CN111891737A - Automatic feeding, discharging and twisting robot system and method for contact network cantilever - Google Patents
Automatic feeding, discharging and twisting robot system and method for contact network cantilever Download PDFInfo
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- CN111891737A CN111891737A CN202010622816.3A CN202010622816A CN111891737A CN 111891737 A CN111891737 A CN 111891737A CN 202010622816 A CN202010622816 A CN 202010622816A CN 111891737 A CN111891737 A CN 111891737A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The invention discloses a contact network cantilever automatic feeding, discharging and twisting robot system, which comprises a pipe fitting feeding platform, a pipe fitting discharging and twisting platform and a pipe fitting accessory buffering turntable, and is characterized in that: the pipe fitting feeding platform comprises a pipe fitting feeding robot and a feeding robot sliding rail; the pipe fitting blanking torsion applying platform comprises a pipe fitting blanking torsion applying robot, a blanking torsion applying robot sliding rail and an automatic pre-assembly platform; the pipe fitting blanking and twisting robot is used for fastening the pipe fitting accessories in a mode of rotating and applying torque in a horizontal plane under the vertical state of the fasteners of the pipe fitting accessories and blanking the wrist arm from the automatic pre-preparation platform; the automatic pre-assembly platform comprises a horizontal movement mechanism, a circumferential movement mechanism, a supporting sliding mechanism, a lifting platform, a pipe fitting end part supporting mechanism and a pipe fitting accessory clamping mechanism; the invention realizes the automatic picking of the pipe fittings, the automatic feeding and discharging of the pipe fittings, the automatic installation of the standard torque of the accessories on the pipe fittings, and the standard value of the torque can be adjusted.
Description
Technical Field
The invention belongs to the field of design, construction and engineering application of an electrified railway contact network, particularly relates to the field of automatic pre-configuration of a cantilever of the contact network, and particularly relates to a system and a method for an automatic feeding and blanking and torsion applying robot for the cantilever of the contact network.
Background
In the traditional method of the wrist arm, the loading and the unloading of the pipe fittings are all completed manually, the loading of the parts and the picking of the pre-assembled wrist arm are all completed manually, and the torque of the part bolts on the pipe fittings is all completed manually, so that the pre-assembly of the wrist arm and the pre-tightening of the torque are realized. In the traditional method, the process standards of parts cannot be highly unified, the torque pre-tightening is not in place or the torque is over-torqued, the labor intensity of workers is high, the production speed is low, the working efficiency is low, and the work efficiency and the unified standard need to be further improved.
The applicant's prior application CN201811453123.5 discloses an "intelligent production line equipment system for high-speed railway contact network cantilever", which is partially improved, but still has the following defects:
1. the types of pipe fittings and accessories at different positions on the cantilever are different, and the installation angles are different, so that the directions and the directions of the fastening bolts are different, the manual pre-assembly and the manual tightening are low in efficiency, but the manual flexible operation is convenient, and the problem cannot be solved by the automatic scheme of the prior application;
2. if the industrial robot is adopted to finish the hand motion for replacing the simulation person, the industrial robot is required to be subjected to necessary and overhigh requirements, the purchase cost is inevitably greatly increased, and in order to simulate the hand, the industrial robot needs to perform multi-directional and 360-degree full-angle motion around a pipe fitting, the motion range is overlarge, and other peripheral production line parts need to be redesigned and adjusted;
3. the automation solution of the prior application only discloses a part related to the total system of the device, does not give a solution to the detail device of feeding, blanking and torsion application, does not give related guidance to the process steps, and needs further improvement.
Disclosure of Invention
Aiming at least one of the defects or improvement requirements in the prior art, the invention provides a contact network cantilever automatic feeding, discharging and twisting robot system and a method, wherein a pipe fitting feeding robot realizes automatic picking of a pipe fitting from a cutting and drilling station to an automatic pre-assembly platform, a pipe fitting discharging and twisting robot realizes automatic feeding of parts from an accessory turntable to the automatic pre-assembly platform, and automatically picks the cantilever of the pipe fitting pre-assembly to subsequent stations such as a material rack and a general assembly platform; the pipe fitting blanking torsion robot is matched with the automatic pre-assembly platform to realize the automatic installation of the standard torque of the accessories on the pipe fitting, and the standard value of the torque is adjustable.
In order to achieve the above object, according to one aspect of the present invention, there is provided a robot system for automatic feeding, discharging, and twisting of a cantilever of a contact network, comprising a pipe fitting feeding platform, a pipe fitting discharging and twisting platform, and a pipe fitting accessory buffer turntable, wherein:
the pipe fitting feeding platform comprises a pipe fitting feeding robot and a feeding robot sliding rail;
the pipe fitting blanking torsion applying platform comprises a pipe fitting blanking torsion applying robot, a blanking torsion applying robot sliding rail and an automatic pre-assembly platform; the pipe fitting blanking and twisting robot is used for fastening the pipe fitting accessories in a manner of rotating in a horizontal plane and applying torque under the vertical state of the fasteners of the pipe fitting accessories, and blanking a wrist arm from the automatic pre-preparation platform;
the automatic pre-assembly platform comprises a horizontal movement mechanism, a circumferential movement mechanism, a supporting sliding mechanism, a lifting platform, a pipe fitting end part supporting mechanism and a pipe fitting accessory clamping mechanism;
the front end of the horizontal movement mechanism is fixedly provided with the circumferential movement mechanism, a plurality of supporting sliding mechanisms are sequentially distributed on the horizontal movement mechanism from front to back, and the lifting platform is arranged on the supporting sliding mechanisms;
the pipe fitting end part supporting mechanism is arranged on the lifting platform at the rearmost end, the pipe fitting end part supporting mechanism is fixed, the horizontal movement mechanism is arranged between the circumferential movement mechanisms, the pipe fitting end part supporting mechanism and the circumferential movement mechanisms jointly support the front end and the rear end of the pipe fitting, and the lifting platform is sequentially provided with the pipe fitting accessory clamping mechanisms.
Further, the circumferential movement mechanism comprises a rotating chuck, a positioning cylinder and a positioning pin;
the rotary chuck is used for rotating the pipe fitting to the installation angle of different pipe fittings, and the positioning cylinder is used for actuating the positioning pin to be inserted into the positioning hole of the pipe fitting to lock the installation angle.
Furthermore, the lifting platform comprises a fixed sleeve, a lifting sleeve, a platform plate and a lifting power mechanism;
the fixed sleeve and the lifting sleeve are mutually sleeved, the lower end of the fixed sleeve is fixed on the supporting sliding mechanism, the upper end of the lifting sleeve is fixed on the platform plate, and the pipe fitting end part supporting mechanism or the pipe fitting accessory clamping mechanism is arranged on the platform plate.
Further, the pipe end supporting mechanism comprises a supporting roller and a pressing mechanism;
the supporting rollers comprise two symmetrically arranged supporting rollers for supporting the pipe fitting and allowing the pipe fitting to rotate circumferentially;
the pressing mechanism is used for pressing the pipe fitting downwards and limiting circumferential rotation and longitudinal movement of the pipe fitting.
Furthermore, on the lift platform that is located foremost, pipe fitting annex clamping mechanism's front end is equipped with the transition bearing roller for with fixed pipe fitting tip supporting mechanism cooperates, accepts the pipe fitting that pipe fitting material loading robot transported and come.
Further, the pipe fitting accessory clamping mechanism comprises an accessory tool and an accessory cylinder;
the accessory tools are matched with the corresponding pipe fittings in shape, and the fastening pieces of the corresponding pipe fittings are vertically oriented;
the accessory cylinders are arranged on two transverse sides of the accessory tool and used for clamping the pipe fittings in an actuating mode so as to penetrate and move to a preset station.
Further, a push rod pressure head is installed at the front end of the accessory air cylinder, and the push rod pressure head is provided with an appearance matched with the contact surface of the pipe fitting accessory.
Furthermore, the pipe fitting accessories comprise sleeve lugs, a carrier cable seat, a carrier cable clamp, a sleeve hinge ring and a positioning ring.
In order to achieve the above object, according to another aspect of the present invention, there is provided a construction method of a catenary cantilever automatic feeding, discharging, and twisting robot system, comprising the steps of:
a) the pipe fitting feeding robot carries the pipe fitting to an automatic pre-preparation platform, one end of the pipe fitting is lapped on a fixed pipe fitting end supporting mechanism, the other end of the pipe fitting is lapped on a transition carrier roller at the front end of a pipe fitting accessory clamping mechanism on a first lifting platform at the foremost end, meanwhile, the pipe fitting discharging and twisting robot finishes the operation of feeding the pipe fitting accessories from a pipe fitting accessory buffer turntable to the accessories on the pipe fitting accessory clamping mechanism, and the accessory tools of different types of pipe fitting accessories on the respective pipe fitting accessory clamping mechanisms are kept in vertical orientation;
b) a positioning cylinder of the circumferential movement mechanism actuates a positioning pin to enter a positioning hole of the pipe fitting to realize angle positioning of the pipe fitting, and then a pressing mechanism of the pipe fitting end supporting mechanism presses the pipe fitting;
c) an accessory cylinder of the pipe accessory clamping mechanism actuates to clamp the pipe accessory, so that the pipe accessory is fixed;
d) the plurality of supporting sliding mechanisms sequentially slide forwards along the horizontal movement mechanism to realize that the accessory is sleeved with the pipe fitting and moves to a preset station, wherein a first station and a second station … … are sequentially arranged from front to back, N is a natural number, and the end part of the pipe fitting is supported by the pipe fitting end supporting mechanism on the Nth station;
e) the pipe fitting blanking and twisting robot pre-tightens the fastener of the pipe fitting accessory on the first station to a preset torque in a mode of rotating in a horizontal plane to apply the torque;
f) the accessory cylinder on the first station is loosened, and then the lifting platform descends to separate the accessory tool from the pipe fitting accessory;
g) a positioning cylinder of the circumferential movement mechanism actuates a positioning pin to withdraw from a positioning hole of the pipe fitting to remove the angular positioning, and a pressing mechanism of the pipe fitting end part supporting mechanism removes the pressing on the pipe fitting; the rotating chuck of the circumferential movement mechanism drives the pipe fitting to rotate, so that the static pipe fitting accessory in the second station is rotated to a pre-screwing rotation angle in a 'relative rotation' mode; a positioning cylinder of the circumferential movement mechanism actuates a positioning pin to be inserted into a positioning hole of the pipe fitting for angle positioning, and a pressing mechanism of the pipe fitting end supporting mechanism presses the pipe fitting;
h) correspondingly repeating the steps e) to g) in sequence at the second station, and completing the pre-tightening of the pipe fittings on the second station, the detachment of the fittings tools, and the preparation of the pre-tightening rotation angle of the pipe fittings on the third station;
i) repeating the steps e) to h) until the pipe fitting accessory is pre-tightened and the accessory tool is separated on the N-1 th station;
j) after the pipe fitting of a single wrist arm is prepared, the pipe fitting blanking and twisting robot blanks from the automatic preparation platform.
Further, step g) is replaced by:
a positioning cylinder of the circumferential movement mechanism actuates a positioning pin to withdraw from a positioning hole of the pipe fitting to remove the angular positioning, and a pressing mechanism of the pipe fitting end part supporting mechanism removes the pressing on the pipe fitting; the rotating chuck of the circumferential movement mechanism drives the pipe fitting to rotate, so that the static pipe fitting accessory in the second station is rotated to a pre-screwing rotation angle in a 'relative rotation' mode; preferably, the positioning cylinder of the circumferential movement mechanism actuates the positioning pin to insert into the positioning hole of the pipe fitting for angular positioning, and the pressing mechanism of the pipe fitting end supporting mechanism presses the pipe fitting.
The above-described preferred features may be combined with each other as long as they do not conflict with each other.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
1. according to the automatic loading, unloading and twisting robot system and method for the contact network cantilever, the pipe fitting loading robot achieves automatic picking of a pipe fitting from a cutting and drilling station to an automatic pre-assembly platform, the pipe fitting unloading and twisting robot achieves automatic loading of parts from an accessory turntable to the automatic pre-assembly platform, the wrist arm of the pre-assembly pipe fitting is automatically picked to a subsequent station such as a material rack and a general assembly platform, the pipe fitting unloading and twisting robot is matched with the automatic pre-assembly platform to achieve standard torque automatic installation of the accessory on the pipe fitting, and the standard value of the torque is adjustable.
2. According to the automatic feeding, discharging and twisting robot system and method for the contact network cantilever, the pipe fitting accessory clamping mechanism of the automatic pre-assembly platform fixes the fastening bolts of different types of pipe fitting accessories in a unidirectional vertical orientation, the pipe fitting feeding and twisting robot can pre-tighten the fastening bolts to fasten the pipe fittings only by moving up and down to align and rotating in a horizontal plane to apply torque, and the requirements on an industrial robot are greatly reduced.
3. According to the automatic feeding, discharging and twisting robot system and method for the cantilever of the contact network, the operation line of the pipe fitting discharging and twisting robot of the automatic pre-assembly platform is single, the action range is small, the bolt is screwed up in the vertical direction, and the action range does not affect peripheral equipment, so that the design and manufacturing tasks of a production line are reduced, the arrangement of the production line is more compact, the occupied land is reduced, and the input-output economy of unit area is improved.
4. According to the automatic loading, unloading and twisting robot system and method for the cantilever of the contact network, the lifting platform of the automatic pre-assembly platform and the matched sliding, rotating and supporting and positioning functions overcome the difficulties in multi-angle installation and bolt pre-tightening of pipe fittings, the mechanical action thinking replaces the human hand action thinking, the pipe fittings of different types, sizes and bolt angles can adapt to each other without mutual interference and are sequentially and orderly carried out, and the production line action is smooth and the efficiency is doubled.
Drawings
Fig. 1 is a schematic diagram of an automatic feeding, discharging and twisting robot system of a contact network cantilever according to an embodiment of the invention;
fig. 2 is another view schematic diagram of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the invention;
fig. 3 is a schematic top view of the overhead contact system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the present invention;
fig. 4 is a schematic side view of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the present invention;
fig. 5 is a left side view schematic diagram of the contact network cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the invention;
fig. 6 is a schematic view of an automatic pre-assembly platform of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the invention;
fig. 7 is another view schematic diagram of an automatic pre-assembly platform of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the invention;
fig. 8 is a schematic side view of an automatic pre-assembly platform of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the present invention;
fig. 9 is a partially enlarged schematic view of an automatic pre-assembly platform of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the present invention;
fig. 10 is another partially enlarged schematic view of an automatic pre-assembly platform of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.
As shown in fig. 1 to 10, as a further improvement of the aforementioned prior application, the invention provides an automatic feeding, discharging and twisting robot system for a contact network cantilever, which comprises a pipe fitting feeding platform 1, a pipe fitting discharging and twisting platform 2 and a pipe fitting accessory buffer turntable 3.
As shown in fig. 1-5, the tube loading platform 1 includes a tube loading robot 11 and a loading robot slide rail 12 for transferring a tube from a previous station of cutting and drilling to an automatic preparation platform 23 of the tube unloading torsion platform 2.
As shown in fig. 1-5, the pipe blanking twisting platform 2 includes a pipe blanking twisting robot 21, a blanking twisting robot slide rail 22, and an automatic pre-preparation platform 23; the pipe fitting blanking and twisting robot 21 is used for fastening a pipe fitting accessory in a manner of rotating in a horizontal plane and applying torque under the vertical state of a fastener of the pipe fitting accessory, the standard value of the torque is adjustable, and a single wrist arm is blanked from the automatic pre-assembly platform 23 to the material rack or the wrist arm general assembly platform.
As shown in fig. 6-10, the automated preparation platform 23 includes a horizontal movement mechanism 231, a circumferential movement mechanism 232, a support slide mechanism 233, a lift platform 234, a tubular end support mechanism 235, and a tubular attachment gripping mechanism 236.
The circumferential movement mechanism 232 is fixedly arranged at the front end of the horizontal movement mechanism 231, a plurality of supporting sliding mechanisms 233 are sequentially distributed on the horizontal movement mechanism 231 from front to back, and the lifting platform 234 is arranged on the supporting sliding mechanisms 233; a movable tubular end support 235 is mounted on the rearmost elevation platform 234, a fixed tubular end support 235 is mounted between the horizontal motion 231 and the circumferential motion 232, and both support the front and rear ends of the tubular, and a plurality of the elevation platforms 234 between which the tubular attachment gripping mechanism 236 is mounted in sequence.
The pipe feeding robot 11 and the pipe blanking twisting robot 21 both adopt servo control robot systems. According to the weight of an aluminum alloy pipe fitting which is 4500mm long and 6mm thick, the weight of a single accessory is 15kg, the weight of a tail end gripper is 2kg, and other components and parts, the total weight is 20kg, the load coefficient is 2, the tail end load of the robot is 40kg at the lowest, and therefore a six-axis robot of 60kg is selected. The maximum working range is 2078 mm.
The robot gripper mainly comprises a two-part gripper design. One of the gripping devices is designed for the pipe feeding robot 11, and the gripping device is mainly used for gripping pipes of phi 42, phi 55 and phi 70 with different diameter types and lengths ranging from 1200 mm to 4500 mm. The pipe fitting discharging and twisting robot 21 is mainly used for realizing the operations of feeding, torque tightening and single-wrist-arm discharging of accessories, and is different from a feeding gripper in that a bolt tightening unit is arranged, and the bolt tightening unit can be adjusted and positioned in a telescopic mode after being straightened, namely in the vertical direction.
The robot sliding rail is mainly used for adjusting the movement range of the pipe fitting blanking robot during the accessory feeding and the bolt pre-tightening, and the movement range of the robot is enlarged. The main equipment of the system consists of a servo driving motor, a robot main sliding plate and a modularized movable rail. The equipment adopts a modular design, has strong universality, is convenient to install and maintain, is common to other stations in the device model selection installation, and solves the universality among the cross units.
As shown in fig. 9, the circumferential movement mechanism 232 further includes a rotating chuck 2321, a positioning cylinder 2322, and a positioning pin 2323. The spin chuck 2321 is used to rotate the pipe to a mounting angle of different pipe fittings, and the positioning cylinder 2322 is used to actuate the positioning pin 2323 to be inserted into the positioning hole of the pipe to lock the mounting angle.
As shown in fig. 10, the lifting platform 234 further includes a fixing sleeve 2341, a lifting sleeve 2342, a platform plate 2343 and a lifting power mechanism. The fixing sleeve 2341 and the lifting sleeve 2342 are sleeved with each other, the lower end of the fixing sleeve 2341 is fixed to the supporting sliding mechanism 233, the upper end of the lifting sleeve 2342 is fixed to the platform 2343, and the pipe end supporting mechanism 235 or the pipe fitting accessory clamping mechanism 236 is arranged on the platform 2343.
As shown in fig. 9, further, the tubular end support mechanism 235 includes support rollers 2351 and a hold-down mechanism 2352; the support rollers 2351 comprise two symmetrically arranged support rollers for supporting the pipe and allowing the pipe to rotate circumferentially; the hold down mechanism 2352 is used to hold down the pipe to limit circumferential rotation and longitudinal movement of the pipe.
Further, as shown in figure 10, on the forward most elevation platform 234, the front end of the tubular attachment gripping mechanism 236 is provided with a transition idler 2353 for cooperating with the fixed tubular end support mechanism 235 to receive a tubular being transferred by the tubular loader robot 11.
As shown in fig. 10, further, the pipe fitting attachment clamping mechanism 236 includes an attachment tool 2361, an attachment cylinder 2362; the accessory tools 2361 are matched with the corresponding pipe fittings in shape, and the fastening pieces of the corresponding pipe fittings are vertically oriented; the attachment cylinders 2362 are disposed on lateral sides of the attachment tooling 2361 for actuatably gripping the plumbing attachment for threading movement to a predetermined station.
Further, a push rod pressure head 2363 is mounted at the front end of the accessory cylinder 2362, and the push rod pressure head 2363 has an outer shape matching the contact surface of the pipe accessory.
Furthermore, the pipe fittings accessories comprise sleeve lugs, carrier cable seats, carrier cable clamps, sleeve hinge rings and positioning rings, the types of the pipe fittings accessories at different positions on the wrist arm are different, and the installation angles are different, so that the positions and the orientations of the fastening bolts are different.
The invention also provides a construction method of the contact net cantilever automatic feeding, discharging and twisting robot system, which comprises the following steps:
a) the pipe feeding robot 11 carries the pipe to the automatic pre-preparation platform 23, one end of the pipe is lapped on a fixed pipe end supporting mechanism 235, the other end of the pipe is lapped on a transition carrier roller 2353 at the front end of a pipe accessory clamping mechanism 236 on a first lifting platform 234 at the foremost end, meanwhile, the pipe discharging and twisting robot 21 completes the operation of feeding the pipe accessories from the pipe accessory buffer turntable 3 to the accessories on the pipe accessory clamping mechanism 236, and the accessory tools 2361 of different types of pipe accessories are kept in vertical orientation in the respective pipe accessory clamping mechanisms 236;
b) the positioning cylinder 2322 of the circumferential movement mechanism 232 actuates the positioning pin 2323 into the positioning hole of the pipe to realize angular positioning of the pipe, and then the pressing mechanism 2352 of the pipe end supporting mechanism 235 presses the pipe;
c) the attachment cylinder 2362 of the plumbing attachment clamp mechanism 236 actuates clamping of the plumbing attachment to effect securement of the plumbing attachment;
d) the supporting sliding mechanisms 233 sequentially slide forwards along the horizontal moving mechanism 231 to enable the accessories to be sleeved with the pipe and move to a preset station, wherein a first station and a second station … … are sequentially arranged from front to back, the nth station is … …, N is a natural number, and the pipe end supporting mechanism 235 on the nth station supports the end of the pipe and is used for supporting the pipe during rotation;
e) the pipe fitting blanking and twisting robot 21 pre-tightens the fastener of the pipe fitting accessory on the first station to a preset torque in a mode of rotating in a horizontal plane to apply torque;
after the pre-tightening of the first station is finished, because the angle difference exists between the accessories of the first station and the second station of the steel cantilever, the pre-tightening of the second station can not be directly carried out, see f);
f) the accessory cylinder 2362 on the first station is released, and then the lifting platform 234 descends to separate the accessory tool 2361 from the pipe fittings;
g) the positioning cylinder 2322 of the circumferential movement mechanism 232 actuates the positioning pin 2323 to withdraw from the positioning hole of the pipe to relieve the angular positioning, and the pressing mechanism 2352 of the pipe end supporting mechanism 235 relieves the pressing on the pipe; the spin chuck 2321 of the circumferential motion mechanism 232 rotates the tubular so that the stationary tubular attachment in the second station is "relatively rotated" to a pre-tightening rotation angle; the positioning cylinder 2322 of the circumferential movement mechanism 232 actuates the positioning pin 2323 to insert into the positioning hole of the pipe for angular positioning, and the pressing mechanism 2352 of the pipe end supporting mechanism 235 presses the pipe;
h) correspondingly repeating the steps e) to g in sequence at the second station to finish pre-tightening of the pipe fittings and detachment of the fittings on the second station and preparation of pre-tightening rotation angles of the pipe fittings and fittings on the third station;
i) and e) repeating the steps e) to h) until the pipe fitting accessory is pre-tightened and the accessory tool is separated on the (N-1) th station.
The process is a pipe fitting pre-assembly process of a single wrist arm.
j) After the pipe fittings of a single wrist arm are prepared, the pipe fittings are discharged from the automatic preparing platform 23 by the pipe fittings discharging and twisting robot 21.
Further, step g) is replaced by:
the positioning cylinder 2322 of the circumferential movement mechanism 232 actuates the positioning pin 2323 to withdraw from the positioning hole of the pipe to relieve the angular positioning, and the pressing mechanism 2352 of the pipe end supporting mechanism 235 relieves the pressing on the pipe; the spin chuck 2321 of the circumferential motion mechanism 232 rotates the tubular so that the stationary tubular attachment in the second station is "relatively rotated" to a pre-tightening rotation angle; preferably, the positioning cylinder 2322 of the circumferential movement mechanism 232 then actuates the positioning pin 2323 to insert into the positioning hole of the pipe for angular positioning, and the pressing mechanism 2352 of the pipe end supporting mechanism 235 presses the pipe.
In summary, the present invention has the following outstanding advantages:
according to the automatic loading, unloading and twisting robot system and method for the contact network cantilever, the pipe fitting loading robot achieves automatic picking of a pipe fitting from a cutting and drilling station to an automatic pre-assembly platform, the pipe fitting unloading and twisting robot achieves automatic loading of parts from an accessory turntable to the automatic pre-assembly platform, the wrist arm of the pre-assembly pipe fitting is automatically picked to a subsequent station such as a material rack and a general assembly platform, the pipe fitting unloading and twisting robot is matched with the automatic pre-assembly platform to achieve standard torque automatic installation of the accessory on the pipe fitting, and the standard value of the torque is adjustable.
According to the automatic feeding, discharging and twisting robot system and method for the contact network cantilever, the pipe fitting accessory clamping mechanism of the automatic pre-assembly platform fixes the fastening bolts of different types of pipe fitting accessories in a unidirectional vertical orientation, the pipe fitting feeding and twisting robot can pre-tighten the fastening bolts to fasten the pipe fittings only by moving up and down to align and rotating in a horizontal plane to apply torque, and the requirements on an industrial robot are greatly reduced.
According to the automatic feeding, discharging and twisting robot system and method for the cantilever of the contact network, the operation line of the pipe fitting discharging and twisting robot of the automatic pre-assembly platform is single, the action range is small, the bolt is screwed up in the vertical direction, and the action range does not affect peripheral equipment, so that the design and manufacturing tasks of a production line are reduced, the arrangement of the production line is more compact, the occupied land is reduced, and the input-output economy of unit area is improved.
According to the automatic loading, unloading and twisting robot system and method for the cantilever of the contact network, the lifting platform of the automatic pre-assembly platform and the matched sliding, rotating and supporting and positioning functions overcome the difficulties in multi-angle installation and bolt pre-tightening of pipe fittings, the mechanical action thinking replaces the human hand action thinking, the pipe fittings of different types, sizes and bolt angles can adapt to each other without mutual interference and are sequentially and orderly carried out, and the production line action is smooth and the efficiency is doubled.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a contact net cantilever automatic feeding unloading, execute wrench movement robot system, includes that pipe fitting material loading platform (1), pipe fitting unloading are executed wrench movement platform (2), pipe fitting annex buffering carousel (3), its characterized in that:
the pipe fitting feeding platform (1) comprises a pipe fitting feeding robot (11) and a feeding robot sliding rail (12);
the pipe fitting blanking torsion platform (2) comprises a pipe fitting blanking torsion robot (21), a blanking torsion robot sliding rail (22) and an automatic pre-assembly platform (23); the pipe fitting blanking and twisting robot (21) is used for fastening the pipe fitting accessories in a manner of rotating in a horizontal plane and applying torque under the vertical state of the fasteners of the pipe fitting accessories, and blanking a wrist arm from an automatic pre-assembly platform (23);
the automatic pre-assembly platform (23) comprises a horizontal movement mechanism (231), a circumferential movement mechanism (232), a supporting sliding mechanism (233), a lifting platform (234), a pipe fitting end supporting mechanism (235) and a pipe fitting accessory clamping mechanism (236);
the front end of the horizontal movement mechanism (231) is fixedly provided with the circumferential movement mechanism (232), a plurality of supporting sliding mechanisms (233) are sequentially distributed on the horizontal movement mechanism (231) from front to back, and the supporting sliding mechanisms (233) are provided with the lifting platform (234);
a movable pipe end support mechanism (235) is disposed on the rearmost lifting platform (234), a fixed pipe end support mechanism (235) is fixed between the horizontal movement mechanism (231) and the circumferential movement mechanism (232), both support the front and rear ends of the pipe, and a plurality of pipe attachment clamping mechanisms (236) are sequentially disposed on the lifting platforms (234).
2. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 1 characterized in that:
the circumferential motion mechanism (232) comprises a rotating chuck (2321), a positioning cylinder (2322) and a positioning pin (2323);
the rotating chuck (2321) is used for rotating the pipe fitting to the installation angle of different pipe fittings, and the positioning cylinder (2322) is used for actuating the positioning pin (2323) to be inserted into the positioning hole of the pipe fitting to lock the installation angle.
3. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 1 characterized in that:
the lifting platform (234) comprises a fixed sleeve (2341), a lifting sleeve (2342), a platform plate (2343) and a lifting power mechanism;
fixing sleeve pipe (2341), lifting sleeve pipe (2342) overlap each other and establish, the lower extreme of fixing sleeve pipe (2341) is fixed support slide mechanism (233) is last, lifting sleeve pipe (2342) the upper end is fixed landing slab (2343), set up on landing slab (2343) pipe fitting end part supporting mechanism (235) or pipe fitting annex clamping mechanism (236).
4. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 1 characterized in that:
the tube end support mechanism (235) comprises a support roll (2351) and a hold down mechanism (2352);
the support roller (2351) comprises two symmetrically arranged support rollers for supporting the pipe and allowing the pipe to rotate circumferentially;
the hold down mechanism (2352) is used to hold down the tubular, limiting circumferential rotation and longitudinal movement of the tubular.
5. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 1 characterized in that:
and the front end of the pipe fitting accessory clamping mechanism (236) is provided with a transition carrier roller (2353) which is positioned on a foremost lifting platform (234) and is used for matching with the fixed pipe fitting end supporting mechanism (235) to receive the pipe fitting transferred by the pipe fitting feeding robot (11).
6. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 1 characterized in that:
the pipe fitting accessory clamping mechanism (236) comprises an accessory tool (2361) and an accessory cylinder (2362);
the accessory tools (2361) are matched with the shapes of the corresponding pipe accessories, and the fasteners of the corresponding pipe accessories are vertically oriented;
the accessory air cylinders (2362) are arranged on two transverse sides of the accessory tool (2361) and used for clamping the pipe accessory in an actuating mode so as to penetrate and move to a preset station.
7. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 6 characterized in that:
push rod pressure head (2363) are installed to the front end of annex cylinder (2362), push rod pressure head (2363) have the appearance that matches with pipe fitting annex contact surface.
8. The overhead line system cantilever automatic feeding unloading, applying torsion robot system of claim 1 characterized in that:
the pipe fitting accessories comprise sleeve lugs, carrier cable seats, carrier cable clamps, sleeve hinge rings and positioning rings.
9. The construction method of the overhead line system cantilever automatic feeding, blanking and twisting robot system as claimed in any one of claims 1 to 8, characterized by comprising the following steps:
a) the pipe fitting feeding robot (11) carries the pipe fitting to the automatic pre-preparation platform (23), one end of the pipe fitting is lapped on a fixed pipe fitting end supporting mechanism (235), the other end of the pipe fitting is lapped on a transition carrier roller (2353) at the front end of a pipe fitting accessory clamping mechanism (236) on a first lifting platform (234) at the forefront end, meanwhile, the pipe fitting discharging torsion applying robot (21) finishes the accessory feeding work of the pipe fitting accessory from a pipe fitting accessory buffer turntable (3) to the pipe fitting accessory clamping mechanism (236), and the accessory tools (2361) of different types of pipe fitting accessories are kept in vertical orientation in the respective pipe fitting accessory clamping mechanisms (236);
b) a positioning cylinder (2322) of the circumferential movement mechanism (232) actuates a positioning pin (2323) to enter a positioning hole of the pipe fitting to realize the angular positioning of the pipe fitting, and then a pressing mechanism (2352) of a pipe fitting end supporting mechanism (235) presses the pipe fitting;
c) an accessory cylinder (2362) of the pipe accessory clamping mechanism (236) actuates clamping of the pipe accessory to achieve securement of the pipe accessory;
d) the supporting sliding mechanisms (233) sequentially slide forwards along the horizontal movement mechanism (231) to realize that the accessory is sleeved with the pipe fitting and moves to a preset station, wherein a first station and a second station … … are arranged in sequence from front to back, N is a natural number, and the pipe fitting end supporting mechanism (235) on the N station supports the end of the pipe fitting;
e) a pipe fitting blanking and twisting robot (21) pre-tightens the fastener of the pipe fitting accessory on the first station to a preset torque in a mode of rotating and applying the torque in a horizontal plane;
f) the accessory air cylinder (2362) on the first station is loosened, and then the lifting platform (234) descends to separate the accessory tool (2361) from the pipe accessory;
g) a positioning cylinder (2322) of the circumferential movement mechanism (232) actuates the positioning pin (2323) to withdraw from the positioning hole of the pipe fitting to remove the angle positioning, and a pressing mechanism (2352) of the pipe fitting end supporting mechanism (235) removes the pressing on the pipe fitting; a rotating chuck (2321) of the circumferential movement mechanism (232) drives the pipe fitting to rotate, so that the static pipe fitting accessory in the second station is rotated to a pre-screwing rotation angle in a 'relative rotation' mode; a positioning cylinder (2322) of the circumferential movement mechanism (232) actuates a positioning pin (2323) to insert into a positioning hole of the pipe fitting for angular positioning, and a pressing mechanism (2352) of a pipe fitting end supporting mechanism (235) presses the pipe fitting;
h) correspondingly repeating the steps e) to g) in sequence at the second station, and completing the pre-tightening of the pipe fittings on the second station, the detachment of the fittings tools, and the preparation of the pre-tightening rotation angle of the pipe fittings on the third station;
i) repeating the steps e) to h) until the pipe fitting accessory is pre-tightened and the accessory tool is separated on the N-1 th station;
j) after the pipe fittings of a single wrist arm are prepared, the pipe fittings are discharged from the automatic preparing platform (23) by a pipe fittings discharging and twisting robot (21).
10. A construction method of the overhead line system cantilever automatic feeding, discharging and twisting robot system according to claim 9, characterized in that:
step g) is replaced by:
a positioning cylinder (2322) of the circumferential movement mechanism (232) actuates the positioning pin (2323) to withdraw from the positioning hole of the pipe fitting to remove the angle positioning, and a pressing mechanism (2352) of the pipe fitting end supporting mechanism (235) removes the pressing on the pipe fitting; the rotating chuck (2321) of the circumferential movement mechanism (232) drives the tubular to rotate, so that the stationary tubular accessory in the second station is rotated to a pre-tightening rotation angle in a 'relative rotation' manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010622816.3A CN111891737A (en) | 2020-07-01 | 2020-07-01 | Automatic feeding, discharging and twisting robot system and method for contact network cantilever |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010622816.3A CN111891737A (en) | 2020-07-01 | 2020-07-01 | Automatic feeding, discharging and twisting robot system and method for contact network cantilever |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752031A (en) * | 2021-10-21 | 2021-12-07 | 中铁建电气化局集团第一工程有限公司 | Cantilever production and processing equipment |
| CN116161427A (en) * | 2023-04-25 | 2023-05-26 | 中铁建电气化局集团第三工程有限公司 | Intelligent transfer method, device, equipment and storage medium |
-
2020
- 2020-07-01 CN CN202010622816.3A patent/CN111891737A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752031A (en) * | 2021-10-21 | 2021-12-07 | 中铁建电气化局集团第一工程有限公司 | Cantilever production and processing equipment |
| CN113752031B (en) * | 2021-10-21 | 2023-09-08 | 中铁建电气化局集团第一工程有限公司 | Production and processing equipment for wrist arms |
| CN116161427A (en) * | 2023-04-25 | 2023-05-26 | 中铁建电气化局集团第三工程有限公司 | Intelligent transfer method, device, equipment and storage medium |
| CN116161427B (en) * | 2023-04-25 | 2023-07-07 | 中铁建电气化局集团第三工程有限公司 | Intelligent transfer method, device, equipment and storage medium |
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