WO2021093611A1

WO2021093611A1 - Electric locomotive wheel drive unit assembly manipulator

Info

Publication number: WO2021093611A1
Application number: PCT/CN2020/125487
Authority: WO
Inventors: 耿海路; 梁宝山; 刘洋; 黄秀宇; 王海棋
Original assignee: 中车大同电力机车有限公司
Priority date: 2019-11-15
Filing date: 2020-10-30
Publication date: 2021-05-20
Also published as: CN111906805A; CN111906805B

Abstract

Provided is an electric locomotive wheel drive unit assembly manipulator, relating to the technical field of electric locomotives, the electric locomotive wheel drive unit assembly manipulator comprises a main rail, a cross beam, a slide carriage, a transverse traveling mechanism, a lifting mechanism and a picking mechanism, wherein the cross beam is movably arranged on the main rail and comprises a cross beam rail, the extending direction of the main rail is perpendicular to the extending direction of the cross beam rail, the slide carriage is arranged on the cross beam rail, the transverse traveling mechanism is connected to the slide carriage and is movably arranged relative to the cross beam rail so as to drive the slide carriage to move along the cross beam rail, the lifting mechanism is connected to the slide carriage and comprises a ram, the ram is movably arranged relative to the slide carriage in the vertical direction, the picking mechanism is connected to the ram and comprises a clamping claw member used for clamping a workpiece, and the clamping claw member is adjustably arranged relative to the position of the ram.

Description

Electric locomotive wheel drive unit assembly manipulator

cross reference

This disclosure claims the priority of a Chinese patent application filed on November 15, 2019 with the application number 201911116053.9 and titled "Electric Locomotive Wheel Drive Unit Assembly Manipulator", and the entire content of the Chinese patent application is incorporated herein by reference in its entirety.

Technical field

The present disclosure relates to the technical field of electric locomotives, and in particular to an electric locomotive wheel drive unit assembly manipulator.

Background technique

During the entire assembly process of the electric locomotive wheel drive unit, it is necessary to continuously transfer axles, wheels, gears, axle suspension boxes, axle suspension box bearings, etc. In the prior art, manual transportation is required by cranes or forklifts. This operation is not only laborious and time-consuming, but also has potential safety hazards.

Summary of the invention

A main purpose of the present disclosure is to overcome at least one of the above-mentioned drawbacks of the prior art and provide an electric locomotive wheel drive unit assembly manipulator.

The invention provides an electric locomotive wheel drive unit assembly manipulator, including:

Main track

A cross beam, the cross beam is movably arranged on the main rail, the cross beam includes a cross beam rail, and the extension direction of the main rail is perpendicular to the extension direction of the cross beam rail;

Slide, the slide is set on the beam track;

Transverse traveling mechanism, the horizontal traveling mechanism is connected with the slide and is movably arranged relative to the beam track to drive the slide to move along the beam track;

A lifting mechanism, the lifting mechanism is connected with the slide, the lifting mechanism includes a ram, and the ram is movably arranged relative to the slide in a vertical direction;

The picking mechanism is connected with the ram, and the picking mechanism includes a clamping claw member for clamping the workpiece, and the clamping claw member is arranged in an adjustable position relative to the ram.

In an embodiment of the present invention, the cross beam further includes a cross beam rack, the cross beam rack is consistent with the extension direction of the cross beam track, rollers are arranged on the slide plate, the rollers are arranged in pairs, and the pair of two rollers are located on the cross beam track To clamp the rails on both sides of the beam, the horizontal walking mechanism includes:

Traveling motor, traveling reducer and traveling gear, traveling motor is connected with traveling reducer, traveling reducer is drivingly connected with traveling gear, traveling gear is meshed with cross beam rack;

Among them, the traveling speed reducer is connected with the sliding plate, so that when the traveling gear moves along the rack of the cross beam, the sliding plate moves along the rail of the cross beam.

In an embodiment of the present invention, a slide slider is provided on the slide, and the lifting mechanism further includes:

Lifting servo motor, lifting reducer and transmission shaft, the lifting reducer is set on the slide plate;

Gears, racks and lifting rails, the lifting reducer is driven and connected with the gears through the transmission shaft, the gears mesh with the racks, the racks and the lifting rails are all set on the ram, and the lifting rails are movably set on the slide block;

Wherein, the rack and the lifting guide rail all extend in the vertical direction.

In an embodiment of the present invention, the lifting mechanism further includes:

The accumulating steel cylinder and the balance cylinder are connected with the balance cylinder, and the balance cylinder is drivingly connected with the ram to provide an upward balance force to the ram.

In an embodiment of the present invention, the picking mechanism further includes a fixing part, and the clamping jaw member includes:

Claws, the claws are arranged in pairs, and the two claws of the pair are arranged opposite to each other to form a clamping space for clamping the workpiece;

Claw linear guide and claw slider, the claw linear guide is matched with the claw slider, the claw linear guide is set on the fixed part, and the two claws of the pair are provided with claw sliders;

The claw gear and the claw rack, the claw gear meshes with the claw rack, the claw gear is rotatably arranged on the fixed part, the two claws of the pair are provided with claw racks, and the two claws Two jaw racks are located on both sides of the jaw gear.

In an embodiment of the present invention, the fixing part and the clamping jaw member are arranged in pairs, and the clamping jaw member further includes a jaw servo motor, a first jaw reducer and a second jaw reducer, the jaw servo motor and the second jaw reducer The one jaw reducer and the second jaw reducer are both connected, the first jaw reducer and the second jaw reducer are separately connected to the two jaw gears, and the electric locomotive wheel drive unit assembly manipulator also includes a turning mechanism, The turning mechanism includes:

Turn the servo motor and turn the reducer, the turn reducer is set on the ram;

Mounting frame, the mounting frame is rotatably arranged relative to the ram, and two fixing parts are respectively mounted on both ends of the mounting frame;

The driving shaft and the driven shaft, the turning reducer is drivingly connected with the driving shaft, the driving shaft is connected with the mounting frame, and the driven shaft is connected with the mounting frame and is rotatably arranged relative to the ram.

In an embodiment of the present invention, the picking mechanism further includes a mounting frame, and the clamping jaw member includes:

Clamping jaws, the clamping jaws are arranged in pairs, and the pair of two clamping jaws are arranged opposite to each other to form a clamping gap for clamping the workpiece;

The clamping jaw linear guide and the clamping jaw sliding block, the clamping jaw linear guide and the clamping jaw sliding block are matched, the clamping jaw linear guide is arranged on the installation frame, and the pair of two clamping jaws are provided with clamping jaw sliding blocks;

The clamping jaw servo motor, the clamping jaw reducer and the clamping jaw screw rod, the clamping jaw servo motor, the clamping jaw reducer and the clamping jaw screw rod are all arranged in pairs, and are set corresponding to the two clamping jaws one by one, The clamping jaw speed reducer is arranged on the installation frame and is drivingly connected with the clamping jaw screw rod. The clamping jaw screw rod is arranged on the clamping jaw to move the clamping jaw along the clamping jaw linear guide when the clamping jaw screw rod rotates.

In an embodiment of the present invention, the electric locomotive wheel drive unit assembly manipulator further includes a rotating mechanism, and the rotating mechanism includes:

Rotate the servo motor and the rotary reducer, the rotary reducer is set on the ram;

The rotating gear and the rotating support, the rotating reducer is drivingly connected with the rotating gear, the rotating support is connected with the mounting frame, and the rotating support is provided with teeth meshing with the rotating gear.

In an embodiment of the present invention, the carriage, the lateral running mechanism, the lifting mechanism and the picking mechanism are all arranged in pairs.

In an embodiment of the present invention, a traveling wheel and a guide wheel are provided on the crossbeam. The guide wheels are arranged in pairs, and the pair of two guide wheels are respectively located on both sides of the main track, and the traveling wheels are movable along the upper surface of the main track. Ground setting, the electric locomotive wheel drive unit assembly manipulator also includes:

The main running mechanism is arranged on the cross beam and movably arranged along the extension direction of the main rail to drive the cross beam to move along the main rail.

The electric locomotive wheel drive unit assembly manipulator of the present invention can realize the multi-directional movement of the picking mechanism through the main track, the beam, the sliding plate, the lateral traveling mechanism and the lifting mechanism, and not only has high transfer efficiency, but also can meet the transfer of different workpieces.

Description of the drawings

By considering the following detailed description of the preferred embodiments of the present disclosure in conjunction with the accompanying drawings, various objectives, features, and advantages of the present disclosure will become more apparent. The drawings are merely exemplary illustrations of the present disclosure, and are not necessarily drawn to scale. In the drawings, the same reference numerals always refer to the same or similar parts. among them:

Fig. 1 is a schematic structural view from a first view angle of a manipulator for assembling a wheel drive unit of an electric locomotive according to an exemplary embodiment;

Fig. 2 is a schematic structural diagram from a second perspective of an assembly manipulator for an electric locomotive wheel drive unit according to an exemplary embodiment;

Fig. 3 is a schematic structural view of a third angle of view of a manipulator for assembling a wheel drive unit of an electric locomotive according to an exemplary embodiment;

Fig. 4 is a schematic structural diagram from a fourth perspective of an assembling manipulator for an electric locomotive wheel drive unit according to an exemplary embodiment;

Fig. 5 is a schematic structural diagram from a first perspective of a beam of an electric locomotive wheel drive unit assembling manipulator according to an exemplary embodiment;

Fig. 6 is a schematic structural view from a second perspective of a beam of an electric locomotive wheel drive unit assembling manipulator according to an exemplary embodiment;

Fig. 7 is a schematic structural view from a first view angle of the sliding plate and the lateral running mechanism of an electric locomotive wheel drive unit assembling manipulator according to an exemplary embodiment;

Fig. 8 is a schematic structural view from a second view angle of the sliding plate and the lateral running mechanism of an assembly manipulator of an electric locomotive wheel drive unit according to an exemplary embodiment;

Fig. 9 is a schematic structural view from a third perspective of the sliding plate and the lateral running mechanism of an electric locomotive wheel drive unit assembling manipulator according to an exemplary embodiment;

Fig. 10 is a schematic structural view from a first perspective of a lifting mechanism of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 11 is a schematic structural view from a second perspective of a lifting mechanism of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 12 is a schematic structural diagram of a picking mechanism and a turning mechanism of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 13 is a schematic structural view from a first view angle of a picking mechanism of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 14 is a schematic structural diagram from a second perspective of a picking mechanism of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 15 is a schematic structural view from a first view angle of the sliding plate and the lateral running mechanism of an electric locomotive wheel drive unit assembling manipulator according to another exemplary embodiment;

Fig. 16 is a schematic structural view from a second perspective of the sliding plate and the lateral running mechanism of an electric locomotive wheel drive unit assembling manipulator according to another exemplary embodiment;

Fig. 17 is a schematic structural view from a first perspective of a lifting mechanism of an electric locomotive wheel drive unit assembly manipulator according to another exemplary embodiment;

Fig. 18 is a schematic structural diagram from a second perspective of a lifting mechanism for an electric locomotive wheel drive unit assembling manipulator according to another exemplary embodiment;

Fig. 19 is a schematic structural view from a first view angle of a picking mechanism and a rotating mechanism of an electric locomotive wheel drive unit assembly manipulator according to another exemplary embodiment;

20 is a schematic structural diagram from a second view angle of the picking mechanism and the rotating mechanism of an electric locomotive wheel drive unit assembly manipulator according to another exemplary embodiment;

Fig. 21 is a schematic structural diagram from a first view angle of a picking mechanism of an electric locomotive wheel drive unit assembly manipulator according to another exemplary embodiment;

Fig. 22 is a schematic structural view from a second perspective of a picking mechanism of an electric locomotive wheel drive unit assembly manipulator according to another exemplary embodiment;

Fig. 23 is a schematic diagram showing a first application structure of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 24 is a schematic diagram showing a second application structure of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 25 is a schematic diagram showing a third application structure of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment;

Fig. 26 is a schematic diagram showing a fourth application structure of an electric locomotive wheel drive unit assembly manipulator according to an exemplary embodiment.

The reference signs are explained as follows:

3. Wheel; 4. Axle; 7. Gear; 8. Axle box; 9. Axle box bearing; 500, main track; 510, beam; 511, beam track; 512, beam rack; 513, walking wheel; 514, guide wheel; 520, slide; 521, roller; 522, slide slider; 530, transverse travel mechanism; 531, travel motor; 532, travel reducer; 533, travel gear; 540, lifting mechanism; 541, Ram; 542, lifting servo motor; 543, lifting reducer; 544, gear; 545, rack; 546, lifting rail; 547, pressure accumulating cylinder; 548, balance cylinder; 549, drive shaft; 550, picking mechanism; 551. Fixed part; 552. Claw; 553, Claw linear guide; 554, Claw slider; 555, Claw gear; 556, Claw rack; 557, Claw servo motor; 558, First claw Reducer; 559, second jaw reducer; 560, turning mechanism; 561, turning servo motor; 562, turning reducer; 563, mounting frame; 564, driving shaft; 565, driven shaft; 571, mounting frame; 572, gripper; 573, gripper linear guide; 574, gripper slider; 575, gripper servo motor; 576, gripper reducer; 577, gripper screw, 580, rotating mechanism, 581, rotary servo motor 582, rotary reducer; 583, rotating gear; 584, slewing support; 590, main walking mechanism.

Detailed ways

Typical embodiments embodying the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various changes in different embodiments, which do not depart from the scope of the present disclosure, and the description and drawings therein are essentially for illustrative purposes, rather than limiting the present disclosure. public.

In the following description of different exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part of the present disclosure, and therein are shown by way of example different exemplary structures, systems, and steps that can implement various aspects of the present disclosure. . It should be understood that other specific solutions of components, structures, exemplary devices, systems, and steps can be used, and structural and functional modifications can be made without departing from the scope of the present disclosure. Moreover, although the terms "above", "between", "within", etc. may be used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein for convenience only, for example, according to The directions of the examples in the drawings. Nothing in this specification should be understood as requiring a specific three-dimensional direction of the structure to fall within the scope of the present disclosure.

An embodiment of the present invention provides an electric locomotive wheel drive unit assembly manipulator. Please refer to Figures 1 to 26. The electric locomotive wheel drive unit assembly manipulator includes: a main rail 500; a beam 510, which is movably arranged on the main rail. On the rail 500, the cross beam 510 includes a cross beam rail 511, and the extension direction of the main rail 500 is perpendicular to the extension direction of the cross beam rail 511; a slide 520 and a slide 520 are arranged on the cross beam rail 511; The slide 520 is connected and is movably arranged relative to the beam rail 511 to drive the slide 520 to move along the beam rail 511; a lifting mechanism 540, the lifting mechanism 540 is connected to the slide 520, and the lifting mechanism 540 includes a ram 541, The ram 541 is movably arranged relative to the slide 520 in the vertical direction; the picking mechanism 550 is connected to the ram 541, and the picking mechanism 550 includes a clamping claw member for clamping the workpiece, and the clamping claw member is opposite to The position of the ram 541 is adjustable.

The wheel drive unit assembly manipulator of an electric locomotive according to an embodiment of the present invention can realize the multi-directional movement of the picking mechanism 550 through the main rail 500, the beam 510, the sliding plate 520, the lateral traveling mechanism 530 and the lifting mechanism 540, which not only has high transport efficiency, but also Can meet the transfer of different workpieces. Wherein, the cross beam 510 is movably arranged on the main rail 500, the slide 520 moves along the cross beam rail 511 under the action of the transverse walking mechanism 530, and the ram 541 of the lifting mechanism 540 is movably arranged relative to the slide 520 in the vertical direction. The position of the jaw member for clamping the workpiece relative to the ram 541 is adjustable.

In one embodiment, the picking mechanism 550 can be used to claw the wheel 3, the axle 4, the gear box, the motor, the gear 7, the axle box 8, the axle box bearing 9, and the like.

As shown in Figures 6 to 8 and Figures 15 and 16, the cross beam 510 also includes a cross beam rack 512, the cross beam rack 512 is consistent with the extension direction of the cross beam rail 511, the slide plate 520 is provided with a roller 521, the roller 521 is formed into The two rollers 521 are arranged in pairs, and the pair of rollers 521 are located on both sides of the beam rail 511 to clamp the beam rail 511. The horizontal traveling mechanism 530 includes: a traveling motor 531, a traveling reducer 532, and a traveling gear 533. The traveling motor 531 and the traveling The reducer 532 is connected, the travel reducer 532 is drivingly connected with the travel gear 533, and the travel gear 533 meshes with the beam rack 512; wherein, the travel reducer 532 is connected with the carriage 520 so that the travel gear 533 runs along the beam rack When 512 moves, the slide 520 moves along the beam track 511. The two rollers 521 clamp the beam track 511, which can realize the guiding function and also play the role of walking. The walking motor 531 drives the walking gear 533 to rotate through the walking reducer 532. Since the beam rack 512 is a relatively fixed part, the walking gear 533 is While rotating, it moves along the beam rack 512, thereby driving the slide 520 to move along the beam rail 511 to complete one horizontal movement, and the movement of the beam 510 along the main rail 500 is another horizontal movement, both The direction is vertical.

As shown in Figures 9 to 11 and Figures 17 and 18, the slide 520 is provided with a slide slider 522, and the lifting mechanism 540 also includes: a lifting servo motor 542, a lifting reducer 543 and a transmission shaft 549, and a lifting reducer 543 is arranged on the slide 520; the gear 544, the rack 545 and the lifting guide 546, the lifting reducer 543 is drivingly connected to the gear 544 through the transmission shaft 549, the gear 544 is meshed with the rack 545, the rack 545 and the lifting guide 546 are both It is provided on the ram 541, and the lifting rail 546 is movably provided on the slide slider 522; wherein, the rack 545 and the lifting rail 546 both extend in the vertical direction. The lifting servo motor 542 drives the gear 544 on the transmission shaft 549 to rotate through the lifting reducer 543. Since the gear 544 can only complete rotation, when it is meshed with the rack 545, the gear 544 rotates, thereby driving the rack 545 to drive the ram 541 moves in the vertical direction along the carriage slider 522.

In one embodiment, the lifting mechanism 540 further includes: a pressure accumulating cylinder 547 and a balancing cylinder 548. The accumulating cylinder 547 is connected to the balancing cylinder 548, and the balancing cylinder 548 is drivingly connected to the ram 541 to provide upward pressure to the ram 541. Balance force. The arrangement of the accumulating steel cylinder 547 and the balance cylinder 548 can give an upward driving force to the moving parts following the ram 541, thereby reducing the load of the lifting servo motor 542 and making the lifting more stable.

As shown in Figures 14 and 15, the picking mechanism 550 further includes a fixing portion 551, and the clamping claw member includes: claws 552, the claws 552 are arranged in pairs, and the pair of two claws 552 are arranged opposite to each other to form a clamp for clamping The clamping space for holding the workpiece; the claw linear guide 553 and the claw slider 554, the claw linear guide 553 and the claw slider 554 cooperate, the claw linear guide 553 is arranged on the fixed part 551, two pairs of The pawls 552 are provided with a pawl slider 554; a pawl gear 555 and a pawl rack 556, the pawl gear 555 meshes with the pawl rack 556, and the pawl gear 555 is rotatably arranged on the fixed part 551 , The pair of two jaws 552 are provided with jaw racks 556, and the two jaw racks 556 are located on both sides of the jaw gear 555.

As shown in Figures 12 and 13, the fixing portion 551 and the clamping jaw member are both arranged in pairs. The clamping jaw member further includes a jaw servo motor 557, a first jaw reducer 558 and a second jaw reducer 559. The jaws The servo motor 557 is connected to both the first jaw reducer 558 and the second jaw reducer 559. The first jaw reducer 558 and the second jaw reducer 559 are separated and connected to the two jaw gears 555 for driving. The electric motor The wheel drive unit assembly manipulator also includes a turning mechanism 560. The turning mechanism 560 includes: a turning servo motor 561 and a turning reducer 562. The turning reducer 562 is arranged on the ram 541; Rotatingly arranged, the two ends of the mounting frame 563 are respectively mounted with two fixed parts 551; the driving shaft 564 and the driven shaft 565, the turning reducer 562 is drivingly connected with the driving shaft 564, and the driving shaft 564 is connected with the mounting frame 563. The moving shaft 565 is connected to the mounting frame 563 and is rotatably arranged relative to the ram 541.

In one embodiment, the picking mechanism 550 is used to grab the axle 4, so two clamping jaws are required to clamp both ends of the axle 4 at the same time. Therefore, it is necessary to ensure the synchronous operation of the two clamping jaws. Therefore, a clamping servo motor 557 is provided. At the same time, the first jaw reducer 558 and the second jaw reducer 559 are driven to operate, and the opening and closing of the two jaws 552 is realized through the interaction of the jaw gear 555 and the jaw rack 556. The setting of the turning mechanism 560 can drive the four-row turning of the axle, and it mainly uses the turning servo motor 561 to drive the active shaft 564 through the turning speed reducer 562 to drive the mounting frame 563 to rotate relative to the ram 541.

As shown in Figures 21 and 22, the picking mechanism 550 further includes a mounting frame 571, the clamping jaws include: clamping jaws 572, the clamping jaws 572 are arranged in pairs, and the pair of two clamping jaws 572 are arranged opposite to each other to form a clamping The clamping gap of the workpiece; the clamping jaw linear guide 573 and the clamping jaw sliding block 574, the clamping jaw linear guide 573 and the clamping jaw sliding block 574 cooperate, the clamping jaw linear guide 573 is arranged on the mounting frame 571, two pairs The clamping jaws 572 are provided with a clamping jaw slider 574; the clamping jaw servo motor 575, the clamping jaw reducer 576 and the clamping jaw screw 577, the clamping jaw servo motor 575, the clamping jaw reducer 576 and the clamping jaw screw 577 are all formed The two clamping jaws 572 are arranged in pairs and corresponding to the two clamping jaws 572 one by one. The clamping jaw speed reducer 576 is arranged on the mounting frame 571 and is drivingly connected with the clamping jaw screw 577. The clamping jaw screw 577 penetrates On the clamping jaw 572, when the clamping jaw screw 577 rotates, the clamping jaw 572 is moved along the clamping jaw linear guide 573.

As shown in Figures 19 and 20, the electric locomotive wheel drive unit assembly manipulator also includes a rotating mechanism 580, which includes: a rotating servo motor 581 and a rotating reducer 582. The rotating reducer 582 is arranged on the ram 541; the rotating gear 583 and the slewing support 584, the rotating reducer 582 is drivingly connected with the rotating gear 583, the slewing support 584 is connected with the mounting frame 571, and the slewing support 584 is provided with a tooth part that meshes with the rotating gear 583.

In one embodiment, the picking mechanism 550 can be used to grab the wheel 3, the gear box, the motor, the gear 7, the axle holding box 8, the axle holding box bearing 9, etc., and the clamping gap is formed by two oppositely arranged clamping jaws 572 Under the driving action of the clamping jaw servo motor 575, the clamping jaw reducer 576 and the clamping jaw screw 577, the two clamping jaws 572 are opened and closed, and the two clamping jaws 572 are respectively equipped with independent driving mechanisms. The setting of the rotating mechanism 580 can realize the rotation of the clamping jaw 572, which mainly relies on the rotating servo motor 581, the rotating reducer 582 and the rotating gear 583 to achieve driving.

In one embodiment, the sliding plate 520, the lateral traveling mechanism 530, the lifting mechanism 540, and the picking mechanism 550 are all arranged in pairs. Among them, the slide 520, the lateral traveling mechanism 530, the lifting mechanism 540, and the picking mechanism 550 can be optionally equipped to meet different grasping requirements. As shown in Figs. 23 to 26, the picking mechanism 550 is used to grab the gear 7, the wheel 3, the axle holding box 8, and the axle holding box bearing 9, respectively.

As shown in Figures 4 and 5, the beam 510 is provided with traveling wheels 513 and guide wheels 514. The guide wheels 514 are arranged in pairs. The two guide wheels 514 are located on both sides of the main rail 500, respectively. The upper surface of the main rail 500 is movably arranged, and the electric locomotive wheel drive unit assembly manipulator further includes: a main running mechanism 590. The main running mechanism 590 is arranged on the cross beam 510 and is movably arranged along the extension direction of the main rail 500 to The driving beam 510 moves along the main rail 500. The main traveling mechanism 590 may be a rack and pinion drive mechanism, or a screw and nut drive mechanism, and the specific driving distance is similar to the above-mentioned driving principle.

The wheel drive unit assembly manipulator of the electric locomotive of the present invention can automatically complete the picking, handling and overturning of axles, gears, wheels, axle box and axle box bearings during the assembly process of the wheel drive unit. The action of the assembly manipulator of the electric locomotive wheel drive unit can be controlled by PLC, which is accurate and correct in one go. It realizes the complete automation of this work, which not only saves time and effort, greatly improves the efficiency, but also is safer and more reliable.

Those skilled in the art will easily think of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptive changes of the present invention. These variations, uses, or adaptive changes follow the general principles of the present invention and include common knowledge or conventional technical means in the technical field not disclosed by the present invention. . The specification and example embodiments are to be regarded as exemplary only, and the true scope and spirit of the present invention are pointed out by the following claims.

It should be understood that the present invention is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

An electric locomotive wheel drive unit assembly manipulator, which is characterized in that it comprises:

Main track (500);

A cross beam (510), the cross beam (510) is movably disposed on the main rail (500), the cross beam (510) includes a cross beam rail (511), and the extension direction of the main rail (500) is perpendicular to The extending direction of the beam rail (511);

A sliding plate (520), the sliding plate (520) is arranged on the beam track (511);

A transverse running mechanism (530), the transverse running mechanism (530) is connected to the slide plate (520), and is movably arranged relative to the beam rail (511) to drive the slide plate (520) Move along the beam track (511);

A lifting mechanism (540), the lifting mechanism (540) is connected to the sliding plate (520), the lifting mechanism (540) includes a ram (541), and the ram (541) is opposed to each other in a vertical direction Movably arranged on the sliding plate (520);

A picking mechanism (550), the picking mechanism (550) is connected to the ram (541), the picking mechanism (550) includes a clamping claw member for clamping a workpiece, the clamping claw member is relative to the The position of the ram (541) is adjustable.
The electric locomotive wheel drive unit assembly manipulator according to claim 1, wherein the beam (510) further comprises a beam rack (512), the beam rack (512) and the beam rail (511) The extending direction of the sliding plate (520) is the same, the rollers (521) are arranged on the sliding plate (520), and the rollers (521) are arranged in pairs, and the two rollers (521) of the pair are located on the beam track (511). ) To clamp the crossbeam rail (511), and the lateral walking mechanism (530) includes:

A walking motor (531), a walking reducer (532) and a walking gear (533), the walking motor (531) is connected to the walking reducer (532), and the walking reducer (532) is connected to the walking gear (533). A gear (533) is drivingly connected, and the traveling gear (533) is meshed with the beam rack (512);

Wherein, the walking speed reducer (532) is connected with the slide plate (520), so that when the walking gear (533) moves along the beam rack (512), the slide plate (520) moves along The beam rail (511) moves.
The wheel drive unit assembly manipulator for electric locomotives according to claim 1, characterized in that the sliding plate (520) is provided with a sliding plate sliding block (522), and the lifting mechanism (540) further comprises:

A lifting servo motor (542), a lifting reducer (543) and a transmission shaft (549), the lifting reducer (543) is arranged on the sliding plate (520);

The gear (544), the rack (545) and the lifting rail (546), the lifting reducer (543) is drivingly connected to the gear (544) through the transmission shaft (549), and the gear (544) is connected to The rack (545) meshes, the rack (545) and the lifting rail (546) are both arranged on the ram (541), and the lifting rail (546) is movably arranged on the On the slide block (522);

Wherein, the rack (545) and the lifting rail (546) both extend in a vertical direction.
The electric locomotive wheel drive unit assembly manipulator according to claim 3, wherein the lifting mechanism (540) further comprises:

A pressure accumulating cylinder (547) and a balance cylinder (548), the accumulating cylinder (547) is connected to the balance cylinder (548), and the balance cylinder (548) is drivingly connected to the ram (541), To provide upward balancing force to the ram (541).
The electric locomotive wheel drive unit assembly manipulator according to claim 1, wherein the picking mechanism (550) further comprises a fixing part (551), and the clamping jaw member comprises:

Claws (552), the claws (552) are arranged in pairs, and the two claws (552) of the pair are arranged opposite to each other to form a clamping space for clamping the workpiece;

The claw linear guide (553) and the claw slider (554), the claw linear guide (553) is matched with the claw slider (554), and the claw linear guide (553) is arranged at the On the fixed portion (551), the two claws (552) of the pair are provided with the claw sliders (554);

The claw gear (555) and the claw rack (556), the claw gear (555) meshes with the claw rack (556), and the claw gear (555) is rotatably arranged at the On the fixing portion (551), the pair of two jaws (552) are provided with the jaw racks (556), and the two jaw racks (556) are located in the card Both sides of the claw gear (555).
The electric locomotive wheel drive unit assembly manipulator according to claim 5, wherein the fixing portion (551) and the clamping jaw member are both arranged in pairs, and the clamping jaw member further includes a clamping jaw servo motor (557). ), a first jaw reducer (558) and a second jaw reducer (559), the jaw servo motor (557) and the first jaw reducer (558) and the second jaw reducer The reducers (559) are all connected, the first jaw reducer (558) and the second jaw reducer (559) are separated from the two jaw gears (555) in driving connection, and the electric motor The wheel drive unit assembly manipulator further includes a turning mechanism (560), and the turning mechanism (560) includes:

Turning servo motor (561) and turning reducer (562), said turning reducer (562) is arranged on said ram (541);

A mounting frame (563), the mounting frame (563) is rotatably arranged relative to the ram (541), and two fixing parts (551) are respectively mounted on both ends of the mounting frame (563);

A driving shaft (564) and a driven shaft (565), the turning reducer (562) is drivingly connected with the driving shaft (564), and the driving shaft (564) is connected with the mounting frame (563), The driven shaft (565) is connected to the mounting frame (563) and is rotatably arranged relative to the ram (541).
The electric locomotive wheel drive unit assembly manipulator according to claim 1, wherein the picking mechanism (550) further comprises a mounting frame (571), and the gripping claw member comprises:

Clamping jaws (572), the clamping jaws (572) are arranged in pairs, and the pair of two clamping jaws (572) are arranged opposite to each other to form a clamping gap for clamping the workpiece;

The clamping jaw linear guide (573) and the clamping jaw sliding block (574), the clamping jaw linear guide (573) is matched with the clamping jaw sliding block (574), and the clamping jaw linear guide (573) is arranged at the On the mounting frame (571), the pair of two clamping jaws (572) are provided with the clamping jaw slider (574);

Gripper servo motor (575), gripper reducer (576), and gripper screw (577), the gripper servo motor (575), the gripper reducer (576), and the gripper screw (577) are arranged in pairs, and are arranged one by one corresponding to the pair of two clamping jaws (572), the clamping jaw reducer (576) is arranged on the mounting frame (571), and Drivingly connected with the clamping jaw screw (577), the clamping jaw screw (577) is threaded on the clamping jaw (572), so that when the clamping jaw screw (577) rotates, the The clamping jaw (572) moves along the clamping jaw linear guide (573).
The electric locomotive wheel drive unit assembly manipulator according to claim 7, wherein the electric locomotive wheel drive unit assembly manipulator further comprises a rotating mechanism (580), and the rotating mechanism (580) comprises:

Rotating a servo motor (581) and a rotating reducer (582), the rotating reducer (582) is arranged on the ram (541);

The rotating gear (583) and the rotating support (584), the rotating reducer (582) is drivingly connected with the rotating gear (583), the rotating support (584) is connected with the mounting frame (571), so The slewing support (584) is provided with a tooth part meshing with the rotating gear (583).
The electric locomotive wheel drive unit assembly manipulator according to any one of claims 1 to 8, wherein the sliding plate (520), the lateral running mechanism (530), the lifting mechanism (540), and The pickup mechanisms (550) are all arranged in pairs.
The electric locomotive wheel drive unit assembly manipulator according to claim 1, wherein the beam (510) is provided with walking wheels (513) and guide wheels (514), and the guide wheels (514) are arranged in pairs , The two guide wheels (514) in a pair are respectively located on both sides of the main rail (500), and the walking wheels (513) are movably arranged along the upper surface of the main rail (500), so Said electric locomotive wheel drive unit assembly manipulator also includes:

The main running mechanism (590), the main running mechanism (590) is arranged on the cross beam (510) and is movably arranged along the extension direction of the main rail (500) to drive the cross beam (510) Move along the main track (500).