WO2023108886A1 - 一种平腕臂上料装置 - Google Patents

一种平腕臂上料装置 Download PDF

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Publication number
WO2023108886A1
WO2023108886A1 PCT/CN2022/077285 CN2022077285W WO2023108886A1 WO 2023108886 A1 WO2023108886 A1 WO 2023108886A1 CN 2022077285 W CN2022077285 W CN 2022077285W WO 2023108886 A1 WO2023108886 A1 WO 2023108886A1
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WO
WIPO (PCT)
Prior art keywords
support
long
chain
frame
mounting plate
Prior art date
Application number
PCT/CN2022/077285
Other languages
English (en)
French (fr)
Inventor
梁建斌
毕志峰
李育冰
刘洪生
李志军
陈瑞峰
安小旭
苗建美
Original Assignee
中铁电气化局集团有限公司
中铁电气化局集团北京电气化工程有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 中铁电气化局集团有限公司, 中铁电气化局集团北京电气化工程有限公司 filed Critical 中铁电气化局集团有限公司
Publication of WO2023108886A1 publication Critical patent/WO2023108886A1/zh

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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
    • 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
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/26—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of co-operating units, e.g. interconnected by pivots
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • 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

Definitions

  • the invention relates to the field of simplified flat arm production for contact nets, in particular to a flat arm feeding device.
  • the catenary is an important part to ensure the normal operation of the railway. It is connected to the electric railway power supply line and directly undertakes the primary task of transporting energy for the electric train.
  • the wrist arm is a catenary support device, and the pre-configuration of the wrist arm is an important content in the construction of electrified railways. High-speed railways have extremely high requirements for the installation accuracy of the catenary, and most of the components of the high-speed railway catenary project cannot be disassembled repeatedly.
  • the wrist arm includes a wrist arm tube and a combined load-bearing cable seat or an aluminum alloy positioning ring and an aluminum alloy support connector that are sleeved on the wrist arm tube.
  • the production process of the wrist arm includes multiple processes such as material selection and loading, material pushing to the processing area, mechanical processing, material returning to the assembly area, and material pushing and assembly.
  • the wrist arm is divided into flat wrist arm and oblique wrist arm.
  • the raw material of the arm tube of the flat arm is called a long tube, and the remaining part of the arm tube after machining, if its length meets the production requirements of other specifications of the arm, then the remaining The carpal tube is called a short tube, and if it is not satisfied, it is called a waste tube.
  • the present invention provides a flat arm arm feeding device, which realizes the continuous supply of long tubes in the flat arm arm production line, storage of short tubes, automatic grabbing and transmission of arm arm tubes, and realizes flat arm arm feeding.
  • the arm is automatically loaded, which improves the production efficiency of the flat arm.
  • the present invention intends to provide a flat wrist arm feeding device to solve the deficiencies in the prior art, and the technical problem to be solved by the present invention is achieved through the following technical solutions.
  • a flat wrist arm feeding device comprising a long pipe buffer rack, a short pipe buffer rack, a lifting rack and a grabbing manipulator, the long pipe buffer racks are at least two and arranged side by side at intervals in the transverse direction, and are used to carry out long pipe Store and continue to supply long tubes to the flat wrist arm production line through rotary motion;
  • the short tube buffer rack is located on the rear side of the long tube buffer rack and is used to store short tubes;
  • the lifting rack is set at One side of the long pipe buffer rack is used to support the long pipe placed on the long pipe buffer rack, and the height of the lifting rack is adjustable;
  • the top of the rack and the short tube buffer rack is used for gripping and transferring the carpal tube placed on the long tube buffer rack and the short tube buffer rack.
  • the long tubes are stored by the long tube buffer rack and the flat wrist arm production line is mechanically continuously supplied with materials, so as to solve the problems of low efficiency and inaccurate positioning caused by manual feeding and material feeding in the prior art Technical problems, and then improve the degree of automation in the production process of the flat wrist arm; by setting a special short tube buffer rack adapted to the short tube of the flat wrist arm, to solve the technology in the prior art that the short tube is placed randomly and is not conducive to reuse Problem:
  • the manipulator cooperates with each other to realize the mechanical advance and retreat during the machining process, thereby improving the degree of automation in the production process of the wrist arm; the wrist arm tube is grasped by the clamping claw specially used for grasping the wrist arm tube , Feeding, to solve the technical problems of low efficiency and inaccurate positioning caused by manual feeding in the flat wrist arm;
  • the invention provides a flat wrist arm feeding device, which realizes the continuous supply and replenishment of long tubes in the flat wrist arm production line, the storage of short tubes, the automatic grabbing and transmission of wrist arm tubes, and realizes the flat wrist arm.
  • the arm is automatically loaded, which improves the production efficiency of the flat arm.
  • Fig. 1 is a structural representation of the present invention
  • Fig. 2 is the structural schematic diagram of the middle and long pipe buffer frame of the present invention.
  • Fig. 3 is a schematic structural view of the first support frame in the long tube buffer rack of the present invention.
  • Fig. 4 is the local structure schematic diagram of the chain in the middle and long pipe buffer frame of the present invention.
  • Fig. 5 is a schematic structural view of the support unit in the middle and long pipe buffer rack of the present invention.
  • Fig. 6 is a schematic structural view of the inventive middle and short pipe buffer rack
  • Fig. 7 is the structural representation of lifting frame in the invention.
  • Fig. 8 is a structural schematic diagram of the grasping manipulator in the present invention.
  • Fig. 9 is a schematic structural view of the clamping plate in the grasping manipulator in the present invention.
  • a flat wrist arm feeding device is improved in that it includes a long tube buffer rack 1, a short tube buffer rack 2, a lifting frame 3 and a grabbing manipulator 4, and the long tube buffer rack 1 At least two and arranged side by side at intervals laterally, are used to store the long tubes and continuously supply and replenish the long tubes to the flat wrist arm production line through rotary motion; the short tube buffer rack 2 is located in the long tube buffer rack The rear side of 1 is used to store short pipes; the lifting frame 3 is arranged on one side of the long pipe buffer rack 1, and is used to support the long pipes placed on the long pipe buffer rack 1 , the height of the lifting frame 3 can be adjusted; The wrist-arm tube on the short tube buffer rack 2 is clamped and conveyed.
  • the number of long tube buffer racks 1 depends on the length of the long tubes required for the production of the flat wrist arm, so as to achieve the purpose of stably supporting, storing and supplying the long tubes.
  • the long tube is manually placed on the long tube buffer rack 1, and the lifting frame 3 is lowered to the lowest position; Rise to support the long tube, and separate the long tube from the long tube buffer rack 1, and move the grasping manipulator 4 above the long tube to grab the long tube and drive the long tube to move to the processing area; during the translation process , the lifting frame 3 always supports the long pipe to ensure the stability of the long pipe translation; after the right end of the long pipe enters the processing area, the right end of the long pipe is chamfered, and after the chamfering is completed, the manipulator grabs and drives the long pipe to continue Translate to the right.
  • the long tube is cut.
  • the arm tube on the right is processed and assembled to complete the production of the flat arm.
  • the arm tube on the left is The tube stays on the lifting frame 3 temporarily. If the length of the remaining wrist-arm tube after cutting is relatively short, it will be taken as a waste tube by the grasping robot 4 and sent to the waste bin. If the length of the remaining wrist-arm tube after cutting To meet the production requirements of other specifications of the flat wrist arm, the remaining wrist arm tube is taken as a short tube by the grasping robot 4 and sent to the short tube buffer rack 2 for storage for reuse.
  • the short tube buffer frame 2 is placed on the rear side of the long tube buffer frame 1 and is located between the truss 6 and the long tube buffer frame 1, making full use of the space between the truss 6 and the long tube buffer frame 1, making the overall structure more compact;
  • the short tubes on the short tube buffer rack 2 need to be used, the short tubes are grabbed from the short tube buffer rack 2 by the grasping manipulator 4 and transferred to the next process.
  • a kind of flat wrist arm feeding device stores the long tube through the long tube buffer rack 1 and performs mechanical continuous supply of feeding material to the flat wrist arm production line, thereby solving the problem of manual feeding and replenishing in the prior art.
  • the short tube is randomly placed, which is not conducive to the technical problem of reuse; by setting the lifting frame 3 and using the lifting frame 3 to avoid the lifting, the support of the wrist-arm tube in the machining process is completed, so as to ensure that the wrist-arm tube in the machining process levelness, and cooperate with the grasping manipulator 4 to realize the mechanical advance and retreat during the machining process, thereby improving the degree of automation in the production process of the wrist arm; Grabbing and feeding are carried out to solve the technical problems of low efficiency and inaccurate positioning caused by manual feeding in the prior art, and then improve
  • the long pipe buffer frame 1 includes a first support frame 11, and the first support frame 11 is provided with a rotary chain 12, the The chain 12 is provided with a plurality of support units 13, and the support units 13 circulate circularly under the drive of the rotary motion of the chain 12; the support unit 3 is provided with a first support platen 132, and the first The upper end of the supporting platform 132 is recessed downward to form a first arc surface 1321 , and the first arc surface 1321 is matched with the outer peripheral surface of the long pipe.
  • the first support frame 11 plays a supporting role, and the chain 12 is driven by the gear 111 to perform a rotary motion and drives the support unit 13 to perform circular circular movement.
  • the support unit 13 is used to support the flat
  • the long tube of the wrist arm is supported and the continuous supply and replenishment of the long tube is carried out in the circular circulation movement
  • the first support platform 132 is used to support the long tube
  • the first arc surface 1321 is used to limit the position of the long tube to prevent it from rolling.
  • the long tube of the flat wrist arm is manually placed on the first arc surface 1321 of the first support platen 132, and then the external motor drives the gear 111 to rotate, and the support unit 13 starts to move circularly with the chain 12,
  • a certain support unit 13 placed with a long pipe moves to the end of the first support frame 11, it matches the position of the lifting frame 3, and the lifting frame 3 supports the long pipe and matches with the first support unit 13.
  • An arc surface 1321 is disengaged, and the long pipe on the lifting frame 3 is grasped by the grasping manipulator 4 and pushed to the processing area for machining.
  • the lifting frame 3 moves down to the lowest position, and the adjacent next support unit 13 continues to move to the end of the first support frame 11 to complete the supplementary work of the long tube. material.
  • the long tube is manually placed on the support unit 13 .
  • both ends of the first supporting frame 11 are provided with two matching gears 111 , and the two gears 111 are connected to each other through a rotating shaft 112 and rotate synchronously.
  • the chain 12 is meshed with the gear 111 .
  • an anti-collapse plate 113 is provided below the chain 12 .
  • the chain 12 can be supported to prevent the compression deformation of the chain 12 caused by placing the long pipe on the support unit 13, thereby ensuring the corresponding support units of multiple cache racks The heights of 13 are flush with each other, so as to effectively support the long pipe.
  • the chain 12 is formed by interconnecting a plurality of chain links 122, and each chain link 122 includes two chain columns 123, and adjacent chain columns 123 of adjacent chain links 122 are connected to the same Connecting corner fittings 121, the connecting corner fittings 121 are rotatably connected with each chain post 123; or, the chain 12 is formed by interconnecting a plurality of chain links 122, and each chain link 122 includes two chain posts 123, with Two chain posts 123 of one chain link 122 are connected to the same connecting corner piece 121 .
  • the connecting corner piece 121 is used to realize the connection between the chain 12 and the supporting unit 13 .
  • This embodiment provides two ways to connect the corner piece 121 to the chain.
  • the first method can be referred to as a cross-link connection. Since the same connecting corner piece 121 is connected to the adjacent two chain columns 123 of the adjacent two chain links 122, so the connection angle piece 121 and the chain column 123 are connected. Rotational connection can not only ensure the rotary movement of the chain 12 driven by the gear 111 , but also ensure the circular circulation of the support unit 13 driven by the chain 12 .
  • the second method can be called the connection with the chain link.
  • the same connecting corner piece 121 is connected with the two chain columns 123 of the same chain link 122.
  • the two chain columns 123 of the same chain link 122 are fixedly connected, so The two chain columns 123 of the same chain link 122 limit the connecting corner piece 121, that is, the connecting corner piece 121 is fixedly connected with the chain link 122, and the same chain link connection method can also realize the rotary motion of the chain 12 and the supporting unit 13 circular loops.
  • connecting corner piece 121 is L-shaped, the vertical part of the connecting corner piece 121 is connected with the chain column 123 , and the horizontal part of the connecting corner piece 121 is connected with the support unit 13 .
  • the L-shaped connecting corner piece 121 not only facilitates the connection between the connecting corner piece 121 and the chain link 122, but also facilitates the connection between the connecting corner piece 121 and the support unit 13, thereby facilitating the connection between the support unit 13 and the chain 12 And the replacement and maintenance of the support unit 13.
  • the supporting unit 13 also includes a connecting platform 131, the connecting platform 131 is connected to the horizontal part of the connecting corner piece 121, and the first supporting platform 132 is arranged on the connecting platform 131 superior.
  • the arrangement of the connecting platform 131 facilitates the connection between the supporting unit 13 and the chain 12 on the one hand, and provides an installation platform for the first supporting platform 132 on the other hand.
  • first connecting portions 1311 are provided at both ends of the connecting platform 131 , and the first connecting portions 1311 are connected to the horizontal portions of the connecting corner pieces 121 .
  • the width of the first connecting portion 1311 does not exceed the width of the horizontal portion of the connecting corner piece 121 .
  • first connecting portion 1311 is connected to the horizontal portion of the connecting corner piece 121 through screws.
  • the connection between the support unit 13 and the chain 12 can be facilitated, and the disassembly and replacement of the support unit 13 can be facilitated.
  • anti-interference grooves 1313 are provided at both ends of the connecting platen 131 on both sides of the first connecting portion 1311 .
  • the anti-interference groove 1313 is provided to prevent the adjacent connecting corner pieces 121 from jacking up and interfering with the connecting platen 131 when the chain 12 rotates with the chain 12 .
  • two adjacent chain columns 123 are connected to the same connecting corner piece 121, that is, the connection between the chain link 122 and the connecting corner piece 121 on the same chain 12.
  • the quantity is the same.
  • the connecting platen 131 is connected with the connecting corner piece 121, and the connecting corner piece 121 may be named A connecting corner piece.
  • the two connecting corner fittings 121 adjacent to the connecting corner fitting A can be respectively named as connecting corner fittings B and C connecting corner fittings.
  • the chain 12 cannot be rotated.
  • the A connecting corner fitting, the B connecting corner fitting, and the C connecting corner fitting move to the gear 111 along with the chain 12, the B connecting corner fitting and the C connecting corner fitting will generate a top to the connecting platen 131 connected to the A connecting corner fitting.
  • interference, and the setting of the anti-interference groove 1313 can just accommodate the interference part of the B-connection corner fitting and the C-connection corner fitting, that is, the anti-interference groove 1313 provides for the circular movement of the B-connection corner fitting and the C-connection corner fitting.
  • the stroke space avoids the interference of the connecting corner piece 121 on the connecting platen 131 .
  • auxiliary supporting parts 1312 are provided at both ends of the connecting platen 131 outside the two interference preventing grooves 1313 .
  • the supporting strength of the connecting platen 131 can be enhanced by providing the auxiliary supporting portion 1312 .
  • the two sides of the first connecting portion 1311 of the connecting platen 131 may not be provided with the anti-interference grooves 1313.
  • the connecting platen 131 can reduce its width so that the connecting corner piece 121 does not interfere with it. interference; both ends of the connecting platen 131 can also protrude outward to form the first connecting portion 1311 , and the gaps on both sides of the first connecting portion 1311 can also function as the anti-interference groove 1313 .
  • the arrangement of the anti-interference groove 1313 and the auxiliary support portion 1312 can not only ensure the circular circulation of the support unit 13 and enhance the support strength of the connecting platen 131, but also reduce the material used for the connecting platen 131, thereby reducing the cost .
  • the width of the connecting platen 131 is three times the width of the horizontal part of the connecting corner fitting 121, the width of the first connecting part 1311 is equal to the width of the horizontal part of the connecting corner fitting 121, Both the width of the anti-interference groove 1313 and the auxiliary support portion 1312 are half of the width of the horizontal portion of the connecting corner piece 121 .
  • This embodiment presents an optimal way to connect the width of the platen 131.
  • This preferred way can effectively avoid the interference of the connecting corner piece 121 on the connecting platen 131, thus ensuring the circular circulation of the support unit 13 and reducing the number of connecting platens. 131 materials.
  • the short pipe buffer frame 2 includes a second support frame 21, and at least two second support platforms are arranged on the upper end of the second support frame 21.
  • plate 23 the upper surface of the second support plate 23 is provided with a plurality of second arcuate surfaces 231 sunken downwards, and the plurality of second arcuate surfaces 231 are evenly arranged, and the second arcuate surfaces 231 and the short tube
  • the outer peripheral surfaces are matched, and at least one row of proximity switches 24 are arranged on the outside of the second support platen 23 on one side of the upper end of the second support frame 21. match.
  • the second support frame 21 plays a supporting role
  • the second support platform 23 is used to carry the short tube of the flat wrist arm and uses the second arc surface 231 to limit the position of the short tube, preventing it from Rolling
  • the setting of the proximity switch 24 can be used to detect whether the placement position of the short pipe is appropriate.
  • the proximity switch 24 triggers to indicate that the placement position of the short pipe is appropriate. If the proximity switch 24 If it is not triggered, the spool is not properly placed.
  • the second support platen 23 is used to place the short tube of the flat arm and the second arc surface 231 is used to limit the short tube, so that the short tube produced in the production process of the flat arm can be effectively carried out. Sequential placement, which facilitates the reuse of short tubes.
  • the depth of the second arc surface 231 is no more than one-third of the outer diameter of the short tube.
  • the reason why the depth of the second arc surface 231 is set not to exceed one-third of the outer diameter of the short tube is to avoid interference between the second support platen 23 and the grasping robot 4 .
  • the grasping manipulator 4 In order to ensure the effective clamping of the short pipe by the grasping manipulator 4, there must be enough contact area between the clamping part of the grasping manipulator 4 and the short pipe. High, it will hinder the clamping of the grab manipulator 4 to the short pipe.
  • the upper end of the second supporting frame 21 is provided with a mounting bar 22 , and the second supporting platform 23 is mounted on the mounting bar 22 .
  • the setting of the installation bar 22 can facilitate the installation of the second supporting platform 23 and the second supporting frame 21 and the replacement and maintenance of the second supporting platform 23 .
  • the upper end of the second supporting frame 21 is provided with three second supporting platforms 23, and the distance between two adjacent second supporting platforms 23 among the three second supporting platforms 23 is not equal. .
  • a first mounting plate 241 is provided on the outer side of the second supporting platform 23 on the side of the upper end of the second supporting frame 21 , and the proximity switch 24 is mounted on the first mounting plate 241 .
  • the installation, replacement and maintenance of the proximity switch 24 can be facilitated by setting the first installation plate 241 .
  • the proximity switches 24 are arranged in two rows, and the positions of the proximity switches 24 in the two rows correspond to each other and the numbers are the same.
  • a row of proximity switches 24 located on the outside are installed on the same first mounting plate 241
  • a row of proximity switches 24 located on the inside are installed on the same first mounting plate 241
  • the two first mounting plates 241 are connected to each other through connectors. And it is fixedly connected with the second supporting frame 21.
  • the lifting frame 3 includes a support column 31, the upper end of the support column 31 is provided with a lifting cylinder 32, and the lifting rod 321 of the lifting cylinder 32 The end is provided with a rotatable supporting wheel 33, the middle section of the surrounding surface of the supporting wheel 33 is inwardly recessed to form an arc surface, the arc surface matches the outer peripheral surface of the long pipe, and the depth of the arc surface does not exceed the length of the long pipe. one-third of the outer diameter.
  • the support column 31 is used to support the lifting cylinder 32 and the supporting wheel 33 on it, the lifting cylinder 32 is used to drive the supporting wheel 33 to carry out the lifting movement, and the supporting wheel 33 is used to carry out the long pipe support.
  • the middle part of the peripheral surface of the supporting roller 33 is concave to form an arc surface matching the outer peripheral surface of the long pipe, so that the supporting roller 33 and the long pipe can be pushed forward and backward while the gripping manipulator 4 clamps the long pipe.
  • the pipes are in line contact, and the rotation of the supporting wheel 33 is used to reduce the resistance in the process of pushing the long pipes forward and backward.
  • the depth of the arc surface of the supporting wheel 33 is not more than one-third of the outer diameter of the long tube, in order to avoid the contact between the supporting wheel 33 and the grasping during the process of pushing the material forward and backward while the long tube is clamped by the grasping manipulator 4.
  • the clamping part of the grasping manipulator 4 must have a sufficient contact area with the long pipe. If the height of the arc surface of the support roller 33 is too high, it will The clamping part of the grasping manipulator 4 is hindered during the push of the advance and retreat materials, so that the push operation of the advance and retreat materials cannot be effectively completed.
  • the lifting cylinder 32 is needed to drive the supporting wheel 33 to move up and down, because the long tube buffer frame 1 is to feed the long tube from the side of the lifting frame 3, and the grasping manipulator 4 clamps the long tube to advance and return the material.
  • the supporting wheel 33 When pushing, the supporting wheel 33 is in a raised state, and the long tube is lifted to be separated from the long tube buffer rack 1, thereby eliminating the resistance of the long tube advancing and retreating material pushing caused by the contact between the long tube and the long tube buffer rack 1, at this time, the supporting wheel 33 Higher than the long tube buffer rack 1, when the new long tube is fed after the long tube is processed and enters the next process, the long tube on the long tube buffer rack 1 can be fed to the bottom only after the support roller 33 descends. Just above the supporting roller 33, so as to continue the next advance and retreat material pushing operation, so the supporting roller 33 is arranged on the lifting rod 321 of the lifting cylinder 32 to realize the up and down lifting of the supporting roller 33.
  • the supporting roller 33 is arranged on a U-shaped bracket 331 , and the U-shaped bracket 331 is connected to the end of the lifting rod 321 .
  • the supporting wheel 33 is supported by the U-shaped bracket 331 and provides a rotation center for the supporting wheel 33 , so that the sliding friction between the long pipe and the supporting wheel 33 is converted into rolling friction.
  • a platform 323 is provided at the end of the lifting rod 321 , and the U-shaped bracket 331 is fixedly connected to the platform 323 .
  • the lifting cylinder 32 is provided with a slide rail bar 322 , and a slide rail plate 332 is slidably fitted on the slide rail bar 322 , and the slide rail plate 332 is fixedly connected with the table plate 323 .
  • the supporting force of the supporting roller 33 can be enhanced, and the up and down movement of the supporting roller 33 can be guided and limited, thereby increasing the supporting stability of the supporting roller 33 .
  • the upper end of the supporting column 31 is provided with a second mounting plate 313 , and the lifting cylinder 32 is mounted on the second mounting plate 313 .
  • the setting of the second mounting plate 313 can facilitate the installation, replacement and maintenance of the lifting cylinder 32.
  • the support column 31 is provided with a first solenoid valve 314 , and the first solenoid valve 314 is connected with the lift cylinder 32 .
  • the ascending and descending of the supporting roller 33 is controlled to complete the supporting of the long pipe by the supporting roller 33 and the feeding of the long pipe.
  • the bottom of the support column 31 is provided with an installation base plate 311 .
  • ribs 312 are provided between the support column 31 and the installation base 311 .
  • the installation base plate 311 can install the support column 31 on the base plate of the wrist arm production line, and the rib plate 312 can enhance the support stability of the support column 31 .
  • the push-pull rods 421 at the front and rear ends of each driving cylinder 42 are provided with clamping claws 43, and the clamping claws 43 are driven by the driving cylinder 42 to perform opening and closing movements; two clamping claws on the same driving cylinder 42
  • a third arc surface 4311 is provided on the opposite surface of the claw 43.
  • the third arc surface 4311 matches the outer peripheral surface of the armpit.
  • the cross-sectional shape of the third arc surface 4311 is a minor arc.
  • the upper end of 4311 protrudes from the lower end of the third arc surface 4311 .
  • the third support frame 41 is used to support the driving cylinder 42 and the clamping claw 43, and is connected with the driving device 5, thereby driving the driving cylinder 42 and the clamping claw 43 to clamp the selected wrist tube
  • the third arc surface 4311 is in contact with the outer peripheral surface of the wrist-arm tube, and is driven by the driving cylinder 42 to clamp the wrist-arm tube. This is the basic function of the third arc surface 4311 . And the reason why the cross-sectional shape of the third arc surface 4311 is set as an inferior arc and the upper end of the third arc surface 4311 protrudes from the lower end is because the wrist-arm tube is in the shape of a long tube, which is stored in the long tube buffer rack 1 or When the short pipe buffer frame 2 is loaded and loaded to the processing area, it is pushed horizontally along the truss 6.
  • the long pipe buffer frame 1, the short pipe buffer frame 2 and the lifting frame 3 are all There is an arc surface accommodation part, and the third arc surface 4311 with a sub-arc section shape can well avoid the long tube buffer rack 1 and the short tube buffer rack 2 in the process of grabbing the arm tube and pushing the arm tube for loading. and the curved surface accommodation part of the lifting frame 3, that is, to avoid mutual interference, so as to smoothly grab and load materials.
  • the upper end of the third arc surface 4311 protrudes from the lower end, and the opening and closing stroke of the clamping claw 43 can be reduced under the premise of meeting the contact area required for grasping.
  • the third arc surface 4311 The minimum distance that the lower end is opened is the diameter of the arm tube, and the opening and closing stroke of the clamping claw 43 whose upper end protrudes from the lower end of the third arc surface 4311 is obviously smaller than that of the clamping claw 43 whose upper and lower ends are flush.
  • the reduction of the opening and closing stroke of the clamping claw 43 can also allow more wrist-arm tubes to be placed on the same width of the cache rack.
  • the entire grasping manipulator moves to a predetermined position along the truss 6 under the action of the driving device 5, where a wrist-arm tube with a suitable length is placed, and the driving cylinder 42 drives the clamping claw 43 to open and close to move. Clamp the wrist-arm tube, and then the entire grabbing manipulator moves to the processing area to wait for the machining of the wrist-arm tube.
  • an upper connecting plate 411 is provided on the upper part of the third support frame 41 , and the upper connecting plate 411 is used for connecting with the driving device 5 .
  • the upper connecting plate 411 is provided to facilitate the connection, replacement and maintenance of the entire manipulator and the driving device 5 .
  • lower connecting plates 412 are provided at the left and right ends of the lower part of the third support frame 41 , and the driving cylinder 42 is mounted on the lower connecting plates 412 .
  • the purpose of setting the third mounting plate 412 is to facilitate the installation, maintenance and replacement between the driving cylinder 42 and the third support frame 41 .
  • the driving cylinder 42 is provided with an air pipe joint 422 .
  • the third supporting frame 41 is provided with a second solenoid valve 423, and the second solenoid valve 423 is connected to the air pipe connector 422 and an external air source through an air pipe.
  • the opening and closing of the clamping claw 43 is controlled by controlling the direction of the air in and out of the second electromagnetic valve 423 to complete the grasping and dismounting of the arm tube.
  • the clamping claw 43 includes a third mounting plate 432 , a clamping plate 431 connected to the third mounting plate 432 , and the third mounting plate 432 is connected to the push-pull rod 421 connected, the third arc surface 4311 is disposed on the clamping plate 431 .
  • the reason why the clamping claw 43 is set into two parts of the split type is that on the one hand, for the convenience of production and processing, the two parts of the split type are compared with the one-piece clamping claw, and each part is easier to process; on the other hand On the one hand, it is for the convenience of installation, replacement and maintenance. When a certain part is damaged, only this part can be replaced.
  • the upper part of the clamping plate 431 is a second connecting portion 4312, and the second connecting portion 4312 is detachably fixedly connected to the third mounting plate 432; further, the second connecting portion 4312 Through holes or screw holes are provided on the third mounting plate 432 , and screw holes are provided on the third mounting plate 432 , and the second connecting portion 4312 is detachably fixedly connected to the third mounting plate 432 by grub screws.
  • the drive cylinder 42 has four push-pull rods 421 in total, and the four push-pull rods 421 are distributed in a rectangle, and the third mounting plate 432 is detachably fixed to the two push-pull rods 421 on a diagonal line of the rectangle. connect.
  • the end of the push-pull rod 421 close to the third mounting plate 432 is provided with an external thread
  • the connection between the third mounting plate 432 and the push-pull rod 421 is provided with a through hole
  • the third mounting plate 432 On the end surface away from the driving cylinder 42 and at the position of the through hole, there is a groove for accommodating a nut.
  • the push-pull rod 421 passes through the through hole and is fixedly connected with the third mounting plate 432 through a nut.
  • the third mounting plate 432 is provided with through holes for the two push-pull rods 421 located on the other diagonal of the rectangle to pass through.
  • the reason why the push-pull rods 421 of the drive cylinder 42 are set to four and distributed in a rectangle and the third mounting plate 432 is connected with the two push-pull rods 421 located on the diagonal of the rectangle is because the two push-pull rods 421 can limit each other during telescopic movement, so as to avoid the problem of unstable grasping caused by the deflection of the clamping claw 43 .

Abstract

一种平腕臂上料装置，包括长管缓存架（1）、短管缓存架（2）、升降架（3）和抓取机械手（4），长管缓存架（1）至少为两个且横向间隔并列排布，用于对长管进行存放并通过回转式运动持续向平腕臂生产线进行长管的供应补料；短管缓存架（2）位于长管缓存架（1）的后侧，用于对短管进行存放；升降架（3）设置于长管缓存架（1）的一侧，用于对放置于长管缓存架（1）上的长管进行承托，升降架（3）的高度可调节；抓取机械手（4）设于长管缓存架（1）和短管缓存架（2）的上方，用于对放置于长管缓存架（1）和短管缓存架（2）上的腕臂管进行夹取和传送。实现了平腕臂生产线中长管的持续供应补料、短管的存放、腕臂管的自动抓取和传送，实现了平腕臂自动化上料，提高了平腕臂的生产效率。

Description

一种平腕臂上料装置
相关申请的交叉引用
本申请要求享有于2021年12月15日提交的名称为“一种平腕臂上料装置”的中国专利申请CN 202111532004.0的优先权，上述申请的全部内容通过引用并入本文中。
技术领域
本发明涉及接触网简统化平腕臂生产领域，具体涉及一种平腕臂上料装置。
背景技术
随着我国铁路建设的快速发展，对铁路行业中相关部件的工艺质量标准提出了新的要求，对行车线路的建设、维护精度的要求越来越高。在铁路的行车线路中，接触网是保证铁路正常运营的重要组成部分，其搭接在电气铁路供电线路上，直接承担着为电气列车输送能源的首要任务。腕臂是接触网支撑装置，腕臂预配是电气化铁路施工中的一个重要内容。高速铁路对接触网安装的精度要求极高，而高速铁路接触网工程的零部件多数不可反复拆装，在准确的计算后，腕臂支撑装置必须一次精确组装到位，受现场高空等条件制约，需采取提前地面批量预制的模式，在整个接触悬挂中一次性施工的好坏，直接影响后续施工的质量、进度和施工效率。腕臂包括腕臂管和套装于腕臂管上的组合承力索座或铝合金定位环、铝合金支撑连接器。腕臂的生产过程包括选料上料、推料至加工区、机械加工、退料至装配区、推料组装等多道工序。腕臂分为平腕臂和斜腕臂。在平腕臂的生产过程中，平腕臂的腕臂管原料称之为长管，机械加工后腕臂管剩余的部分，若其长度满足其他规格平腕臂的生产要求，则该剩余的腕臂管称之为短管，若不满足则称之为废料管。
现有平腕臂的选料上料过程，存在如下问题，使其难以实现自动化，生产效率难以提高：
1)多采用人工手动的方式进行上料、补料，且人工上料、补料后的腕臂管的加工位置难以精确控制，这导致了加工过程的效率低下且加工位置难以精 确控制，从而无法满足平腕臂的自动化生产要求；
2)平腕臂的生产过程中，短管被随意放置且与废料管相互掺杂，从而不利于短管的再次使用；
3)现有技术中采用人工手动的方式进行机械加工的进退料作业且缺少相应的支撑装置，这导致了加工过程的效率低下且加工位置难以精确控制，从而无法满足腕臂的自动化生产要求。
有鉴于此，本发明提供一种平腕臂上料装置，实现了平腕臂生产线中长管的持续供应补料、短管的存放、腕臂管的自动抓取和传送，实现了平腕臂自动化上料，提高了平腕臂的生产效率。
发明内容
本发明意在提供一种平腕臂上料装置，以解决现有技术中存在的不足，本发明要解决的技术问题通过以下技术方案来实现。
一种平腕臂上料装置，包括长管缓存架、短管缓存架、升降架和抓取机械手，所述长管缓存架至少为两个且横向间隔并列排布，用于对长管进行存放并通过回转式运动持续向平腕臂生产线进行长管的供应补料；所述短管缓存架位于所述长管缓存架的后侧，用于对短管进行存放；所述升降架设置于所述长管缓存架的一侧，用于对放置于所述长管缓存架上的长管进行承托，所述升降架的高度可调节；所述抓取机械手设于所述长管缓存架和所述短管缓存架的上方，用于对放置于所述长管缓存架和所述短管缓存架上的腕臂管进行夹取和传送。
本发明中，通过长管缓存架对长管进行存放并对平腕臂生产线进行机械式持续供应补料，从而解决现有技术中人工上料、补料所产生的效率低下、定位不准的技术问题，进而提高平腕臂生产过程中的自动化程度；通过设置适配于平腕臂短管的专用短管缓存架，以解决现有技术中短管被随意放置、不利于再次利用的技术问题；通过设置与腕臂管相匹配的升降架并利用升降架的升降避让以完成对机械加工过程中的腕臂管的支撑，从而保证机械加工过程中腕臂管的水平度，并与抓取机械手相互配合实现机械加工过程中的机械进退料，进而提高腕臂生产过程中的自动化程度；通过专用于腕臂管抓取的夹持爪并通过该 夹持爪对腕臂管进行抓取、上料，以解决现有技术中人工上料所产生的效率低下、定位不准的技术问题，进而提高腕臂生产过程中的自动化程度。
综上，本发明提供的一种平腕臂上料装置，实现了平腕臂生产线中长管的持续供应补料、短管的存放、腕臂管的自动抓取和传送，实现了平腕臂自动化上料，提高了平腕臂的生产效率。
附图说明
图1为本发明的结构示意图；
图2为本发明中长管缓存架的结构示意图；
图3为本发明中长管缓存架中第一支撑框架的结构示意图；
图4为本发明中长管缓存架中链条的局部结构示意图；
图5为本发明中长管缓存架中支撑单元的结构示意图；
图6为发明中短管缓存架的结构示意图；
图7为发明中升降架的结构示意图；
图8为本发明中抓取机械手的结构示意图；
图9为本发明中抓取机械手中夹持板的结构示意图；
附图中的附图标记依次为：1、长管缓存架，11、第一支撑框架，111、齿轮，112、转轴，113、防塌板，12、链条，121、连接角件，122、链节，123、链柱，13、支撑单元，131、连接台板，1311、第一连接部，1312、辅助支撑部，1313、防干涉槽，132、第一支撑台板，1321、第一弧面部，2、短管缓存架，21、第二支撑框架，22、安装条，23、第二支撑台板，231、第二弧面部，24、接近开关，241、第一安装板，3、升降架，31、支撑柱，311、安装底板，312、筋板，313、第二安装板，314、第一电磁阀，32、升降气缸，321、升降杆，322、滑轨条，323、台板，33、托轮，331、U形支架，332、滑轨板，4、抓取机械手，41、第三支撑框架，411、上连接板，412、下连接板，42、驱动气缸，421、推拉杆，422、气管接头，423、第二电磁阀，43、夹持爪，431、夹持板，4311、第三弧面部，4312、第二连接部，432、第三安装板，5、驱动装置，6、桁架。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
实施例1：
参照图1所示，一种平腕臂上料装置，其改进之处在于：包括长管缓存架1、短管缓存架2、升降架3和抓取机械手4，所述长管缓存架1至少为两个且横向间隔并列排布，用于对长管进行存放并通过回转式运动持续向平腕臂生产线进行长管的供应补料；所述短管缓存架2位于所述长管缓存架1的后侧，用于对短管进行存放；所述升降架3设置于所述长管缓存架1的一侧，用于对放置于所述长管缓存架1上的长管进行承托，所述升降架3的高度可调节；所述抓取机械手4设于所述长管缓存架1和所述短管缓存架2的上方，用于对放置于所述长管缓存架1和所述短管缓存架2上的腕臂管进行夹取和传送。
本实施例中，长管缓存架1的数量视平腕臂生产所需长管的长度而定，以对达到长管进行平稳的支撑、存放和供应补料的目的。使用前，人工将长管放置于长管缓存架1上，升降架3下降至最低位置；使用时，长管在长管缓存架1上通过回转式运动移动至升降架3处，升降架3上升以将长管承托起，并使长管与长管缓存架1脱离，抓取机械手4移动至长管的上方，对长管进行抓取并带动长管平移至加工区；平移过程中，升降架3始终对长管进行支撑，以保证长管平移的稳定性；长管的右端进入加工区后，对长管的右端进行倒角加工，倒角完毕后机械手抓取带动长管继续向右平移，当平移至目标距离后，对长管进行裁切，裁切后右侧的腕臂管进行后续的加工和组装以完成平腕臂的生产，裁切后的左侧的腕臂管暂留至升降架3上，若裁切后剩余的腕臂管的长度较短，则作为废料管被抓取机械手4抓送至废料箱中，若裁切后剩余的腕臂管的长度满足其他规格平腕臂的生产要求，则剩余的腕臂管作为短管被抓取机械手4抓送至短管缓存架2上存放以进行再次利用。升降架3上的腕臂管被抓取走之后，升降架3下降至最低位置，以对长管缓存架1的补料进行让位，长管缓存架1通过回转式运动进行长管的持续供应补料。短管缓存架2放置于长管缓存 架1的后侧并位于桁架6与长管缓存架1之间，充分利用桁架6与长管缓存架1之间的空间，使得整体结构更加紧凑；当需要使用短管缓存架2上的短管时，通过抓取机械手4从短管缓存架2上抓取短管并移送至下一工序。
本实施例提供的一种平腕臂上料装置，通过长管缓存架1对长管进行存放并对平腕臂生产线进行机械式持续供应补料，从而解决现有技术中人工上料、补料所产生的效率低下、定位不准的技术问题，进而提高平腕臂生产过程中的自动化程度；通过设置适配于平腕臂短管的专用短管缓存架2，以解决现有技术中短管被随意放置、不利于再次利用的技术问题；通过设置升降架3并利用升降架3的升降避让以完成对机械加工过程中的腕臂管的支撑，从而保证机械加工过程中腕臂管的水平度，并与抓取机械手4相互配合实现机械加工过程中的机械进退料，进而提高腕臂生产过程中的自动化程度；通过专用于腕臂管抓取的抓取机械手4对腕臂管进行抓取、上料，以解决现有技术中人工上料所产生的效率低下、定位不准的技术问题，进而提高腕臂生产过程中的自动化程度。
实施例2：
在实施例1的基础上，参照图2至图5所示，所述长管缓存架1包括第一支撑框架11，所述第一支撑框架11上设有回转式运动的链条12，所述链条12上设有多个支撑单元13，所述支撑单元13在所述链条12的回转式运动的带动下环形循环；所述支撑单元3上设有第一支撑台板132，所述第一支撑台板132的上端面向下凹陷形成第一弧面部1321，所述第一弧面部1321与长管的外周面相匹配。
本实施例中，所述第一支撑框架11起到支撑作用，所述链条12在齿轮111的带动下进行回转式运动并带动支撑单元13进行环形循环移动，所述支撑单元13用于对平腕臂的长管进行支撑并在环形循环移动中进行长管的持续供应补料，所述第一支撑台板132用于支撑长管，所述第一弧面部1321用于限定长管的位置以防止其滚动。
本实施例具体使用时，首先人工将平腕臂长管放置于第一支撑台板132的第一弧面部1321上，然后外接电机带动齿轮111转动，支撑单元13随链条12开始环形循环移动，放置有长管的某个支撑单元13运动到第一支撑框架11 的端部时，与所述升降架3的位置相匹配，升降架3将长管承托起并与该支撑单元13的第一弧面部1321脱离，升降架3上的长管被抓取机械手4抓取并被推送至加工区进行机械加工。当该长管被加工完毕并进入到下一个工位后，升降架3下移至最低位置，相邻的下一个支撑单元13继续运动至第一支撑框架11的该端部完成长管的补料。当支撑单元13上缺少长管时再通过人工将长管放置于支撑单元13上。
进一步的，所述第一支撑框架11的两端均设有两个相互匹配的齿轮111，该两个齿轮111通过转轴112相互连接并同步转动。
进一步的，所述链条12与所述齿轮111相啮合。
进一步的，所述链条12的下方设有防塌板113。
本实施例中，通过设置防塌板113，可以对链条12进行支撑，防止因于支撑单元13上放置长管后导致的链条12的受压变形，从而保证了多个缓存架的对应支撑单元13的高度相互齐平，进而实现对长管的有效支撑。
进一步的，参照图4所示，所述链条12由多个链节122相互连接而成，每个链节122包括两个链柱123，相邻链节122的相邻链柱123连接同一个连接角件121，所述连接角件121与每个链柱123转动连接；或者，所述链条12由多个链节122相互连接而成，每个链节122包括两个链柱123，同一个链节122的两个链柱123连接同一个连接角件121。
本实施例中，连接角件121用于实现链条12与支撑单元13的连接。本实施例提供了连接角件121与链条连接的两种方式。第一种方式，可称之为跨链节连接，由于同一个连接角件121是与相邻两链节122的相邻两链柱123连接，所以连接角件121与链柱123之间是转动连接，从而既可以保证链条12在齿轮111的带动下回转式运动，又可以保证支撑单元13在链条12的带动下环形循环。第二种方式，可称之为同链节连接，同一个连接角件121是与同一个链节122的两链柱123连接，由于同一个链节122的两链柱123是固定连接，所以同一个链节122的两链柱123对连接角件121进行了限制，即连接角件121是与链节122固定连接，该同链节连接方式同样可以实现链条12的回转式运动和支撑单元13的环形循环。
进一步的，所述连接角件121呈L形，所述连接角件121的竖直部与所述链柱123相连接，所述连接角件121的水平部与所述支撑单元13相连接。
本实施例中，L形的连接角件121，既便于连接角件121与链节122的连接，也便于连接角件121与支撑单元13的连接，从而方便了支撑单元13与链条12的连接及支撑单元13的更换和维护。
进一步的，所述支撑单元13还包括连接台板131，所述连接台板131与所述连接角件121的水平部相连接，所述第一支撑台板132设于所述连接台板131上。
本实施例中，连接台板131的设置，一方面便于实现支撑单元13与链条12的连接，另一方面又为第一支撑台板132提供了安装平台。
进一步的，所述连接台板131的两端部设有第一连接部1311，所述第一连接部1311与所述连接角件121的水平部相连接。
进一步的，所述第一连接部1311的宽度不超过所述连接角件121的水平部的宽度。
进一步的，所述第一连接部1311与所述连接角件121的水平部之间通过螺钉相连接。
本实施例中，通过设置第一连接部1311及通过螺钉连接，可以方便支撑单元13与链条12的连接，又便于支撑单元13的拆卸、更换。
进一步的，所述连接台板131的两端部处位于所述第一连接部1311的两侧设有防干涉槽1313。
本实施例中，设置防干涉槽1313，可以避免相邻连接角件121在随链条12回转式运动时对连接台板131的顶起干扰。参照图4所示，无论是跨链节连接方式还是同链节连接方式，相邻两个链柱123连接同一个连接角件121，即同一根链条12上链节122和连接角件121的数量是相同的。连接台板131与连接角件121连接，该连接角件121可命名为A连接角件。与A连接角件相邻的两个连接角件121可分别命名为B连接角件和C连接角件，与A连接角件连接的连接台板131是不与B连接角件及C连接角件连接的，因为一旦连接则会导致链条12无法回转式运动。当A连接角件及B连接角件、C连接 角件随链条12运动到齿轮111处时，B连接角件和C连接角件会对连接于A连接角件上的连接台板131产生顶起干扰，而防干涉槽1313的设置，则可以刚好将B连接角件和C连接角件的干扰部分进行容纳，即防干涉槽1313为B连接角件和C连接角件的循环运动提供了行程空间，避免了连接角件121对连接台板131的干扰。
进一步的，所述连接台板131的两端部处位于两防干涉槽1313的外侧设有辅助支撑部1312。
本实施例中，通过设置辅助支撑部1312，可以增强连接台板131的支撑强度。
值得说明的是，所述连接台板131的第一连接部1311的两侧也可以不设置防干涉槽1313，此时的连接台板131，可以通过减少其宽度以避免连接角件121对其产生干扰；也可以将连接台板131的两端部向外凸出以形成第一连接部1311，第一连接部1311两侧的缺口也可以起到防干涉槽1313的作用。但前述两种方式，在满足同等支撑强度的要求下，需要选用刚性更高的材料制作连接台板131或者增加连接台板131的厚度。易言之，防干涉槽1313和辅助支撑部1312的设置，除了可以保证支撑单元13的环形循环和增强连接台板131的支撑强度外，还能够减少连接台板131的用料，从而减少成本。
进一步的，所述连接台板131的宽度为所述连接角件121的水平部的宽度的三倍，所述第一连接部1311的宽度与所述连接角件121的水平部的宽度相等，所述防干涉槽1313和所述辅助支撑部1312的宽度均为所述连接角件121的水平部的宽度的一半。
本实施例给出了连接台板131宽度的一种优选方式，该优选方式可以有效避免连接角件121对连接台板131的干扰从而保证了支撑单元13的环形循环，又可以减少连接台板131的用料。
实施例3：
在实施例1或2的基础上，参照图6所示，所述短管缓存架2包括第二支撑框架21，所述第二支撑框架21的上端部上设有至少两个第二支撑台板23，所述第二支撑台板23的上表面设有多个向下凹陷的第二弧面部231，该多个 第二弧面部231均匀排列，所述第二弧面部231与短管的外周面相匹配，位于第二支撑框架21上端部一侧的第二支撑台板23的外侧设有至少一排接近开关24，所述接近开关24的位置与所述第二弧面部231的位置相匹配。
本实施例中，所述第二支撑框架21起到支撑的作用，所述第二支撑台板23用于承载平腕臂的短管并利用第二弧面部231限定短管的位置，防止其滚动，所述接近开关24的设置，则可以用于检测短管的放置位置是否合适，当短管抵压接近开关24时，接近开关24触发从而表明短管的放置位置合适，若接近开关24未被触发，则表明短管的放置位置不合适。
本实施例通过设置第二支撑台板23用于专门放置平腕臂的短管并利用第二弧面部231对短管进行限位，从而能够将平腕臂生产过程中产生的短管进行有序放置，进而便于短管的再次利用。
进一步的，所述第二弧面部231的深度不超过短管外径的三分之一。
本实施例中，之所以将第二弧面部231的深度设置为不超过短管外径的三分之一，是为了避免第二支撑台板23与抓取机械手4之间的干扰。为了保证抓取机械手4对短管的有效夹持，抓取机械手4的夹持部分与短管之间必须有足够的接触面积，若第二支撑台板23的第二弧面部231的高度过高，则会阻碍抓取机械手4对短管的夹持。
进一步的，所述第二支撑框架21的上端部上设有安装条22，所述第二支撑台板23安装于所述安装条22上。
本实施例中，安装条22的设置，可以方便第二支撑台板23与第二支撑框架21的安装及第二支撑台板23的更换和维护。
进一步的，所述第二支撑框架21的上端部上设有三个第二支撑台板23，该三个第二支撑台板23中两两相邻第二支撑台板23之间的距离不相等。
本实施例中，设置三个第二支撑台板23且两两第二支撑台板23之间的距离不相等，则可以放置长度不同的多根短管，从而可以方便根据后续待加工平腕臂的规格选择相应长度的短管。
进一步的，位于第二支撑框架21上端部一侧的第二支撑台板23的外侧设有第一安装板241，所述接近开关24安装于所述第一安装板241上。
本实施例中，通过设置第一安装板241可以方便接近开关24的安装、更换和维护。
进一步的，所述接近开关24设置为两排，该两排接近开关24的位置相互对应、数量相同。
进一步的，位于外侧的一排接近开关24安装于同一第一安装板241上、位于内侧的一排接近开关24安装于同一第一安装板241上，两第一安装板241通过连接件相互连接并与第二支撑框架21固定连接。
本实施例中，通过设置双排接近开关24，则可以保证短管位于该处的端部尽可能的平齐。当短管的端部未触发相应位置上的两个接近开关24时，短管的放置位置不合适；当短管的端部同时触发相应位置上的两个接近开关24时，表明该短管的端部超出其他短管的端部，该短管的放置位置还是不合适；当短管的端部仅触发内侧的接近开关24而未触发外侧的接近开关24时，表明短管的放置位置合适且该短管的端部与其他短管的端部比较是比较齐平的。
实施例4：
在上述任一实施例的基础上，参照图7所示，所述升降架3包括支撑柱31，所述支撑柱31的上端部设有升降气缸32，所述升降气缸32的升降杆321的端部设有可转动的托轮33，所述托轮33的周面中段部分向内凹陷形成弧面部，所述弧面部与长管的外周面相匹配，所述弧面部的深度不超过长管外径的三分之一。
本实施例中，所述支撑柱31用于支撑升降气缸32及其上的托轮33，所述升降气缸32用于驱动托轮33进行升降运动，所述托轮33用于对长管进行支撑。
值得说明的是，所述托轮33的周面中段内凹形成与长管外周面相匹配的弧面部，可以在抓取机械手4夹持长管进行进退料推送的过程中，托轮33与长管之间线接触，并利用托轮33的转动，从而减少长管进退料推送过程中的阻力。
需要注意的是，所述托轮33的弧面部的深度不超过长管外径的三分之一，是为了避免抓取机械手4夹持着长管进行进退料推送过程中托轮33与抓取机 械手4之间的相互干扰。这是因为，为了保证抓取机械手4对长管的有效夹持，抓取机械手4的夹持部分与长管必须有足够的接触面积，若托轮33的弧面部的高度过高，则会在进退料推送中对抓取机械手4的夹持部分造成阻碍，从而无法有效完成进退料的推送作业。
本实施例中之所以需要升降气缸32驱动托轮33上下升降，是因为长管缓存架1是从升降架3的侧方进行长管的补料，抓取机械手4夹持长管进行进退料推送时，托轮33处于升起状态，将长管抬升至脱离长管缓存架1，从而消除长管与长管缓存架1接触而产生的长管进退料推送的阻力，此时托轮33高于长管缓存架1，当长管被加工完毕进入下一工序后新的长管进行补料时，只有托轮33下降后，长管缓存架1上的长管才能够被补料至托轮33的正上方，从而继续下一次的进退料推送作业，因而将托轮33设置于升降气缸32的升降杆321上以实现托轮33的上下升降。
进一步的，所述托轮33设于U形支架331上，所述U形支架331与所述升降杆321的端部相连接。
本实施例中，通过U形支架331对托轮33进行支撑并为托轮33提供转动中心，从而将长管与托轮33之间的滑动摩擦转为滚动摩擦。
进一步的，所述升降杆321的端部设有台板323，所述U形支架331与所述台板323固定连接。
本实施例中，通过设置台板323，可以方便U型支架331与台板323的安装和更换维护。
进一步的，所述升降气缸32上设有滑轨条322，所述滑轨条322上滑动配合有滑轨板332，所述滑轨板332与所述台板323固定连接。
本实施例中，通过设置滑轨条322和滑轨板332，既可以增强托轮33的支撑力，又可以对托轮33的上下升降进行导向限位，从而增加托轮33的支撑稳定性。
进一步的，所述支撑柱31的上端部设有第二安装板313，所述升降气缸32安装于所述第二安装板313上。
本实施例中，第二安装板313的设置，可以方便升降气缸32的安装和更 换维护。
进一步的，所述支撑柱31上设有第一电磁阀314，所述第一电磁阀314与所述升降气缸32相连接。
本实施例中，通过控制第一电磁阀314的进出气方向从而控制托轮33的上升和下降以完成托轮33对长管的支撑和长管的补料。
进一步的，所述支撑柱31的底部设有安装底板311。
进一步的，所述支撑柱31与所述安装底板311之间设有筋板312。
本实施例中，安装底板311可以将支撑柱31安装于腕臂生产线的底板上，筋板312可以增强支撑柱31的支撑稳定性。
实施例5：
在上述任一实施例的基础上，参照图8、9所示，所述抓取机械手4包括第三支撑框架41，所述第三支撑框架41的左右两端部均设有驱动气缸42，每个驱动气缸42的前后两端的推拉杆421上设有夹持爪43，所述夹持爪43在所述驱动气缸42的带动下进行开合运动；同一驱动气缸42上的两个夹持爪43的相对面上设有第三弧面部4311，所述第三弧面部4311与腕臂管的外周面相匹配，所述第三弧面部4311的截面形状为劣弧，所述第三弧面部4311的上端部突出于所述第三弧面部4311的下端部。
本实施例中，所述第三支撑框架41用于支撑驱动气缸42及夹持爪43，并与驱动装置5连接，从而带动驱动气缸42和夹持爪43对所选择的腕臂管进行夹取、上料的作业；所述驱动气缸42用于为夹持爪43的开合提供驱动力；所述夹持爪43用于抓取腕臂管。
值得说明的是，本实施例中，所述第三弧面部4311与腕臂管的外周面接触，并在驱动气缸42的带动下夹紧腕臂管，这是第三弧面部4311的基本功能。而之所以将第三弧面部4311的截面形状设置为劣弧且第三弧面部4311的上端部突出于下端部，是因为腕臂管为长管筒状，其存放于长管缓存架1或短管缓存架2上、上料至加工区时是沿桁架6水平推进的，因而为了更好地平托和支撑腕臂管，长管缓存架1、短管缓存架2和升降架3上均有弧面容置部分，截面形状为劣弧的第三弧面部4311在抓取腕臂管和推送腕臂管上料的过程中则 可以很好的规避长管缓存架1、短管缓存架2和升降架3的弧面容置部分，即避免相互干扰，从而顺利抓取和上料。第三弧面部4311的上端部突出于下端部，则可以在满足抓取所需要的接触面积的前提下减少夹持爪43的开合行程，例如为完成抓取作业，第三弧面部4311的下端部张开的最小距离为腕臂管的直径，第三弧面部4311的上端部突出于下端部的夹持爪43的开合行程要明显小于上、下端部齐平的夹持爪43。此外，夹持爪43开合行程的减少还可以使得相同宽度的缓存架上放置更多的腕臂管。
本实施例使用时，整个抓取机械手在驱动装置5的作用下沿桁架6运动到预定位置，预定位置处摆放有长度合适的腕臂管，驱动气缸42驱动夹持爪43开合运动以对腕臂管进行夹取，然后整个抓取机械手运动至加工区等待腕臂管的机械加工。
进一步的，所述第三支撑框架41的上部设有上连接板411，所述上连接板411用于与驱动装置5连接。
本实施例中，设置上连接板411，可以方便整个机械手与驱动装置5的连接、更换和维护。
进一步的，所述第三支撑框架41的下部左右两端处设有下连接板412，所述驱动气缸42安装于所述下连接板412上。
本实施例中，设置下第三安装板412的目的，是为了便于驱动气缸42与第三支撑框架41之间的安装、维护和更换。
进一步的，所述驱动气缸42上设有气管接头422。
进一步的，所述第三支撑框架41上设有第二电磁阀423，所述第二电磁阀423通过气管与所述气管接头422及外接气源相连接。
本实施例中，通过控制第二电磁阀423的进出气方向从而控制夹持爪43的张开和闭合以完成对腕臂管的抓取和卸下。
进一步的，参照图8、9所示，所述夹持爪43包括第三安装板432、与第三安装板432连接的夹持板431，所述第三安装板432与所述推拉杆421连接，所述第三弧面部4311设于所述夹持板431上。
本实施例中，之所以将夹持爪43设置成分体式的两部分，一方面是为了 便于生产加工，分体式的两部分相较于一体式的夹持爪，每一部分则更容易加工；另一方面，则是为了便于安装和更换维护，当其中的某一部分出现损坏时，可以仅更换该部分。
进一步的，所述夹持板431的上部为第二连接部4312，所述第二连接部4312与所述第三安装板432可拆卸式固定连接；更进一步的，所述第二连接部4312上设有通孔或螺孔，所述第三安装板432上设有螺孔，通过平头螺钉将第二连接部4312与第三安装板432可拆卸式固定连接。
进一步的，所述驱动气缸42的推拉杆421共四根，该四根推拉杆421呈矩形分布，所述第三安装板432与矩形一条对角线上的两根推拉杆421可拆卸式固定连接。
进一步的，所述推拉杆421靠近第三安装板432的端部设有外螺纹，所述第三安装板432与所述推拉杆421相连接处设有通孔，所述第三安装板432上远离驱动气缸42的端面上且位于通孔位置处设有容置螺母的凹槽，所述推拉杆421穿过通孔并通过螺母与所述第三安装板432固定连接。
进一步的，所述第三安装板432上开设有用于位于矩形另一条对角线上的两根推拉杆421穿过的通孔。
本实施例中，之所以将驱动气缸42的推拉杆421设置成四根且呈矩形分布并第三安装板432与位于矩形对角线上的两根推拉杆421连接，是因为两根推拉杆421可以在伸缩运动时进行相互限位，从而避免因夹持爪43发生的偏转而导致的抓取不稳的问题。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种平腕臂上料装置，其特征在于：包括长管缓存架(1)、短管缓存架(2)、升降架(3)和抓取机械手(4)，所述长管缓存架(1)至少为两个且横向间隔并列排布，用于对长管进行存放并通过回转式运动持续向平腕臂生产线进行长管的供应补料；所述短管缓存架(2)位于所述长管缓存架(1)的后侧，用于对短管进行存放；所述升降架(3)设置于所述长管缓存架(1)的一侧，用于对放置于所述长管缓存架(1)上的长管进行承托，所述升降架(3)的高度可调节；所述抓取机械手(4)设于所述长管缓存架(1)和所述短管缓存架(2)的上方，用于对放置于所述长管缓存架(1)和所述短管缓存架(2)上的腕臂管进行夹取和传送。
  2. 根据权利要求1所述的一种平腕臂上料装置，其特征在于：所述长管缓存架(1)包括第一支撑框架(11)，所述第一支撑框架(11)上设有回转式运动的链条(12)，所述链条(2)上设有多个支撑单元(3)，所述支撑单元(13)在所述链条(12)的回转式运动的带动下环形循环；所述支撑单元(13)上设有第一支撑台板(132)，所述第一支撑台板(132)的上端面向下凹陷形成第一弧面部(1321)，所述第一弧面部(1321)与长管的外周面相匹配。
  3. 根据权利要求2所述的一种平腕臂上料装置，其特征在于：所述链条(12)由多个链节(122)相互连接而成，每个链节(122)包括两个链柱(123)，相邻链节(122)的相邻链柱(123)连接同一个连接角件(121)，所述连接角件(121)与每个链柱(123)转动连接。
  4. 根据权利要求2所述的一种平腕臂上料装置，其特征在于：所述链条(12)由多个链节(122)相互连接而成，每个链节(122)包括两个链柱(123)，同一个链节(122)的两个链柱(123)连接同一个连接角件(121)。
  5. 根据权利要求3或4所述的一种平腕臂上料装置，其特征在于：所述连接角件(121)呈L形，所述连接角件(121)的竖直部与所述链柱(123)相连接，所述连接角件(121)的水平部与所述支撑单元(13)相连接；
    优选的，所述支撑单元(13)还包括连接台板(131)，所述连接台板(131)与所述连接角件(121)的水平部相连接，所述第一支撑台板(132)设于所述连接台板(131)上；
    优选的，所述连接台板(131)的两端部设有第一连接部(1311)，所述第一连接部(1311)与所述连接角件(121)的水平部相连接；
    优选的，所述连接台板(131)的两端部处位于所述第一连接部(1311)的两侧设有防干涉槽(1313)；
    优选的，所述连接台板(131)的两端部处位于两防干涉槽(1313)的外侧设有辅助支撑部(1312)；
    优选的，所述链条(12)的下方设有防塌板(113)。
  6. 根据权利要求1所述的一种平腕臂上料装置，其特征在于：所述短管缓存架(2)包括第二支撑框架(21)，所述第二支撑框架(21)的上端部上设有至少两个第二支撑台板(23)，所述第二支撑台板(23)的上表面设有多个向下凹陷的第二弧面部(231)，该多个第二弧面部(231)均匀排列，所述第二弧面部(231)与短管的外周面相匹配，位于第二支撑框架(21)上端部一侧的第二支撑台板(23)的外侧设有至少一排接近开关(24)，所述接近开关(24)的位置与所述第二弧面部(231)的位置相匹配；
    优选的，所述第二弧面部(231)的深度不超过短管外径的三分之一；
    优选的，所述第二支撑框架(21)的上端部上设有安装条(22)，所述第二支撑台板(23)安装于所述安装条(22)上；
    优选的，所述第二支撑框架(21)的上端部上设有三个第二支撑台板(23)，该三个第二支撑台板(23)中两两相邻第二支撑台板(23)之间的距离不相等；
    优选的，位于第二支撑框架(21)上端部一侧的第二支撑台板(23)的外侧设有第一安装板(241)，所述接近开关(24)安装于所述第一安装板(241)上；
    优选的，所述接近开关(24)设置为两排，该两排接近开关(24)的位置相互对应、数量相同；
    优选的，位于外侧的一排接近开关(24)安装于同一第一安装板(241)上、位于内侧的一排接近开关(24)安装于同一第一安装板(241)上，两第一安装板(241)通过连接件相互连接并与第二支撑框架(21)固定连接。
  7. 根据权利要求1所述的一种平腕臂上料装置，其特征在于：所述升降架(3)包括支撑柱(31)，所述支撑柱(31)的上端部设有升降气缸(32)，所述升降 气缸(32)的升降杆(321)的端部设有可转动的托轮(33)，所述托轮(33)的周面中段部分向内凹陷形成弧面部，所述弧面部与长管的外周面相匹配，所述弧面部的深度不超过长管外径的三分之一；
    优选的，所述托轮(33)设于U形支架(331)上，所述U形支架(331)与所述升降杆(321)的端部相连接；
    优选的，所述升降杆(321)的端部设有台板(323)，所述U形支架(331)与所述台板(323)固定连接；
    优选的，所述升降气缸(32)上设有滑轨条(322)，所述滑轨条(322)上滑动配合有滑轨板(332)，所述滑轨板(332)与所述台板(323)固定连接；
    优选的，所述支撑柱(31)的上端部设有第二安装板(313)，所述升降气缸(32)安装于所述第二安装板(313)上；
    优选的，所述支撑柱(31)上设有第一电磁阀(314)，所述第一电磁阀(314)与所述升降气缸(32)相连接；
    优选的，所述支撑柱(31)的底部设有安装底板(311)；
    优选的，所述支撑柱(31)与所述安装底板(311)之间设有筋板(312)。
  8. 根据权利要求1所述的一种平腕臂上料装置，其特征在于：所述抓取机械手(4)包括第三支撑框架(41)，所述第三支撑框架(41)的左右两端部均设有驱动气缸(42)，每个驱动气缸(42)的前后两端的推拉杆(421)上设有夹持爪(43)，所述夹持爪(43)在所述驱动气缸(42)的带动下进行开合运动；同一驱动气缸(42)上的两个夹持爪(43)的相对面上设有第三弧面部(4311)，所述第三弧面部(4311)与腕臂管的外周面相匹配，所述第三弧面部(4311)的截面形状为劣弧，所述第三弧面部(4311)的上端部突出于所述第三弧面部(4311)的下端部。
  9. 根据权利要求8所述的一种平腕臂上料装置，其特征在于：所述夹持爪(43)包括第三安装板(432)、与第三安装板(432)连接的夹持板(431)，所述第三安装板(432)与所述推拉杆(421)连接，所述第三弧面部(4311)设于所述夹持板(431)上。
  10. 根据权利要求9所述的一种平腕臂上料装置，其特征在于：所述夹持板(431) 的上部为第二连接部(4312)，所述第二连接部(4312)与所述第三安装板(432)可拆卸式固定连接；
    优选的，所述驱动气缸(42)的推拉杆(421)共四根，该四根推拉杆(421)呈矩形分布，所述第三安装板(432)与矩形一条对角线上的两根推拉杆(421)可拆卸式固定连接；
    优选的，所述推拉杆(421)靠近第三安装板(432)的端部设有外螺纹，所述第三安装板(432)与所述推拉杆(421)相连接处设有通孔，所述第三安装板(432)上远离驱动气缸(42)的端面上且位于通孔位置处设有容置螺母的凹槽，所述推拉杆(421)穿过通孔并通过螺母与所述第三安装板(432)固定连接；
    优选的，所述第三安装板(432)上开设有用于位于矩形另一条对角线上的两根推拉杆(421)穿过的通孔；
    优选的，所述第三支撑框架(41)的上部设有上连接板(411)，所述上连接板(411)用于与驱动装置(5)连接；
    优选的，所述第三支撑框架(41)的下部左右两端处设有下连接板(412)，所述驱动气缸(42)安装于所述下连接板(412)上；
    优选的，所述驱动气缸(42)上设有气管接头(422)；
    优选的，所述第三支撑框架(41)上设有第二电磁阀(423)，所述第二电磁阀(423)通过气管与所述气管接头(422)及外接气源相连接。
PCT/CN2022/077285 2021-12-15 2022-02-22 一种平腕臂上料装置 WO2023108886A1 (zh)

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