Rubber node selecting and matching device and selecting and matching method

Abstract

The invention discloses a rubber node selecting and matching device and method. The rubber node selecting and matching device comprises a three-dimensional clamping mechanism, a to-be-selected node tray mechanism and a node conveying mechanism, the to-be-selected node tray mechanism and the node conveying mechanism are arranged below the three-dimensional clamping mechanism, and a plurality of nodes with different tolerances are placed on the to-be-selected node tray mechanism; the three-dimensional clamping mechanism is used for clamping nodes on the to-be-selected node tray mechanism to the node conveying mechanism, and then the node conveying mechanism is used for conveying the nodes to the next procedure for press fitting. According to the invention, the rubber nodes can be automatically selected and matched, the maintenance work efficiency is improved, the maintenance work time is shortened, and the maintenance work intensity is reduced.

Description

Technical Field

[0001] The present invention relates to an overhaul device and an overhaul method in a node overhaul line, and particularly to a rubber node matching device and a matching method, belonging to the technical field of node overhaul. Background Art

[0002] A multiple unit train, also known as a "multiple unit train set", is a type of modern train, which consists of several powered vehicles (motor cars) and non-powered vehicles (trailers), and the train operates in a fixed formation mode within the normal service life.

[0003] The suspension system of a multiple unit train is an important guarantee for the normal operation of rail transit vehicles. It improves the dynamic performance of vehicle operation, eliminates the stability problems that occur during vehicle operation, and provides passengers with a safe, fast and comfortable riding experience.

[0004] However, with the increase of the service time of the multiple unit train, the suspension system ages and wears, resulting in stability, safety and smoothness problems during the operation of the multiple unit train, which has a certain impact on the travel safety and riding experience of passengers. Among them, the suspension rod node is one of the important components of the suspension system. Therefore, after the multiple unit train has been in service for a period of time, it is necessary to overhaul the suspension rod node to ensure the stability, safety and smoothness of the multiple unit train during operation.

[0005] There are many types of suspension rod nodes, including axle box assemblies, drawbar assemblies, hanger assemblies, link rod assemblies, drawbar beam assemblies, leaf spring assemblies, etc. Taking the link rod assembly as an example, as Figure 1 shown, the suspension rod node 1 includes a component body 111 and a rubber node 112. An inner hole is provided at the end of the component body 111, and the rubber node 112 is press-fitted into the inner hole of the component body 111. During overhaul, it is necessary to first withdraw the old rubber node 112 from the inner hole of the component body 111, then clean, grind and detect the inner hole of the component body 111. After the detection is completed, it is also necessary to press-fit the new rubber node 112 back into the inner hole of the component body 111.

[0006] Due to machining accuracy, there is a certain tolerance in the inner hole size at the end of the component body. The size tolerances of the inner holes of different component bodies fluctuate within a tolerance band of a certain range. The same is true for rubber nodes. The size tolerances of the outer diameters of different rubber nodes also fluctuate within a tolerance band of a certain range. Therefore, to ensure the quality of interference fit pressing, it is necessary to select and match rubber nodes before pressing to ensure that rubber nodes with smaller tolerances are pressed into the inner holes of component bodies with smaller tolerances, and rubber nodes with larger tolerances are pressed into the inner holes of component bodies with larger tolerances, so as to ensure that the interference fit amount between the rubber node and the inner hole of the component body is close to the median value as much as possible, and avoid problems such as the rubber node slipping out due to a smaller interference amount after pressing or damage caused by a larger interference amount. In the prior art, manual selection and matching are used, resulting in low efficiency of maintenance work, increased maintenance time and increased intensity of maintenance work.

[0007] After retrieval, no patent documents identical or similar to the present application have been found.

[0008] In summary, how to design a rubber node selection and matching device and a selection and matching method to automatically select and match rubber nodes, improve the efficiency of maintenance work, shorten the maintenance time and reduce the intensity of maintenance work is a technical problem that needs to be solved urgently. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a rubber node selection and matching device and a selection and matching method to automatically select and match rubber nodes, improve the efficiency of maintenance work, shorten the maintenance time and reduce the intensity of maintenance work in view of the defects existing in the prior art.

[0010] To solve the above technical problem, the technical solution adopted by the present invention is: a rubber node selection and matching device, including a three-dimensional clamping mechanism, a to-be-selected node tray mechanism and a node conveying mechanism arranged at a position below the three-dimensional clamping mechanism. A plurality of nodes with different tolerances are placed on the to-be-selected node tray mechanism; the three-dimensional clamping mechanism is used to clamp the nodes on the to-be-selected node tray mechanism onto the node conveying mechanism, and then the node conveying mechanism is used to send the nodes to the next process for pressing.

[0011] Preferably, the to-be-selected node tray mechanism includes a tray support and a to-be-selected node tray. The node tray is square, and a plurality of node placement holes are provided on the node tray. Tray position adjustment devices are provided at the four corners of the tray support; the tray position adjustment device includes a first support piece and a second support piece that are obliquely arranged on the tray support. One end of the first support piece and the second support piece is connected to the tray support, and the other ends of the first support piece and the second support piece are suspended. The first support piece and the second support piece are distributed in a rectangular leading edge manner, and there is a gap B between the first support piece and the second support piece; the four corners of the square node tray are respectively placed and supported on the first support piece and the second support piece of the four tray position adjustment devices, and each corner of the node tray is located in a gap B.

[0012] Preferably, the three-dimensional clamping mechanism includes an X-axis moving device, a Y-axis moving device provided on the X-axis moving mechanism, and a Z-axis moving device provided on the Y-axis moving device. A jaw for clamping a node is provided on the Z-axis moving device; The Y-axis moving device includes a Y-axis moving seat. The Z-axis moving device is provided on the Y-axis moving seat and includes a servo motor three and a lifting arm provided on the Y-axis moving seat. The lifting arm is vertically arranged and passes through the Y-axis moving seat. A first rotating shaft, a second rotating shaft, and a third rotating shaft are rotatably connected to the Y-axis moving seat. The first rotating shaft and the third rotating shaft are on the same vertical line, and the second rotating shaft is located on one side of the vertical line between the first rotating shaft and the third rotating shaft. A first rotating shaft gear, a second rotating shaft gear, and a third rotating shaft gear are respectively provided on the first rotating shaft, the second rotating shaft, and the third rotating shaft. The Z-axis moving device further includes a first transmission chain and a second transmission chain. One end of the first transmission chain is connected to the top of the lifting arm, and the other end sequentially bypasses the left side of the first rotating shaft gear, the right side of the second rotating shaft gear, and the left side of the third rotating shaft gear and then is connected to the bottom of the lifting arm. Through the cooperation and transmission connection of the first transmission chain with the first rotating shaft gear, the second rotating shaft gear, and the third rotating shaft gear, the lifting arm is slidably connected to the Y-axis moving seat; a main transmission gear one is provided on the output shaft of the servo motor three. One end of the second rotating shaft passes through the Y-axis moving seat, and a main transmission gear two is provided on the end of the second rotating shaft passing through the Y-axis moving seat. The second transmission chain is cooperatively connected and transmitted between the main transmission gear one and the main transmission gear two. Thus, through the action of the servo motor three, the second rotating shaft can be driven to rotate. By using the rotation of the second rotating shaft and the cooperation and transmission of the second rotating shaft gear on the second rotating shaft with the first transmission chain, the lifting arm can finally be driven to move up and down along the Y-axis moving seat.

[0013] Preferably, the lifting arm adopts a cuboid structure. Four upper vertical balancing pulley mechanisms and four lower vertical balancing pulley mechanisms are respectively arranged on the upper and lower parts of the Y-axis moving seat. The four upper vertical balancing pulley mechanisms are respectively arranged at the four corner positions of the lifting arm, and the four lower vertical balancing pulley mechanisms are also arranged at the four corner positions of the lifting arm. Both the upper vertical balancing pulley mechanism and the lower vertical balancing pulley mechanism include a support seat body connected to the Y-axis moving seat and a pulley rotatably connected to the support seat body. The pulleys of the four upper vertical balancing pulley mechanisms are respectively slidably connected to the four corners of the lifting arm in a matching manner, and the pulleys of the four lower vertical balancing pulley mechanisms are respectively slidably connected to the four corners of the lifting arm in a matching manner.

[0014] Preferably, an upper limit buffer mechanism and a lower limit buffer mechanism are respectively arranged on the upper and lower parts of the Y-axis moving seat. A protruding collision block is arranged on the top side of the lifting arm, and a lifting arm limit buffer mechanism is arranged on the bottom side of the lifting arm. When the lifting arm descends to the lower limit position relative to the Y-axis moving seat, the upper limit buffer mechanism contacts the collision block to perform lower limit and buffering on the lifting arm. When the lifting arm ascends to the upper limit position relative to the Y-axis moving seat, the lower limit buffer mechanism contacts the lifting arm limit buffer mechanism to perform upper limit and buffering on the lifting arm.

[0015] Preferably, the upper limit buffer mechanism, the lower limit buffer mechanism, and the lifting arm limit buffer mechanism all include a mechanism seat body, an adjusting screw, and a buffer head. One end of the adjusting screw is threadedly connected to the mechanism seat body, and the buffer head is arranged at the other end of the adjusting screw.

[0016] Preferably, the jaw includes a jaw seat body, a transmission screw rotatably connected to the jaw seat body, and a servo motor four arranged on the jaw seat body. The servo motor four is cooperatively connected with the transmission screw, so that the transmission screw can be driven to rotate under the action of the servo motor four. A left jaw body and a right jaw body are slidably connected to the jaw seat body through a slider and a guide rail mechanism three. A positive thread section and a reverse thread section are arranged on the transmission screw. The left jaw body is cooperatively connected with the positive thread section for transmission, and the right jaw body is cooperatively connected with the reverse thread section for transmission. Thus, under the action of the servo motor four, the left jaw body and the right jaw body can be driven to move relatively closer for clamping or relatively farther away to release the clamping.

[0017] The present invention also discloses a selection method for a rubber node selection device. The rubber node selection device includes a three-dimensional clamping mechanism, a to-be-selected node tray mechanism and a node conveying mechanism arranged at a position below the three-dimensional clamping mechanism. A plurality of nodes with different tolerances are placed on the to-be-selected node tray mechanism. Data such as the tolerance value of each node and its specific position on the to-be-selected node tray mechanism are recorded into the control system. The selection method is as follows: during the selection process, the control system controls to select a certain node to be picked up according to the data, then controls the three-dimensional picking mechanism to move to the upper position of a node to be picked up on the to-be-selected node tray mechanism, and then controls the three-dimensional picking mechanism to pick up the node to be picked up and place it on the node conveying mechanism. The picked-up node is sent to the next process for press-fitting through the node conveying mechanism.

[0018] Preferably, the to-be-selected node tray mechanism includes a tray support and a to-be-selected node tray. The node tray is square, and a plurality of node placement holes are provided on the node tray. Tray position adjustment devices are provided at the four corners of the tray support; the tray position adjustment device includes a first support piece and a second support piece that are inclinedly arranged on the tray support. One end of the first support piece and the second support piece is connected to the tray support, and the other ends of the first support piece and the second support piece are suspended. The first support piece and the second support piece are distributed in a rectangular leading edge manner, and there is a gap B between the first support piece and the second support piece. Before the selection work, first place a plurality of nodes on the node tray, and then fork the node tray to the upper position of the tray support. When the node tray is dropped, through the cooperation of the four corners of the node tray with the inclined first support piece and second support piece, the position of the placed node tray can be made to be in the center state, and each corner of the node tray is located in a gap B.

[0019] Preferably, the node conveying mechanism includes a conveying table and a node conveying tray arranged on the conveying table; During the selection work, first, the conveying table conveys the node conveying tray to the position of the three-dimensional picking mechanism. After the three-dimensional picking mechanism picks up the node on the node tray mechanism and places it on the node conveying tray, the conveying table is used to convey the node conveying tray and the node to the next process together.

[0020] The beneficial effects of the present invention are as follows: By designing the specific technical solution for the selection of rubber nodes, the automatic selection of rubber nodes is realized, the maintenance work efficiency is improved, the maintenance work time is shortened, and the maintenance work intensity is reduced. By designing the cooperation structure between the tray support and the to-be-selected node tray, the automatic adjustment of the position of the node tray is facilitated, and the maintenance work efficiency is further improved. Through the design of the chain drive structure of the Z-axis moving device, the requirement that the Z-axis moving device needs to carry a relatively heavy weight is met, and the requirements during the selection work are also met, ensuring the smooth progress of the selection work. By designing the sliding fit connection structure in which four vertical balance pulley mechanisms cooperate with the cuboid lifting arm, the present invention can ensure the stability of the lifting arm during the up and down movement while further meeting the load-bearing requirements of the Z-axis moving device. Description of the Drawings

[0021] Figure 1 is a schematic three-dimensional structure diagram of a connecting rod assembly in the prior art; Figure 2 is a schematic three-dimensional structure diagram of the rubber node selection device in the embodiment of the present invention; Figure 3 is a schematic three-dimensional structure diagram when the node tray to be selected is placed on the tray bracket in the embodiment of the present invention; Figure 4 is Figure 3 an enlarged structure diagram of part A in Figure 5 is a partial three-dimensional structure diagram of the rubber node selection device in the embodiment of the present invention at the three-dimensional clamping mechanism; Figure 6 is Figure 5 a partial three-dimensional structure diagram at the X-axis moving device in Figure 7 is a front view structure diagram of the Y-axis moving device in the embodiment of the present invention; Figure 8 is Figure 7 an enlarged structure diagram of part C in Figure 9 is a schematic diagram of the chain drive structure principle for the up and down movement of the lifting arm in the Y-axis moving device in the embodiment of the present invention; Figure 10 is a partial three-dimensional structure diagram at the third servo motor in the Y-axis moving device in the embodiment of the present invention; Figure 11 is a partial three-dimensional structure diagram at the jaw in the embodiment of the present invention; Figure 12 is a schematic three-dimensional structure diagram of the node conveying mechanism in the embodiment of the present invention; In the figure: 1. Suspension rod node, 111. Component body, 112. Rubber node, 2. Three-dimensional clamping mechanism, 21. X-axis moving device, 211. Servo motor 1, 212. Lead screw 1, 213. Nut connection block 1, 214. X-axis moving seat, 22. Y-axis moving device, 221. Servo motor 2, 222. Synchronous belt, 223. Y-axis moving seat, 23. Z-axis moving device, 231. Servo motor 3, 232. Lifting arm, 3. Node tray mechanism, 311. Tray support, 312. Node tray to be selected, 313. Node placement hole position, 314. Support piece 1, 315. Support piece 2, 4. Node conveying mechanism, 41. Conveying table, 42. Node conveying tray, 5. Node, 6. Frame, 7. Slider and guide rail mechanism 1, 8. Slider and guide rail mechanism 2, 9. Rotating shaft 1, 10. Rotating shaft 2, 11. Rotating shaft 3, 12. Rotating shaft gear 1, 13. Rotating shaft gear 2, 14. Rotating shaft gear 3, 15. Transmission chain 1, 16. Transmission chain 2, 17. Claw, 171. Claw seat body, 172. Transmission screw, 1721. Positive thread section, 1722. Reverse thread section, 173. Slider and guide rail mechanism 3, 174. Left clamp body, 175. Right clamp body, 18. Upper vertical balance pulley mechanism, 19. Lower vertical balance pulley mechanism, 20. Support seat body, 24. Pulley, 25. Upper limit buffer mechanism, 26. Lower limit buffer mechanism, 27. Collision block, 28. Lifting arm limit buffer mechanism, 29. Mechanism seat body, 30. Adjusting screw, 31. Buffer head, 32. Soft pad. Detailed implementation mode

[0022] The technical solution of the present invention will be further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] Embodiment: As Figure 2 shown, a rubber node selection and matching device includes a three-dimensional clamping mechanism 2, a node tray mechanism 3 to be selected and a node conveying mechanism 4 arranged at a position below the three-dimensional clamping mechanism 2. A plurality of nodes 5 with different tolerances are placed on the node tray mechanism 3 to be selected. Data such as the tolerance value of each node 5 and its specific position placed on the node tray mechanism 3 to be selected are recorded in the control system. During selection and matching, the control system controls to select and match a certain node 5 that needs to be clamped according to the data, and then controls the three-dimensional clamping mechanism 2 to move to a position above a node 5 that needs to be clamped on the node tray mechanism 3 to be selected. Then, the three-dimensional clamping mechanism 2 is controlled to clamp the node 5 that needs to be clamped and place it on the node conveying mechanism 4. The clamped node 5 is sent to the next process for press-fitting through the node conveying mechanism 4. In this embodiment, by designing a rubber node selection and matching device, the automatic selection and matching of rubber nodes are realized, the maintenance work efficiency is improved, the maintenance work time is shortened, and the maintenance work intensity is reduced.

[0024] AsFigure 3 As shown, the to-be-selected node tray mechanism 3 includes a tray bracket 311 and a to-be-selected node tray 312. The node tray 312 is square, and a plurality of node placement holes 313 are provided on the node tray 312. Each node placement hole 313 is distributed in a matrix, and each node placement hole 313 places a node 5. Tray position adjustment devices are provided at the four corners of the tray bracket 311. As Figure 4 shown, the tray position adjustment device includes a support piece one 314 and a support piece two 315 that are inclinedly arranged on the tray bracket 311. One end of the support piece one 314 and the support piece two 315 is connected to the tray bracket 311, and the other ends of the support piece one 314 and the support piece two 315 are suspended. The support piece one 314 and the support piece two 315 are distributed in a rectangular leading edge, and there is a gap B between the support piece one 314 and the support piece two 315. Before the selection and matching work, first place a plurality of nodes on the node tray 312, and then use a forklift to fork the node tray 312 to a position above the tray bracket 311. When the node tray 312 is dropped and placed, in order to ensure that the position of the node tray 312 is centered on the tray bracket 311, through the cooperation of the four corners of the node tray 312 with the inclined support piece one 314 and the support piece two 315, it can be made that the position of the placed node tray 312 is in a centered state, and the set gap B avoids the corners of the node tray 312, which is convenient for the automatic adjustment of the node tray position and further improves the maintenance work efficiency.

[0025] As Figure 5 and Figure 6 shown, the three-dimensional clamping mechanism 2 includes an X-axis moving device 21, a Y-axis moving device provided on the X-axis moving mechanism 21, and a Z-axis moving device 23 provided on the Y-axis moving device. A clamping jaw for clamping a node is provided on the Z-axis moving device 23. The X-axis moving device 21 includes a servo motor one 211 provided on the frame 6, a lead screw one 212 rotatably connected to the frame 6, and a nut connection block one 213 that is in transmission connection with the lead screw one 212 in a matching manner. The X-axis moving seat 214 is slidably connected to the frame 6 through a slider and a guide rail mechanism one 7. The nut connection block one 213 is fixedly connected to the X-axis moving seat 214. By driving the lead screw one 212 to rotate through the servo motor one 211, the lead screw one 212 is used to cooperate with the nut connection block one 213 in transmission, and finally the X-axis moving seat 214 can move back and forth along the X-axis direction.

[0026] The Y-axis moving device 22 is arranged on the X-axis moving seat 214. It includes a second servo motor 221 arranged on the X-axis moving seat 214 and a synchronous belt mechanism. The second servo motor 221 is in transmission connection with the synchronous belt mechanism in a cooperative manner, so that the synchronous belt 222 of the synchronous belt mechanism can be driven to rotate back and forth under the drive of the second servo motor 221. The Y-axis moving seat 223 is slidably connected to the frame 6 through a slider and a second guide rail mechanism 8. The synchronous belt 222 is fixedly connected to the Y-axis moving seat 223, so that the Y-axis moving seat 223 can be driven to move back and forth along the Y-axis direction under the action of the synchronous belt 222.

[0027] Such as Figures 7 to 9As shown, the Z-axis moving device 23 is arranged on the Y-axis moving base 223, which includes a servo motor three 231 and a lifting arm 232 arranged on the Y-axis moving base 223. The lifting arm 232 is vertically arranged and passes through the Y-axis moving base 223. A first rotating shaft 9, a second rotating shaft 10 and a third rotating shaft 11 are rotatably connected to the Y-axis moving base 223. The first rotating shaft 9 and the third rotating shaft 11 are on the same vertical line, and the second rotating shaft 10 is located on one side of the vertical line between the first rotating shaft 9 and the third rotating shaft 11. A first rotating shaft gear 12, a second rotating shaft gear 13 and a third rotating shaft gear 14 are respectively arranged on the first rotating shaft 9, the second rotating shaft 10 and the third rotating shaft 11. The Z-axis moving device 23 further includes a first transmission chain 15 and a second transmission chain 16. One end of the first transmission chain 15 is connected to the top of the lifting arm 232, and the other end sequentially bypasses the left side of the first rotating shaft gear 12, the right side of the second rotating shaft gear 13 and the left side of the third rotating shaft gear 14 and then is connected to the bottom of the lifting arm 232. Through the cooperation and transmission connection of the first transmission chain 15 with the first rotating shaft gear 12, the second rotating shaft gear 13 and the third rotating shaft gear 14, the lifting arm 232 is slidably connected to the Y-axis moving base 223. A first main transmission gear is arranged on the output shaft of the servo motor three 231. One end of the second rotating shaft 10 passes through the Y-axis moving base 223, and a second main transmission gear is arranged on the end of the second rotating shaft 10 passing through the Y-axis moving base 223. The second transmission chain 16 is cooperatively and transmission-connected between the first main transmission gear and the second main transmission gear. Thus, through the action of the servo motor three 231, the second rotating shaft 10 can be driven to rotate. By using the rotation of the second rotating shaft 10 and the cooperation and transmission of the second rotating shaft gear 13 on the second rotating shaft 10 with the first transmission chain 15, finally the lifting arm 232 can be driven to move up and down along the Y-axis moving base 223. The clamping jaw 17 is arranged at the bottom of the lifting arm 232. In this embodiment, the Z-axis moving device 23 is designed into the above-mentioned chain transmission structure because the Z-axis moving device needs to carry a relatively heavy weight. The above-mentioned chain transmission structure is adopted to realize the action of the Z-axis moving device, meeting the requirements during the selection work and ensuring the smooth progress of the selection work. In this embodiment, two first transmission chains 15 are arranged. Correspondingly, two first rotating shaft gears 12, two second rotating shaft gears 13 and two third rotating shaft gears 14 are arranged.

[0028] As Figure 8 and Figure 10As shown, the lifting arm 232 adopts a rectangular parallelepiped frame structure, which can further reduce the weight that the Z-axis moving device needs to bear. Four upper vertical balancing pulley mechanisms 18 and four lower vertical balancing pulley mechanisms 19 are respectively arranged on the upper and lower parts of the Y-axis moving seat 223. The four upper vertical balancing pulley mechanisms 18 are respectively arranged at the four corner positions of the lifting arm 232, and the four lower vertical balancing pulley mechanisms 19 are also arranged at the four corner positions of the lifting arm 232. Both the upper vertical balancing pulley mechanism 18 and the lower vertical balancing pulley mechanism 19 include a support seat body 20 connected to the Y-axis moving seat 223 and a pulley 24 rotatably connected to the support seat body 20. The pulleys 24 of the four upper vertical balancing pulley mechanisms 18 are respectively in sliding connection with the four corners of the lifting arm 232, and the pulleys 24 of the four lower vertical balancing pulley mechanisms 19 are respectively in sliding connection with the four corners of the lifting arm 232. With such a setting, while ensuring the smoothness of the lifting arm during up and down movement in this embodiment, it further meets the load-bearing requirements of the Z-axis moving device.

[0029] As Figure 7 shown, an upper limit buffer mechanism 25 and a lower limit buffer mechanism 26 are respectively arranged on the upper and lower parts of the Y-axis moving seat 223. A convex collision block 27 is arranged on the top side of the lifting arm 232, and a lifting arm limit buffer mechanism 28 is arranged on the bottom side of the lifting arm 232. When the lifting arm 232 descends relative to the Y-axis moving seat 223 to the lower limit position, the upper limit buffer mechanism 25 contacts the collision block 27 to perform lower limit and buffering on the lifting arm 232. When the lifting arm 232 ascends relative to the Y-axis moving seat 223 to the upper limit position, the lower limit buffer mechanism 26 contacts the lifting arm limit buffer mechanism 28 to perform upper limit and buffering on the lifting arm 232. This can not only ensure the normal progress of the selection work but also prevent the over-limit movement of the lifting arm, improving the service life and safety of the device. As Figure 10 shown, the upper limit buffer mechanism 25, the lower limit buffer mechanism 26, and the lifting arm limit buffer mechanism 28 all include a mechanism seat body 29, an adjustment screw 30, and a buffer head 31. One end of the adjustment screw 30 is threadedly connected to the mechanism seat body 29, and the buffer head 31 is arranged at the other end of the adjustment screw 30. By setting the adjustment screw, the contact position of the buffer head can be adjusted according to the actual working conditions, thereby improving the practicability of this embodiment. In this embodiment, the buffer head 31 can be made of rubber or the like.

[0030] As Figure 7 and Figure 11As shown in the figure, the jaw 17 includes a jaw seat body 171, a transmission screw 172 rotatably connected to the jaw seat body 171, and a fourth servo motor (not shown in the figure) provided on the jaw seat body 171. The fourth servo motor is cooperatively connected with the transmission screw 172, so that the transmission screw 172 can be driven to rotate under the action of the fourth servo motor. On the jaw seat body 171, a left jaw body 174 and a right jaw body 175 are slidably connected through a slider and a third guide rail mechanism 173. A right-handed thread section 1721 and a left-handed thread section 1722 are provided on the transmission screw 172. The left jaw body 174 is cooperatively connected with the right-handed thread section 1721 for transmission connection, and the right jaw body 175 is cooperatively connected with the left-handed thread section 1722 for transmission connection. Thus, under the action of the fourth servo motor, the left jaw body 174 and the right jaw body 175 can be driven to move relatively closer for clamping or move relatively farther apart to release the clamping. In order to facilitate centering clamping of the node, both the left jaw body 174 and the right jaw body 175 are arranged in a V shape. In order to prevent damage to the node surface during clamping, soft pads 32, such as soft pads made of polyurethane or rubber, are provided on both the left jaw body 174 and the right jaw body 175.

[0031] As Figure 2 and Figure 12 As shown in the figure, the node conveying mechanism 4 includes a conveying table 41 and a node conveying tray 42 provided on the conveying table 41. During the selection work, first, the node conveying tray 42 is conveyed to the position of the three-dimensional clamping mechanism 2 through the conveying table 41. After the jaws 17 of the three-dimensional clamping mechanism 2 clamp the nodes on the node tray mechanism 3 and place them on the node conveying tray 42, the conveying table 41 is then used to convey the node conveying tray 42 and the nodes together to the next process for press-fitting.

[0032] In summary, through the design of the specific technical solution for the selection of rubber nodes, the present invention realizes the automatic selection of rubber nodes, improves the maintenance work efficiency, shortens the maintenance work time, and reduces the maintenance work intensity. By designing the cooperation structure between the tray support and the node tray to be selected, the automatic adjustment of the position of the node tray is facilitated, further improving the maintenance work efficiency. Through the design of the chain drive structure of the Z-axis moving device, the requirements for the relatively heavy weight that the Z-axis moving device needs to bear are met, and the requirements during the selection work are also met, ensuring the smooth progress of the selection work. By designing the sliding fit connection structure in which four vertical balance pulley mechanisms cooperate with the cuboid lifting arm, the present invention can ensure the smoothness of the lifting arm moving up and down while further meeting the load-bearing requirements of the Z-axis moving device.

[0033] The "plurality" mentioned in the embodiments refers to a quantity of "two or more". The above embodiments are only for illustrating the present invention and not for limiting the present invention. Those skilled in the relevant technical field can also make various changes or transformations without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also fall within the protection scope of the present invention, and the protection scope of the present invention should be defined by each claim.

Claims

1. A rubber node selection device, characterized in that: It includes a three-dimensional clamping mechanism, a node tray mechanism to be selected arranged below the three-dimensional clamping mechanism, and a node conveying mechanism, on which a plurality of nodes with different tolerances are placed; the three-dimensional clamping mechanism is used to clamp the nodes on the node tray mechanism to be selected onto the node conveying mechanism, and then the node conveying mechanism is used to convey the nodes to the next process for press-fitting.

2. The rubber node selection device according to claim 1 is characterized in that: The node tray mechanism to be selected includes a tray bracket and a node tray to be selected, the node tray is square, a plurality of node placement holes are arranged on the node tray, and a tray position adjustment device is arranged on the four corners of the tray bracket; the tray position adjustment device includes a support plate 1 and a support plate 2 obliquely arranged on the tray bracket, one end of the support plate 1 and the support plate 2 is connected to the tray bracket, and the other ends of the support plate 1 and the support plate 2 are suspended, the support plate 1 and the support plate 2 are distributed in a rectangular collar and a gap B is left between the support plate 1 and the support plate 2; the four corners of the square node tray are respectively placed on the support plate 1 and the support plate 2 supported by the four tray position adjustment devices and each corner of the node tray is located in a gap B.

3. The rubber node selection device according to claim 2 is characterized in that: The three-dimensional clamping mechanism includes an X-axis moving device, a Y-axis moving device arranged on the X-axis moving device, and a Z-axis moving device arranged on the Y-axis moving device, wherein a clamping claw for clamping a node is arranged on the Z-axis moving device; The Y-axis moving device includes a Y-axis moving seat, and the Z-axis moving device is arranged on the Y-axis moving seat, which includes a servo motor three and a lifting arm arranged on the Y-axis moving seat, the lifting arm is vertically arranged to pass through the Y-axis moving seat, and a rotating shaft one, a rotating shaft two and a rotating shaft three are rotatably connected on the Y-axis moving seat, the rotating shaft one and the rotating shaft three are on the same vertical line, the rotating shaft two is located on one side of the vertical line between the rotating shaft one and the rotating shaft three, and a rotating shaft gear one, a rotating shaft gear two and a rotating shaft gear three are respectively arranged on the rotating shaft one, the rotating shaft two and the rotating shaft three, and the Z-axis moving device also includes a transmission chain one and a transmission chain two, one end of the transmission chain one is connected to the top of the lifting arm, and the other end thereof is passed around the left side of the rotating shaft gear one, the rotating shaft gear two and the rotating shaft gear three in sequence. The right side of the servo motor and the left side of the rotating shaft gear three are connected with the bottom of the lifting arm, and the transmission chain one is connected with the rotating shaft gear one, the rotating shaft gear two and the rotating shaft gear three, so that the lifting arm is slidably connected to the Y-axis moving seat; a main transmission gear one is arranged on the output shaft of the servo motor three, one end of the rotating shaft two passes through the Y-axis moving seat, and a main transmission gear two is arranged on one end of the rotating shaft two passing through the Y-axis moving seat, and the transmission chain two is connected between the main transmission gear one and the main transmission gear two, so that the rotating shaft two can be driven to rotate by the action of the servo motor three, and the rotating shaft two is rotated, and the rotating shaft gear two on the rotating shaft two cooperates with the transmission chain one for transmission, so that the lifting arm can be driven to move up and down along the Y-axis moving seat.

4. The rubber node selection device according to claim 3 is characterized in that: The lifting arm adopts a rectangular parallelepiped structure, and four upper vertical balancing pulley mechanisms and four lower vertical balancing pulley mechanisms are respectively arranged on the upper and lower parts of the Y-axis moving seat, the four upper vertical balancing pulley mechanisms are respectively arranged at the four corners of the lifting arm, and the four lower vertical balancing pulley mechanisms are also arranged at the four corners of the lifting arm; the upper vertical balancing pulley mechanism and the lower vertical balancing pulley mechanism both include a supporting seat body connected to the Y-axis moving seat and a pulley rotatably connected to the supporting seat body, the pulleys of the four upper vertical balancing pulley mechanisms are respectively slidably connected to the four corners of the lifting arm, and the pulleys of the four lower vertical balancing pulley mechanisms are respectively slidably connected to the four corners of the lifting arm.

5. The rubber node selection device according to claim 3 or 4, characterized in that: An upper limit buffer mechanism and a lower limit buffer mechanism are respectively arranged on the upper and lower parts of the Y-axis moving seat, an outwardly protruding collision block is arranged on the top side of the lifting arm, and a lifting arm limit buffer mechanism is arranged on the bottom side of the lifting arm; when the lifting arm descends to the lower limit position relative to the Y-axis moving seat, the upper limit buffer mechanism is contacted with the collision block to perform the lower limit and buffering of the lifting arm, and when the lifting arm rises to the upper limit position relative to the Y-axis moving seat, the lower limit buffer mechanism is contacted with the lifting arm limit buffer mechanism to perform the upper limit and buffering of the lifting arm.

6. The rubber node selection device according to claim 5, characterized in that: The upper limit buffer mechanism, the lower limit buffer mechanism and the lifting arm limit buffer mechanism all include a mechanism base, an adjusting screw and a buffer head. One end of the adjusting screw is threadedly connected to the mechanism base, and the buffer head is arranged on the other end of the adjusting screw.

7. The rubber node selection device according to claim 5, characterized in that: The clamping jaw includes a clamping jaw base, a transmission screw rotatably connected to the clamping jaw base and a servo motor four arranged on the clamping jaw base, the servo motor four is connected in cooperation with the transmission screw, so that under the action of the servo motor four, the transmission screw can be driven to rotate; a left clamping body and a right clamping body are slidably connected to the clamping jaw base through a slider and a guide rail mechanism three, a positive thread section and a negative thread section are arranged on the transmission screw, the left clamping body is connected in cooperation with the positive thread section for transmission, and the right clamping body is connected in cooperation with the negative thread section for transmission, so that under the action of the servo motor four, the left clamping body and the right clamping body can be driven to move relatively close to each other for clamping or move relatively far away to release the clamping.

8. A method for selecting a rubber node selection device, characterized in that: The rubber node selection device includes a three-dimensional clamping mechanism, a node tray mechanism to be selected and a node conveying mechanism arranged below the three-dimensional clamping mechanism. A plurality of nodes with different tolerances are placed on the node tray mechanism to be selected. The tolerance value of each node and the specific position of each node on the node tray mechanism to be selected are recorded in the control system. The selection method is that when performing selection, the control system controls the selection of a node that needs to be clamped according to the data, and then controls the three-dimensional clamping mechanism to move to the upper position of a node that needs to be clamped on the selected node tray mechanism, and then controls the three-dimensional clamping mechanism to clamp the node that needs to be clamped and place it on the node conveying mechanism, and the node conveying mechanism sends the clamped node to the next process for press-fitting.

9. The matching method according to claim 8, characterized in that: The node tray mechanism to be selected includes a tray bracket and a node tray to be selected, the node tray is square, a plurality of node placement holes are arranged on the node tray, and a tray position adjustment device is arranged on the four corners of the tray bracket; the tray position adjustment device includes a support sheet 1 and a support sheet 2 obliquely arranged on the tray bracket, one end of the support sheet 1 and the support sheet 2 is connected to the tray bracket, and the other ends of the support sheet 1 and the support sheet 2 are suspended, the support sheet 1 and the support sheet 2 are distributed in a rectangular collar shape, and a gap B is left between the support sheet 1 and the support sheet 2; Before the matching work, place multiple nodes on the node pallet first, and then fork the node pallet to the upper position of the pallet bracket. When the node pallet is lowered and dropped, the four corners of the node pallet will cooperate with the inclined support piece 1 and support piece 2, so that the position of the node pallet after placement will be centered, and each corner of the node pallet will be located in a gap B.

10. The matching method according to claim 9, characterized in that: The node conveying mechanism comprises a conveying platform and a node conveying tray arranged on the conveying platform; During the matching work, the node conveyor pallet is first conveyed to the three-dimensional clamping mechanism by the conveyor table. After the three-dimensional clamping mechanism clamps the node on the node pallet mechanism and places it on the node conveyor pallet, the conveyor table is used to convey the node conveyor pallet and the node to the next process together.

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