Wheel hub carrying manipulator

The present disclosure provides a wheel hub carrying manipulator which comprises a stand column, a forearm driving device and a claw hand device, wherein the stand column is fixed in the vertical direction, the claw hand device can drive a claw hand assembly to clamp and release a wheel hub through a connecting rod, by the manipulator, assembly line operation can be realized, the production efficiency can be greatly improved, the structure is simple, and the maintenance cost is low.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority to Chinese Patent Application No. 201910353227.7, entitled “Wheel Hub Carrying Manipulator”, filed on Apr. 29, 2019, the entire content of which is hereby incorporated by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of mechanical carrying, and in particular relates to a wheel hub carrying manipulator.

BACKGROUND

With continuous development of the society, requirements on the efficiency of automobile production are higher, thus, how to improve the production efficiency of automobile parts is the goal that all automobile production companies want to solve and improve continuously. An automobile wheel hub is an important constituent part of automobile parts, along with growth of the automobile part industry, the wheel hub industry is gradually growing. Wheel hubs are divided into iron wheel hubs and steel wheel hubs according to materials, and the iron hubs and the steel hubs are more used in trucks and buses. Aluminum wheel hubs are commonly used in cars. Surface treatment of the wheel hubs comprises coating, electroplating and polishing. Automation of machining of wheel hubs and integration of machining and detection at the later stage are the main development trends of machining of wheel hubs at present. At present, the wheel hubs are developing in the directions of heavy load, high speed, high precision, high efficiency and the like, and are required to be small in size, light in weight, long in service life, safe and reliable.

For automatic production, it is necessary to realize mechanical automation for machining and production in the early stage and treatment work in the later stage of the wheel hubs, in order to realize assembly line operation, it is necessary to consider arrangement of an automatic carrying device which can greatly improve the production efficiency. At present, a carrying manipulator is adopted to realize automatic carrying, the structure and the control system are complex, and the maintenance cost is high.

SUMMARY

In view of this, the present disclosure aims to provide a wheel hub carrying manipulator which can realize assembly line operation and greatly improve the production efficiency, and is simple in structure and system and low in maintenance cost.

In order to achieve the above object, the technical solution of the present disclosure is realized as follows:

A wheel hub carrying manipulator comprises a stand column which is fixed in the vertical direction and a forearm driving device, and the forearm driving device is respectively hinged to an upper cantilever and a lower cantilever which are hinged to the stand column from top to bottom in the vertical direction; and a cantilever driving device capable of driving the upper cantilever and/or the lower cantilever to rotate around the stand column in the up-down direction; a forearm lever, one end of the forearm lever is connected with a forearm rotating mechanism, the other end of the forearm lever is connected with a claw hand driving device, and the forearm lever can stretch, retract and rotate under the driving effect of the forearm rotating mechanism; and a claw hand device, the claw hand device comprises a claw hand fixing component and a claw hand assembly, the claw hand fixing component is fixedly connected to the forearm lever, and the claw hand assembly is hinged to the claw hand fixing component. The upper portion of the claw hand assembly is hinged to one end of a connecting rod, the other end of the connecting rod is hinged to the claw hand driving device, and the claw hand driving device can drive the claw hand assembly to clamp and release a wheel hub through the connecting rod.

In an embodiment, the claw hand assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod, the first connecting rod is successively hinged to the connecting rod, the claw hand fixing component, the third connecting rod and the fourth connecting rod from top to bottom,

the second connecting rod is positioned on the inner side of the first connecting rod, the upper portion and the lower portion of the second connecting rod are successively hinged to the fixing component and the third connecting rod, and the fifth connecting rod is positioned on the inner side of the second connecting rod, and is successively hinged to the third connecting rod and the fourth connecting rod from top to bottom.

In an embodiment, a chuck is hinged to the top of the fifth connecting rod.

In an embodiment, the forearm driving device comprises a forearm driving motor and a hydraulic cylinder II, the forearm rotating motor is hinged to the upper cantilever and the lower cantilever, a rotating shaft of the forearm rotating motor is fixedly connected with the hydraulic cylinder II, a piston rod of the hydraulic cylinder II is fixedly connected with the forearm lever, the forearm driving motor can drive the hydraulic cylinder II to drive the forearm lever to rotate, and the hydraulic cylinder II can drive the forearm lever to stretch and retract.

In an embodiment, the cantilever driving device is a hydraulic cylinder I, one end of a piston rod of the hydraulic cylinder I is hinged to the lower cantilever, and the other end of the hydraulic cylinder I is fixedly connected to the stand column.

In an embodiment, the claw hand driving device is a hydraulic cylinder III, one end of a piston rod of the hydraulic cylinder III is hinged to the connecting rod, and the other end of the hydraulic cylinder III is fixedly connected to the forearm lever.

In an embodiment, a control box body is fixed on the stand column, and the control box body can control the hydraulic cylinder I, the hydraulic cylinder II, the hydraulic cylinder III and the forearm rotating motor.

In an embodiment, a counterweight wheel is fixed at the end, which is away from the forearm driving device, of the lower cantilever.

In an embodiment, the claw hand fixing component comprises a claw hand fixed plate fixedly connected with the hydraulic cylinder III and claw hand moving plates which are perpendicular to the claw hand fixed plate and are downward, the claw hand moving plates are L-shaped, and are symmetrically fixed at two ends of the claw hand fixed plate, and the claw hand assembly is hinged to the claw hand moving plates.

Compared with the prior art, the wheel hub carrying manipulator in the present disclosure has the following advantages:

(1) The structure is simple, parts are fewer, and maintenance is convenient.

(2) Disassembling and assembling are convenient, and changing of a working position, movement and transportation and fixation of the wheel hub carrying manipulator on the ground are convenient.

(3) A wheel hub is clamped to ascend and descend and is released by the aid of hydraulic pressure, and control is convenient.

(4) A rotating process of a clamping device portion from an angle of 0 degree to an angle of 180 degrees is realized by the aid of power of a motor, and the process is stable.

(5) When the clamping device for clamping the wheel hub is positioned at an angle of 0 degree or an angle of 180 degrees, the wheel hub is completely in a horizontal state.

(6) The occupation area is small, and the wheel hub carrying manipulator is reliable to use.

DETAILED DESCRIPTION

It should be noted that embodiments of the present disclosure and features of the embodiments may be combined with one another without conflict.

The technical solution of the present disclosure will be described clearly and completely hereinafter with reference to the accompanying drawings in combination with embodiments, and obviously, the embodiments described are only a part of embodiments of the present disclosure, and are not all of embodiments thereof. Based on the embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without involving any inventive effort are within the scope of protection of the present disclosure.

A wheel hub carrying manipulator according to embodiments of the present disclosure will be described hereinafter with reference toFIG. 1toFIG. 2in conjunction with embodiments.

The wheel hub carrying manipulator as shown inFIG. 1toFIG. 2includes a stand column3fixed in the vertical direction and a forearm driving device, the stand column3is fixed on a bottom plate1through rib plates2, and the forearm driving device is respectively hinged to an upper cantilever13and a lower cantilever11which are hinged to the stand column3from top to bottom in the vertical direction; and the upper cantilever13and the lower cantilever11are fixed on the stand column3and the forearm driving device in the vertical direction.

The wheel hub carrying manipulator includes a cantilever driving device capable of driving the upper cantilever13and/or the lower cantilever11to rotate around the stand column3in the up-down direction; and the upper cantilever13, the lower cantilever11, the stand column3and the forearm driving device form a four-rod linkage device, the cantilever driving device can drive the forearm driving device to stably move in the up-down direction by driving the upper cantilever13and/or the lower cantilever11to rotate around the stand column3in the up-down direction.

The wheel hub carrying manipulator further includes a forearm lever18, one end of the forearm lever18is connected with the forearm rotating mechanism14, the other end of the forearm lever18is connected with a claw hand driving device20, and the forearm lever18can stretch, retract and rotate under the driving effect of the forearm rotating mechanism14; and a claw hand device, the claw hand device includes a claw hand fixing component and a claw hand assembly, the claw hand fixing component is fixedly connected to the forearm lever18, and the claw hand assembly is hinged to the claw hand fixing component. The upper portion of the claw hand assembly is hinged to one end of a connecting rod24, the other end of the connecting rod24is hinged to the claw hand driving device, and the claw hand driving device can drive the claw hand assembly to clamp and release a wheel hub through the connecting rod24.

In some embodiment, the claw hand assembly includes a first connecting rod25, a second connecting rod26, a third connecting rod29, a fourth connecting rod30and a fifth connecting rod28. The first connecting rod25is successively hinged to the connecting rod24, the claw hand fixing component, the third connecting rod29and the fourth connecting rod30from top to bottom; and the second connecting rod26is positioned on the inner side of the first connecting rod25, the upper portion and the lower portion of the second connecting rod26are successively hinged to the fixing component and the third connecting rod29, and the fifth connecting rod28is positioned on the inner side of the second connecting rod26, and is successively hinged to the third connecting rod29and the fourth connecting rod30from top to bottom.

The first connecting rod25, the second connecting rod26, the third connecting rod29and the claw hand fixing component form a first four-rod linkage mechanism, the first connecting rod25, the third connecting rod29, the fourth connecting rod30and the fifth connecting rod28form a second four-rod linkage mechanism, the claw hand driving device drives the first connecting rod25to rotate around the claw hand fixing component through the connecting rod24so as to drive the second four-rod linkage mechanism to move horizontally and stably, and stable clamping and releasing of a wheel hub are realized.

In some embodiments, the top of the fifth connecting rod28is hinged to a chuck27, and the chuck is generally made from a rubber material, has a certain anti-slipping property and prevents the wheel hub from being scratched.

In some embodiments, the forearm driving device includes a forearm driving motor14and a hydraulic cylinder II16, the forearm rotating motor14is hinged to the upper cantilever13and the lower cantilever11, a rotating shaft of the forearm rotating motor14is fixedly connected with the hydraulic cylinder II16, a piston rod of the hydraulic cylinder II16is fixedly connected with the forearm lever18, the forearm rotating motor14can drive the hydraulic cylinder II16to drive the forearm lever18to rotate, and the hydraulic cylinder II16can drive the forearm lever18to stretch and retract.

In some embodiment, the cantilever driving device is a hydraulic cylinder I6, one end of a piston rod of the hydraulic cylinder I6is hinged to the lower cantilever11, and the other end of the hydraulic cylinder I6is fixedly connected to the stand column3.

In some embodiment, the claw hand driving device is a hydraulic cylinder III19, one end of a piston rod of the hydraulic cylinder III19is hinged to a connecting rod24, and the other end of the hydraulic cylinder III19is fixedly connected to the forearm lever18.

Ascending and descending actions of a carrying device are realized by controlling the hydraulic cylinder I6, so that a certain vertical distance is maintained between the manipulator and the wheel hub on a cableway, then stretching and retracting of the forearm lever18are controlled through the hydraulic cylinder II16, the manipulator translates to enter the cavity of the wheel hub on the cableway, the hydraulic cylinder III19is driven to enable a clamping device of the manipulator to support the inner wall of the wheel hub so as to implement clamping and fixing actions, then the hydraulic cylinder I6is controlled to ascend a manipulator arm to a certain height, the forearm rotating motor14drives the manipulator which clamps the wheel hub to rotate at a certain angle, the wheel hub is carried to another position to implement a wheel hub carrying action, finally, the clamping action of the manipulator is released, the manipulator is withdrawn, and the whole mechanism returns to the initial position.

In some embodiment, a control box body5is fixed on the stand column3, and the control box body5can control the hydraulic cylinder I6, the hydraulic cylinder II16, the hydraulic cylinder III19and the forearm rotating motor14.

In some embodiment, a counterweight wheel9is fixed at the end, which is away from the forearm rotating device, of the lower cantilever11.

In some embodiment, the claw hand fixing component includes a claw hand fixed plate22fixedly connected with the hydraulic cylinder III19and claw hand moving plates23which are perpendicular to the claw hand fixed plate22and are downward, the claw hand moving plates23are L-shaped and are symmetrically fixed at two ends of the claw hand fixed plate22, and the claw hand assembly is hinged to the claw hand moving plates23.

Compared with the prior art, the wheel hub carrying manipulator in the present disclosure has the following advantages:

(1) The structure is simple, parts are fewer, and maintenance is convenient.

(2) Disassembling and assembling are convenient, and changing of a working position, movement and transportation and fixation of the wheel hub carrying manipulator on the ground are convenient.

(3) A wheel hub is clamped to ascend and descend and is released by the aid of hydraulic pressure, and control is convenient.

(4) A rotating process of a clamping device portion from an angle of 0 degree to an angle of 180 degrees is realized by the aid of power of a motor, and the process is stable.

(5) When the clamping device for clamping the wheel hub is positioned at an angle of 0 degree or an angle of 180 degrees, the wheel hub is completely in a horizontal state.

(6) The occupation area is small, and the wheel hub carrying manipulator is reliable to use.