Integral dropper flexible vibration feeding device for overhead line system

Abstract

The utility model provides an integral dropper flexible vibration feeding device for an overhead line system. The integral dropper flexible vibration feeding device comprises a stock bin vibration assembly, a flexible vibration disc assembly, a CCD industrial camera assembly and a four-axis mechanical arm. The stock bin vibration assembly is arranged at the rear end of the bottom plate and used for storing parts and supplementing the parts. The flexible vibration disc assembly is arranged in the middle of the bottom plate and used for vibrating parts falling from the stock bin vibration assembly. The CCD industrial camera assembly is correspondingly installed above the flexible vibration disc assembly. And the four-axis mechanical arm is used for grabbing the part with the preset boundary dimension according to the detection result of the CCD industrial camera assembly and transferring the part to a subsequent station. According to the utility model, the flexible vibration disc assembly, the CCD industrial camera assembly and the four-axis mechanical arm cooperate for feeding, so that flexible feeding of three parts, namely a heart-shaped ring, a crimping pipe and a crimping terminal can be realized, and the requirements of part specification inspection, part positioning, quick transfer to a corresponding station and the like in the feeding process are met.

Description

Technical Field

[0001] This utility model belongs to the field of contact wire technology, and relates to an auxiliary installation device for the overall contact wire, and more particularly to a flexible vibration feeding device for the overall contact wire. Background Technology

[0002] In electrified railways, the overhead contact system is a crucial system for ensuring the stable operation of electric locomotives. Its primary responsibility is to efficiently and reliably transmit electrical energy from traction substations to the electric locomotives, providing them with a fundamental energy supply. Within this system, the integral dropper, as a basic structural component of the contact system, suspends the contact wire beneath the catenary cable. It supports and precisely adjusts the spatial position of the contact wire to ensure good contact with the locomotive's pantograph. The performance of the integral dropper directly affects the elastic characteristics, structural stability, and overall service life of the contact system, forming the foundation for ensuring the efficient, stable, and safe operation of the electrified railway system.

[0003] In the pre-assembly process of the overhead contact line droppers, the first step is to select the appropriate specifications of heart-shaped rings, crimping tubes, and crimping terminals, and then transfer them to the subsequent assembly or crimping station (i.e., material handling). During manual dropper pre-assembly, workers rely on experience to select parts with the required dimensions from the corresponding parts library and transfer them to the next station, which introduces significant human error. Some parts have dimensional discrepancies, and manual screening before material handling makes it difficult to distinguish between qualified and unqualified parts.

[0004] Most existing dropper pre-assembly platforms use a traditional vibratory feeder with frequency modulation for feeding. Three types of parts are vibrated and rise along a spiral guide rail. During this ascent, they undergo a change in posture after being filtered by the rail, ultimately arriving at the subsequent assembly or crimping station with a consistent posture. However, in actual production, parts such as heart-shaped rings and crimping terminals have complex shapes and are considered irregularly shaped. The traditional vibratory feeder with frequency modulation often experiences mechanical jamming due to the complex shapes and postures of these parts, leading to downtime for maintenance, a high mechanical failure rate, and reduced production efficiency. Utility Model Content

[0005] This invention addresses the problems of existing manual feeding coarse screens failing to distinguish substandard parts and the mechanical jamming and high failure rate of existing pre-assembled cable-stayed platforms with traditional vibratory feeder frequency modulation feeding modes, by providing a flexible vibration feeding device for the entire overhead contact wire.

[0006] To solve the above-mentioned technical problems, this utility model adopts the following technical solution:

[0007] A flexible vibratory feeding device for an integrated overhead contact line dropper includes a hopper vibration assembly, a flexible vibratory feeder assembly, a CCD industrial camera assembly, and a four-axis robotic arm mounted on a base plate, wherein:

[0008] The hopper vibration assembly is located at the rear end of the base plate and is used to store parts and, when the number of parts in the flexible vibrating plate assembly is insufficient, to make the parts fall to replenish the parts.

[0009] The flexible vibratory feeder assembly is located in the middle of the base plate, and one end of it is located at the discharge port in front of the hopper vibratory feeder assembly. It is used to vibrate the parts falling from the hopper vibratory feeder assembly so that they are evenly distributed in the feeder and present different postures and spatial positions.

[0010] The CCD industrial camera assembly is mounted above the flexible vibrating disk assembly and is used for identifying the external dimensions of parts within the disk, detecting part posture, locating part position, and detecting and monitoring the pressing status; and

[0011] The four-axis robotic arm is positioned at the front end of the base plate and is electrically connected to the CCD industrial camera assembly. It is used to grasp parts of a preset shape and size and transfer them to subsequent workstations based on the detection results of the CCD industrial camera assembly.

[0012] Preferably, the hopper vibration assembly consists of a heart-shaped ring vibration hopper, a crimping pipe vibration hopper, and a crimping terminal vibration hopper arranged side by side at the rear end of the base plate, and each hopper is provided with a discharge port on its front side.

[0013] Preferably, the flexible vibratory feeder assembly consists of a heart-shaped ring flexible vibratory feeder, a crimping pipe flexible vibratory feeder, and a relatively long crimping terminal flexible vibratory feeder arranged side by side at the outlets of the heart-shaped ring vibratory feeder, the crimping pipe vibratory feeder, and the crimping terminal vibratory feeder.

[0014] Preferably, the length of the crimp terminal vibratory plate is greater than the length of the heart-shaped ring vibratory hopper and the crimp pipe vibratory hopper, and supplementary lights are installed on its left and right sides respectively; the supplementary lights are adjustablely mounted on the base plate via horizontal guide rods and vertical guide rods.

[0015] Preferably, the CCD industrial camera assembly consists of four units, including a heart-shaped ring camera, a crimping tube camera, a crimping terminal camera, and a crimping area camera, which are located directly above the heart-shaped ring flexible vibrating plate, the crimping tube flexible vibrating plate, and the crimping terminal flexible vibrating plate, as well as directly above the crimping station.

[0016] Preferably, the heart-shaped ring camera, the crimping tube camera, and the crimping terminal camera are mounted on a horizontally arranged square frame top bracket at intervals, and the left and right ends of the square frame top bracket are respectively fixedly mounted on the base plate by support brackets;

[0017] The camera at the crimping part is installed at the far end of the extension rod, the near end of the extension rod is connected to the top frame of the square frame, and the two sides of the middle part of the extension rod are respectively connected to the top frame of the square frame through reinforcing rods.

[0018] Preferably, the four-axis robotic arm is a four-axis SCARA robotic arm, and its end effector consists of three sets of slide cylinders and electric grippers fixed on a turntable and distributed at 90° phase.

[0019] Preferably, the three sets of slide cylinders and electric grippers are respectively a heart-shaped ring slide cylinder and a heart-shaped ring electric gripper, a crimping pipe slide cylinder and a crimping pipe electric gripper, and a crimping terminal slide cylinder and an electric gripper.

[0020] Preferably, the contact wire suspension cable vibrating feeding device further includes a laser engraving machine installed in the middle right side of the base plate, wherein:

[0021] The laser engraving machine is positioned near the crimping terminal of the flexible vibratory plate assembly, and a matching laser engraving clamping fixture is installed on the base plate opposite it.

[0022] Preferably, the contact wire integral suspension wire flexible vibration feeding device further includes an assembly device installed at the front end of the base plate, wherein:

[0023] The assembly equipment is equipped with a heart-shaped ring assembly station, a crimping tube assembly station, and a crimping terminal assembly station.

[0024] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0025] The contact wire suspension cable flexible vibration feeding device provided by this utility model can realize flexible feeding of three types of parts: heart-shaped ring, crimped pipe, and crimped terminal. It has the technical highlights of flexible vibration plate, CCD industrial camera and four-axis robotic arm working together. Flexible vibration can make each part evenly distributed on the vibration plate, CCD industrial camera can accurately locate the position and posture of each part and accurately identify the shape and size of each part, and four-axis robotic arm can quickly pick up the material and transfer it to the corresponding work station. The functions of the above components meet the needs of part specification inspection, part positioning and rapid transfer to the corresponding work station during the feeding process, effectively solving the problems of failure to identify unqualified parts, mechanical jamming of the feeding mechanism and high failure rate. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the contact wire suspension cable flexible vibration feeding device of this utility model;

[0027] Figure 2 This is a schematic diagram of the structure of the hopper vibration component and the flexible vibrating plate component in the overall suspension wire flexible vibration feeding device of the contact wire of this utility model;

[0028] Figure 3 This is a schematic diagram of the distribution structure of the CCD industrial camera component in the overall suspension wire flexible vibration feeding device of the contact wire of this utility model;

[0029] Figure 4 This is a schematic diagram of the four-axis SCARA robotic arm and its end effector in the flexible vibration feeding device for an integrated overhead contact wire suspension cable of this utility model;

[0030] Figure 5 This is a schematic diagram of the assembly equipment and laser-engraved clamping fixture in the overall contact wire suspension flexible vibration feeding device of this utility model. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0032] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] In some embodiments, such as Figure 1 As shown, a flexible vibration feeding device for an integrated overhead contact line is provided, which mainly includes a hopper vibration assembly 100, a flexible vibration plate assembly 200, a CCD industrial camera assembly 300, and a four-axis robotic arm 400, all mounted on a base plate 001.

[0034] The hopper vibration assembly 100 is disposed at the rear end of the base plate 001, and is used to store parts and, when the number of parts in the flexible vibratory feeder assembly 200 is insufficient, to make the parts fall to replenish the parts. The flexible vibratory feeder assembly 200 is disposed in the middle of the base plate 001, and one end of it is located at the discharge port on the front side of the hopper vibration assembly 100, and is used to vibrate the parts falling from the hopper vibration assembly 100, so that they are evenly distributed in the feeder and present different postures and spatial positions.

[0035] The CCD industrial camera assembly 300 is installed above the flexible vibratory feeder assembly 200 and is used for identifying the external dimensions of parts within the feeder, detecting part posture, locating parts, and detecting and monitoring the pressing status. The four-axis robotic arm 400 is located at the front end of the base plate 001 and is electrically connected to the CCD industrial camera assembly 300. The connection can be wired or wireless, forming a network communication relationship. The industrial camera transmits the captured photos, target position information, and posture data to the four-axis robotic arm 400, which uses the detection results from the CCD industrial camera assembly 300 to grasp parts with preset external dimensions and transfer them to subsequent workstations.

[0036] In some of these embodiments, such as Figure 2 As shown, the hopper vibration assembly 100 consists of three hoppers corresponding to different parts, arranged side-by-side at the rear end of the base plate 001: a heart-shaped ring vibrating hopper 110, a crimping pipe vibrating hopper 120, and a crimping terminal vibrating hopper 130. Each hopper has a vibration mechanism at its bottom and a discharge port at its front. Each hopper stores parts and, when the number of parts in the corresponding flexible vibrating plate is insufficient, vibrates to drop parts to replenish them.

[0037] In some of these embodiments, such as Figure 2 As shown, the flexible vibratory feeder assembly 200 consists of a heart-shaped ring flexible vibratory feeder 210, a crimping pipe flexible vibratory feeder 220, and a relatively long crimping terminal flexible vibratory feeder 230 arranged side by side at the outlets of the heart-shaped ring vibratory feeder 110, the crimping pipe vibratory feeder 120, and the crimping terminal vibratory feeder 130.

[0038] Each vibrating disc is used to vibrate the corresponding parts falling from the hopper, so that they are evenly distributed in the disc and present different postures and spatial positions. This makes it easier for subsequent visual processing to select parts with correct shape and size, appropriate posture and reasonable position. Then, the information is transmitted to the four-axis SCARA robotic arm 401 for grasping.

[0039] In addition, such as Figure 2 As shown, since the heart-shaped ring and crimping tube are regularly shaped parts, no additional lighting is required. Because the crimping terminal is an irregularly shaped part and is relatively long, a longer crimping terminal vibratory plate 230 is selected compared to the heart-shaped ring vibratory plate 210 and the crimping tube vibratory plate 220; that is, the length of the crimping terminal vibratory plate 230 is greater than the lengths of the heart-shaped ring vibratory hopper 110 and the crimping tube vibratory hopper 120.

[0040] Meanwhile, to enable the CCD industrial camera to identify the posture of the crimped terminal during subsequent image processing, additional supplementary lights 240 are installed on both sides of the crimped terminal flexible vibrating plate 230 for illumination. To achieve flexibility in the use of the supplementary lights 240, the supplementary lights 240 are adjustablely mounted on the base plate 001 via a horizontal guide rod 241 and a vertical guide rod 242. The supplementary lights 240 can slide horizontally on the horizontal guide rod 241, while one end of the horizontal guide rod 241 can slide vertically on the vertical guide rod 242, thereby adjusting the illumination angle of the supplementary lights 240.

[0041] In some of these embodiments, such as Figure 3 As shown, the CCD industrial camera assembly 300 is mainly used for identifying the external dimensions of parts within the disk, detecting part posture, locating part position, and detecting and monitoring the crimping status. The CCD industrial camera assembly 300 consists of four units: a heart-shaped ring camera 301, a crimping tube camera 302, a crimping terminal camera 303, and a crimping area camera 304, located directly above the heart-shaped ring flexible vibrating disk 210, the crimping tube flexible vibrating disk 220, and the crimping terminal flexible vibrating disk 230, as well as directly above the crimping station.

[0042] Specifically, the heart-shaped ring camera 301, the crimping tube camera 302, and the crimping terminal camera 303 are installed at intervals on a horizontally arranged rectangular top frame 306. The left and right ends of the rectangular top frame 306 are respectively fixedly installed on the base plate 001 by support frames 305. The crimping part camera 304 is installed at the far end of the extension rod 307. The proximal end of the extension rod 307 is connected to the rectangular top frame 306, and the two sides of the middle part of the extension rod 307 are respectively connected to the rectangular top frame 306 by reinforcing rods 308.

[0043] In some of these embodiments, such as Figure 4 As shown, the four-axis robotic arm 400 is a four-axis SCARA robotic arm 401, whose end effector consists of three sets of sliding cylinders and electric grippers fixed on a turntable 408 at a 90° phase distribution. The three sets of sliding cylinders and electric grippers are: a heart-shaped ring sliding cylinder 402 and a heart-shaped ring electric gripper 403; a crimping pipe sliding cylinder 404 and a crimping pipe electric gripper 405; and a crimping terminal sliding cylinder 406 and an electric gripper 407. The four-axis robotic arm 400 uses the three sets of sliding cylinders and electric grippers to grasp and transfer the heart-shaped ring, crimping pipe, and crimping terminal from their respective flexible vibrating plates 2 at defined positions and corresponding postures to subsequent workstations.

[0044] In some of these embodiments, such as Figure 1 , Figure 3 and Figure 5As shown, the flexible vibratory feeding device also includes a laser engraving machine 500 installed in the middle right side of the base plate 001. The laser engraving machine 500 is arranged near the flexible vibratory plate 230 of the flexible vibratory plate assembly 200 for crimping terminals, and a laser engraving clamping fixture 510 is installed on the base plate 001 opposite it to cooperate with it. After the laser engraving is transferred to the laser engraving clamping fixture 510 by the electric gripper 407 and clamped and fixed, the laser engraving machine 500 is started to laser engrave the crimping terminals.

[0045] In some of these embodiments, such as Figure 5 As shown, the flexible vibration feeding device also includes an assembly device 600 installed at the front end of the base plate 001. The assembly device 600 is equipped with a heart-shaped ring assembly station 610, a crimping tube assembly station 620, and a crimp terminal assembly station 630. The station structure and assembly process utilize existing technology and will not be described in detail here. The crimp terminals, after being laser-engraved by the laser engraving machine 500, are transferred to the crimp terminal assembly station 630 via an electric gripper 407, where they are assembled in conjunction with the heart-shaped rings and crimping tubes transferred from the heart-shaped ring assembly station 610 and the crimping tube assembly station 620.

[0046] Combination Figures 1 to 5 As shown, the flexible vibration feeding process using the overall contact wire suspension cable flexible vibration feeding device is as follows: Corresponding parts such as heart-shaped rings, crimping pipes, and crimping terminals are added to the three hoppers of the hopper assembly 100. The corresponding hopper 100 vibrates, causing an appropriate number of parts to fall into the corresponding flexible vibration plate of the flexible vibration plate assembly 200. The vibration of the corresponding flexible vibration plate ensures that the parts are evenly distributed within the plate and present different positions and postures. Subsequently, the CCD industrial cameras above the corresponding flexible vibration plates perform visual image processing on the parts within the plate, acquiring the posture and position of each part and selecting the part with the highest similarity to the standard part. This part's position and posture information is then transmitted to the four-axis robotic arm 400. After receiving the part position and posture information, the four-axis robotic arm 400 sequentially grasps the crimping pipe, crimping terminal, and heart-shaped ring. The crimping terminal is then transferred to the laser engraving station for laser engraving, and the crimping pipe and heart-shaped ring are transferred to the assembly station. After the laser engraving of the crimping terminal is completed, the four-axis robotic arm 400 removes the crimping terminal and transfers it to its assembly station.

[0047] In summary, this contact wire suspension cable flexible vibration feeding device, through the coordinated operation of the hopper vibration component 100, the flexible vibratory feeder component 200, and the four-axis robotic arm 400, achieves the automatic feeding process of heart-shaped rings, crimped pipes, and crimped terminals, reducing labor intensity and increasing productivity. Simultaneously, the corresponding CCD industrial camera component 300 is used to detect the external dimensions of the heart-shaped rings, crimped pipes, and crimped terminals. Through machine vision image processing technology, the similarity between standard parts and parts within the flexible vibratory feeder is compared, selecting the part with the highest similarity and avoiding transferring parts with unqualified dimensions to the assembly station, thus reducing the scrap rate. Therefore, this invention, employing the coordinated feeding method of the flexible vibratory feeder component 200, the CCD industrial camera component 300, and the four-axis robotic arm 400, effectively solves the mechanical jamming problem caused by the traditional vibratory feeder frequency modulation feeding mode, preventing such mechanical failures.

[0048] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0049] Secondly, the accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0050] Finally, the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A catenary integral dropper flexible vibration feeding device, characterized in that, It comprises a hopper vibration assembly (100), a flexible vibration disc assembly (200), a CCD industrial camera assembly (300) and a four-axis mechanical arm (400) installed on the bottom plate (001), wherein: The hopper vibration assembly (100) is arranged at the rear end of the bottom plate (001) and is used for storing parts and directly vibrating the parts to drop down to supplement the parts when the number of parts in the flexible vibration disc assembly (200) is insufficient; The flexible vibration disc assembly (200) is arranged at the middle of the bottom plate (001) and one end thereof is located at the discharge port on the front side of the hopper vibration assembly (100), which is used for vibrating the parts dropped down from the hopper vibration assembly (100) to make them uniformly distributed in the disc and present different postures and spatial positions; The CCD industrial camera assembly (300) is correspondingly installed above the flexible vibration disc assembly (200) and is used for recognizing the size of the parts in the disc, detecting the posture of the parts, positioning the parts, detecting and monitoring the crimping state; and The four-axis mechanical arm (400) is arranged at the front end of the bottom plate (001) and is electrically connected with the CCD industrial camera assembly (300) and is used for transferring the parts with the preset size to the subsequent work station according to the detection result of the CCD industrial camera assembly (300).

2. The overall dropper flexible vibration feeding device of the catenary according to claim 1, characterized in that, The hopper vibration assembly (100) is composed of a heart-shaped ring vibration hopper (110), a crimping tube vibration hopper (120) and a crimping terminal vibration hopper (130) arranged side by side at the rear end of the bottom plate (001), and each hopper is provided with a discharge port on the front side.

3. The overall dropper flexible vibration feeding device of the catenary according to claim 2, characterized in that, The flexible vibration disc assembly (200) is composed of a heart-shaped ring flexible vibration disc (210), a crimping tube flexible vibration disc (220) and a crimping terminal flexible vibration disc (230) with relatively long length arranged side by side at the discharge ports of the heart-shaped ring vibration hopper (110), the crimping tube vibration hopper (120) and the crimping terminal vibration hopper (130).

4. The overall dropper flexible vibration feeding device of the catenary according to claim 3, characterized in that, The length of the crimping terminal flexible vibration disc (230) is greater than the lengths of the heart-shaped ring vibration hopper (110) and the crimping tube vibration hopper (120), and light supplement lamps (240) are installed on the left and right sides of the crimping terminal flexible vibration disc (230); the light supplement lamps (240) are adjustably installed on the bottom plate (001) through horizontal guide rods (241) and vertical guide rods (242).

5. The overall dropper flexible vibration feeding device of the catenary according to claim 3, characterized in that, The CCD industrial camera assembly (300) is composed of four cameras, i.e., a heart-shaped ring camera (301), a crimping tube camera (302), a crimping terminal camera (303) and a crimping part camera (304), which are located directly above the heart-shaped ring flexible vibration disc (210), the crimping tube flexible vibration disc (220) and the crimping terminal flexible vibration disc (230) and directly above the crimping work station.

6. The pantograph overall dropper soft vibration loading device according to claim 5, characterized in that, The heart-shaped ring camera (301), the crimping tube camera (302) and the crimping terminal camera (303) are installed on a horizontally arranged square top frame (306) with a left-right interval, and the left and right ends of the square top frame (306) are fixedly installed on the bottom plate (001) through support frames (305). The crimping site camera (304) is installed at the distal end of the extension link (307), the proximal end of the extension link (307) is connected to the square top frame (306), and the middle of the extension link (307) is connected to the square top frame (306) through the reinforcing rods (308) on both sides.

7. The overall dropper flexible vibration feeding device of the catenary according to claim 1, characterized in that, The four-axis mechanical arm (400) is a four-axis SCARA mechanical arm (401), and the end effector is three groups of slide table air cylinders and electric clamping jaws fixed on the turntable (408) and distributed at an angle of 90°.

8. The overall dropper flexible vibration feeding device of the catenary according to claim 7, characterized in that, The three groups of slide table air cylinders and electric clamping jaws are respectively heart-shaped ring slide table air cylinders (402) and heart-shaped ring electric clamping jaws (403), crimping tube slide table air cylinders (404) and crimping tube electric clamping jaws (405), and crimping terminal slide table air cylinders (406) and electric clamping jaws (407).

9. The overall dropper flexible vibration feeding device of the catenary according to claim 1, characterized in that, Further comprising a laser engraving machine (500) installed at the middle of the right side of the bottom plate (001), wherein: The laser engraving machine (500) is arranged close to the crimping terminal flexible vibration disc (230) of the flexible vibration disc assembly (200), and the bottom plate (001) opposite to the laser engraving machine (500) is provided with a laser engraving clamping tool (510) matched with the laser engraving machine (500).

10. The overall dropper flexible vibration feeding device of the catenary according to claim 1, characterized in that, Further comprising an assembly device (600) installed at the front end of the bottom plate (001), wherein: The assembly device (600) is provided with a heart-shaped ring assembly station (610), a crimping tube assembly station (620), and a crimping terminal assembly station (630) correspondingly.

Images