A walking device component gripping robot

Abstract

The utility model relates to mechanical equipment and industrial production field discloses a kind of walking device component grabbing mechanical arm.The mechanical arm cooperates lift, aluminium alloy truss, so that equipment can be translated along X, Y, Z three directions, can cover armored vehicle whole vehicle length and height, while jaw assembly has axial and circumferential adjustment degree of freedom, so that posture adjustment is more quickly convenient, satisfies variable-speed positioning requirement.Fast-changing shaft seat and special lifting appliance in it expand the range of components applicable to mechanical arm, and the special material car solves the deficiencies of space occupation and low transfer efficiency of component stall type placement, and improves the use efficiency of mechanical arm together.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical equipment and industrial production, and relates to a walking device component gripping robotic arm. Background Technology

[0002] The assembly of running gear components is the starting point for the assembly of military armored vehicle chassis. Currently, running gear components are mostly stored on the floor in the workshop. Transferring and installing them on the production line often requires overhead cranes, and workers must manually lift and align the components with the vehicle mounting base. This results in low assembly precision and requires at least two people for adjustment, increasing labor intensity and reducing production efficiency. Therefore, it is necessary to design a multi-degree-of-freedom gripping robotic arm, in conjunction with a specially designed material cart for running gear components, to achieve rapid transfer, gripping, alignment, and installation of components such as shock absorbers, buffers, and inner and outer side wheels, requiring only one worker to complete the assembly operation.

[0003] The drawbacks of traditional walking device component assembly and production:

[0004] 1. Components are mostly displayed in a stall-like manner and rely on overhead cranes for transportation to the line, resulting in low transfer efficiency;

[0005] 2. Most components are lifted by overhead crane and manually lifted for alignment, requiring at least two people to work together for repeated adjustments, which increases labor intensity and reduces production efficiency;

[0006] 3. The hoisting and assembly of components requires the cooperation of an overhead crane, which takes up crane operating time, and the hoisting process is inherently dangerous. Utility Model Content

[0007] (I) Purpose of the utility model

[0008] The purpose of this utility model is to overcome the shortcomings of tracked armored vehicle walking device components, such as large size and weight, low transfer efficiency due to the floor-laying arrangement, difficulty in positioning by overhead crane requiring multiple people to assist, and the inherent danger of lifting components and the risk of collision with the vehicle body causing damage. Therefore, a multi-degree-of-freedom walking device component grasping robotic arm is designed.

[0009] (II) Technical Solution

[0010] To solve the above-mentioned technical problems, this utility model provides a walking device component gripping robotic arm, including: a gripper assembly 9, a rotating tube 10, an oil-free bushing 11, a fixed tail tube 12, a handle support 13, and a control handle 14.

[0011] The handle support 13 is installed on the side and rear of the tail flange of the fixed tail tube 12, and the control handle 14 is placed on the handle support 13.

[0012] The oil-free bushing 11 is installed on the front end shaft of the fixed tail tube 12 and connected to the front rotating tube 10 by a flange. The oil-free bushing 11 provides frictional resistance when the gripper assembly 9 rotates. The rotating tube 10 is connected between the oil-free bushing 11 and the gripper assembly 9. A quick-change bearing 21 is welded on the rotating tube 10. The balance elbow hanger 22 and the torsion shaft hanger 23 are installed through the quick-change bearing 21. The hollow part of the rotating tube 10 accommodates the servo motor 24 and harmonic reducer 25 of the gripper assembly 9.

[0013] Preferably, the fixed tailpipe 12 is provided with 5 sets of control buttons. The first button 15 is the button to switch between automatic and manual lifting modes; the second button 16 is the button to clamp the gripper assembly 9; the third button 17 is the button to release the gripper assembly 9; and the fourth button 18 and the fifth button 19 control the lifting and lowering actions of the vertical lift 2, respectively.

[0014] Preferably, the gripper assembly 9 includes a servo motor 24, a harmonic reducer 25, a trapezoidal lead screw 26, a lead screw nut 27, a linkage mechanism 28, and a gripper 29. The servo motor 24 drives the harmonic reducer 25, which in turn drives the trapezoidal lead screw 26 to rotate, thereby driving the lead screw nut 27 to move linearly and transmitting force to the two linkage mechanisms 28, ultimately driving the gripper 29 at the front end to perform parallel opening and closing actions. After the force applied by the gripper 29 to the walking device component reaches a set value, it will stop moving and will be held in a clamped state by the trapezoidal lead screw 26.

[0015] Preferably, the robotic arm 1 has two handles: a second handle 30 mounted on the gripper assembly 9 and a first handle 20 mounted on the side of the fixed tail tube 12. The rotation angle of the gripper assembly 9 can be adjusted by rotating the second handle 30, and the orientation angle of the robotic arm 1 relative to the rigid arm 3 can be adjusted by the first handle 20 to complete the final alignment of the gripper assembly 9.

[0016] Preferably, the fixed tailpipe 12 is mounted on the turntable bearing seat at the lower end of the vertical lift 2 via the tail flange, bearing the weight of the robotic arm 1 and the components, and resisting the overturning torque generated when the gripper assembly 9 grabs the components.

[0017] Preferably, the rigid arm 3 of the vertical lift 2 stores the cable in the middle and introduces it into the mechanical arm 1 through the opening on the tail flange of the fixed tail tube 12.

[0018] Preferably, the control handle 14 is used to control the vertical lift 2 to drive the robotic arm 1 to lift as a whole. The cable of the control handle 14 is led out from the tail and arranged along the outside of the rigid arm 3 of the vertical lift 2, and is fixed with a buckle.

[0019] Preferably, when controlling the action of the gripper assembly 9, press and hold the second button 16, and release the second button 16 to stop the clamping action; when the gripper 29 fully contacts the component and clamps it, the gripper assembly 9 will no longer continue to close and will maintain the current position; when clamping the component, first switch the vertical lift 2 to automatic mode, and achieve automatic alignment during the closing process of the gripper 29.

[0020] Preferably, the robotic arm is used in the field of assembly and production technology of armored vehicle running gear components.

[0021] Preferably, the robotic arm is used in the fields of mechanical equipment and industrial production.

[0022] (III) Beneficial Effects

[0023] This utility model provides a walking device component for a gripping robotic arm, which has the following features:

[0024] 1. The multi-degree-of-freedom walking device component gripping robotic arm designed in this utility model relies on a vertical lift and an aluminum alloy combined self-supporting truss. Its movement range covers the entire side operating space of the vehicle. With the design of gripper assembly, special lifting tools and special material cart, the application range of the robotic arm is expanded, and semi-mechanized assembly of multiple types of components is realized. It effectively solves the problems of high labor intensity and low production efficiency in overhead crane hoisting.

[0025] 2. The rotating tube and fixed tail tube structure designed in this utility model enable the robotic arm gripper assembly to have axial and circumferential adjustment degrees of freedom, allowing for flexible adjustment of the gripper posture. The gripper control button and the robotic arm height adjustment handle / button are integrated and arranged in a specific position on the fixed tail tube. With the use of two sets of handles, it is possible for one person to complete the part gripping, alignment and installation operations, effectively saving working time.

[0026] The aforementioned robotic arm, in conjunction with a lift and aluminum alloy truss, allows the equipment to move horizontally in the X, Y, and Z directions, covering the entire length and height of armored vehicles. Simultaneously, the gripper assembly possesses axial and circumferential adjustment freedom, making attitude adjustment quicker and more convenient, meeting the requirements of variable speed positioning. The quick-change axle mounts and specialized lifting devices expand the range of components the robotic arm can handle, while the dedicated material cart addresses the shortcomings of space-consuming and inefficient floor-mounted component placement, collectively improving the robotic arm's operational efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the installation of the robotic arm of this utility model;

[0028] Figure 2 This is a schematic diagram of the composition of the robotic arm of this utility model;

[0029] Figure 3 This is a schematic diagram of the control buttons for fixing the tail tube in this utility model;

[0030] Figure 4 This is a schematic diagram of the gripper assembly in this utility model;

[0031] Figure 5 This is a diagram showing the arrangement of the components;

[0032] Figure 6 This is a schematic diagram of the gripper assembly gripping component in this utility model. Detailed Implementation

[0033] To make the objectives, contents, and advantages of this utility model clearer, the specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0034] To overcome the shortcomings of tracked armored vehicle walking device components, such as large size and weight, low transfer efficiency due to their spread-out arrangement, difficulty in overhead crane hoisting requiring multiple personnel, and the inherent dangers of hoisting components that could easily cause damage to the vehicle body, this utility model designs a multi-degree-of-freedom walking device component gripping robotic arm. This robotic arm is involved in the assembly and production process of armored vehicle walking device components. It moves along a combined self-supporting truss aluminum alloy track and can adjust its own posture. Using grippers, it grasps the walking device components placed on specific tooling on a dedicated material cart and aligns them with the vehicle body installation position, enabling rapid assembly of the walking device components.

[0035] refer to Figure 1 The multi-degree-of-freedom walking device component of this utility model, the gripping robotic arm 1, is mounted on a vertical lift 2. The vertical lift 2 consists of a rigid arm 3, an intelligent lifting assembly 4, and a suspension base 5, and is mounted on a frame aluminum alloy track 6 via the suspension base 5. The frame aluminum alloy track 6 is suspended from a combined self-supporting truss aluminum alloy track 8 via wheel sets 7. The composition of the robotic arm 1 is illustrated below. Figure 2 As shown, the robotic arm 1 consists of a gripper assembly 9, a rotating tube 10, an oil-free bushing 11, a fixed tail tube 12, a handle support 13, and a control handle 14.

[0036] The fixed tailpipe 12 is mounted on the turntable bearing seat at the lower end of the vertical lift 2 via a tail flange. It primarily bears the weight of the robotic arm 1 and its components, and resists the overturning moment generated when the gripper assembly 9 grasps the components. Cables are stored in the middle of the rigid arm 3 of the vertical lift 2 and are introduced into the robotic arm 1 through an opening on the tail flange of the fixed tailpipe 12. The handle support 13 is installed on the side and rear of the tail flange of the fixed tailpipe 12. The control handle 14 is placed on the handle support 13. Workers can use the control handle 14 to operate the vertical lift 2, raising and lowering the robotic arm 1 as a whole. The cable of the control handle 14 is led out from the tail and arranged along the outside of the rigid arm 3 of the vertical lift 2, and secured with clips.

[0037] Five sets of control buttons are arranged on the fixed tailpipe 12, such as Figure 3 As shown, the first button 15 is the button to switch between automatic and manual lifting modes; the second button 16 is the button for clamping the gripper assembly 9; the third button 17 is the button for releasing the gripper assembly 9, and a dual-button setup is used to prevent accidental activation; the fourth button 18 and the fifth button 19 control the rising and lowering actions of the vertical lift 2, respectively; and a first handle 20 is provided to facilitate workers in adjusting the position of the equipment when gripping and aligning.

[0038] An oil-free bushing 11 is installed on the front shaft of the fixed tailpipe 12 and connected to the front rotating tube 10 via a flange. The oil-free bushing 11 provides frictional resistance during the rotation of the gripper assembly 9, preventing excessive flexibility and potential safety hazards during rotation. The rotating tube 10 connects the oil-free bushing 11 and the gripper assembly 9. A quick-change bearing 21 is welded to the rotating tube 10 for mounting the balance elbow hanger 22 and the torque shaft hanger 23. The rotating tube 10 primarily serves as a connector and load-bearing device; more importantly, its hollow portion accommodates the servo motor 24 and harmonic reducer 25 of the gripper assembly 9, preventing them from being exposed and causing unnecessary impacts.

[0039] The composition of the gripper assembly 9 is shown in the diagram below. Figure 4 As shown, the device includes a servo motor 24, a harmonic reducer 25, a trapezoidal lead screw 26, a lead screw nut 27, a linkage mechanism 28, and a gripper 29. The servo motor 24 drives the harmonic reducer 25, which in turn drives the trapezoidal lead screw 26 to rotate. This drives the lead screw nut 27 to move linearly and transmits force to the two linkage mechanisms 28, ultimately causing the gripper 29 at the front end to perform a parallel opening and closing action. Once the force applied by the gripper 29 to the walking device component reaches a set value, the action stops, and the trapezoidal lead screw 26 maintains the clamping state to prevent the walking device component from falling off.

[0040] The robotic arm 1 has two handles: a second handle 30 mounted on the gripper assembly 9 and a first handle 20 mounted on the side of the fixed tail tube 12. During alignment, the control handle 14 is used to adjust the robotic arm 1 to a suitable height, ensuring that the axis of the robotic arm 1 is roughly aligned with the center of the component. Both hands grip the first handle 20 and the second handle 30, and the horizontal position of the robotic arm 1 is adjusted along the combined self-supporting truss aluminum alloy track 8 to move the gripper assembly 9 towards the component. The rotation angle of the gripper assembly 9 is adjusted by rotating the second handle 30, and the orientation angle of the robotic arm 1 relative to the rigid arm 3 is adjusted by the first handle 20, completing the final alignment of the gripper assembly 9.

[0041] To coordinate with the gripping components of the robotic arm 1, a dedicated material cart 33 with a buffer 31 and a shock absorber 32, and a dedicated material cart 36 with an inner support pulley 34 and an outer support pulley 35 are designed, such as... Figure 5As shown. The material cart is designed with specialized tooling, allowing components to be positioned in a specific orientation for easy gripping by the gripper assembly 9. A gripping illustration is shown below. Figure 6 As shown.

[0042] When controlling the gripper assembly 9, press and hold the second button 16. Releasing the second button 16 will stop the clamping action. Once the gripper 29 has fully contacted and clamped the component, the gripper assembly 9 will no longer close and will maintain its current position. When gripping a component, the vertical lift 2 can be switched to automatic mode first, so that it can automatically align itself during the closing process of the gripper 29.

[0043] After the robotic arm 1 removes the component from the material cart, press the first button 15 when the gripper assembly 9 is not subjected to any external force. The first button 15 will light up, indicating that the current state is automatic, also known as "floating mode". At this time, simply hold the first handle 20 and the second handle 30 to move the robotic arm 1 horizontally. After the robotic arm 1 moves the component near the installation position, cancel the "floating mode", adjust the height of the robotic arm 1 and fine-tune the angle of the gripper assembly 9 so that the mounting hole on the component is aligned with the threaded hole on the vehicle body. Then, tighten the fastening bolt until it cannot be turned. At this point, the component is in a safe state, and the gripper 29 can be unloaded.

[0044] When unloading the gripper assembly 9, ensure that the robotic arm 1 is in manual mode. To switch to manual mode, simply press the fourth button 18 or the fifth button 19 quickly; the first button 15 will then turn off. In manual mode, press and hold both third buttons 17 simultaneously to release the gripper 29. Correspondingly, when using the balance elbow sling 22 and the torsion shaft sling 23, there is no need to operate the gripper assembly 9; the robotic arm 1 is simply used as an "L"-shaped load-bearing cantilever. The balance elbow and torsion shaft are also placed on a special material cart and positioned in a specific posture using special tooling for lifting.

[0045] It can be seen that the walking device component of this utility model, the gripping robotic arm, has the following characteristics:

[0046] 1. The robotic arm is mounted on the turntable bearing seat of the vertical lift via a fixed tailpipe flange. The robotic arm can be manually driven to move along the combined self-supporting truss aluminum alloy track with the lift, giving the robotic arm translational freedom in the X, Y, and Z directions, and covering the entire length and height of the armored vehicle.

[0047] 2. The robotic arm itself can rotate around the bearing seat of the tail turntable, and the front gripper assembly can rotate around the fixed tail tube through the rotating tube. The gripper position is flexible and adjustable, which facilitates the gripping and positioning of parts.

[0048] 3. The gripper assembly action button and the vertical lift button are integrated on the fixed tailpipe, located close to the gripper assembly, making it convenient for one person to operate;

[0049] 4. A quick-change bearing is designed below the rotating tube, which can be used to install a balance elbow and a special lifting tool for the torsion shaft, thus expanding the application range of the robotic arm;

[0050] 5. The walking device components are placed on a special material cart. The special material cart is designed with special tooling to ensure the placement posture of the components, so that the robotic arm gripper can grasp the components.

[0051] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A walking device component gripping robotic arm, characterized in that, include: The gripper assembly (9), rotating tube (10), oil-free bushing (11), fixed tail tube (12), handle support (13) and control handle (14). The handle support (13) is installed on the side and rear of the tail flange of the fixed tail pipe (12), and the control handle (14) is placed on the handle support (13); The oilless bushing (11) is installed on the front end shaft of the fixed tail tube (12) and connected to the front rotating tube (10) by a flange; the oilless bushing (11) provides frictional resistance when the gripper assembly (9) rotates; the rotating tube (10) is connected between the oilless bushing (11) and the gripper assembly (9), and a quick-change bearing (21) is welded on the rotating tube (10), through which the balance elbow hanger (22) and the torsion shaft hanger (23) are installed; the hollow part of the rotating tube (10) accommodates the servo motor (24) and harmonic reducer (25) of the gripper assembly (9).

2. The robotic arm as described in claim 1, characterized in that, Five sets of control buttons are arranged on the fixed tail tube (12). The first button (15) is the button to switch between automatic and manual lifting modes; the second button (16) is the button to clamp the gripper assembly (9); the third button (17) is the button to release the gripper assembly (9); the fourth button (18) and the fifth button (19) control the lifting and lowering actions of the vertical lift (2) respectively.

3. The robotic arm as described in claim 2, characterized in that, The gripper assembly (9) includes a servo motor (24), a harmonic reducer (25), a trapezoidal lead screw (26), a lead screw nut (27), a linkage mechanism (28), and a gripper (29). The servo motor (24) drives the harmonic reducer (25), which in turn drives the trapezoidal lead screw (26) to rotate, thereby driving the lead screw nut (27) to move in a straight line and transmitting force to the two linkage mechanisms (28), which in turn drives the gripper (29) at the front end to perform parallel opening and closing actions. After the force applied by the gripper (29) to the walking device component reaches the set value, it will stop moving and will be held in a clamped state by the trapezoidal lead screw (26).

4. The robotic arm as described in claim 1, characterized in that, The robotic arm (1) has two handles: a second handle (30) mounted on the gripper assembly (9) and a first handle (20) mounted on the side of the fixed tail tube (12). The rotation angle of the gripper assembly (9) can be adjusted by rotating the second handle (30), and the orientation angle of the robotic arm (1) relative to the rigid arm (3) can be adjusted by the first handle (20) to complete the final alignment of the gripper assembly (9).

5. The robotic arm as described in claim 1, characterized in that, The fixed tail tube (12) is mounted on the turntable bearing seat at the lower end of the vertical lift (2) via the tail flange, bearing the weight of the robotic arm (1) and the component, and resisting the overturning moment generated when the gripper assembly (9) grabs the component.

6. The robotic arm as described in claim 2, characterized in that, The cable is stored in the middle of the rigid arm (3) of the vertical lift (2) and introduced into the mechanical arm (1) through the opening on the tail flange of the fixed tail tube (12).

7. The robotic arm as described in claim 1, characterized in that, Using the control handle (14), the vertical lift (2) can be controlled to drive the mechanical arm (1) to lift as a whole. The cable of the control handle (14) is led out from the tail and arranged along the outside of the rigid arm (3) of the vertical lift (2) and fixed with a buckle.

8. The robotic arm as described in claim 3, characterized in that, When controlling the action of the gripper assembly (9), press and hold the second button (16), and release the second button (16) to stop the clamping action; when the gripper (29) fully contacts the part and clamps it, the gripper assembly (9) will no longer continue to close and will maintain the current position; when clamping the part, first switch the vertical lift (2) to automatic mode, and achieve automatic alignment during the closing process of the gripper (29).

9. The robotic arm as described in any one of claims 1 to 8, characterized in that, This robotic arm is used in the field of assembly and production technology of armored vehicle running gear components.

10. The robotic arm as claimed in any one of claims 1 to 8, characterized in that, This robotic arm is used in the fields of mechanical equipment and industrial production.

Images