Robot flexible unit for clamping cantilever pipe fitting of overhead line system

Abstract

The invention discloses a robot flexible unit for clamping a cantilever pipe fitting of an overhead line system. A sliding table unit is arranged on a working table top and can slide along guide railsarranged on the two sides; the sliding table unit is fixedly connected with the bottom of a six-axis robot, the end portion of the other end of the six-axis robot is fixedly connected with a mechanical arm, and the pipe fitting is clamped through the mechanical arm; the mechanical arm comprises a truss directly connected with the six-axis robot, a first clamping end and a second clamping end which are vertically arranged are arranged at the end portions of the two ends of the truss, servo tightening guns are arranged at the bottoms of the two sides of the truss respectively, and the corresponding servo tightening guns are fixedly connected with the truss in a rotatable mode; and the tightening ends of the servo tightening guns achieve torque automatic tightening of accessories on the pipefitting. By means of the robot flexible unit, manual feeding and discharging work can be achieved, standard torque automatic installation of the accessories on the pipe fitting can be achieved, and the situation that tightening is not in place or torque is excessive due to the fact that a manual torque wrench is adopted is avoided.

Description

technical field [0001] The invention belongs to the technical field of intelligent preconfiguration of catenary wrist arms, and more particularly relates to a robot flexible unit for clamping catenary wrist arm pipes. Background technique [0002] The catenary is a high-voltage transmission line erected in a "zigzag" shape along the sky above the rails in the electrified railway for pantographs to take current. The catenary is the main frame of the railway electrification project, and it is a special form of transmission line erected along the railway line to supply power to the electric locomotive. It is lapped on the electric railway power supply line and extends many catenary wires to the entire electric locomotive traction system and train ancillary equipment to supply power to the train. The catenary wrist arm is installed on the upper part of the pillar to support the contact suspension and play the role of transferring load. [0003] At present, in the assembly of t...

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Problems solved by technology

[0004] However, there are many shortcomings in the traditional method, mainly because the process standards of parts cannot be highly unified, the torque pre-tightening is not in place or the

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