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公开(公告)号：US20160257205A1
公开(公告)日：2016-09-08
申请号：US14890156
申请日：2015-05-28
发明人： Chengjun Wang , Long Li , Xiaolong Zhu , Zhiwei Liu , Chao Zhang , Kai Liu , Tianyu Zhang
摘要： The invention discloses a three-DOF hybrid damping pantograph, comprising an electric driving transmission system fixed on a base, and collector heads, transverse dampers, parallel support frames as well as longitudinal dampers. Square auxiliary holes are arranged on the base, supporting insulators are arranged on four angles below the base; four transverse dampers are symmetrically fixed on the base, and arranged on the outside of the parallel support frames and connected with the parallel support frames through hinges; four longitudinal dampers are symmetrically fixed on the top of the parallel support frames; the collector heads are connected with the parallel support frames by the longitudinal dampers and separators are arranged on the collector heads. The invention can realize bearing and damping spatially in three directions, avoid pantograph detachment, catenary scraping and other safety accidents, and improve the structural stability of the pantograph and adaptability to the catenary.
摘要翻译： 本发明公开了一种三自由度混合阻尼集电弓，其包括固定在基座上的电驱动传动系统以及收集器头，横向阻尼器，平行支撑框架以及纵向阻尼器。 方形辅助孔布置在基座上，支撑绝缘子在基座下方四个角度排列; 四个横向阻尼器对称地固定在基座上，并且布置在平行支撑框架的外侧上，并通过铰链与平行的支撑框架连接; 四个纵向阻尼器对称地固定在平行支撑框架的顶部上; 收集头通过纵向阻尼器与平行的支撑框架连接，分离器设置在收集器头上。 本发明可以在三个方向空间实现轴承和阻尼，避免受电弓脱落，悬链线等安全事故，提高受电弓的结构稳定性和适应性。
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公开(公告)号：US09539905B2
公开(公告)日：2017-01-10
申请号：US14890156
申请日：2015-05-28
发明人： Chengjun Wang , Long Li , Xiaolong Zhu , Zhiwei Liu , Chao Zhang , Kai Liu , Tianyu Zhang
摘要： The invention discloses a three-DOF hybrid damping pantograph, comprising an electric driving transmission system fixed on a base, and collector heads, transverse dampers, parallel support frames as well as longitudinal dampers. Square auxiliary holes are arranged on the base, supporting insulators are arranged on four angles below the base; four transverse dampers are symmetrically fixed on the base, and arranged on the outside of the parallel support frames and connected with the parallel support frames through hinges; four longitudinal dampers are symmetrically fixed on the top of the parallel support frames; the collector heads are connected with the parallel support frames by the longitudinal dampers and separators are arranged on the collector heads. The invention can realize bearing and damping spatially in three directions, avoid pantograph detachment, catenary scraping and other safety accidents, and improve the structural stability of the pantograph and adaptability to the catenary.
摘要翻译： 本发明公开了一种三自由度混合阻尼集电弓，其包括固定在基座上的电驱动传动系统以及收集器头，横向阻尼器，平行支撑框架以及纵向阻尼器。 方形辅助孔布置在基座上，支撑绝缘子在基座下方四个角度排列; 四个横向阻尼器对称地固定在基座上，并且布置在平行支撑框架的外侧上，并通过铰链与平行的支撑框架连接; 四个纵向阻尼器对称地固定在平行支撑框架的顶部上; 收集头通过纵向阻尼器与平行的支撑框架连接，分离器设置在收集器头上。 本发明可以在三个方向空间实现轴承和阻尼，避免受电弓脱落，悬链线等安全事故，提高受电弓的结构稳定性和适应性。
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公开(公告)号：US10668626B2
公开(公告)日：2020-06-02
申请号：US16075144
申请日：2017-10-31
发明人： Chengjun Wang , Yongcun Guo , Runrun Ren , Yuzhe Shen , Yan Zheng , Long Li , Hongtao Yang , Jun Zhang , Peng Wang
摘要： A series-parallel movable heavy-load casting robot, includes a four-driving-wheel type moving platform, a rotating device, an upright assembly, a lifting drive device, a parallel working arm, an end actuator and a binocular vision system. The four-driving-wheel type moving platform is driven by adopting four omnidirectional wheels, the platform utilizes rear hydraulic supporting legs and adjustable hydraulic supporting legs to implement stationary point self-balancing supporting, and a robot body has five freedom degrees of motion in space; and the rotating device and the lifting drive device can respectively implement rotating and lifting adjustment, the four-degree-of-freedom parallel working arm can carry out attitude adjustment for the end actuator, different end actuators can be changed according to working requirements.
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公开(公告)号：US10722942B2
公开(公告)日：2020-07-28
申请号：US15779851
申请日：2017-10-31
发明人： Chengjun Wang , Rui Yu , Yongcun Guo , Yuzhe Shen , Yan Zheng , Zhiwei Zhu
摘要： A multi-arm hanging rail type casting cleaning robot comprises a traveling device, a rotating device, a lifting device, a working arm mounting seat, and four working arms mounted on an annular rail, wherein in addition to pneumatic grippers and magnetic cranes, cleaning tools such as pneumatic air picks and plasma cutters are further provided on end effecters of the working arms. The traveling device of the present invention adopts a four-point hanging supporting mode to realize long-distance stable traveling. Large arm adjusting cylinders and small arm adjusting cylinders are used to replace servo reducing motors to adjust postures of the working arms. The four working arms can jointly and synchronously work. The two pneumatic grippers, the two magnetic cranes, and the four cleaning tools can be flexibly transformed and replaced. The needs of cleaning operations can be satisfied.
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公开(公告)号：US10668628B2
公开(公告)日：2020-06-02
申请号：US15774274
申请日：2017-10-31
发明人： Yongcun Guo , Chengjun Wang , Runrun Ren , Zhiwei Zhu , Yuzhe Shen , Peng Wang , Chengke Xu
摘要： An omnidirectional multi-finger asynchronous gripper for a casting robot, includes a connecting seat, an arc-shaped support, a mounting seat, longitudinal clamping devices, transverse adjusting devices and transverse clamping devices. The omnidirectional multi-finger asynchronous gripper is mounted to a tail end of the casting robot through the connecting seat; each longitudinal clamping device can independently and longitudinally clamp a casting or a mold core, is adjustable in spacing through the transverse adjusting devices, can automatically adapt to castings or mold cores with different outlines and can realize effective fitting-type adaptive clamping of specially-shaped castings and mold cores; and the transverse clamping devices are used for transversely and independently clamping the casting or mold core and a clamping position or angle can be adjusted through a swinging angle adjuster.
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