A handling robot for high-speed railway wheels

Abstract

The utility model discloses a kind of handling robots for high-speed rail wheel belong to workpiece automatic handling equipment technical field.The utility model includes travelling mechanism and grabbing mechanism, the grabbing mechanism includes a set of jaw assembly being oppositely arranged;The jaw assembly includes clamping arm and the holder of being arranged in the inboard of this clamping arm;Wherein, the holder is clamped from the both sides of workpiece under the driving of clamping arm;The holder is equipped with a bracket, and the bracket is located at the bottom of holder, for supporting from the bottom of workpiece;The upper portion of the jaw assembly is also equipped with pressing plate component, for pressing from the top of workpiece.This utility model's handling robot, when working, can be overall limited from the both sides, bottom and top of workpiece, effectively ensure the stability of workpiece in clamping, transfer process;It is especially suitable for the handling operation of some high-speed rail wheel and other workpieces with large deadweight.

Description

Technical Field

[0001] This utility model belongs to the technical field of automatic workpiece handling equipment, and more specifically, relates to a handling robot for high-speed train wheels. Background Technology

[0002] As a core component of the rail transit system, the performance of high-speed train wheels directly affects the safety, stability, and comfort of train operation. During manufacturing, high-speed train wheels undergo multiple high-temperature processes: first, the forging process, where steel billets are pressed into wheel blanks under high pressure, at which point the wheel surface temperature is relatively high; then comes the heat treatment process, including quenching and tempering, to optimize the wheel's microstructure and mechanical properties; finally, the machined wheels still require surface treatment at high temperatures to improve fatigue resistance. Throughout the entire manufacturing process, a high-temperature environment persists.

[0003] However, in the forging workshop, traditionally, handling high-temperature high-speed train wheels requires workers to wear heavy heat-resistant gloves and protective clothing. Manually operating overhead cranes or forklifts to move wheels in high-temperature environments is not only physically demanding but also prone to errors due to fatigue. In the heat treatment workshop, the high temperatures cause intense heat radiation and pervasive fumes, making workers susceptible to occupational diseases such as heatstroke and heat exhaustion from prolonged exposure. Limited vision also increases the risks associated with handling. Therefore, a series of automated transfer devices have emerged on the market.

[0004] For example, patent CN221660549U discloses an intelligent train wheelset transport robot. This application addresses the problems of high risk and low efficiency associated with manual pushing by using battery power to replace manual labor in pushing the wheels, resulting in high efficiency, safety, energy saving, and environmental friendliness. Employing differential drive, it can transport wheelsets at any location in the workshop, offering high flexibility and convenience.

[0005] For example, patent CN207943502U discloses a lifting and rotating device for a warehouse handling robot and the warehouse handling robot itself. In this application, the scissor lift mechanism allows the handling robot to freely adjust its handling height; the rotating mechanism enables the pallet to rotate stably in the opposite direction to prevent the goods from tipping over during the high-speed movement or turning of the warehouse handling robot.

[0006] For example, patent CN220922471U discloses an installation structure for a clamping plate and a clamping transport robot. In this application, by using a limiting rod, a first limiting member, and a second limiting member, the connection between the installation plate and the clamping plate body can be stable and reliable, and the replacement speed is fast.

[0007] The above applications all involve technical improvements to automated transfer devices, but there is still room for optimization. For example, in patent CN220922471U, two opposing clamping plates are used to clamp the workpiece, but the stability of the clamping needs further improvement. Especially for some heavy workpieces, such as high-speed train wheels, relying solely on clamping from both sides can easily lead to the risk of the high-speed train wheels slipping off. Utility Model Content

[0008] The problem to be solved In view of at least some of the problems existing in the prior art, this utility model proposes a handling robot for high-speed rail wheels, the purpose of which is to solve the problem of poor clamping stability of existing automatic handling equipment.

[0009] Technical solution To solve the above problems, the technical solution adopted by this utility model is as follows: This utility model discloses a robot for transporting high-speed train wheels, comprising a walking mechanism and a gripping mechanism disposed on the walking mechanism. The gripping mechanism includes a set of gripper assemblies arranged opposite each other and a drive assembly for driving the gripper assemblies to grip or release. The gripper assembly includes a gripping arm and a retainer disposed inside the gripping arm; wherein the retainer grips the workpiece from both sides under the action of the gripping arm. The cage is provided with a bracket located at the bottom of the cage for supporting the workpiece from the bottom. A pressure plate assembly is also provided above the gripper assembly for pressing down on the workpiece from the top.

[0010] In some embodiments, the pressure plate assembly includes a movable arm, one end of which is hinged to a clamping arm and the other end of which is hinged to a pressure block; A groove is provided on the movable arm; The retainer is slidably mounted on the clamping arm via a sliding sleeve on its side. The top of the retainer is provided with a sliding frame, which is slidably engaged with a sliding groove via a pin.

[0011] In some embodiments, a protrusion is provided at the corresponding position of the retainer and the sliding sleeve, and an elastic element is provided between the two protrusions for driving the retainer to reset.

[0012] In some embodiments, the retainer has an opening that forms a semi-enclosed clamping space; and a guide wheel is provided on each side of the opening.

[0013] In some embodiments, the clamping arm is provided with an inwardly extending support block located below the retainer, and the support block is provided with a shock-absorbing block.

[0014] In some embodiments, the drive assembly includes a transmission box and a bidirectional threaded rod rotatably disposed within the transmission box, the bidirectional threaded rod being connected to a motor; The free end of the clamping arm extends into the transmission box and is threadedly connected to the bidirectional threaded rod.

[0015] In some embodiments, the walking mechanism includes a mobile vehicle and a robotic arm mounted on the mobile vehicle; wherein the robotic arm is connected to the gripping mechanism via a transmission box.

[0016] In some embodiments, the mobile vehicle is provided with a support base, and the support base is provided with a limiting groove for the end of the clamping arm to be engaged.

[0017] In some embodiments, cameras are provided at the front of the mobile vehicle and above the gripper assembly.

[0018] In some embodiments, the mobile vehicle is a tracked mobile vehicle; the elastic element is a spring.

[0019] Beneficial effects Compared with the prior art, the beneficial effects of this utility model are as follows: (1) The present invention provides a handling robot for high-speed rail wheels. The gripping mechanism includes a gripper assembly and a pressure plate assembly. During operation, the gripper assembly can support the workpiece from the bottom using its bracket, and the retainer can clamp and limit the workpiece from both sides. At the same time, the pressure plate assembly can press down and limit the workpiece from the top. Thus, the workpiece can be limited in all directions, which can effectively ensure the stability of the workpiece during clamping and transportation. It is particularly suitable for handling some workpieces with a large self-weight.

[0020] (2) The present invention provides a handling robot for high-speed rail wheels. By optimizing the structure of the gripper assembly and the pressure plate assembly, the weight of the workpiece itself can drive the pressure block to move downward and complete the pressing of the workpiece; thus, there is no need to equip the pressure plate assembly with an additional power source, which is conducive to saving production costs. At the same time, through the setting of elastic elements, the gripper assembly and the pressure plate assembly can be automatically reset after the workpiece is transferred and unloaded. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a robot for transporting high-speed train wheels according to the present invention; Figure 2 This is a schematic diagram of the walking mechanism in this utility model; Figure 3 This is a schematic diagram of the gripping mechanism in this utility model; Figure 4 This is a schematic diagram of the layout structure of the gripping mechanism in this utility model; Figure 5 This is a schematic diagram of the cage structure in this utility model.

[0022] In the diagram: 100, walking mechanism; 110. Mobile vehicle; 120. Robotic arm; 130. Support base; 131. Limiting groove; 200. Grabbing mechanism; 210. Gripper assembly; 211. Gripper arm; 2111. Support block; 212. Cage; 213. Bracket; 214. Sliding sleeve; 215. Sliding frame; 216. Protrusion; 217. Elastic element; 218. Guide wheel; 219. Shock absorber; 220. Drive assembly; 221. Transmission box; 222. Bidirectional threaded rod; 223. Motor; 230. Pressure plate assembly; 231. Movable arm; 2311. Slide groove; 232. Pressure block; 300. Camera. Detailed Implementation

[0023] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," 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 do not 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] The present invention will be further described below with reference to specific embodiments.

[0026] like Figure 1As shown in this embodiment, a handling robot for high-speed train wheels is mainly used for handling heavy workpieces such as high-speed train wheels. It includes a traveling mechanism 100 and a gripping mechanism 200 mounted on the traveling mechanism 100. The traveling mechanism 100 drives the gripping mechanism 200 to switch back and forth between a gripping station and a destination station. The gripping mechanism 200 clamps the workpiece at the gripping station and moves it to the destination station under the drive of the traveling mechanism 100; then, it lowers the workpiece, completing the automatic workpiece handling operation.

[0027] Specifically, such as Figure 2 As shown, in one embodiment of the walking mechanism 100, the walking mechanism 100 includes a mobile vehicle 110 and a robotic arm 120 mounted on the mobile vehicle 110. The free end of the robotic arm 120 is connected to the gripping mechanism 200.

[0028] Preferably, the mobile vehicle 110 is a tracked mobile vehicle. Additionally, a camera 300 is installed at the front of the mobile vehicle 110 to automatically identify obstacles ahead, enabling the mobile vehicle 110 to autonomously avoid obstacles.

[0029] It is worth mentioning that the aforementioned robotic arm 120, tracked mobile vehicle, and camera 300 can all adopt existing technologies, which will not be elaborated on here.

[0030] like Figure 3 As shown, as one embodiment of the gripping mechanism 200, the gripping mechanism 200 includes a set of gripper assemblies 210 arranged opposite to each other and a drive assembly 220 for driving the gripper assemblies 210 to grip or release.

[0031] The gripper assembly 210 includes a gripping arm 211 and a retainer 212 disposed inside the gripping arm 211 (i.e., opposite sides of the two gripping arms). The retainer 212 grips the workpiece from both sides under the action of the gripping arm 211.

[0032] Furthermore, a bracket 213 is provided on the retainer 212, which is located at the bottom of the retainer 212 and is used to support the workpiece from the bottom.

[0033] In other embodiments, a pressure plate assembly 230 is provided above the gripper assembly 210 for pressing down from the top of the workpiece.

[0034] This embodiment describes a robot for handling high-speed train wheels. During operation, the two retainers 212 of the gripper assembly 210 clamp and limit the workpiece from both sides; simultaneously, the bracket 213 supports the workpiece from the bottom. Additionally, the pressure plate assembly 230 presses down to limit the workpiece from the top; thus, omnidirectional limiting of the workpiece can be achieved, effectively ensuring the stability of the workpiece during clamping and transfer. This robot is particularly suitable for handling workpieces with significant weight, such as high-speed train wheels.

[0035] like Figure 3 , Figure 4 , Figure 5 As shown, in one embodiment of the gripper assembly 210, the pressure plate assembly 230 includes a movable arm 231, one end of which is hinged to the gripping arm 211, and the other end is hinged to a pressure block 232. A groove 2311 is also provided on the movable arm 231.

[0036] The retainer 212 is slidably mounted on the clamping arm 211 via the sliding sleeve 214 on its side, and the top of the retainer 212 is provided with a sliding frame 215, which is slidably engaged with the sliding groove 2311 via a pin.

[0037] During operation, when the gripper assembly 210 clamps the workpiece and leaves the gripping station, the retainer 212 will bear the weight load of the workpiece through the bracket 213 and move downward along the gripping arm 211. During the downward movement of the retainer 212, the sliding frame 215 will drive the movable arm 231 to flip downward along the hinge point between it and the gripping arm 211, thereby driving the pressure block 232 to press against the upper surface of the workpiece.

[0038] This embodiment discloses a handling robot for high-speed train wheels. By optimizing the structure of the gripper assembly 210 and the pressure plate assembly 230, the weight of the workpiece itself can drive the pressure block 232 to move downward and complete the pressing of the workpiece. Therefore, there is no need to equip the pressure plate assembly 230 with an additional power source, which is conducive to saving production costs.

[0039] In some alternative embodiments, a protrusion 216 is provided at the corresponding position of the retainer 212 and the slide sleeve 214, and an elastic element 217 is provided between the two protrusions 216 for driving the retainer 212 to reset.

[0040] Preferably, the elastic element 217 can be a spring.

[0041] Meanwhile, the clamping arm 211 is provided with a support block 2111 extending inward, the support block 2111 is located below the retainer 212, and the support block 2111 is provided with a shock-absorbing block 219.

[0042] In this embodiment, the shock absorber 219 can support the bottom of the cage 212, which can suppress the up-and-down jumping of the cage 212 during travel, so as to further ensure the stability of the workpiece during the transfer process.

[0043] In some alternative embodiments, the inner side of the retainer 212 has an opening that forms a clamping space for enclosing the workpiece and ensuring clamping stability.

[0044] Furthermore, a guide wheel 218 is provided on each side of the opening of the retainer 212 to facilitate the end of the workpiece being inserted into the semi-enclosed clamping space.

[0045] refer to Figure 4 As shown, in one specific embodiment of the drive assembly 220, the drive assembly 220 includes a transmission box 221 and a bidirectional threaded rod 222 rotatably disposed within the transmission box 221, and the bidirectional threaded rod 222 is connected to a motor 223. The free end of the clamping arm 211 extends into the transmission box 221 and is threadedly engaged with the bidirectional threaded rod 222.

[0046] Of course, a camera 300 can also be installed below the transmission box 221 to accurately identify the position of the workpiece to be clamped, so as to facilitate the gripper assembly 210 to perform the clamping operation on the workpiece.

[0047] In this embodiment, the threaded connection between the bidirectional threaded rod 222 and the clamping arm 211 enables the two clamping arms 211 to move together and apart by rotating the bidirectional threaded rod 222, thereby realizing the clamping and releasing operation of the cage 212 on the workpiece.

[0048] like Figure 2 As shown, in some optional embodiments, the mobile vehicle 110 is provided with a support base 130, and the support base 130 is provided with a limiting groove 131 for the end of the clamping arm 211 to be inserted.

[0049] During operation, after the gripping mechanism 200 clamps the workpiece, the clamping arm 211 can be inserted into the limiting groove 131 on the moving vehicle 110 for stable support; this design can also ensure the stability of the workpiece during the transfer process.

[0050] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A robot for transporting high-speed train wheels, comprising a walking mechanism (100) and a gripping mechanism (200) disposed on the walking mechanism (100), characterized in that: The gripping mechanism (200) includes a set of gripper assemblies (210) arranged opposite to each other and a drive assembly (220) for driving the gripper assemblies (210) to grip or release. The gripper assembly (210) includes a gripping arm (211) and a retainer (212) disposed inside the gripping arm (211); wherein the retainer (212) grips the workpiece from both sides under the action of the gripping arm (211); The retainer (212) is provided with a bracket (213), which is located at the bottom of the retainer (212) and is used to support the workpiece from the bottom. Above the gripper assembly (210) is a pressure plate assembly (230) for pressing down on the top of the workpiece.

2. The robot for handling high-speed train wheels according to claim 1, characterized in that: The pressure plate assembly (230) includes a movable arm (231), one end of which is hinged to a clamping arm (211), and the other end is hinged to a pressure block (232). A groove (2311) is provided on the movable arm (231); The retainer (212) is slidably mounted on the clamping arm (211) via a sliding sleeve (214) on its side. A sliding frame (215) is provided on the top of the retainer (212), and the sliding frame (215) is slidably engaged with the sliding groove (2311) via a pin.

3. The robot for handling high-speed train wheels according to claim 2, characterized in that: Each of the corresponding positions of the retainer (212) and the sliding sleeve (214) is provided with a protrusion (216), and an elastic element (217) is provided between the two protrusions (216) for driving the retainer (212) to reset.

4. A robot for handling high-speed train wheels according to any one of claims 1-3, characterized in that: The retainer (212) has an opening that forms a semi-enclosed clamping space; and a guide wheel (218) is provided on each side of the opening.

5. A robot for handling high-speed train wheels according to claim 4, characterized in that: The clamping arm (211) is provided with an inwardly extending support block (2111), which is located below the retainer (212), and the support block (2111) is provided with a shock-absorbing block (219).

6. A robot for handling high-speed train wheels according to claim 3, characterized in that: The drive assembly (220) includes a transmission box (221) and a bidirectional threaded rod (222) rotatably disposed in the transmission box (221), wherein the bidirectional threaded rod (222) is connected to a motor (223). The free end of the clamping arm (211) extends into the transmission box (221) and is threaded into the bidirectional threaded rod (222).

7. A robot for handling high-speed train wheels according to claim 6, characterized in that: The walking mechanism (100) includes a mobile vehicle (110) and a robotic arm (120) mounted on the mobile vehicle (110); wherein the robotic arm (120) is connected to the gripping mechanism (200) via a transmission box (221).

8. A robot for handling high-speed train wheels according to claim 7, characterized in that: The mobile vehicle (110) is provided with a support base (130), and the support base (130) is provided with a limiting groove (131) for the end of the clamping arm (211) to be inserted.

9. A robot for handling high-speed train wheels according to claim 7, characterized in that: Cameras (300) are provided in front of the mobile vehicle (110) and above the gripper assembly (210).

10. A robot for handling high-speed train wheels according to claim 9, characterized in that: The mobile vehicle (110) is a tracked mobile vehicle; the elastic element (217) is a spring.

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