments of this utility model.

[0025] Figure 4 This is a third-view structural diagram of an axle box spring positioning and gripping conveying device for passenger vehicles, provided for some embodiments of this utility model.

[0026] Figure 5 The fourth-view structural diagram of an axle box spring positioning and gripping conveying device for passenger vehicles, provided for some embodiments of this utility model.

[0027] Figure 6 This is a diagram of the head structure of a six-axis robot for a passenger car axle box spring positioning, gripping and conveying device, provided for some embodiments of this utility model.

[0028] In the diagram, 1. Control box, 2. Six-axis robot, 3. Axle box clamping assembly, 4. Pallet conveying device, 5. Axle box spring pallet, 6. Robot guide rail, 7. Bracket, 8. Conveyor rail, 9. Guide block, 10. Grating, 11. Pallet nylon support block, 12. Anti-collision plate, 13. Sliding support platform, 14. Side protection plate, 15. Position detection sensor, 16. Fixing plate, 17. Anti-collision block, 18. Upper protection plate, 19. Button box, 20. Driven sprocket, 21. Foot cup, 22. Tensioning sprocket A, 23. Drive motor, 24. Tensioning mechanism, 25. Tensioning sprocket B, 26. Chain, 27. Chain connecting block, 28. Connecting plate, 29. Adapter plate, 30. Distance sensor, 31. Light source, 32. Camera, 33. Mounting plate, 34. Axle box spring gripper, 35. Drive sprocket. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0030] Example 1

[0031] like Figures 1 to 6As shown, a bus axle box spring positioning, gripping, and conveying device according to the first aspect of this utility model includes a six-axis robot 2 and a control box 1 for controlling the movement of the six-axis robot 2. The control box 1 is used to control the movement of the six-axis robot 2 and debug the program of the six-axis robot 2. It also includes a pallet conveying device 4, in which a conveying guide rail 8 is provided that is slidably connected to a sliding support platform 13. The sliding support platform 13 is driven by a drive device to reciprocate along the conveying guide rail 8. The sliding support platform 13 carries an axle box spring pallet 5, thereby conveying the axle box spring pallet 5 to the robot's operating area. A robot guide rail 6 parallel to the pallet conveying device 4 is provided on the side of the pallet conveying device 4. The six-axis robot 2 reciprocates on the robot guide rail 6. An axle box clamping assembly 3 for clamping the axle box spring is provided at the top of the six-axis robot 2.

[0032] In the above embodiments, it should be noted that this application pertains to a steel spring positioning and feeding mechanism in a fully automated steel spring testing process. The robot's method of grasping steel springs is divided into: feeding individual axle box springs to the conveyor line; and feeding the entire pallet of steel springs to the slide table. This application involves feeding the entire pallet of steel springs to the conveyor line.

[0033] Specifically, the six-axis robot 2 uses an ABB IRB 6700-245 / 3.00 robot, and its control program and control method are existing technologies; see the website:

[0034] https: / / new.abb.com / products / robotics / zh / robots.

[0035] When working, follow these steps:

[0036] 1. Operators use overhead cranes or self-supporting trusses to lift the pallets carrying axle box springs onto the axle box spring pallet conveying device 4;

[0037] 2. The operator presses the release button, the pallet is transported to the operating area of ​​the six-axis robot 2, the signal is uploaded to the PLC system, and the axle box spring pallet 5 is delivered to the position;

[0038] 3. The six-axis robot 2 received the grasping signal;

[0039] 4. The gripper of the six-axis robot 2 moves to directly above the axle box spring tray 5, and the camera 32 of the gripper takes a picture of the axle box spring tray 5 to identify the precise position of the axle box spring.

[0040] 5. The gripper of the six-axis robot 2 moves to the gripping position of the axle box spring;

[0041] 6. The grippers open internally to hold the axle box spring in place;

[0042] 7. The six-axis robot 2 lifts the axle box spring from the axle box spring tray 5.

[0043] Example 2

[0044] like Figures 1 to 6 As shown, a passenger car axle box spring positioning gripping and conveying device includes all the contents of Embodiment 1. In addition, the pallet conveying device 4 also includes a bracket 7, a grating 10, a fixing plate 16, and a side protective plate 14. The fixing plate 16 is connected to the four feet of the bracket 7. The side protective plate 14 covers the four sides of the bracket 7. Two transversely distributed conveying guide rails 8 are arranged inside the top surface of the bracket 7. A grating 10 for detecting whether the loading position has an axle box spring pallet 5 is installed on the two edges of the top surface of the bracket 7.

[0045] Optionally, anti-collision plates 12 are provided on the front and rear edges of the sliding support platform 13 in the direction of travel, and anti-collision blocks 17 corresponding to the anti-collision plates 12 are provided on the inner edge of the support 7 in the length direction. The anti-collision blocks 17 are elastic elements.

[0046] The technical effects achieved by the above embodiments are as follows: the bracket 7 is used to support the overall equipment; the fixing plate 16 is used to fix the bracket 7; the side protection plate 14 is used to protect the side of the bracket 7; and the anti-collision block 17 is used to buffer the movement of the anti-collision plate 12 on the sliding support platform 13 into place.

[0047] Example 3

[0048] like Figures 1 to 6 As shown, a passenger car axle box spring positioning gripping and conveying device includes all the contents of Embodiment 2. In addition, the left and right sides of the sliding support platform 13 are provided with guide blocks 9 for positioning the axle box spring tray 5 when it is placed. The cross section of the guide block 9 is a right triangle.

[0049] Optionally, tray nylon support blocks 11 are provided at the four top corners of the sliding support platform 13 to support the axle box spring tray 5.

[0050] Optionally, a positioning detection sensor 15 is also provided on the side edge of the bracket 7 to detect the positioning information of the sliding support platform 13.

[0051] Optionally, a button box 19 is provided on the outer side of the bracket 7.

[0052] Optionally, an upper protective plate 18 is provided above the conveying guide rail 8 to protect the upper side of the bracket 7; foot cups 21 are provided at the four feet of the bracket 7.

[0053] The technical effects achieved by the above embodiments are as follows: the button box 19 is used to control the movement of the sliding support platform 13; the foot cup 21 is used to adjust the height and level of the bracket 7.

[0054] Example 4

[0055] like Figures 1 to 6 As shown, a passenger car axle box spring positioning gripping and conveying device includes all the contents of Embodiment 3. In addition, the driving device includes a drive motor 23. The output shaft of the drive motor 23 is equipped with a drive sprocket 35. A driven sprocket 20 is rotatably connected to the bottom of the bracket 7. The drive sprocket 35 and the driven sprocket 20 are connected by a chain 26. A tensioning mechanism 24 is provided in the middle of the chain 26. A tensioning sprocket A22 is rotatably connected to the top of the tensioning mechanism 24, and a tensioning sprocket B25 is rotatably connected to the bottom of the tensioning mechanism 24. The tensioning sprockets A22 and B25 respectively tension and support the upper chain 26 and the lower chain 26. The upper chain 26 is also equipped with an adapter plate 29. The adapter plate 29 is connected to the lower end of the chain connecting block 27. The upper end of the chain connecting block 27 is connected to a connecting plate 28. The connecting plate 28 is used to install on the bottom of the sliding support platform 13.

[0056] The technical effects achieved by the above embodiments are as follows: tension sprocket A22 is used to tension the upper chain 26, tension sprocket B25 is used to tension the lower chain 26; drive motor 23 is used to drive the rotation of drive sprocket 35.

[0057] Example 5

[0058] like Figures 1 to 6 As shown, a passenger car axle box spring positioning, gripping and conveying device includes all the contents of Embodiment 4. In addition, the axle box clamping assembly 3 includes an axle box spring gripper 34 for gripping the axle box spring; the axle box spring gripper 34 is connected to a mounting plate 33 on its side, and the mounting plate 33 is equipped with a camera 32 for taking pictures of the axle box spring tray 5, a distance sensor 30 for measuring the height of the axle box spring, and a light source 31 for illuminating the camera 32 for taking pictures.

[0059] In the description of this utility model, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0064] In the description of this specification, the references to terms such as "Embodiment 1," "Embodiment 2," "Example," "Specific Example," or "Some Examples," etc., indicate that the specific method, apparatus, or feature described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, methods, apparatus, or features described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0065] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A passenger car axle box spring positioning gripping and conveying device, comprising a six-axis robot (2) and a control box (1) for controlling the movement of the six-axis robot (2), characterized in that, It also includes a pallet conveying device (4), which is equipped with a conveying guide rail (8) that is slidably connected to the sliding support platform (13). The sliding support platform (13) is driven by a drive device to move back and forth along the conveying guide rail (8). The sliding support platform (13) carries the axle box spring pallet (5). A robot guide rail (6) parallel to the pallet conveying device (4) is provided on the side. The six-axis robot (2) slides back and forth on the robot guide rail (6). The top of the six-axis robot (2) is provided with an axle box clamping assembly (3) for clamping the axle box spring.

2. The passenger car axle box spring positioning gripping and conveying device according to claim 1, characterized in that, The pallet conveying device (4) also includes a bracket (7), a grating (10), a fixing plate (16), and a side protection plate (14); the fixing plate (16) is connected to the four feet of the bracket (7), the side protection plate (14) covers the four sides of the bracket (7), two transversely distributed conveying guide rails (8) are arranged inside the top surface of the bracket (7), and a grating (10) for detecting whether the loading position has a shaft box spring pallet (5) is installed on the two edges of the top surface of the bracket (7).

3. The passenger car axle box spring positioning gripping and conveying device according to claim 1, characterized in that, The sliding support platform (13) has anti-collision plates (12) on the front and rear sides of the traveling direction, and the bracket (7) has anti-collision blocks (17) corresponding to the anti-collision plates (12) on the inner edge of the length direction.

4. The passenger car axle box spring positioning gripping and conveying device according to claim 1, characterized in that, The left and right sides of the sliding support platform (13) are provided with guide blocks (9) for positioning the axle box spring tray (5) when it is placed. The cross section of the guide block (9) is a right triangle.

5. The passenger car axle box spring positioning gripping and conveying device according to claim 4, characterized in that, The sliding support platform (13) is provided with tray nylon support blocks (11) at the four top corners to support the axle box spring tray (5).

6. The passenger car axle box spring positioning gripping and conveying device according to claim 1, characterized in that, The side edge of the bracket (7) is also provided with a positioning detection sensor (15) for detecting the positioning information of the sliding support platform (13).

7. The passenger car axle box spring positioning gripping and conveying device according to claim 6, characterized in that, A button box (19) is provided on the outer side of the bracket (7).

8. The passenger car axle box spring positioning gripping and conveying device according to claim 7, characterized in that, An upper protective plate (18) is provided above the conveying guide rail (8) to protect the upper side of the bracket (7); foot cups (21) are provided at the four feet of the bracket (7).

9. The passenger car axle box spring positioning gripping and conveying device according to claim 1, characterized in that, The drive unit includes a drive motor (23), the output shaft of which is equipped with a drive sprocket (35). A driven sprocket (20) is rotatably connected to the bottom of the bracket (7). The drive sprocket (35) and the driven sprocket (20) are connected by a chain (26). A tensioning mechanism (24) is provided in the middle of the chain (26). A tensioning sprocket A (22) is rotatably connected to the top of the tensioning mechanism (24). The bottom of the tensioning mechanism (24) is... The end is rotatably connected to a tension sprocket B (25). Tension sprockets A (22) and B (25) provide tension support for the upper chain (26) and the lower chain (26) respectively. The upper chain (26) is also equipped with an adapter plate (29). The adapter plate (29) is connected to the lower end of the chain connecting block (27). The upper end of the chain connecting block (27) is connected to a connecting plate (28). The connecting plate (28) is used to install on the bottom of the sliding support platform (13).

10. The passenger car axle box spring positioning gripping and conveying device according to claim 1, characterized in that, The axle box clamping assembly (3) includes an axle box spring clamp (34) for clamping the axle box spring; the axle box spring clamp (34) is connected to a mounting plate (33) on the side, and the mounting plate (33) is equipped with a camera (32) for taking pictures of the axle box spring tray (5), a distance sensor (30) for measuring the height of the axle box spring, and a light source (31) for illuminating the camera (32) to take pictures.

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