CN110405441A - A kind of wire clamp assembly system of Contact Net's Suspension Chord - Google Patents
A kind of wire clamp assembly system of Contact Net's Suspension Chord Download PDFInfo
- Publication number
- CN110405441A CN110405441A CN201910764685.XA CN201910764685A CN110405441A CN 110405441 A CN110405441 A CN 110405441A CN 201910764685 A CN201910764685 A CN 201910764685A CN 110405441 A CN110405441 A CN 110405441A
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- Prior art keywords
- wire clamp
- charging tray
- assembling die
- truss
- group
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- 239000000725 suspension Substances 0.000 title claims abstract description 18
- 210000000078 claw Anatomy 0.000 claims description 55
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 9
- 239000003381 stabilizer Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000002950 deficient Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000007916 tablet composition Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Wire Processing (AREA)
Abstract
The present invention provides a kind of wire clamp assembly system of Contact Net's Suspension Chord, the wire clamp assembly system includes that wire clamp charging tray group, wire clamp put together machines people and assembling die module, the wire clamp charging tray group includes contact line charging tray group and carrier cable charging tray group, the part that wire clamp charging tray group provides is grabbed assembling die module and assembles by the wire clamp people that puts together machines, and the assembling die module includes contact line wire clamp assembling die group and Horizontal messenger wire clamp assembling die group.The problems such as present invention replaces traditional-handwork processing by mechanical intelligent production, has the features such as efficient, accurate, high degree of automation, can effectively solve at present low prewired existing precision by hand, low efficiency, high rejection rate.
Description
Technical field
The present invention relates to the prewired production field of Contact Net's Suspension Chord, the wire clamp assembly systems of specifically a kind of Contact Net's Suspension Chord.
Background technique
Recently as the fast development of high-speed rail, domestic railway systems propose new demand to craft quality standard, with full
The development need of foot construction intelligent railway.Direct acting factor of the contact net as pantograph contact line relation, it is the prefabricated precision of dropper, pre-
Quality processed, prefabricated efficiency and intelligence degree, it appears particularly important.
At present at home or even in the world, substantially using artificial prewired and semi-automatic pipelining progress dropper
Prefabricated and production innovate production method to improve the prewired quality of dropper and prewired progress, realize intelligent prewired, have inner
The meaning of journey upright stone tablet formula.
In the prewired production of dropper, it is necessary first to complete the production of dropper ontology, followed by wire clamp assembles, existing wire clamp
Assembly uses manual operation, inefficiency, high rejection rate substantially.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of wire clamp assembly system of Contact Net's Suspension Chord, can be quickly accurate
Completion dropper ontology both ends wire clamp assembly, high degree of automation.
Technical solution provided by the invention: a kind of wire clamp assembly system of Contact Net's Suspension Chord, the wire clamp assembly system packet
Include wire clamp charging tray group, wire clamp puts together machines people, assembling die module and control system, the control system is clamped for control line
Various with robot and assembling die module execute operation, the wire clamp put together machines that people provides wire clamp charging tray group zero
Part grabs assembling die module and is assembled, and the assembling die module includes contact line wire clamp assembling die group and carrier cable
Wire clamp assembling die group, the contact line wire clamp assembling die group and Horizontal messenger wire clamp assembling die group give dropper ontology respectively
Contact line wire clamp is assembled in one end, and the other end assembles Horizontal messenger wire clamp.
Further, the wire clamp charging tray group includes a contact line charging tray group and three kinds of carrier cable charging tray groups, described every
A wire clamp charging tray group includes charging tray rack, and the charging tray rack is equipped with multiple charging trays, and each charging tray, which is matched, to be arranged with
Controller and linear vibration feeder are equipped with conveying, the charging tray rack between the linear vibration feeder and charging tray
It is equipped with pusher, for cooperating conveying to convey material, positioning coordinatograph and power supply are additionally provided in the charging tray rack
Signal box.
Further, the Horizontal messenger wire clamp assembling die group includes carrier cable T35 wire clamp assembling die group, carrier cable
Three kinds of group of T95D wire clamp assembling die group and carrier cable T120D wire clamp assembling die, when wire clamp assembles according to actual needs
Selection one of which carry out using.
Further, the assembling die module includes assembling die rack, is equipped in parallel in the assembling die rack
It 150 wire clamp assembling die group of contact line, carrier cable T35 wire clamp assembling die group, carrier cable T95D wire clamp assembling die group and holds
Power rope T120D wire clamp assembling die group,
Four kinds of assembling die groups include die bottom plate, and the die bottom plate is equipped with slide unit guide rail, and the slide unit is led
The middle part of rail is equipped with mold slide unit, and the both ends of the slide unit guide rail are respectively equipped with the first slide unit spacing mandril, the first slide unit buffering
Device, the first mold sensors in place and the second slide unit spacing mandril, the second slide unit buffer, the second mold sensors in place, institute
The one end for stating mold slide unit is equipped with die-cylinder, moves on slide unit guide rail for driven mold slide unit, the mold slide unit
Side, which is equipped with, tightens servo motor and jacking cylinder, and the jacking cylinder top is equipped with assembly sleeve and assembling die, the dress
Side with mold is equipped with the second clamping claw, and the other end of the mold slide unit is equipped with solenoid valve valve island, the first feeding cylinder
With the second feeding cylinder, second feeding cylinder is equipped with the first clamping claw relative to the direction of the second clamping claw.
Further, the assembly rack is equipped with gas source interface and the fast interface of wiring, the quadrangle of the assembly rack
It is additionally provided with adjusting stabilizer blade, the structure of four kinds of assembling die groups is essentially identical, and wherein assembling die and first clamps claw
Model and specification difference.
Further, the side of first feeding cylinder is equipped with drag chain, and drag chain parallel beneath is equipped in slide unit guide rail and drags
Key way.
Further, the contact line charging tray group is 150 charging tray group of contact line, and the 150 charging tray group of contact line is equipped with 2-4
A charging tray is placed into contact with 150 hanging ring of line and 150 wire clamp of contact line or other components, the carrier cable charging tray group packet respectively
Include the carrier cable T35 charging tray group, carrier cable T95D charging tray group and carrier cable T120D charging tray group for being equipped with 4 charging trays, the load
The charging tray of rope T35 charging tray group places T35 wire clamp, T35 hanging ring, bolt M10 × 40 and bolt M10 × 35, the carrier cable respectively
The charging tray of T95D charging tray group places T95D hanging ring, T95D wire clamp, disc spring and nut M10, the carrier cable T120D charging tray group respectively
Charging tray place T120D hanging ring, T120D wire clamp, small three-jaw and small five pawl respectively.
Further, the wire clamp assembly system further includes double-station truss manipulator, the double-station truss manipulator
Including truss upright-column and the truss X-axis crossbeam being installed on truss upright-column, set on the truss X-axis crossbeam there are two manipulator,
The manipulator includes truss X-axis and truss Z axis, is equipped with clamping fixture below the truss Z axis, the clamping fixture includes purlin
Frame cylinder, truss cylinder lower end are equipped with truss connecting rod, and one end of the truss connecting rod is equipped with truss pneumatic clamper, truss connecting rod it is another
End is equipped with fixture limited block, and truss pneumatic clamper connect with fixture claw, described two clamping fixtures be each responsible for carrier cable position with
The wire clamp at contact line position assembles clamping, and the double-station truss manipulator controls its operation by control system.
Further, the truss X-axis crossbeam is assembled by three sections of crossbeams, and crossbeam is equipped in the truss X-axis crossbeam
Wire casing, the double-station truss manipulator further include truss ground slot and gas source interface.
Further, the wire clamp puts together machines artificial six-joint robot, and the wire clamp people that puts together machines includes pedestal, institute
It states successively to extend outward on pedestal and is equipped with J1 axis, J2 axis, J3 axis, J4 axis, J5 axis and J6 axis, manipulation dress is additionally provided on the pedestal
It sets, the J6 the tip of the axis, which all crosses flanged joint, three groups of robot fixtures, is respectively used to different material part of taking.
The present invention replaces traditional-handwork processing by mechanical intelligent production, has efficient, accurate, the degree of automation is high etc.
Feature, the problems such as can effectively solve at present low prewired existing precision by hand, low efficiency, high rejection rate, furthermore can be according to reality
It needs to complete the assembly of the dropper of 3 kinds of different models, realizes the prewired production of plurality of specifications dropper, while it is straight to be able to satisfy route
Row, bent interior, bent outer different use demand.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of double-station truss manipulator；
Fig. 3 is the structural schematic diagram of the clamping fixture of double-station truss manipulator；
Fig. 4 is the structural schematic diagram of wire clamp charging tray group；
Fig. 5 is that wire clamp puts together machines the structural schematic diagram of people；
Fig. 6 is the structural schematic diagram of robot fixture；
Fig. 7 is the structural schematic diagram of assembling die module；
Fig. 8 is the structural schematic diagram of assembling die group；
Fig. 9 is the partial structural diagram of Fig. 8；
In figure: 1-wire clamp charging tray group, 10-contact line, 150 charging tray group, 11-carrier cable T35 charging tray groups, 12-carrier cables
T95D charging tray group, 13-carrier cable T120D charging tray groups, 101-charging tray racks, 102-charging trays, 103-controllers, 104-is straight
Linearly coupled feed appliance, 105-conveyings, 106-pushers, 107-positioning coordinatographs, 108-power supply signal casees, 2-
Wire clamp puts together machines people, 21-pedestals, 22-J1 axis, 23-J2 axis, 24-J3 axis, 25-J4 axis, 26-J5 axis, 27-J6
Axis, 28-flanges, 29-robot fixtures, 3-assembling die modules, 30-assembling die racks, 31-carrier cable T35 wire clamps
Assembling die group, 32-carrier cable T95D wire clamp assembling die groups, 33-carrier cable T120D wire clamp assembling die groups, 34-connect
150 wire clamp assembling die group of line is touched, 35-gas source interfaces, the fast interface of 36-wiring, 37-adjust stabilizer blade, 301-mold bottoms
Plate, 302-slide unit guide rails, 303-mold slide units, the 304-the first slide unit spacing mandril, the 305-the first slide unit buffer,
306-the first mold sensors in place, the 307-the second slide unit spacing mandril, the 308-the second slide unit buffer, the 309-the second mould
Having sensors in place, 310-die-cylinders, 311-tighten servo motor, and 312-jacking cylinders, 313-assemble sleeves,
314-assembling dies, the 315-the second clamping claw, 316-solenoid valve valve islands, the 317-the first feeding cylinder, 318-the second send
Material cylinder, the 319-the first clamping claw, 320-drag chains, 321-dees, 4-double-station truss manipulators, 41-truss are vertical
Column, 42-truss X-axis crossbeams, 421-crossbeam wire casings, 43-truss X-axis, 44-truss Z axis, 45-clamping fixtures, 451-purlins
Frame cylinder, 452-truss connecting rods, 453-fixture claws, 454-fixture limited blocks, 455-truss pneumatic clampers, 46-truss ground
Wire casing.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.Implement such as attached drawing 1 to shown in Fig. 9, below
It is the concrete scheme of the embodiment of the present invention to the technical solution showed in the accompanying drawings, it is not intended that claimed of limitation
The range of invention.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "inner", "outside", "left", "right" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " etc. are only used for
Description is distinguished, relative importance is not understood to indicate or imply.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
A kind of wire clamp assembly system of Contact Net's Suspension Chord, the wire clamp assembly system include wire clamp charging tray group 1, wire clamp assembly
Robot 2, assembling die module 3 and control system, the control system are clamped for control line with robot 2 and assembling die
The various of module 3 execute operation, and the components that wire clamp charging tray group 1 provides are grabbed fit drawing die by the wire clamp people 2 that puts together machines
Tool module 3 is assembled, and the assembling die module 3 includes contact line wire clamp assembling die group and Horizontal messenger wire clamp assembling die
Group, the contact line wire clamp assembling die group and Horizontal messenger wire clamp assembling die group give one end of dropper ontology to assemble contact respectively
Line wire clamp, the other end assemble Horizontal messenger wire clamp.
The wire clamp charging tray group 1 includes a contact line charging tray group and three carrier cable charging tray groups, each wire clamp material
Disk group 1 includes charging tray rack 101, and the charging tray rack 101 is equipped with multiple charging trays 102, and each charging tray 102 is mating
Conveying is equipped with equipped with controller 103 and linear vibration feeder 104, between the linear vibration feeder 104 and charging tray 102 to lead
Rail 105, the charging tray rack 101 are equipped with pusher 106, for cooperating conveying 105 to convey material, the charging tray machine
Positioning coordinatograph 107 and power supply signal case 108 are additionally provided on frame 101.
The Horizontal messenger wire clamp assembling die group includes carrier cable T35 wire clamp assembling die group 31, carrier cable T95D wire clamp
33 3 kinds of group of assembling die group 32 and carrier cable T120D wire clamp assembling die, wire clamp select according to actual needs when assembling
One of which carry out using.
The assembling die module 3 includes assembling die rack 30, is equipped with contact in parallel in the assembling die rack 30
150 wire clamp assembling die group 34 of line, carrier cable T35 wire clamp assembling die group 31,32 and of carrier cable T95D wire clamp assembling die group
Carrier cable T120D wire clamp assembling die group 33,
Four kinds of assembling die groups include die bottom plate 301, and the die bottom plate 301 is equipped with slide unit guide rail 302, institute
The middle part for stating slide unit guide rail 302 is equipped with mold slide unit 303, and the both ends of the slide unit guide rail 302 are respectively equipped with the limit of the first slide unit
Mandril 304, the first slide unit buffer 305, the first mold sensors in place 306 and the second slide unit spacing mandril 307, the second slide unit
One end of buffer 308, the second mold sensors in place 309, the mold slide unit 303 is equipped with die-cylinder 310, for driving
Mold slide unit 303 moves on slide unit guide rail 302, is equipped at the upper side of the mold slide unit 303 and tightens servo motor 311 and top
Cylinder 312 is risen, 312 top of jacking cylinder, which is equipped with, assembles sleeve 313 and assembling die 314, and the one of the assembling die 314
Side is equipped with the second clamping claw 315, and the other end of 303 top of mold slide unit is equipped with solenoid valve valve island 316, the first feeding gas
Cylinder 317 and the second feeding cylinder 318, second feeding cylinder 318 are equipped with the relative to the direction of the second clamping claw 315
One clamping claw 319.
The assembly rack 30 is equipped with gas source interface 35 and the fast interface 36 of wiring, and the quadrangle of the assembly rack 30 is also
Equipped with stabilizer blade 37 is adjusted, the structure of four kinds of assembling die groups is essentially identical, wherein assembling die 314 and the first clamping claw
319 model and specification difference.
The side of first feeding cylinder 317 is equipped with drag chain 320, and 320 parallel beneath of drag chain is equipped in slide unit guide rail 302
Dee 321.
The contact line charging tray group is 150 charging tray group 10 of contact line, and the 150 charging tray group 10 of contact line is equipped with 2-4 material
Disk, is placed into contact with 150 hanging ring of line and 150 wire clamp of contact line or other components respectively, and the carrier cable charging tray group includes equal
Carrier cable T35 charging tray group 11, carrier cable T95D charging tray group 12 and carrier cable T120D charging tray group 13 equipped with 4 charging trays, it is described to hold
The charging tray of power rope T35 charging tray group 11 places T35 wire clamp, T35 hanging ring, bolt M10 × 40 and bolt M10 × 35 respectively, described to hold
The charging tray of power rope T95D charging tray group 12 places T95D hanging ring, T95D wire clamp, disc spring and nut M10, the carrier cable T120D respectively
The charging tray of charging tray group 13 places T120D hanging ring, T120D wire clamp, small three-jaw and small five pawl respectively.
The wire clamp assembly system further includes double-station truss manipulator 4, and the double-station truss manipulator includes truss
Column 41 and the truss X-axis crossbeam 42 being installed on truss upright-column 41 are set there are two manipulator on the truss X-axis crossbeam 42,
The manipulator includes truss X-axis 43 and truss Z axis 44, is equipped with clamping fixture 45, the retaining wedge below the truss Z axis 44
Tool 45 includes truss cylinder 451, and 451 lower end of truss cylinder is equipped with truss connecting rod 452, and one end of the truss connecting rod 452 is equipped with
Truss pneumatic clamper 455, the other end of truss connecting rod 452 are equipped with fixture limited block 454, and truss pneumatic clamper 455 and fixture claw 453 connect
It connects, described two clamping fixtures are each responsible for the wire clamp assembly clamping at carrier cable position and contact line position, the double-station purlin
Frame manipulator 4 controls its operation by control system.
The truss X-axis crossbeam 42 is assembled by three sections of crossbeams, is equipped with crossbeam wire casing in the truss X-axis crossbeam 42
421, the double-station truss manipulator 4 further includes truss ground slot 46 and gas source interface.
The wire clamp put together machines people 2 be six-joint robot, the wire clamp put together machines people 2 include pedestal 21, the bottom
Successively extend outward on seat 21 and be equipped with J1 axis 22, J2 axis 23, J3 axis 24, J4 axis 25, J5 axis 26 and J6 axis 27, on the pedestal 21
It is additionally provided with control device, the end of the J6 axis 27 all crosses flange 28 and is connected with three groups of robot fixtures, is respectively used to take not
With raw material part.
Wire clamp assembly system shares 4 sets of vibrating tray groups and carries out components feed, puts together machines people different by wire clamp
The components that the crawl of charging tray unloading position needs, are assembled according to specified sequence.Assembling die modules A MJ shares 4 sets of assembly
Mold is respectively as follows: A150, AT35, AT95D, AT120D.The dropper that tri- kinds of different sizes of T35, T95D, T120D can be corresponded to is pre-
Match.The assembly instruction sent according to host computer, load module select corresponding wire clamp assembling die, and the crawl of 6 axis robots is specified
Each components of wire clamp, are placed on designated position one by one.Double-station truss manipulator, 6 axis robots and assembling die group phase
Mutually cooperation carries out the prewired of hanger ear.Necessary mold, robot card can be adjusted according to the update iteration of high-speed rail dropper technology
Quick, inexpensive scrap build can be realized in pawl and charging tray.
A150 assembling die is must to use mold, and AT35, AT95D, AT120D assembling die are to select it according to product demand
One uses.2 components: assembling die and the first clamping claw are generally only replaced when mold is remodeled.
Truss manipulator CK1, CK2 grab dropper, and the people that puts together machines carries out components and picks and places material, first complete A150 mold
Wire clamp assembly, then CK1, CK2 operation evacuation arrive home.AT35, AT95D or AT120D assembling die are carried out again
Wire clamp assembly.After wire clamp assembly is fully completed, blowing above CK1, CK2 operation bale packing station.So far, hanger ear has assembled
At.
When the present invention is specifically used, 150 contact line wire clamps and T120D Horizontal messenger wire clamp are assembled respectively with dropper ontology both ends
For, the specific steps are as follows:
1. 150 contact line wire clamps assemble
(1) go out before the assembling die of 150 wire clamp assembling die group of contact line, reach the first slide unit spacing top of assembly limit
Bar.
(2) the put together machines claw AK1 of people of wire clamp takes M10 nut to charging tray；Claw AK2 takes contact line 150 to hang to charging tray
Ring.
(3) assembly sleeve rises, and nut is placed in assembly sleeve by claw AK1.
(4) hanging ring is placed on the first clamping jaw position, the first retaining wedge pawl firm grip by claw AK2.
(5) claw AK1 takes small three-jaw to charging tray；Claw AK2 takes disc spring to charging tray.
(6) disc spring is placed in assembly sleeve by claw AK2；
(7) small three-jaw is placed in assembling die by claw AK1.
(8) assembly sleeve is moved downwardly to initial position.
(9) claw AK2 takes 150 wire clamp of contact line to charging tray.
(10) wire clamp is placed in assembling die by claw AK2.
(11) two manipulators CK1, CK2 of truss manipulator carry the assembly position that non-defective unit dropper is moved to assembling die
It sets.
Go out before (12) first feeding cylinders in place, truss manipulator CK1, CK2 carry non-defective unit dropper and conjugate.
Go out in place before (13) second feeding cylinders, 150 hanging ring of contact line is inserted into dropper capel.
(14) claw AK2 grabs small five pawl to charging tray.
(15) claw AK3 grabs the bolt of M10 × 40 to charging tray, moves to calibration bolt posture.
(16) small five pawl is placed on 150 hanging ring of contact line by claw AK2.
(17) second retaining wedge claw clips live small five pawl.
(18) bolt of M10 × 40 is inserted into wire clamp centre bore by claw AK3.
(19) claw AK3 closes, and claw AK3 is moved to top position on bolt head.
(20) first clamping claws are opened, and the first feeding cylinder and the second feeding cylinder return to initial position.
(21) assembly sleeve is jacked and is rotated, and carries out nut fastening.
(22) after the completion of nut fastening, whether the sensor detection nut of assembling die is fastened.
(23) truss manipulator CK1, CK2 are moved up, and then move to the left to safe holding fix.
(24) at this point, the assembly of 150 wire clamp of contact line is completed.Assembling die returns to initial position.
2.T120D Horizontal messenger wire clamp assembles
(1) go out before the assembling die of carrier cable T120D wire clamp assembling die group, reach the first slide unit limit of assembly limit
Mandril.
(2) the put together machines claw AK1 of people of wire clamp takes M10 nut to charging tray；Claw AK2 takes T120D hanging ring to charging tray.
(3) assembly sleeve rises, and nut is placed in assembly sleeve by claw AK1.
(4) hanging ring is placed on the first clamping jaw position, the first retaining wedge pawl firm grip by claw AK2.
(5) claw AK1 takes small three-jaw to charging tray；Claw AK2 takes disc spring to charging tray.
(6) disc spring is placed in assembly sleeve by claw AK2；
(7) small three-jaw is placed in assembling die by claw AK1.
(8) assembly sleeve is moved downwardly to initial position.
(9) claw AK2 takes T120D wire clamp to charging tray.
(10) wire clamp is placed in assembling die by claw AK2.
(11) truss manipulator CK1, CK2 carries the rigging position that non-defective unit dropper is moved to assembling die.
Go out before (12) first feeding cylinders in place, truss manipulator CK1, CK2 carry non-defective unit dropper and conjugate.
Go out in place before (13) second feeding cylinders, T120D hanging ring is inserted into dropper capel.
(14) claw AK2 grabs small five pawl to charging tray.
(15) claw AK3 grabs the bolt of M10 × 40 to charging tray, moves to calibration bolt posture.
(16) small five pawl is placed on T120D hanging ring by claw AK2.
(17) second retaining wedge claw clips live small five pawl.
(18) bolt of M10 × 40 is inserted into wire clamp centre bore by claw AK3.
(19) claw AK3 closes, and claw AK3 is moved to top position on bolt head.
(20) first clamping claws are opened, and the first feeding cylinder and the second feeding cylinder return to initial position.
(21) assembly sleeve is jacked and is rotated, and carries out nut fastening.
(22) after the completion of nut fastening, whether the sensor detection nut of assembling die is fastened.
(23) truss manipulator CK1, CK2 are moved up, and then move to the left to packaging system discharge position.
(24) at this point, the assembly of carrier cable T120 wire clamp is completed.Entire T120D dropper is prewired to be fully completed.Assembling die is moved back
Return to initial position.
The foregoing is merely the detailed descriptions of specific embodiments of the present invention, it should be understood that the present invention is not limited to this
Form disclosed by text, and can be used for other combinations, modifications, and environments, it is all made in mentality of designing of the invention
What modifications, equivalent substitutions and improvements etc., should be included within the protection scope of appended claims of the present invention.
Claims (10)
1. a kind of wire clamp assembly system of Contact Net's Suspension Chord, it is characterised in that: the wire clamp assembly system includes wire clamp charging tray group
(1), wire clamp puts together machines people (2), assembling die module (3) and control system, and the control system is clamped for control line matches
The various of robot (2) and assembling die module (3) execute operation, and the wire clamp puts together machines people (2) for wire clamp charging tray group (1)
The components of offer grab assembling die module (3) and are assembled, and the assembling die module (3) includes contact line wire clamp dress
With set of molds and Horizontal messenger wire clamp assembling die group, the contact line wire clamp assembling die group and Horizontal messenger wire clamp assembling die group
Contact line wire clamp is assembled to one end of dropper ontology respectively, the other end assembles Horizontal messenger wire clamp.
2. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 1, it is characterised in that: the wire clamp charging tray group
It (1) include a contact line charging tray group and three carrier cable charging tray groups, each wire clamp charging tray group (1) includes charging tray rack
(101), the charging tray rack (101) is equipped with multiple charging trays (102), and each charging tray (102), which is matched, is arranged with controller
(103) and linear vibration feeder (104) conveying, is equipped between the linear vibration feeder (104) and charging tray (102)
(105), the charging tray rack (101) is equipped with pusher (106), described for cooperating conveying (105) to convey material
Positioning coordinatograph (107) and power supply signal case (108) are additionally provided in charging tray rack (101).
3. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 1, it is characterised in that: the Horizontal messenger wire clamp dress
It include carrier cable T35 wire clamp assembling die group (31), carrier cable T95D wire clamp assembling die group (32) and carrier cable with set of molds
(33) three kinds of T120D wire clamp assembling die group, wire clamp assemble when select according to actual needs one of which carry out using.
4. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 3, it is characterised in that: the assembling die module
(3) include assembling die rack (30), be equipped with 150 wire clamp assembling die group of contact line on the assembling die rack (30) in parallel
(34), carrier cable T35 wire clamp assembling die group (31), carrier cable T95D wire clamp assembling die group (32) and carrier cable T120D line
It clamps with set of molds (33),
Four kinds of assembling die groups include die bottom plate (301), and the die bottom plate (301) is equipped with slide unit guide rail (302),
The middle part of the slide unit guide rail (302) is equipped with mold slide unit (303), and the both ends of the slide unit guide rail (302) are respectively equipped with first
Slide unit spacing mandril (304), the first slide unit buffer (305), the first mold sensors in place (306) and the second slide unit spacing top
Bar (307), the second slide unit buffer (308), the second mold sensors in place (309), one end of the mold slide unit (303) are set
There are die-cylinder (310), is moved on slide unit guide rail (302) for driven mold slide unit (303), the mold slide unit (303)
Upper side, which is equipped with, tightens servo motor (311) and jacking cylinder (312), and jacking cylinder (312) top is equipped with assembly set
Cylinder (313) and assembling die (314), the side of the assembling die (314) are equipped with the second clamping claw (315), the mold
The other end above slide unit (303) is equipped with solenoid valve valve island (316), the first feeding cylinder (317) and the second feeding cylinder
(318), second feeding cylinder (318) is equipped with the first clamping claw relative to the direction of the second clamping claw (315)
(319)。
5. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 4, it is characterised in that: the assembly rack (30)
It is equipped with gas source interface (35) and the fast interface of wiring (36), the quadrangle of assembly rack (30) is additionally provided with adjusting stabilizer blade
(37), the structure of four kinds of assembling die groups is essentially identical, and wherein assembling die (314) and first clamps claw (319)
Model and specification difference.
6. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 4, it is characterised in that: first feeding cylinder
(317) side is equipped with drag chain (320), and drag chain (320) parallel beneath is equipped with dee (321) in slide unit guide rail (302).
7. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 2, it is characterised in that: the contact line charging tray group
For 150 charging tray group (10) of contact line, the 150 charging tray group (10) of contact line is equipped with 2-4 charging tray, is placed into contact with line 150 respectively
Hanging ring and 150 wire clamp of contact line or other components, the carrier cable charging tray group include the carrier cable for being equipped with 4 charging trays
T35 charging tray group (11), carrier cable T95D charging tray group (12) and carrier cable T120D charging tray group (13), the carrier cable T35 charging tray group
(11) charging tray places T35 wire clamp, T35 hanging ring, bolt M10 × 40 and bolt M10 × 35, the carrier cable T95D charging tray respectively
The charging tray of group (12) places T95D hanging ring, T95D wire clamp, disc spring and nut M10, the carrier cable T120D charging tray group (13) respectively
Charging tray place T120D hanging ring, T120D wire clamp, small three-jaw and small five pawl respectively.
8. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 1, it is characterised in that: the wire clamp assembly system
It further include double-station truss manipulator (4), the double-station truss manipulator includes truss upright-column (41) and to be installed on truss vertical
Truss X-axis crossbeam (42) on column (41) is set on the truss X-axis crossbeam (42) there are two manipulator, and the manipulator includes
Truss X-axis (43) and truss Z axis (44), truss Z axis (45) lower section are equipped with clamping fixture (45), the clamping fixture (45)
Including truss cylinder (451), truss cylinder (451) lower end is equipped with truss connecting rod (452), one end of the truss connecting rod (452)
Equipped with truss pneumatic clamper (455), the other end of truss connecting rod (452) is equipped with fixture limited block (454), truss pneumatic clamper and fixture claw
(453) it connects, described two clamping fixtures are each responsible for the wire clamp assembly clamping at carrier cable position and contact line position, described double
Station truss manipulator (4) controls its operation by control system.
9. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 8, it is characterised in that: the truss X-axis crossbeam
(42) assembled by three sections of crossbeams, crossbeam wire casing (421) are equipped in the truss X-axis crossbeam (42), the double-station truss
Manipulator (4) further includes truss ground slot (46) and gas source interface.
10. the wire clamp assembly system of Contact Net's Suspension Chord according to claim 1, it is characterised in that: the wire clamp assembly machine
Device people (2) is six-joint robot, and the wire clamp people (2) that puts together machines includes pedestal (21), on the pedestal (21) successively outward
Extend and be equipped with J1 axis (22), J2 axis (23), J3 axis (24), J4 axis (25), J5 axis (26) and J6 axis (27), on the pedestal (21)
It is additionally provided with control device, the end of the J6 axis (27) all crosses flange (28) and is connected with three groups of robot fixtures (29), uses respectively
In different material part of taking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910764685.XA CN110405441B (en) | 2019-08-19 | 2019-08-19 | Wire clamp assembly system of contact net dropper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910764685.XA CN110405441B (en) | 2019-08-19 | 2019-08-19 | Wire clamp assembly system of contact net dropper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110405441A true CN110405441A (en) | 2019-11-05 |
| CN110405441B CN110405441B (en) | 2024-04-02 |
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ID=68367754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910764685.XA Active CN110405441B (en) | 2019-08-19 | 2019-08-19 | Wire clamp assembly system of contact net dropper |
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| Country | Link |
|---|---|
| CN (1) | CN110405441B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734883A (en) * | 2022-03-23 | 2022-07-12 | 中铁建电气化局集团第一工程有限公司 | Intelligent installation system for catenary dropper |
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| US6256868B1 (en) * | 1998-04-20 | 2001-07-10 | Denso Corporation | Assembly process apparatus |
| CN104228611A (en) * | 2014-09-23 | 2014-12-24 | 唐山轨道客车有限责任公司 | Contact line clamp, dropper and contact suspension |
| CN105149946A (en) * | 2015-10-23 | 2015-12-16 | 江苏天宏自动化科技有限公司 | Automatic assembling production line for high-speed rail overhead line system droppers |
| KR20180118510A (en) * | 2017-04-21 | 2018-10-31 | 동구안 지롱 머시너리 씨오., 엘티디. | An intelligent mounter and a mounting method thereof |
| CN208840859U (en) * | 2018-09-10 | 2019-05-10 | 江苏天宏自动化科技有限公司 | Contact Net's Suspension Chord line robot assembly system |
| CN210756208U (en) * | 2019-08-19 | 2020-06-16 | 中铁建电气化局集团南方工程有限公司 | Cable clamp assembly system for catenary dropper |
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2019
- 2019-08-19 CN CN201910764685.XA patent/CN110405441B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6256868B1 (en) * | 1998-04-20 | 2001-07-10 | Denso Corporation | Assembly process apparatus |
| CN104228611A (en) * | 2014-09-23 | 2014-12-24 | 唐山轨道客车有限责任公司 | Contact line clamp, dropper and contact suspension |
| CN105149946A (en) * | 2015-10-23 | 2015-12-16 | 江苏天宏自动化科技有限公司 | Automatic assembling production line for high-speed rail overhead line system droppers |
| KR20180118510A (en) * | 2017-04-21 | 2018-10-31 | 동구안 지롱 머시너리 씨오., 엘티디. | An intelligent mounter and a mounting method thereof |
| CN208840859U (en) * | 2018-09-10 | 2019-05-10 | 江苏天宏自动化科技有限公司 | Contact Net's Suspension Chord line robot assembly system |
| CN210756208U (en) * | 2019-08-19 | 2020-06-16 | 中铁建电气化局集团南方工程有限公司 | Cable clamp assembly system for catenary dropper |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734883A (en) * | 2022-03-23 | 2022-07-12 | 中铁建电气化局集团第一工程有限公司 | Intelligent installation system for catenary dropper |
| CN114734883B (en) * | 2022-03-23 | 2023-07-04 | 中铁建电气化局集团第一工程有限公司 | Intelligent installation system for overhead contact system hanger |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110405441B (en) | 2024-04-02 |
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