A robot flexible unit for clamping catenary arm pipe fittings

Abstract

The present invention discloses a robot flexible unit for clamping contact network wrist arm pipe fittings, a slide unit is provided on the work surface, and can slide along the guide rails provided on both sides; the slide unit is fixedly connected to the bottom of the six-axis robot, and the other end of the six-axis robot is fixedly connected to the manipulator, and the pipe fittings are clamped by the manipulator; the manipulator includes a truss directly connected to the six-axis robot, and the end portions at both ends of the truss are provided with a first clamping end and a second clamping end in a vertical direction, and servo tightening guns are respectively provided at the bottom of both sides of the truss, and the corresponding servo tightening guns are rotatably fixedly connected to the truss; the tightening end of the servo tightening gun realizes the automatic torque tightening of the accessories on the pipe fittings. The present invention can not only solve the work of manual loading and unloading, but also realize the automatic installation of standard torque of accessories on pipe fittings, avoiding the situation of insufficient tightening or over-torque caused by the use of manual torque wrenches.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent pre-assembly of contact network wrist arms, and more specifically, relates to a robot flexible unit for clamping contact network wrist arm pipe fittings. Background Art

[0002] The contact network is a high-voltage transmission line that is set up in a zigzag shape above the rails in an electrified railway and is used by the pantograph to draw current. The contact network is the main structure of the railway electrification project and is a special form of transmission line set up above the railway line to supply power to the electric locomotive. It is connected to the power supply line of the electric railway and extends many contact network wires to the entire electric locomotive traction system and train ancillary equipment to supply power to the train. The contact network arm is installed on the upper part of the pillar to support the contact suspension and play a role in transferring the load.

[0003] At present, in the assembly of overhead line arm, the means of loading, unloading and standard torque installation in the intelligent pre-assembly workshop of the arm of each construction unit are different. The traditional method is to pre-assemble the arm and pre-tighten the torque by manual loading, manual unloading and manual torque wrench. Not only the loading of parts and the picking of pre-assembled arm are all done manually, but also the torque of the bolts of parts on the pipe fittings is all done manually.

[0004] However, the traditional approach has many shortcomings, mainly because the process standards of parts cannot be highly unified, the torque preload is not in place or is over-torqued, and it is necessary to further improve the work efficiency and unify the standards; and the manual loading and unloading is labor-intensive and inefficient. Therefore, it is imperative to develop a servo-controlled robot for automatic loading and unloading of the contact network arm and automatic installation of standard torque. Summary of the invention

[0005] In response to the above defects or improvement needs of the prior art, the present invention provides a robot flexible unit for clamping contact network wrist arm pipe fittings. By clamping the pipe fittings by a manipulator, it can not only solve the work of manual loading and unloading in the prior art, but also realize the automatic installation of standard torque of accessories on the pipe fittings, avoiding the use of manual torque wrenches in the prior art to achieve torque tightening, resulting in the adverse effects of insufficient torque tightening or over-torque.

[0006] To achieve the above-mentioned purpose, the present invention provides a robot flexible unit for clamping a contact network wrist arm pipe fitting, wherein at least one slide unit is provided on the working table and can slide along guide rails provided on both sides;

[0007] The slide unit is fixedly connected to the bottom of the six-axis robot, and the other end of the six-axis robot is fixedly connected to the manipulator, and the pipe fitting is clamped by the manipulator;

[0008] The manipulator includes a truss directly connected to the six-axis robot, and the end parts at both ends of the truss are provided with a first clamping end and a second clamping end in a vertical direction, and servo tightening guns are respectively provided at the bottom of both sides of the truss, and the corresponding servo tightening guns are rotatably fixedly connected to the truss; the tightening end of the servo tightening gun realizes the automatic torque tightening of the accessories on the pipe fittings.

[0009] Furthermore, one end of the servo tightening gun is a power end, and the other end is a tightening end, and the end of the tightening end is a structure that matches the bolt to be tightened.

[0010] Furthermore, the trusses on both sides are respectively provided with limiting plates, and the limiting plates are provided with limiting holes to fix the servo tightening gun.

[0011] Furthermore, the first clamping end and the second clamping end are respectively arranged on two vertical sides of the connection portion of the truss end.

[0012] Furthermore, the first clamping end and the second clamping end are extended and retracted vertically along the connecting portion through a cylinder arranged on the truss.

[0013] Furthermore, a drag chain connected to one lateral side of the slide unit is provided.

[0014] Furthermore, each of the slide units is provided with a corresponding servo motor, and the servo motor is connected to a reducer.

[0015] Furthermore, each of the slide units shares a same set of guide rails for movement.

[0016] Furthermore, the slide unit is connected to the six-axis robot via a base arranged thereon.

[0017] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0018] (1) The robot flexible unit for clamping the contact network wrist arm pipe fittings of the present invention can not only solve the manual loading and unloading work in the prior art by clamping the pipe fittings through the manipulator, but also realize the automatic installation of the accessories on the pipe fittings with the standard torque, thus avoiding the use of manual torque wrenches in the prior art to achieve torque tightening, resulting in the adverse effects of insufficient torque tightening or over-torque.

[0019] (2) The robot flexible unit for clamping the contact network wrist arm pipe fittings of the present invention can realize the loading and unloading of pipe fittings from the cutting and drilling stations to the automatic pre-assembly platform by driving the movement of the manipulator by a six-axis robot, and can also realize the loading and unloading of parts from the accessory turntable tooling platform.

[0020] (3) In the robot flexible unit for clamping contact network wrist arm pipe fittings of the present invention, the tightening end of the servo tightening gun is a structure that matches the bolt, and is used to tighten the bolts of the earrings on the clamped pipe fittings. When the robot arm clamps the pipe fittings, the servo tightening gun rotates and extends to a position corresponding to the bolt to be tightened on the earring, and is clamped on the top of the bolt. The tightening end is driven to rotate by the power end to achieve automatic tightening of the bolt on the earring.

[0021] (4) The robot flexible unit for clamping contact network wrist arm pipe fittings of the present invention and the servo tightening gun have adjustable standard torque values, and can adjust the standard torque value according to the tightening strength required for different pipe fitting sizes, and are suitable for the automated installation of accessories with standard torque for pipe fittings of different sizes.

[0022] (5) The robot flexible unit for clamping contact network arm pipe fittings of the present invention can fully utilize the function of the track by setting up multiple slide units, realize the clamping and handling work of multiple manipulators, and work together to improve the work efficiency of the entire assembly system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional schematic diagram of a robot flexible unit for clamping a contact network wrist arm pipe fitting according to an embodiment of the present invention;

[0024] Figure 2 A top view of a robot flexible unit for clamping a contact network wrist arm pipe fitting according to an embodiment of the present invention;

[0025] Figure 3 For the embodiment of the present invention Figure 1 A partial enlarged view of the manipulator involved in the experiment;

[0026] Figure 4 For the embodiment of the present invention Figure 2 A partial enlarged view of the robot involved.

[0027] In all the drawings, the same reference numerals represent the same technical features, specifically: 501-slide unit, 502-guide rail, 503-servo motor, 504-robot, 505-drag chain, 506-manipulator, 507-servo tightening gun, 508-first clamping end, 509 second clamping end, 510-limiting plate. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] An embodiment of the present invention is a wrist arm pipe fitting clamping device on an automated assembly production line for a contact network wrist arm pipe fitting, specifically a robotic flexible unit for clamping contact network pipe fittings, which is applied to intelligent pre-assembly of wrist arms in a high-speed railway contact network pre-assembly workshop, and is used to clamp wrist arm pipe fittings and automatically tighten the bolts of accessories (such as earrings) on the wrist arm pipe fittings.

[0030] Figure 1 The present invention is a three-dimensional schematic diagram of a robot flexible unit for clamping contact network wrist arm pipe fittings according to an embodiment of the present invention. Figure 2 This is a top view of a robot flexible unit for clamping a contact network arm pipe fitting according to an embodiment of the present invention. Figure 1 and Figure 2 The robot flexible unit for clamping contact network wrist arm pipe fittings of the present invention includes a slide unit 501, a guide rail 502, a servo motor 503, a six-axis robot 504, a drag chain 505, a manipulator 506 and a servo tightening gun 507.

[0031] Specifically, at least one slide unit 501 is provided on the working table of the contact network arm pipe fitting automatic assembly production line, and can slide along the guide rails 502 provided on both sides, as Figure 1 In the preferred embodiment, two slide units 501 are arranged on the guide rail 502, and they move by sharing the same set of guide rails 502. Each slide unit is driven by a corresponding servo motor 503, and the servo motor 503 is connected to a reducer. The rotating gear of the servo motor 503 matches the gear arranged on the side of the work table, and the movement of the servo motor 503 along the gear drives the slide unit 501 to slide along the track 502. Arranging multiple slide units can make full use of the role of the track, realize the clamping and handling work of multiple manipulators, and work together to improve the working efficiency of the entire assembly system.

[0032] A drag chain 505 is provided on one lateral side of the slide unit 501, which can be used to protect cables and the like installed therein during operation.

[0033] The slide unit 501 is provided with a plurality of bases, and the sizes and heights of the bases are preferably the same. The slide unit 501 is fixedly connected to the six-axis robot 504 through the base, and the other end of the six-axis robot 504 is fixedly connected to the manipulator 506. The six-axis robot 504 can drive the manipulator 506 to move in multiple directions such as rotation, vertical, horizontal and elongation, so as to realize the flexible picking and handling of the arm pipe fittings, so that it can reach a working area without dead angles. In addition, the servo-driven slide unit of the present invention can further increase the flexible working area of ​​the robot by sliding along the guide rail, and can adapt to the production conditions of various arm products.

[0034] Figure 3 For the embodiment of the present invention Figure 1 A partial enlarged view of the manipulator involved in the experiment; Figure 4 For the embodiment of the present invention Figure 2 A partial enlarged view of the robot involved in the Figures 1 to 4 The manipulator 506 is fixedly connected to the upper end of the six-axis robot 504. The manipulator 506 includes a truss directly connected to the six-axis robot 504. Preferably, the middle part of the truss is fixedly connected to the end of the six-axis robot 504, and the connection strength between the manipulator 506 and the six-axis robot 504 is strengthened by a connecting rod perpendicular to the truss.

[0035] The two ends of the truss are preferably horizontal symmetrical structures, and the end parts of the two ends are provided with a vertical first clamping end 508 and a second clamping end 509, which are respectively arranged on the connecting parts of the ends of the truss, and the first clamping end 508 and the second clamping end 509 on both sides can be vertically extended and retracted by the cylinders correspondingly arranged on the truss, thereby realizing the clamping and loosening of the wrist arm pipe fittings.

[0036] The robot flexible unit for clamping contact network wrist arm pipe fittings of the present invention can realize the loading and unloading work of transporting pipe fittings from cutting and drilling stations to the automatic pre-assembly platform by driving the movement of the manipulator through a six-axis robot, and can also realize the loading and unloading work of parts from the accessory turntable tooling platform.

[0037] A horizontally placed servo tightening gun 507 is fixed to the bottom of both sides of the truss. The servo tightening gun 507 is rotatably fixedly connected to the truss. One end of the servo tightening gun 507 is a power end, and the other end is a tightening end. The end head is a structure that matches the bolt and is used to tighten the bolt on the earring on the clamped pipe fitting. For example, if the bolt to be tightened on the earring passing through the pipe fitting is a hexagonal bolt, the end of the servo tightening gun 507 is a corresponding hexagonal hollow structure.

[0038] Preferably, the trusses on both sides are respectively provided with limit plates 510, and the limit plates 510 are provided with limit holes. When not in use, the tightening end of the servo tightening gun 507 is shortened and passes through the corresponding limit holes to fix the servo tightening gun 507 to prevent it from shaking around.

[0039] During operation, when the robot clamps the pipe fitting, the tightening end of the servo tightening gun 507 contracts, disengages from the limit plate 510, and rotates and extends to a position corresponding to the bolt to be tightened on the earring, and is clamped on the top of the bolt. The tightening end is driven to rotate by the power end, thereby realizing automatic tightening of the bolt on the earring.

[0040] Preferably, the servo tightening gun 507 of the present invention has an adjustable standard value of torque, and can adjust the standard value of torque according to the tightening strength required for different sizes of pipes, and is suitable for automatic installation of accessories with standard torque for pipes of different sizes.

[0041] The robot flexible unit for clamping contact network wrist arm pipe fittings of the present invention can not only solve the manual loading and unloading work in the prior art by clamping the pipe fittings through a manipulator, but also can realize the automatic installation of the accessories on the pipe fittings with standard torque, and the standard value of the torque is adjustable, thus avoiding the use of a manual torque wrench in the prior art to achieve torque tightening, resulting in the adverse effects of insufficient torque tightening or excessive torque.

[0042] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot flexible unit for clamping contact network arm pipe fittings, characterized in that: A slide unit (501) is provided on the work surface and can slide along guide rails (502) provided on both sides; The slide unit (501) is fixedly connected to the bottom of the six-axis robot (504), and the other end of the six-axis robot (504) is fixedly connected to the manipulator (506), and the pipe fitting is clamped by the manipulator (506); The manipulator (506) includes a truss directly connected to the six-axis robot (504), the middle part of the truss is fixedly connected to the end of the six-axis robot (504), and the connection strength between the manipulator (506) and the six-axis robot (504) is strengthened by a connecting rod perpendicular to the truss; the two ends of the truss are horizontally symmetrical structures, and the end parts of the two ends of the truss are provided with a vertical first clamping end (508) and a second clamping end (509), the first clamping end (508) and the second clamping end (509) are respectively arranged on the vertical sides of the connection part of the end of the truss, and the first clamping end (508) and the second clamping end (509) are vertically extended and retracted along the connection part by a cylinder arranged on the truss, thereby achieving the clamping and loosening of the wrist arm pipe fitting; A servo tightening gun (507) is provided at the bottom of both sides of the truss, respectively. The corresponding servo tightening gun (507) is rotatably fixedly connected to the truss. One end of the servo tightening gun (507) is a power end, and the other end is a tightening end. The end of the tightening end matches the bolt to be tightened. The tightening end of the servo tightening gun (507) realizes automatic torque tightening of the earrings on the pipe fittings. The standard value of the torque of the servo tightening gun (507) is adjustable, and the standard value of the torque can be adjusted according to the tightening strength required for different sizes of pipe fittings, and is suitable for automatic installation of accessories with standard torque for pipe fittings of different sizes; The trusses on both sides are respectively provided with limiting plates (510), and the limiting plates (510) are provided with limiting holes for fixing the servo tightening gun (507); When not in operation, the tightening end of the servo tightening gun (507) is shortened and passed through the corresponding limiting hole, so that the servo tightening gun (507) is fixed to prevent it from shaking around; During operation, when the manipulator clamps the pipe fitting, the tightening end of the servo tightening gun (507) contracts, disengages from the limit plate (510), rotates and extends to a position corresponding to the bolt to be tightened on the earring, and is clamped on the top of the bolt. The tightening end is driven to rotate by the power end, thereby realizing automatic tightening of the bolt on the earring.

2. The robot flexible unit for contact network arm pipe clamping according to claim 1 is characterized in that: The slide unit (501) is provided with a servo motor (503) corresponding to the slide unit (501), and the servo motor (503) is connected to a reducer.

3. The robot flexible unit for contact network arm pipe clamping according to claim 1 is characterized in that: A drag chain (505) connected to the slide unit (501) is provided on one lateral side thereof.

4. The robot flexible unit for clamping contact network arm pipe fittings according to any one of claims 1 to 3, characterized in that: Each of the slide units (501) uses the same set of guide rails (502) for movement.

5. The robot flexible unit for clamping contact network arm pipe fittings according to any one of claims 1 to 3, characterized in that: The slide unit (501) is connected to the six-axis robot (504) via a base arranged thereon.

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