Patent ID: 12215002

In Figures: handling and lifting mechanism I-1, steel beam I-2, 2-DOF spatial mechanism I-3, mechanical clamping jaw I-4;cylinder supporting seat I-3-1, connecting rod I-3-2, connecting rod I-3-3, connecting rod I-3-4, ball joint connecting rod I-3-5, clamping jaw connecting seat I-3-6, end hinge support of piston I-3-7, cylinder I-3-8;upper cover I-4-1, shaft I-4-2, thrust ball bearing I-4-3, sleeve I-4-4, tapered roller bearing I-4-5, base plate I-4-6, rotating member I-4-7, bolts I-4-8, spherical member I-4-9, nut I-4-10.end hinge connector of cylinder I-4-11, cylinder I-4-12, connecting rod I-4-13, spherical sub-connector I-4-14, cylinder hinge support I-4-15, large clamping jaw connecting seat I-4-16;large clamping jaw I-4-17, sliding washer I-4-18, end positioning sleeve I-4-19, axial positioning sleeve I-4-20, insertion plate I-4-21, clamping jaw relative position fixing plate I-4-22, connecting shaft I-4-23;end positioning sleeve I-4-24, short roller I-4-25, connecting shaft I-4-26, long roller I-4-27, pin I-4-28, small clamping jaw I-4-29, connecting rod support I-4-30, connecting rod I-4-31, double-rod cylinder I-4-32, connecting shaft I-4-33.

DETAILED DESCRIPTION

It should be pointed out that the following detailed descriptions are all illustrative and are intended to provide further descriptions of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those usually understood by a person of ordinary skill in the art to which the present invention belongs.

It should be noted that the terms used herein are merely used for describing specific implementations, and are not intended to limit exemplary implementations of the present disclosure. As used herein, the singular form is also intended to include the plural form unless the context clearly dictates otherwise. In addition, it should further be understood that, terms “comprise” and/or “comprising” used in this specification indicate that there are features, steps, operations, devices, components, and/or combinations thereof.

For the purpose of description, if the words “upper”, “lower”, “left”, “right” appear in this application, they only means that they are consistent with the up, down, left and right directions of the drawings themselves, and does not limit the structure, but is only for the purpose of describing the invention and simplifying the description, and does not indicate or imply that the equipment or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of this application. In addition, the terms “first”, “second”, “third”, “fourth” are used for descriptive purposes only and cannot be construed as indicating or implying relative importance.

FIG.1shows an axonometric drawing of equipment for self-positioning handling of aluminum profiles for rail transit vehicle I. As shown in theFIG.1, accordingly, comprised a handling and lifting mechanism I-1, a steel beam I-2, 2-DOF spatial mechanisms I-3and mechanical clamping jaws I-4. Between the handling and lifting mechanism I-1and the steel beam I-2, between the steel beam I-2and the 2-DOF spatial mechanisms I-3, between the 2-DOF spatial mechanisms I-3and the mechanical clamping jaws I-4are connected by screws. There are multiple 2-DOF spatial mechanisms I-3provided on the steel beam I-2, and each the 2-DOF spatial mechanism I-3is connected to the mechanical clamping jaw I-4; an overall composition of the equipment for self-positioning handling of aluminum profiles for rail vehicle I moves along a y-axis direction of a path of a rack I-5laid on the ground to achieve the position of handling. and the 2-DOF spatial mechanisms I-3are fixed on the steel beam, and the mechanical clamping jaws I-4are fixed on the 2-DOF spatial mechanisms I-3, after being fixed, the whole structure is mounted on the handling and lifting mechanism I-1, and through the handling and lifting mechanism I-1to achieve a vertical substantial lifting of the structure on a z-axis.

Further, the steel beam I-2comprises two kinds of steel profiles with different sizes of cross-section. Wherein, the steel beam with larger size of cross-section is placed in a middle, and two ends are respectively the steel beam with smaller size of cross-section; a reason for the arrangement is to consider a bending deformation in material mechanics, thus reducing the error.

FIG.2shows an axonometric drawing of the 2-DOF spatial mechanism I-3. Accordingly, comprised a cylinder supporting seat I-3-1, two first connecting rods I-3-2, two second connecting rods I-3-3, two first connecting rods I-3-4, two ball joint connecting rods I-3-5, a clamping jaw connecting seat I-3-6and a cylinder I-3-8; four connecting members of an outer ring of the cylinder supporting seat I-3-1respectively are hinged with the four first connecting rods (InFIGS.3and4, only two the first connecting rods are shown for example, i.e., the first connecting rod I-3-2and the first connecting rod I-3-4); wherein, the two first connecting rods I-3-4are hinged with the two ball joint connecting rods I-3-5, and the two first connecting rods I-3-2are hinged with the two connecting rods I-3-3; the two ball joint connecting rods I-3-5and the two connecting rods I-3-3are hinged with the clamping jaw connecting seat I-3-6; the cylinder I-3-8is provided at a center of the cylinder supporting seat I-3-1; a piston rod of the cylinder I-3-8drives the clamping jaw connecting seat I-3-6. In order to ensure stability, the mechanism for self-positioning comprises two groups of symmetrical mechanisms, but when the spatial degrees of freedom are calculated, half of the two groups of symmetrical mechanisms can be taken, and the other half of the two groups of symmetrical mechanisms form virtual constraints. Therefore, there is enough to calculate the degrees of freedom of one of the groups of the self-positioning mechanisms. The cylinder supporting seat I-3-1as a frame and the connecting rod I-3-2form a rotating pair, the connecting rod I-3-2and the connecting rod I-3-3form the rotating pair, the cylinder supporting seat I-3-1as the frame and the connecting rod I-3-4form the rotating pair, the connecting rod I-3-4and the ball joint connecting rod I-3-5form the rotating pair, the connecting rod I-3-3and the clamping jaw connecting seat I-3-6with hinge support form the rotating pair, a lower end ball of the ball joint connecting rod I-3-5and a ball pair connecting seat provided on the clamping jaw connecting seat I-3-4form a spherical vice.

Excluding the imaginary constraints, the number of the members is 5, and the number of restrictions of five degrees of freedom is 5, and the number of restrictions of three degrees of freedom is 1. Therefore, the resulting degrees of freedom are calculated as:
solution:n=5,P5=5,P3=1,

F=6×n-5×P5-4×P4-3×P3-2×P2-P1=6×5-5×5-1×3=2

The calculation of the degrees of freedom here, when the cylinder I-3-8is not considered, the degrees of freedom of the structure are 2, which are the moving degrees of freedom in the z-axis direction and the rotation degrees of freedom in the y-axis direction, respectively. When the cylinder I-3-8is considered, the cylinder I-3-8serves to precisely adjust the amount of movement in the z-axis direction, and is also used as a locking structure for a purpose of limiting the degrees of freedom.

FIGS.3and4respectively show sketches a and b of plane degrees of freedom simplified by the 2-DOF spatial mechanism I-3. As shown inFIG.3, accordingly, there are simplified labeling of the corresponding devices. When the cylinder I-3-8is as a passive part and only equivalents to a slider, the sketch of plane degree of freedom has 2 degrees of freedom. When the cylinder I-3-8is mounted and as an active part, the moving degrees of freedom in the z-axis direction are also limited, leaving only the rotation degrees of freedom of the x-axis direction. As shown inFIG.4, accordingly, there is the simplified labeling of the corresponding devices. When the cylinder I-3-8is as the active part, when in fixed a certain stroke, equivalent to the position fixed, can be as the frame, the sketch of plane degree of freedom has 1 degree of freedom.

Therefore, accordingly, the 2-DOF spatial mechanisms I-3always have the rotation degrees of freedom on x-axis. The existence of the degree of freedom of rotation of the x-axis is for the mechanical clamping jaw I-4can have a degree of freedom of swing after the mechanical clamping jaw I-4is mounted. Since the ratio of longitudinal and transverse length of the large truss type hollow extruded aluminum alloy profile is too large, it is inevitable that there will be errors. If the purely rigid mechanical clamping jaws I-4are mounted directly on the steel beam I-2, then when there is an error in the longitudinal direction, or when there is an offset of the hollow extruded aluminum alloy profiles placed on the material rack, as the four mechanical clamping jaws I-4are adopted to be arranged directly and rigidly on the steel beam I-2, then there will certainly be mechanical clamping jaws I-4that are not completely clamped or not reliably clamped. Therefore, to realize that four of the mechanical clamping jaws I-4being arranged can be completely reliable for clamping and handling, the existence of rotation degrees of freedom of x-axis is designed. So if there is the error in the longitudinal direction of the hollow extruded aluminum alloy profile, the mechanical clamping jaws I-4can be adjusted by swinging to realize the tight clamping of the four mechanical clamping jaws I-4.

FIG.5shows an assembly cutaway view of the mechanical clamping jaw I-4. Accordingly, comprised an upper cover I-4-1, a shaft I-4-2, a thrust ball bearing I-4-3, a sleeve I-4-4, a tapered roller bearing I-4-5, a base plate I-4-6, a rotating member I-4-7, bolts I-4-8, a spherical member I-4-9and nuts I-4-10; the upper cover I-4-1is machined out of an cylinder, and the cylinder is machined out of shoulder blind holes, and the thrust ball bearing I-4-3and the blind holes are matched by a base shaft system. The shaft I-4-2and the thrust ball bearing I-4-3are matched by a base hole system. A lower face of the thrust ball bearing I-4-3is in contact with the sleeve I-4-4, and the sleeve I-4-4is in contact with an inner ring of the tapered roller bearing I-4-5, and shoulder holes designed inside the rotating part I-4-7and the tapered roller bearing I-4-5are matched by the base shaft system. A shoulder is provided on a lower end of the shaft I-4-2to locate the axial position, and a lower end of the shoulder and the other one tapered roller bearing I-4-5are matched by the base hole system; the base plate I-4-6is provided with shoulder holes to locate the axial position of the tapered roller bearing I-4-5, and the shoulder holes and the tapered roller bearing I-4-5are matched by the base shaft system. The rotating member I-4-7is connected to the spherical member I-4-9by bolts I-4-8, and an end of the rotating member I-4-7is fastened by nuts I-4-10.

FIG.6shows a local exploded view1of the mechanical clamping jaw I-4. Accordingly, comprised the parts shown in theFIG.5, and also comprised a cylinder end hinge connector I-4-11, and cylinder I-4-12, a connecting rod I-4-13, a spherical sub-connector I-4-14, an cylinder hinge support I-4-15and a large clamping jaw connecting seat I-4-16.

The cylinder end hinge connector I-4-11is connected to a head of a piston of the cylinder I-4-12by thread. Two ends of the connecting rod I-4-13are respectively mounted with the cylinder end hinge connector and the spherical sub-connector I-4-14by threads, wherein a through hole of the cylinder end hinge connector I-4-11mounted on the connecting rod I-4-13is in the same axis with a through hole of the cylinder end hinge connector I-4-11mounted on the head of piston of the cylinder I-4-12. The cylinder hinge support I-4-15is mounted on the base plate I-4-6, and four the cylinders I-4-12are mounted on both sides of two the cylinder hinge supports I-4-15respectively; here, positions of the tail hinge supports of the cylinders I-4-15are fixed by means of bolts and nuts. The large clamping jaw connecting seat I-4-16is fixedly mounted on the base plate I-4-6by structure of screws.

FIG.7shows a local exploded view2of the mechanical clamping jaw I-4. Accordingly, comprised the parts in the exploded view1of the mechanical clamping jaw I-4of theFIG.6, also comprised a large clamping jaw I-4-17, a sliding washer I-4-18, an end positioning sleeve I-4-19, an axial positioning sleeve I-4-20, an insertion plate I-4-21, a clamping jaw relative position fixing plate I-4-22and a connecting shaft I-4-23.

A through-hole on the uppermost end of the large clamping jaw I-4-17and the through-hole of the cylinder end hinge connector I-4-11in theFIG.6realize a coaxial line clearance fit through the connecting shaft I-4-23, and the through-holes and the connecting shaft I-4-23can slide relative to each other. A through-hole on the central part of the large clamping jaw I-4-17, the axial positioning sleeve I-4-20and the through-hole of the large clamping jaw connecting seat I-4-16in theFIG.6realize the coaxial line clearance fit through the connecting shaft I-4-23, and the through-holes and the connecting shaft I-4-23can slide relative to each other. The insertion plate I-4-21is mounted on between two the large clamping jaws I-4-17, and then a relative distance between the two clamping jaws I-4-17is fixed by using the clamping jaw relative position fixing plate I-4-22. At this time, the axial position of the clamping jaws I-4-17relative to the connecting shaft I-4-23still needs to be fixed. The purpose of fixing the axial position of the large clamping jaw I-4-17can be achieved by sleeving the sliding washers I-4-18on outer sides of the two connecting shafts I-4-23, and then utilizing a fit assembling of the threaded structure of the end positioning sleeve I-4-19and the threaded structure of the two ends of the connecting shaft I-4-23.

FIG.8shows a local exploded view3of the mechanical clamping jaw I-4. As shown in the Figure, accordingly, comprised the parts of the local exploded view2of the mechanical clamping jaw I-4in theFIG.7, also comprised an end positioning sleeve I-4-24, a short roller I-4-25, a connecting shaft I-4-26, a long roller I-4-27, pins I-4-28, small clamping jaws I-4-29, a connecting rod support I-4-30, a connecting rod I-4-31, double-rod cylinders I-4-32and a connecting shaft I-4-33.

One of the double-rod cylinders I-4-32is first threaded with the connecting rod support I-4-30, and the connecting rod support I-4-30is connected with a first end of the connecting rod I-4-31; a second end of the connecting rod I-4-31is connected with another connecting rod support through the pin I-4-28, and the connecting rod support is fixedly connected with two the small clamping jaws I-4-29through threaded structure; the long roller I-4-27is mounted between same coaxial line of through-holes on middle ends of two the small clamping jaws I-4-29, and the short roller I-4-25is mounted on an outer end of the same coaxial line of the through-holes of two the small clamping jaws I-4-29, and an outer side of the short roller I-4-25is positioned axially through the end positioning sleeve I-4-24. A through-hole on the lowermost end of the large clamping jaw I-4-17and the through-hole on the middle of the small clamping jaw I-4-29realize the coaxial line clearance fit through the connecting shaft I-4-33. The sliding washers I-4-18are mounted at both ends of the connecting shaft I-4-23, then there is carried out a threaded fixed connection by using the end positioning sleeve I-4-19. It should be noted here that the roller is made of a nylon material, which is used to ensure the protection of the aluminum profile in the clamping process.

FIG.9shows a local cutaway view of the mechanical clamping jaw I-4; when the cylinder I-4-6stops moving, the large clamping jaw I-4-8is in a fixed position. At this time, the double-rod cylinders I-4-10, the connecting rods I-4-12and the small clamping jaws I-4-11constitute a slider linkage mechanism with the double-rod cylinder I-4-32as the active member, so as to realize the adjustment of the angle of the small clamping jaw I-4-11, thus satisfying the clamping of two kinds of curved profiles, namely the upper-side beam profiles and the window lower profiles. The rollers I-4-13made of the nylon structure are mounted at the ends of the small clamping jaw I-4-11for the purpose of preventing the rigid clamping jaw from damaging the surface of the profile when clamping the profile.

A working process of the handling equipment with the mechanical clamping jaws I-4is as follows:when the handling and lifting mechanism I-1moves the material rack along the y-axis, an initial z-axis descent of the mechanical clamping jaws I-4is first realized through the handling and lifting mechanism I-1, and then a precise z-axis descent of the mechanical clamping jaws I-4is realized through the 2-DOF spatial mechanism I-3; after reaching the determined position, the mechanical clamping jaws I-4mounted on the 2-DOF spatial mechanism I-3are responsible for the gripping and clamping work of the aluminum alloy profile of the rail vehicle. First, according to the transverse width of the aluminum alloy profile of the rail vehicle, the cylinder I-4-12, in a first step of action, adjusts the clamping range of the large clamping jaw I-4-17; because the accuracy of transverse handling is limited, i.e. the moving accuracy on the y-axis of the handling and lifting mechanism I-1is limited, the swing degrees of freedom on the x-axis of the mechanical clamping jaw I-4mounted on the 2-DOF spatial mechanism I-3can allow the existence of the errors on the direction of the y-axis and make a self-adaptation. Then, according to the type of profile as a flat profile or a curved profile, the angle of the small clamping jaws I-4-11is thus adjusted by the double-rod cylinder I-4-10. Finally, the cylinder I-4-12realizes a second step of action, i.e. the gripping and clamping of aluminum alloy profiles. Then a precise rise of the mechanical clamping jaws I-4can be realized by the 2-DOF spatial mechanism I-3, and the rise of the handling and lifting mechanism I-1on the z-axis thus can be realized, and finally the profiles can be horizontally handled and placed in the grinding station.