A passenger car coupler handling robot

Abstract

This utility model provides a bus coupler handling robot, including an upper fixed plate and a lower mounting base connected by an external gear slewing bearing. The upper fixed plate is provided with a drive mechanism for rotating the external gear slewing bearing. The bottom end of the lower mounting base is provided with a front clamping mechanism and a rear clamping mechanism, each of which includes two cooperating grippers. Each gripper is slidably mounted on the bottom end of the lower mounting base. A first linear actuator for driving the grippers to move is fixedly mounted on the bottom end of the lower mounting base. Connecting the upper fixed plate and the lower mounting base via the external gear slewing bearing, and providing a drive mechanism on the upper fixed plate for rotating the external gear slewing bearing, allows the lower mounting base to rotate, enabling subsequent horizontal angle adjustment when clamping the coupler. The front clamping mechanism and the rear clamping mechanism, each including two cooperating grippers, are respectively provided at the bottom end of the lower fixed plate to achieve stable clamping of the coupler.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm design technology, and in particular to a bus coupler handling robotic arm. Background Technology

[0002] As a common component on the bodies of railway passenger and freight cars and subway vehicles, the coupler plays a crucial role in connecting carriages and transmitting traction and braking forces during vehicle operation. With the vigorous development of railway transportation and the continuous increase in passenger car operating mileage, the frequency of coupler use has increased significantly, making the importance of its regular maintenance increasingly prominent. During coupler maintenance, under current technological conditions, the transport of coupler parts to the corresponding work positions mainly relies on two methods: truss hoisting or manual transport. Manual transport not only consumes a lot of manpower but is also extremely laborious, resulting in high labor intensity and low work efficiency. Truss hoisting can handle heavier parts. Currently, most passenger car coupler bodies are hoisted using a truss with double hooks. However, the coupler is prone to swaying during hoisting and there is a risk of it falling off. It is difficult to achieve stability during coupler hoisting, and there is a lack of rotation function for the coupler, making it impossible to easily adjust the horizontal angle of the coupler. As a result, it is difficult to accurately connect the coupler when it is transported to a specific work position. Utility Model Content

[0003] The purpose of this utility model is to provide a bus coupler handling robot that can stably clamp the coupler while also enabling the horizontal rotation of the clamped coupler.

[0004] This utility model provides a bus coupler handling robot, including an upper fixed plate and a lower mounting base. The upper fixed plate and the lower mounting base are connected by an external gear slewing bearing. The upper fixed plate is provided with a drive mechanism for driving the external gear slewing bearing to rotate. The bottom end of the lower mounting base is provided with a front clamping mechanism and a rear clamping mechanism. Both the front clamping mechanism and the rear clamping mechanism include two cooperating jaws. Each jaw is slidably mounted on the bottom end of the lower mounting base. The bottom end of the lower mounting base is fixedly mounted with a first linear actuator for driving the jaws to move.

[0005] Furthermore, the driving mechanism includes a rack and a second linear actuator. The rack, which meshes with the external tooth slewing bearing, is slidably mounted on the bottom end of the upper fixed plate, and the second linear actuator, which drives the rack to slide, is fixedly mounted on the top end of the upper fixed plate.

[0006] Furthermore, the drive mechanism includes a drive motor and a gear meshing with the external gear slewing bearing. The drive motor is fixedly mounted on the top of the upper fixed plate, and the gear is mounted on the output shaft of the drive motor.

[0007] Furthermore, a rotation limiting block is fixedly installed on the top of the lower mounting base, and dampers for abutting against the rotation limiting block are respectively installed on both sides of the bottom of the upper fixing plate.

[0008] Furthermore, a sensing sensor is mounted on the bottom of the lower mounting base, and a mounting bracket is provided on one side of the sensing sensor. A sensing column is slidably mounted on the mounting bracket along the vertical direction, and the axis of the sensing column intersects with the axis of the sensing sensor.

[0009] Furthermore, the bottom end of the lower mounting base is provided with a first abutting component and a second abutting component at a distance. The first abutting component includes a first hanger and a first abutting plate. A first sliding rod is fixedly installed on the top end of the first abutting plate. The first sliding rod is slidably installed vertically at the bottom end of the first hanger. A spring is installed on the first sliding rod between the first hanger and the first abutting plate. The second abutting component includes a second hanger and a second abutting plate. A second sliding rod is fixedly installed on the top end of the second abutting plate. The second sliding rod is slidably installed vertically at the bottom end of the second hanger. A spring is installed on the second sliding rod between the second hanger and the second abutting plate.

[0010] Furthermore, a first slide rail is fixedly installed at the bottom end of the upper fixed plate, and a plurality of first sliders are spaced apart on the slide rail, with the rack fixedly installed on the first sliders.

[0011] Furthermore, a second slide rail corresponding to each of the grippers is fixedly installed at the bottom end of the lower mounting base, and a second slider is slidably installed on the second slide rail, with the gripper fixedly installed on the corresponding second slider.

[0012] Furthermore, the front clamping mechanism includes a first front clamp and a second front clamp. The inner side of the first front clamp is provided with a support seat, and the inner side of the second front clamp is provided with two inserts that mate with the side slots of the coupler.

[0013] Furthermore, both the first linear actuator and the second linear actuator are pneumatic or hydraulic cylinders.

[0014] The technical solution of this utility model connects the upper fixed plate and the lower mounting base through an external tooth slewing bearing, and provides a drive mechanism on the upper fixed plate for driving the external tooth slewing bearing to rotate, so as to realize the rotation of the lower mounting base so as to make subsequent horizontal angle adjustment when clamping the coupler; and provides a front clamping mechanism and a rear clamping mechanism, each including two cooperating claws, at the bottom end of the lower fixed plate to realize stable clamping of the coupler. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the robotic arm.

[0017] Figure 2 This is another schematic diagram of the overall structure of the robotic arm.

[0018] Figure 3 This is an elevation view of the overall structure of the robotic arm.

[0019] Figure 4 This is a schematic diagram of the installation structure of the robotic arm.

[0020] Figure 5 This is a schematic diagram of the structure when the robotic arm is holding the coupler.

[0021] Explanation of reference numerals in the attached drawings: 1-Upper fixed plate, 2-Lower mounting base, 3-External gear slewing bearing, 4-Rack, 5-First linear actuator, 6-First front gripper, 601-Support seat, 7-Second front gripper, 701-Insertion block, 8-First rear gripper, 9-Second rear gripper, 10-Second linear actuator, 11-Induction sensor, 12-Mounting bracket, 13-Induction column, 14-First abutment plate, 15-First slide rod, 16-Spring, 17-Second abutment plate, 18-Second slide rod, 19-First hanger, 20-Second hanger, 21-First slide rail, 22-First slider, 23-Damper, 24-Rotation limit block, 25-Second slide rail, 26-Second slider, 27-Truss, 28-Traveling lifting mechanism, 29-Hook. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. 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.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", 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.

[0024] 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 one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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 connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] Example 1 like Figures 1-5 As shown, this utility model provides a passenger car coupler handling robot, which is used at the bottom of the traveling lifting mechanism 28 mounted on the truss 27. It includes an upper fixed plate 1 and a lower mounting base 2, connected by an external gear slewing bearing 3. The upper fixed plate 1 is bolted to the inner ring of the external gear slewing bearing 3, and the lower mounting base 2 is bolted to the outer ring of the external gear slewing bearing 3, allowing relative rotation between the upper fixed plate 1 and the lower mounting base 2. The upper fixed plate 1 is provided with a drive mechanism for rotating the external gear slewing bearing 3. In this embodiment, the drive mechanism includes a rack. 4. The second linear actuator 10 is fixedly installed at the bottom of the upper fixed plate 1. A first slide rail 21 is fixedly installed on the slide rail. Multiple first sliders 22 are spaced apart on the slide rail. The rack 4 is fixedly installed on the first slider 22, so that the rack 4, which meshes with the external tooth slewing bearing 3, is slidably installed at the bottom of the upper fixed plate 1. The second linear actuator 10, which is used to drive the rack 4 to slide, drives the rack 4 to slide through the extension and retraction of the second linear actuator 10, thereby causing the outer ring of the external tooth slewing bearing 3 to rotate, driving the lower mounting seat 2 to rotate, thereby realizing the rotation of the hook 29 when transporting the hook 29.

[0026] In order to limit the rotation limit angle of the lower mounting base 2, a rotation limit block 24 is fixedly installed at the top of the lower mounting base 2. The bottom end of the upper fixing plate 1 is equipped with dampers 23 on both sides of the rotation limit block 24 for abutting against the rotation limit block 24. When the lower mounting base 2 rotates, the limit rotation angle is reached when the rotation limit block abuts against the end of one of the dampers 23.

[0027] The bottom end of the lower mounting base 2 is provided with a front clamping mechanism and a rear clamping mechanism. Both the front clamping mechanism and the rear clamping mechanism include two cooperating grippers. The bottom end of the lower mounting base 2 is fixedly installed with a second slide rail 25 corresponding to each gripper. A second slider 26 is slidably installed on the second slide rail 25. The grippers are fixedly installed on the corresponding second slider 26, so that each gripper is slidably installed on the bottom end of the lower mounting base 2. The bottom end of the lower mounting base 2 is fixedly installed with a first linear actuator 5 for driving the grippers to move. In this embodiment, the first linear actuator 5 and the second linear actuator 10 are both cylinders or hydraulic cylinders.

[0028] The front clamping mechanism includes a first front clamping jaw 6 and a second front clamping jaw 7. The inner side of the first front clamping jaw 6 is provided with a support seat 601, and the inner side of the second front clamping jaw 7 is provided with two insert blocks 701 that cooperate with the side slots of the coupler 29. The first front clamping jaw 6 and the second front clamping jaw 7 cooperate with each other to clamp the front end of the coupler 29. The two clamping jaws of the rear clamping mechanism are exactly the same. For easy distinction, they are named the first rear clamping jaw 8 and the second rear clamping jaw 9.

[0029] A sensing sensor 11 is mounted on the bottom of the lower mounting base 2. A mounting bracket 12 is provided on one side of the sensing sensor 11. A sensing column 13 is slidably mounted on the mounting bracket 12 along the vertical direction. The axis of the sensing column 13 intersects with the axis of the sensing sensor 11. When the robot moves downward, the hook 29 pushes the sensing column 13 upward. After the sensing sensor 11 senses the upward sensing column 13, it can control the four first linear actuators 5 to drive the four grippers to clamp the hook 29.

[0030] During the descent of the robotic arm, to prevent impact between the robotic arm and the hook 29, a first abutment component and a second abutment component are spaced apart at the bottom of the lower mounting base 2 to provide a buffering effect. Specifically, the first abutment component includes a first hanger 19 and a first abutment plate 14. A first sliding rod 15 is fixedly mounted on the top of the first abutment plate 14. The first sliding rod 15 is slidably mounted vertically at the bottom of the first hanger 19. A first spring 16 is installed on the first sliding rod 15 between the first hanger 19 and the first abutment plate 14. The second abutment component... The system includes a second hanger 20 and a second abutment plate 17. A second slide rod 18 is fixedly installed on the top of the second abutment plate 17. The second slide rod 18 is slidably installed at the bottom of the second hanger 20 along the vertical direction. A second spring 16 is installed on the second slide rod 18 between the second hanger 20 and the second abutment plate 17. During the descent of the robot arm, the first abutment plate 14 and the second abutment plate 17 first contact the hook 29. Under the action of the spring 16, the first abutment plate 14 and the second abutment plate 17 can play a buffering role and press the hook 29 to prevent it from slipping during transportation.

[0031] Example 2 The difference between this embodiment and embodiment 1 is that the drive mechanism includes a drive motor and a gear that meshes with the external gear slewing bearing 3. The drive motor is fixedly installed on the top of the upper fixed plate 1, and the gear is installed on the output shaft of the drive motor. The rotation of the lower mounting base 2 is realized through the meshing of the gear with the outer ring of the external gear slewing bearing 3.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A passenger car coupler handling robot, characterized in that The device includes an upper fixed plate and a lower mounting base, which are connected by an external gear slewing bearing. The upper fixed plate is provided with a drive mechanism for rotating the external gear slewing bearing. The bottom end of the lower mounting base is provided with a front clamping mechanism and a rear clamping mechanism. Both the front clamping mechanism and the rear clamping mechanism include two cooperating jaws. Each jaw is slidably mounted on the bottom end of the lower mounting base. The bottom end of the lower mounting base is fixedly mounted with a first linear actuator for driving the jaws to move.

2. The passenger car coupler handling robot of claim 1, wherein, The driving mechanism includes a rack and a second linear actuator. The rack, which meshes with the external tooth slewing bearing, is slidably mounted on the bottom end of the upper fixed plate, and the second linear actuator, which drives the rack to slide, is fixedly mounted on the top end of the upper fixed plate.

3. The passenger car coupler handling robot of claim 1, wherein, The drive mechanism includes a drive motor and a gear meshing with the external gear slewing bearing. The drive motor is fixedly mounted on the top of the upper fixed plate, and the gear is mounted on the output shaft of the drive motor.

4. The passenger car coupler handling robot of claim 1, wherein, A rotation limiting block is fixedly installed at the top of the lower mounting base, and dampers for abutting against the rotation limiting block are respectively installed on both sides of the bottom of the upper fixing plate.

5. The passenger car coupler handling robot of claim 1, wherein, A sensing sensor is mounted on the bottom of the lower mounting base. A mounting bracket is provided on one side of the sensing sensor. A sensing column is slidably mounted on the mounting bracket along the vertical direction. The axis of the sensing column intersects with the axis of the sensing sensor.

6. The passenger car coupler handling robot of claim 1, wherein, The bottom end of the lower mounting base is provided with a first abutting component and a second abutting component at a distance. The first abutting component includes a first hanger and a first abutting plate. A first sliding rod is fixedly installed on the top end of the first abutting plate. The first sliding rod is slidably installed vertically at the bottom end of the first hanger. A spring is installed on the first sliding rod between the first hanger and the first abutting plate. The second abutting component includes a second hanger and a second abutting plate. A second sliding rod is fixedly installed on the top end of the second abutting plate. The second sliding rod is slidably installed vertically at the bottom end of the second hanger. A spring is installed on the second sliding rod between the second hanger and the second abutting plate.

7. The passenger car coupler handling robot of claim 2, wherein, The bottom end of the upper fixed plate is fixedly installed with a first slide rail, and a plurality of first sliders are spaced apart on the slide rail. The rack is fixedly installed on the first slider.

8. The passenger car coupler handling robot of claim 1, wherein, The bottom end of the lower mounting base is fixedly mounted with a second slide rail corresponding to each of the grippers. A second slider is slidably mounted on the second slide rail, and the gripper is fixedly mounted on the corresponding second slider.

9. The passenger car coupler handling robot of claim 6, wherein, The front clamping mechanism includes a first front clamp and a second front clamp. The inner side of the first front clamp is provided with a support seat, and the inner side of the second front clamp is provided with two inserts that cooperate with the side slots of the coupler.

10. The passenger car coupler handling robot of claim 2, wherein, Both the first linear actuator and the second linear actuator are pneumatic or hydraulic cylinders.

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