CN116408227B - A pantograph slide plate automatic bonding device and method - Google Patents

A pantograph slide plate automatic bonding device and method Download PDF

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Publication number
CN116408227B
CN116408227B CN202310260908.5A CN202310260908A CN116408227B CN 116408227 B CN116408227 B CN 116408227B CN 202310260908 A CN202310260908 A CN 202310260908A CN 116408227 B CN116408227 B CN 116408227B
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China
Prior art keywords
feeding mechanism
carbon material
aluminum bracket
support plate
linear
Prior art date
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Application number
CN202310260908.5A
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Chinese (zh)
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CN116408227A (en
Inventor
巩译泽
王强
金泰木
刘林
张培林
刘建平
张日清
王志晖
姚鑫
翟瑞
王萌
纪永良
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Aviation Materials Guochuang Qingdao High Speed Railway Materials Research Institute Co ltd
National High Speed Train Qingdao Technology Innovation Center
Datong Xincheng New Material Co Ltd
Original Assignee
Aviation Materials Guochuang Qingdao High Speed Railway Materials Research Institute Co ltd
National High Speed Train Qingdao Technology Innovation Center
Datong Xincheng New Material Co Ltd
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Application filed by Aviation Materials Guochuang Qingdao High Speed Railway Materials Research Institute Co ltd, National High Speed Train Qingdao Technology Innovation Center, Datong Xincheng New Material Co Ltd filed Critical Aviation Materials Guochuang Qingdao High Speed Railway Materials Research Institute Co ltd
Priority to CN202310260908.5A priority Critical patent/CN116408227B/en
Publication of CN116408227A publication Critical patent/CN116408227A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
    • F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Resistance Welding (AREA)

Abstract

本发明涉及受电弓滑板技术领域，更具体而言，涉及一种受电弓滑板自动粘接设备及方法，包括上料机构Ⅰ、上料机构Ⅱ、碳材料支撑板，六轴机械臂、喷胶头和夹紧装置，铝托架支撑板设置于上料机构Ⅰ上，铝托架支撑板上端放置有铝托架，上料机构Ⅱ设置于上料机构Ⅰ的一侧，碳材料支撑板设置于上料机构Ⅱ上，碳材料支撑板上端放置有碳材料；六轴机械臂的末端设置有可夹持铝托架的机械手，喷胶头固定设置在机械手上，喷胶头连接有自动涂胶机；夹紧装置设置于上料机构Ⅱ的一侧，夹紧装置上设置有可对碳材料、铝托架的组合件进行夹紧的夹紧夹具。本发明可自动实现涂胶和粘接操作，操作简单、成本低、省时省力，成品一致性高。

The present invention relates to the technical field of pantograph slides, and more specifically, to an automatic bonding device and method for pantograph slides, comprising a feeding mechanism I, a feeding mechanism II, a carbon material support plate, a six-axis mechanical arm, a glue spray head and a clamping device, wherein the aluminum bracket support plate is arranged on the feeding mechanism I, and an aluminum bracket is placed on the upper end of the aluminum bracket support plate; the feeding mechanism II is arranged on one side of the feeding mechanism I, and the carbon material support plate is arranged on the feeding mechanism II, and a carbon material is placed on the upper end of the carbon material support plate; a manipulator capable of clamping the aluminum bracket is arranged at the end of the six-axis mechanical arm, and the glue spray head is fixedly arranged on the manipulator, and the glue spray head is connected to an automatic glue coating machine; the clamping device is arranged on one side of the feeding mechanism II, and a clamping fixture capable of clamping the assembly of the carbon material and the aluminum bracket is arranged on the clamping device. The present invention can automatically realize the gluing and bonding operations, and has simple operation, low cost, time-saving and labor-saving, and high consistency of finished products.

Description

Automatic bonding equipment and method for pantograph slide plate
Technical Field
The invention relates to the technical field of pantograph slide plates, in particular to automatic bonding equipment and method for a pantograph slide plate.
Background
Along with the continuous development of the science and technology in China, the speed of the motor train unit is faster and the requirement on the carbon sliding plate of the pantograph is higher, and most manufacturers glue the carbon sliding plate of the pantograph by hand, so that the consistency of the carbon sliding plate of the hand bonding is difficult to ensure although the market supply units are more.
The Chinese patent publication No. CN109395952A discloses a pantograph slide plate gluing device and a gluing method thereof, and the automatic gluing of a carbon material or an aluminum bracket can be realized, but the carbon material and the aluminum bracket still need to be manually glued, so that the gluing precision is difficult to ensure.
Accordingly, there is a need for improvements over the prior art.
Disclosure of Invention
In order to overcome the defects in the prior art, the automatic bonding equipment and the method for the pantograph slide plate, which can automatically carry out gluing and bonding, are provided.
In order to solve the technical problems, the invention adopts the following technical scheme:
Provided is an automatic bonding device for a pantograph slide plate, comprising:
A feeding mechanism I;
The aluminum bracket support plate is arranged on the feeding mechanism I and driven by the feeding mechanism I, and an aluminum bracket is arranged at the upper end of the aluminum bracket support plate;
the feeding mechanism II is arranged at one side of the feeding mechanism I;
The carbon material supporting plate is arranged on the feeding mechanism II and driven by the feeding mechanism II, and carbon materials are placed at the upper end of the carbon material supporting plate;
The six-axis mechanical arm is arranged between the feeding mechanism I and the feeding mechanism II, the tail end of the six-axis mechanical arm is provided with a mechanical arm capable of clamping the aluminum bracket, and the six-axis mechanical arm is connected with a control system;
the glue spraying head is fixedly arranged on the manipulator and is connected with an automatic glue spreader;
The clamping device is arranged on one side of the feeding mechanism II, and a clamping fixture capable of clamping the assembly of the carbon material and the aluminum bracket is arranged on the clamping device.
Furthermore, the feeding mechanism I and the feeding mechanism II are roller conveyors, and adjustable guide rods are arranged on two sides of each roller conveyor.
Further, a limiter is arranged on one side of the feeding mechanism I and/or the feeding mechanism II, the limiter comprises a linear driving mechanism and a limiting block, the limiting block is arranged at the working end of the linear driving mechanism, and the movement direction of the linear driving mechanism is perpendicular to the driving direction of the feeding mechanism I or the feeding mechanism II;
And a positioning block is arranged at the other side of the feeding mechanism I and/or the feeding mechanism II, which corresponds to the position of the limiter.
Further, the clamping fixture comprises a 匚 -shaped frame, a slide rod and a control handle, wherein the slide rod is arranged at the upper end of the 匚 -shaped frame in a sliding manner and penetrates through the upper arm of the 匚 -shaped frame, the control handle is hinged to the upper end of the slide rod, the same connecting rod is hinged between the control handle and the 匚 -shaped frame, and the lower end of the slide rod is connected with a conical spring.
Further, the clamping device comprises a linear pushing frame, a mounting frame and a pneumatic clamping jaw, wherein the linear pushing frame is arranged on one side of the feeding mechanism II, which is far away from the six-axis mechanical arm, and can move linearly along the direction perpendicular to the feeding mechanism II;
the mounting frame is fixedly arranged on the linear pushing frame, and the pneumatic clamping jaw is arranged on the mounting frame and can clamp the 匚 -shaped frame.
Further, the clamping device further comprises a linear sliding plate and a rotary driver, wherein the linear sliding plate is arranged on the mounting frame in a sliding manner, and a driving mechanism is arranged between the linear sliding plate and the mounting frame;
The rotary driver comprises a hinging seat, a turntable and a deflector rod, wherein the hinging seat is fixedly arranged on the linear sliding plate, the turntable is rotationally arranged on the hinging seat, one side, close to the pneumatic clamping jaw, of the turntable is fixedly connected with the deflector rod matched with the control handle, the other side of the turntable is eccentrically provided with the hinging rod, and a driving cylinder is arranged between the hinging rod and the linear sliding plate.
Further, the aluminum bracket supporting plate comprises a bottom plate, a supporting arm and a push-pull type quick clamp, wherein the supporting arm is fixedly arranged on the bottom plate, and the push-pull type quick clamp is arranged on the supporting arm and corresponds to the placement position of the aluminum bracket.
Further, an unlocking mechanism matched with the push-pull type quick clamp is arranged on one side of the feeding structure I.
Further, the feeding mechanism I and the feeding mechanism II are roller conveyors, and adjacent rollers of the roller conveyors are connected through synchronous belts.
The utility model provides an automatic bonding method of pantograph slide, including above-mentioned automatic bonding equipment of pantograph slide, and:
S1, respectively placing processed carbon materials and aluminum brackets on a carbon material supporting plate and an aluminum bracket supporting plate, respectively placing the carbon material supporting plate and the aluminum bracket supporting plate on a feeding structure II and a feeding mechanism I, starting the feeding structure II, conveying the carbon material supporting plate to a gluing position, starting the feeding mechanism I, and conveying the aluminum bracket supporting plate to a mechanical arm material taking position;
S2, the control system controls the six-axis mechanical arm to start, and glue is applied to the carbon material bonding surface through the glue spraying head;
S3, after the sizing is finished, the six-axis mechanical arm controls the mechanical arm to grasp the aluminum bracket from the lower part of the aluminum bracket, controls the bonding surface of the aluminum bracket and the carbon material to be anastomotic, and withdraws from the mechanical arm after anastomosis;
s4, starting the clamping device, and enabling the linear pushing frame to move in a direction approaching to the feeding mechanism II until the 匚 -shaped frame is clamped on the combination of the aluminum bracket and the carbon material;
S5, the linear sliding plate moves forwards under the control of the driving mechanism until the deflector rod is positioned right below the control handle, and the turntable rotates under the control of the driving cylinder, so that the deflector rod drives the control handle to rotate, and further the aluminum bracket and the carbon material are locked;
s6, the pneumatic clamping jaw loosens 匚 -shaped frame, the linear sliding plate moves backwards, and the linear pushing frame moves in a direction away from the feeding mechanism II;
S7, starting a feeding mechanism II, and conveying the carbon material supporting plate to the next working procedure.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the automatic feeding device, automatic feeding of carbon materials and aluminum supporting plates is achieved through the two feeding mechanisms, the working positions of the carbon material supporting plates are fixed through the limiters, so that the six-axis mechanical arm can conveniently identify the gluing positions of the carbon material supporting plates and conduct automatic gluing, automatic gluing operation is achieved, and the six-axis mechanical arm is provided with a mechanical arm matched with an aluminum bracket, so that the aluminum bracket on the aluminum bracket supporting plates can be transferred to the carbon materials, and automatic bonding is achieved.
2. According to the invention, the clamping device is arranged on one side of the carbon material feeding mechanism, so that the bonded aluminum bracket and carbon materials can be automatically clamped, and the clamping device can simultaneously clamp a plurality of clamping clamps, so that the error of manual clamping is prevented.
3. The invention can automatically realize gluing and bonding operation, and has simple operation, low cost, time and labor saving and high consistency of finished products.
Drawings
The following detailed description of the invention will be given with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of a feeding mechanism II;
FIG. 3 is an enlarged view of a portion of FIG. 2A;
fig. 4 is a schematic structural diagram of a feeding mechanism I;
FIG. 5 is an enlarged view of part of B in FIG. 4;
fig. 6 is a schematic view of a manipulator structure.
In the drawing, the device comprises a 10-feeding mechanism I, an 11-adjustable guide rod, a 12-linear driving mechanism, a 13-limiting block, a 14-positioning block, a 20-aluminum bracket supporting plate, a 21-aluminum bracket, a 22-bottom plate, a 23-supporting arm, a 24-push-pull type quick clamp, a 30-feeding mechanism II, a 40-carbon material supporting plate, a 41-carbon material, a 50-six-axis mechanical arm, a 51-mechanical arm, a 60-glue spraying head, a 70-clamping device, a 71-clamping clamp, a 711- 匚 -shaped frame, a 712-sliding rod, a 713-control handle, a 714-connecting rod, a 715-conical spring, a 72-linear pushing frame, a 73-mounting frame, 74-pneumatic clamping jaws, 75-linear sliding plates, a 76-rotary driver, 761-hinging seats, 762-turntables, 763-shifting rods and 764-driving cylinders.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
As shown in fig. 1 to 6, the automatic bonding equipment for the pantograph slide plate comprises a feeding mechanism I10 for feeding an aluminum bracket 21 and a feeding mechanism II30 for feeding a carbon material 41, wherein an aluminum bracket supporting plate 20 is arranged on the feeding mechanism I10, the aluminum bracket supporting plate 20 moves under the driving of the feeding mechanism I10, the aluminum bracket 21 is placed at the upper end of the aluminum bracket supporting plate 20, the aluminum bracket supporting plate 20 comprises a bottom plate 22, a supporting arm 23 and a push-pull quick clamp 24, the supporting arm 23 is fixedly arranged on the bottom plate 22, the push-pull quick clamp 24 is arranged on the supporting arm 23 and corresponds to the placement position of the aluminum bracket 21, when the aluminum bracket is fed, the aluminum bracket is locked through the push-pull quick clamp 24, and an unlocking mechanism matched with the push-pull quick clamp 24 is arranged on one side of the feeding mechanism I10.
The feeding mechanism II30 is arranged on one side of the feeding mechanism I10 and is arranged in the same direction as the feeding mechanism I10, the carbon material supporting plate 40 is arranged on the feeding mechanism II30 and driven by the feeding mechanism II30, and the carbon material 41 is placed at the upper end of the carbon material supporting plate 40. The feeding mechanism I10 and the feeding mechanism II30 are preferably roller conveyors, adjacent rollers of the roller conveyors are connected through synchronous belts, and in order to guide the movement of the aluminum bracket support plate 20 or the carbon material support plate 40, adjustable guide rods 11 are arranged on two sides of the roller conveyors, and gaps between the adjustable guide rods 11 on two sides are adjustable, so that the roller conveyors are applicable to support plates of different sizes.
In order to position the gluing position of the carbon material and the working position of the aluminum bracket, one side of the feeding mechanism I10 and/or the feeding mechanism II30 is provided with a limiter, the limiter comprises a linear driving mechanism 12 and a limiting block 13, the limiting block 13 is arranged at the working end of the linear driving mechanism 12, the movement direction of the linear driving mechanism 12 is perpendicular to the driving direction of the feeding mechanism I10 or the feeding mechanism II30, the position, corresponding to the limiter, of the other side of the feeding mechanism I10 and/or the feeding mechanism II30 is provided with a positioning block 14, and when a supporting plate with the carbon material 41 or the aluminum bracket placed reaches the designed position, the linear driving mechanism 12 drives the limiting block 13 to move towards the positioning block and is matched with the positioning block 14 to position the supporting plate.
A six-axis mechanical arm 50 is arranged between the feeding mechanism I10 and the feeding mechanism II30, the six-axis mechanical arm 50 adopts the existing mechanical arm with visual recognition, the tail end of the six-axis mechanical arm 50 is provided with a mechanical arm 51 capable of clamping the aluminum bracket 21, the clamping of the aluminum bracket can be realized through the mechanical arm 51, the aluminum bracket can be automatically combined with a carbon material, and the six-axis mechanical arm 50 is connected with a control system.
The manipulator 51 is fixedly provided with a glue spraying head 60, the glue spraying head 60 is connected with an automatic glue spreader capable of automatically feeding, and the automatic glue spreader adopts the existing glue spreader.
In order to fix the adhered carbon material and aluminum bracket, a clamping device 70 is further arranged on one side of the feeding mechanism II30, a clamping fixture 71 capable of clamping the assembly of the carbon material 41 and the aluminum bracket 21 is arranged on the clamping device 70, the clamping fixture 71 comprises a 匚 -shaped frame 711, a slide rod 712 and a control handle 713, the slide rod 712 is arranged at the upper end of the 匚 -shaped frame 711 in a sliding manner and penetrates through the upper arm of the 匚 -shaped frame 711, the control handle 713 is hinged to the upper end of the slide rod 712, the same connecting rod 714 is hinged between the control handle 713 and the 匚 -shaped frame 711, and a quick clamping mechanism is formed by the slide rod 712, the control handle 713, the connecting rod 714 and the 匚 -shaped frame 711.
The clamping device 70 comprises a linear pushing frame 72, a mounting frame 73, a pneumatic clamping jaw 74, a linear sliding plate 75 and a rotary driver 76, wherein the linear pushing frame 72 is arranged on one side, far away from the six-axis mechanical arm 50, of the feeding mechanism II30, the linear pushing frame 72 can move linearly along the direction perpendicular to the feeding mechanism II30, the mounting frame 73 is fixedly arranged on the linear pushing frame 72 and moves synchronously with the linear pushing frame 72, the pneumatic clamping jaw 74 is arranged on the mounting frame 73 and can clamp 匚, the linear sliding plate 75 is arranged on the mounting frame 73 in a sliding manner, a driving mechanism capable of driving the linear sliding plate 75 to move forwards and backwards is arranged between the linear sliding plate 75 and the mounting frame 73, the rotary driver 76 comprises a hinging seat 761, a turntable 762 and a stirring rod 763, the hinging seat 761 is fixedly arranged on the linear sliding plate 75, one side, close to the pneumatic clamping jaw 713, of the turntable 762 is fixedly connected with the stirring rod 763, the other side of the turntable 762 is eccentrically provided with the hinging rod, a driving cylinder 764 is arranged between the hinging rod and the linear sliding plate 75, and the driving cylinder 764 stretches or retracts, and then the stirring rod is driven by the driving rod 764 to rotate the stirring rod to clamp the aluminum, and the stirring rod is further, and the stirring rod is clamped by the stirring rod 71 is driven, and the stirring rod is further, and the stirring rod is controlled to rotate.
Example 2:
the automatic bonding method of the pantograph slide plate comprises the automatic bonding equipment of the pantograph slide plate, and specifically comprises the following steps of:
S1, respectively placing processed carbon materials 41 and aluminum brackets 21 on a carbon material supporting plate 40 and an aluminum bracket supporting plate 20, wherein a concave surface of the carbon materials 41 is upward, a convex surface of the aluminum bracket is upward, respectively placing the carbon material supporting plate 40 and the aluminum bracket supporting plate 20 on a feeding structure II30 and a feeding mechanism I10, starting the feeding structure II30, conveying the carbon material supporting plate 40 to a gluing position, starting the feeding mechanism I10, and conveying the aluminum bracket supporting plate 20 to a mechanical arm material taking position.
S2, the control system controls the six-axis mechanical arm 50 to start, the six-axis mechanical arm 50 automatically identifies the gluing position of the carbon material 41, and the gluing head 60 is used for gluing the bonding surface of the carbon material 41.
S3, after the gluing is finished, the six-axis mechanical arm 50 controls the mechanical arm 51 to grasp the aluminum bracket 21 from the lower part of the aluminum bracket 21, the unlocking mechanism unlocks the push-pull type quick clamp 24, the aluminum bracket 21 is controlled to be matched with the bonding surface of the carbon material 41, the mechanical arm 51 is withdrawn after the matching, the unlocking mechanism comprises a translation mechanism, a lifting mechanism and a rotary deflector rod, the lifting mechanism is arranged on a moving table of the translation mechanism, the rotary deflector rod is arranged on the lifting table of the lifting mechanism, the translation mechanism drives the moving table to move towards the aluminum bracket 21 at first and enables the rotary deflector rod to be positioned under the push-pull type quick clamp 24, the lifting mechanism ascends to enable the rotary deflector rod to be in contact with a control rod of the push-pull type quick clamp 24, and the rotary deflector rod automatically rotates to unlock the push-pull type quick clamp 24.
S4, starting the clamping device 70, and moving the linear pushing frame 72 to a direction approaching the feeding mechanism II30 until the 匚 -shaped frame 711 is clamped on the combination body of the aluminum bracket 21 and the carbon material 41.
S5, the linear sliding plate 75 moves forwards under the control of the driving mechanism until the deflector 764 is positioned right below the control handle 713, the rotary table 762 rotates under the control of the driving cylinder 765, and then the deflector 763 drives the control handle 713 to rotate, so that the aluminum bracket 21 and the carbon material 41 are locked;
S6, the pneumatic clamping jaw 74 releases 匚 the frame 711, the linear sliding plate 75 moves backwards, and the linear pushing frame 72 moves in a direction away from the feeding mechanism II 30;
S7, starting the feeding mechanism II30, and conveying the carbon material supporting plate 20 to the next process.
The preferred embodiments of the present invention have been described in detail, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention, and the various changes are included in the scope of the present invention.

Claims (7)

1.一种受电弓滑板自动粘接设备，其特征在于，包括：1. An automatic bonding device for a pantograph slide, characterized by comprising: 上料机构Ⅰ（10）；Feeding mechanism I (10); 铝托架支撑板（20），设置于上料机构Ⅰ（10）上并由上料机构Ⅰ（10）驱动，铝托架支撑板（20）上端放置有铝托架（21）；An aluminum bracket support plate (20) is disposed on the feeding mechanism I (10) and driven by the feeding mechanism I (10), and an aluminum bracket (21) is placed on the upper end of the aluminum bracket support plate (20); 上料机构Ⅱ（30），设置于上料机构Ⅰ（10）的一侧；A feeding mechanism II (30) is arranged on one side of the feeding mechanism I (10); 碳材料支撑板（40），设置于上料机构Ⅱ（30）上并由上料机构Ⅱ（30）驱动，碳材料支撑板（40）上端放置有碳材料（41）；A carbon material support plate (40) is disposed on the feeding mechanism II (30) and driven by the feeding mechanism II (30), and a carbon material (41) is placed on the upper end of the carbon material support plate (40); 六轴机械臂（50），设置于上料机构Ⅰ（10）与上料机构Ⅱ（30）之间，六轴机械臂（50）的末端设置有可夹持铝托架（21）的机械手（51），六轴机械臂（50）连接有控制系统；A six-axis mechanical arm (50) is arranged between the feeding mechanism I (10) and the feeding mechanism II (30), a mechanical hand (51) capable of clamping the aluminum bracket (21) is arranged at the end of the six-axis mechanical arm (50), and the six-axis mechanical arm (50) is connected to a control system; 喷胶头（60），固定设置在机械手（51）上，喷胶头（60）连接有自动涂胶机；A glue spray head (60) is fixedly mounted on the manipulator (51), and the glue spray head (60) is connected to an automatic glue coating machine; 夹紧装置（70），设置于上料机构Ⅱ（30）的一侧，夹紧装置（70）上设置有可对碳材料（41）、铝托架（21）的组合件进行夹紧的夹紧夹具（71）；夹紧夹具（71）包括匚形架（711）、滑杆（712）和控制手柄（713），滑杆（712）滑动设置在匚形架（711）的上端并贯穿匚形架（711）的上臂，控制手柄（713）铰接在滑杆（712）的上端，控制手柄（713）与匚形架（711）之间铰接有同一个连杆（714），通过滑杆（712）、控制手柄（713）、连杆（714）以及匚形架（711）构成快速夹紧机构，滑杆（712）的下端连接有锥形弹簧（715），夹紧装置（70）包括直线推进架（72）、安装架（73）、气动夹爪（74）、直线滑板（75）和旋转驱动器（76），直线推进架（72）设置于上料机构II（30）远离六轴机械臂（50）的一侧，直线推进架（72）可沿垂直于上料机构II（30）的方向直线运动；安装架（73）固定设置在直线推进架（72）上并与直线推进架（72）同步运动，气动夹爪（74）设置在安装架（73）上并可对匚形架（711）进行夹持；直线滑板（75）滑动设置在安装架（73）上，直线滑板（75）与安装架（73）之间设置有可带动直线滑板（75）前后运动的驱动机构；旋转驱动器（76）包括铰接座（761）、转盘（762）和拨杆（763），铰接座（761）固定设置在直线滑板（75）上，转盘（762）转动设置在铰接座（761）上，转盘（762）靠近气动夹爪（74）的一侧固连有与控制手柄（713）相配合的拨杆（763），转盘（762）另一侧偏心设置有铰接杆，铰接杆与直线滑板（75）之间设置有驱动气缸（764）。The clamping device (70) is arranged on one side of the feeding mechanism II (30), and the clamping device (70) is provided with a clamping fixture (71) capable of clamping the assembly of the carbon material (41) and the aluminum bracket (21); the clamping fixture (71) comprises a 匚-shaped frame (711), a slide bar (712) and a control handle (713), the slide bar (712) being slidably arranged on the upper end of the 匚-shaped frame (711) and passing through the upper arm of the 匚-shaped frame (711), the control handle (713) being hinged on the upper end of the slide bar (712), and the control handle (713) being 13) and the 匚-shaped frame (711) are hinged with a connecting rod (714), and a quick clamping mechanism is formed by a sliding rod (712), a control handle (713), a connecting rod (714) and the 匚-shaped frame (711). The lower end of the sliding rod (712) is connected to a conical spring (715). The clamping device (70) includes a linear propulsion frame (72), a mounting frame (73), a pneumatic clamp (74), a linear slide (75) and a rotary drive (76). The linear propulsion frame (72) is arranged away from the feeding mechanism II (30). On one side of the six-axis robot arm (50), a linear propulsion frame (72) can move linearly in a direction perpendicular to the feeding mechanism II (30); a mounting frame (73) is fixedly arranged on the linear propulsion frame (72) and moves synchronously with the linear propulsion frame (72); a pneumatic clamp (74) is arranged on the mounting frame (73) and can clamp the shaped frame (711); a linear slide (75) is slidably arranged on the mounting frame (73); a mechanism that can drive the linear slide (75) to move forward and backward is arranged between the linear slide (75) and the mounting frame (73). The driving mechanism comprises a rotary driver (76) comprising an articulated seat (761), a rotating disk (762) and a lever (763), wherein the articulated seat (761) is fixedly arranged on the linear slide (75), the rotating disk (762) is rotatably arranged on the articulated seat (761), a lever (763) matched with the control handle (713) is fixedly connected to one side of the rotating disk (762) close to the pneumatic clamp (74), an articulated rod is eccentrically arranged on the other side of the rotating disk (762), and a driving cylinder (764) is arranged between the articulated rod and the linear slide (75). 2.根据权利要求1所述的一种受电弓滑板自动粘接设备，其特征在于：所述上料机构Ⅰ（10）、上料机构Ⅱ（30）均为辊式输送机，辊式输送机的两侧均设置有可调式导向杆（11）。2. The pantograph slide automatic bonding device according to claim 1, characterized in that: the feeding mechanism I (10) and the feeding mechanism II (30) are both roller conveyors, and adjustable guide rods (11) are provided on both sides of the roller conveyors. 3.根据权利要求2所述的一种受电弓滑板自动粘接设备，其特征在于：所述上料机构Ⅰ（10）和/或上料机构Ⅱ（30）的一侧设置有限位器，所述限位器包括直线驱动机构（12）和限位块（13），限位块（13）设置在直线驱动机构（12）的工作端，直线驱动机构（12）的运动方向垂直于上料机构Ⅰ（10）或上料机构Ⅱ（30）的驱动方向；3. The pantograph slide automatic bonding device according to claim 2, characterized in that: a limiter is arranged on one side of the feeding mechanism I (10) and/or the feeding mechanism II (30), the limiter comprises a linear drive mechanism (12) and a limit block (13), the limit block (13) is arranged at the working end of the linear drive mechanism (12), and the movement direction of the linear drive mechanism (12) is perpendicular to the driving direction of the feeding mechanism I (10) or the feeding mechanism II (30); 所述上料机构Ⅰ（10）和/或上料机构Ⅱ（30）的另一侧对应于限位器的位置设置有定位块（14）。A positioning block (14) is provided on the other side of the feeding mechanism I (10) and/or the feeding mechanism II (30) at a position corresponding to the limiter. 4.根据权利要求3所述的一种受电弓滑板自动粘接设备，其特征在于：所述铝托架支撑板（20）包括底板（22）、支撑臂（23）和推拉式快速夹具（24），所述支撑臂（23）固定设置在底板（22）上，所述推拉式快速夹具（24）设置于支撑臂（23）上并与铝托架（21）的放置位置相对应。4. The pantograph slide automatic bonding device according to claim 3 is characterized in that: the aluminum bracket support plate (20) includes a base plate (22), a support arm (23) and a push-pull quick clamp (24), the support arm (23) is fixedly arranged on the base plate (22), and the push-pull quick clamp (24) is arranged on the support arm (23) and corresponds to the placement position of the aluminum bracket (21). 5.根据权利要求4所述的一种受电弓滑板自动粘接设备，其特征在于：所述上料机构Ⅰ（10）的一侧设置有与推拉式快速夹具（24）配合的解锁机构。5. The pantograph slide automatic bonding device according to claim 4, characterized in that: an unlocking mechanism cooperating with a push-pull type quick clamp (24) is provided on one side of the feeding mechanism I (10). 6.根据权利要求1所述的一种受电弓滑板自动粘接设备，其特征在于：所述上料机构Ⅰ（10）、上料机构Ⅱ（30）均为辊式输送机，辊式输送机的相邻辊之间通过同步带连接。6. The pantograph slide automatic bonding device according to claim 1, characterized in that: the feeding mechanism I (10) and the feeding mechanism II (30) are both roller conveyors, and adjacent rollers of the roller conveyors are connected by synchronous belts. 7.一种受电弓滑板自动粘接方法，包括权利要求5所述的一种受电弓滑板自动粘接设备，其特征在于，包括：7. A pantograph slide automatic bonding method, comprising the pantograph slide automatic bonding device according to claim 5, characterized in that it comprises: S1、将加工好的碳材料（41）、铝托架（21）分别放置在碳材料支撑板（40）、铝托架支撑板（20）上，将碳材料支撑板（40）、铝托架支撑板（20）分别放置在上料结构Ⅱ（30）、上料机构Ⅰ（10）上，启动上料结构Ⅱ（30），将碳材料支撑板（40）输送至涂胶位置，启动上料机构Ⅰ（10），将铝托架支撑板（20）输送至机械臂取料位置；S1, placing the processed carbon material (41) and the aluminum bracket (21) on the carbon material support plate (40) and the aluminum bracket support plate (20), respectively, placing the carbon material support plate (40) and the aluminum bracket support plate (20) on the loading structure II (30) and the loading mechanism I (10), respectively, starting the loading structure II (30), transporting the carbon material support plate (40) to the gluing position, starting the loading mechanism I (10), and transporting the aluminum bracket support plate (20) to the robotic arm material taking position; S2、控制系统控制六轴机械臂（50）启动，并通过喷胶头（60）对碳材料（41）粘接面进行施胶；S2, the control system controls the six-axis robot arm (50) to start, and applies glue to the bonding surface of the carbon material (41) through the glue spraying head (60); S3、施胶完成后，六轴机械臂（50）控制机械手（51）从铝托架（21）下方抓取铝托架（21），并控制铝托架（21）与碳材料（41）的粘接面吻合，吻合后撤离机械手（51）；S3, after the glue application is completed, the six-axis robot arm (50) controls the robot arm (51) to grab the aluminum bracket (21) from below the aluminum bracket (21), and controls the bonding surface of the aluminum bracket (21) and the carbon material (41) to match, and then withdraws the robot arm (51) after matching; S4、启动夹紧装置（70），直线推进架（72）向靠近上料机构Ⅱ（30）的方向运动，直至匚形架（711）卡合在铝托架（21）与碳材料（41）的结合体上；S4, starting the clamping device (70), and the linear propulsion frame (72) moves in a direction close to the feeding mechanism II (30) until the shaped frame (711) is engaged with the combination of the aluminum bracket (21) and the carbon material (41); S5、直线滑板（75）在驱动机构的控制下向前移动，直至拨杆（763）处于控制手柄（713）的正下方，转盘（762）在驱动气缸（764）的控制下进行转动，进而通过拨杆（763）带动控制手柄（713）进行转动，进而实现对铝托架（21）和碳材料（41）的锁紧；S5, the linear slide plate (75) moves forward under the control of the driving mechanism until the lever (763) is directly below the control handle (713), the turntable (762) rotates under the control of the driving cylinder (764), and the lever (763) drives the control handle (713) to rotate, thereby achieving locking of the aluminum bracket (21) and the carbon material (41); S6、气动夹爪（74）松开匚形架（711），直线滑板（75）向后运动，直线推进架（72）向远离上料机构Ⅱ（30）的方向运动；S6, the pneumatic clamp (74) releases the shaped frame (711), the linear slide (75) moves backward, and the linear propulsion frame (72) moves in a direction away from the feeding mechanism II (30); S7、启动上料机构Ⅱ（30），将碳材料支撑板（40）输送至下道工序。S7, starting the feeding mechanism II (30) to transport the carbon material support plate (40) to the next process.
CN202310260908.5A 2023-03-17 2023-03-17 A pantograph slide plate automatic bonding device and method Active CN116408227B (en)

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