A robotic arm, robot, and brake shoe molding system

Abstract

This invention provides a robotic arm, robot, and brake shoe molding system. The robotic arm includes: a mounting frame adapted to be rotatably mounted on an external flipping device about a rotation axis; a first brake shoe gripper disposed on a first end of the mounting frame for individually gripping brake shoes; and an intermediate mold gripper disposed on a second end of the mounting frame for individually gripping intermediate molds and for gripping assemblies formed by the intermediate mold and brake shoes. The mounting frame is flipped under the drive of the flipping device to switch between gripping with the first brake shoe gripper and gripping with the intermediate mold gripper. The robotic arm in this embodiment integrates the functions of gripping brake shoes, intermediate molds, and assemblies composed of brake shoes and intermediate molds, improving gripping and transfer efficiency and avoiding the problems of high cost and low gripping efficiency caused by the need to develop three sets of robotic arms in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of brake shoe manufacturing and processing technology, and in particular to a robotic arm, robot and brake shoe pressing system. Background Technology

[0002] High-friction synthetic brake shoes are a core component of railway freight car braking systems, primarily used for deceleration braking of heavy-haul trains. The basic processing steps for high-friction brake shoes are as follows: More than ten raw materials are thoroughly and evenly mixed and then subjected to high-pressure pressing to obtain a preliminary brake shoe blank; the brake shoe blank is then placed in a hot-pressing molding device, where it is extruded and pressed by an upper and lower mold at high temperature to obtain brake shoes with the required hardness and wear resistance.

[0003] To improve the molding efficiency of brake shoes, a thermoforming device is typically used to simultaneously mold multiple stacked brake shoe blanks. To prevent adjacent brake shoe blanks from sticking together after molding, a spacer mold is placed between adjacent blanks before molding. To improve the placement efficiency of the brake shoe blanks and spacers and to avoid misalignment during placement, the brake shoe blanks and spacers can be joined together to form an assembly before molding with the thermoforming device. Then, multiple assemblies are stacked sequentially in the mold cavity of the thermoforming device.

[0004] During the process of assembling the brake shoe blank and the intermediate mold to obtain the assembly, and during the process of placing and removing the assembly on the hot pressing device, it is necessary to handle the brake shoe, the intermediate mold, and the assembly.

[0005] In the existing technology, corresponding robotic arms have been developed separately for brake shoes, intermediate molds, and assemblies. This is not only costly, but also results in low grasping efficiency for the three types of robotic arms. Utility Model Content

[0006] This utility model provides a robotic arm, robot, and brake shoe pressing system. During the simultaneous pressing production of multiple brake shoes, the system can pick up, place, and transport brake shoes, intermediate molds, and assemblies composed of brake shoes and intermediate molds, thereby improving the efficiency of gripping and transferring and reducing production costs.

[0007] On the one hand, this utility model provides a robotic arm, which includes: Mounting bracket, suitable for rotatable mounting on an external flipping device about a rotation axis; A first brake shoe clamp, disposed at the first end of the mounting frame, is used to individually grip the brake shoe; and A mold clamp is provided on the second end of the mounting frame for individually gripping the mold and for gripping the assembly formed by the mold and the brake shoe mold. The mounting bracket is flipped under the drive of the flipping device to switch the first brake shoe clamp for gripping or to switch the intermediate mold clamp for grasping.

[0008] In one embodiment, the inner arc surface of the interlayer is attached to the outer arc surface of the brake shoe to form the assembly; The inter-mold clamp includes a support arm and a pressing arm that cooperate to clamp; When the inter-mold clamp grips the inter-mold individually, the support arm and the pressing arm act on the inner and outer sides of the inter-mold in the radial direction, respectively; When the inter-mold clamp grips the assembly, the support arm and the pressing arm act on the inner and outer sides of the assembly in the radial direction, respectively.

[0009] In one embodiment, the interstitial mold includes an arc-shaped mold body and a protrusion formed on the middle part of the outer arc surface of the mold body; An anti-detachment fitting part is formed on the inner side wall of the pressing arm. When the inter-mold clamp grips the inter-mold or the assembly alone, the protrusion can engage with the anti-detachment fitting part.

[0010] In one embodiment, the support arm is fixedly connected to the mounting bracket; The pressing arm is driven by the driving mechanism. The pressing arm can move closer to or away from the support arm under the drive of the driving mechanism to clamp or release the interlayer or the assembly.

[0011] In one embodiment, a rounded corner is formed on one end of the support arm away from the axis of rotation.

[0012] In one embodiment, an n-shaped nose is formed on the outer arc surface of the brake shoe; the first brake shoe clamp includes a first clamping plate and a second clamping plate, which are used to clamp the brake shoe on the two opposite sidewalls of the nose.

[0013] In one embodiment, the pressing arm and the supporting arm are arranged at intervals along the extension direction of the rotation axis; The first clamping plate and the second clamping plate are arranged at intervals along an extension direction perpendicular to the axis of rotation.

[0014] As one implementation method, the robotic arm also includes: The second brake shoe clamp is located on the third end of the mounting frame and is used to grip the brake shoe.

[0015] In one embodiment, the distance from the first brake shoe clamp to the rotation axis is equal to the distance from the second brake shoe clamp to the rotation axis; and / or, The distance from the first brake shoe clamp to the rotation axis is less than the distance from the intermediate mold clamp to the rotation axis.

[0016] Compared with the prior art, the advantages of this utility model are as follows: the robotic arm in the embodiment of this utility model integrates the functions of grasping brake shoes, intermediate molds, and the combination of brake shoes and intermediate molds, which can improve the grasping and transfer efficiency and avoid the problems of high cost and low grasping efficiency caused by the need to develop three sets of robotic arms in the prior art.

[0017] Secondly, this utility model provides a robot, including the robotic arm in the aforementioned embodiments, and the flipping device.

[0018] Thirdly, this utility model provides a brake shoe molding system, including the robot described in the foregoing embodiments, and further including: A molding device for simultaneously molding at least two sets of the assembly; The mold separating and closing device is used to close the intermediate mold and the brake shoe before pressing to form the assembly, and to separate the assembly after pressing. The robot is used to grasp and transport the brake shoes, the interlayer mold, and the assembly.

[0019] Furthermore, the brake shoe molding system also includes: A grinding device is used to grind the brake shoes obtained by mold splitting, and the robot is configured to move between the molding device, the mold splitting and closing device and the grinding device. Attached Figure Description

[0020] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the brake shoe structure; Figure 2 This is a schematic diagram of the robotic arm in this embodiment; Figure 3 This is a schematic diagram of the first brake shoe clamp gripping the brake shoe; Figure 4 This is a schematic diagram showing the arrangement of the robot, molding device, mold splitting and closing device, and grinding device in the brake shoe molding system. Figure label: 100. Robotic arm; 1. Mounting frame; 11. First support arm; 12. Second support arm; 13. Reinforcing rib; 2. Quick-change docking plate; 21. Rotating axis; 3. First brake shoe clamp; 31. First clamping plate; 32. Second clamping plate; 301. Limiting protrusion; 33. Clamping gripper; 4. Second brake shoe clamp; 5. Mold fixture; 200. Tilting device; 300. Pressing device; 400. Mold splitting and closing device; 500. Grinding device; 1000, brake shoe; 1001, back panel; 1002, friction element; 1003, brake shoe nose; 1004, rectangular pin hole; 4000, pallet. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] The structure of the brake shoe 1000 is generally as follows: The brake shoe 1000 includes an arc-shaped back panel 1001 and a friction body 1002 disposed on the inner arc surface of the back panel 1001. The friction body 1002 is used for friction braking. An arched n-shaped shoe nose 1003 is pressed in the middle of the outer arc surface of the back panel 1001. Rectangular pin holes 1004 are opened on the two side walls of the shoe nose 1003, and a circular pin hole is opened on the top wall of the shoe nose 1003 to ensure that the shoe nose 1003 of the brake shoe is installed on the shoe support.

[0024] To support and separate two adjacent brake shoe blanks, the inter-mold includes an arc-shaped mold body. The inner arc surface of the mold body is adapted to the outer arc surface of the back panel 1001, and the outer arc surface of the mold body is adapted to the inner arc surface of the friction body 1002. A protrusion is formed in the middle of the outer arc surface of the mold body, and a recess is formed in the middle of the inner arc surface of the mold body. When the mold is closed, the inner arc surface of the mold body is attached to the outer arc surface of the back panel 1001, and the brake shoe nose 1003 extends into the recess of the inter-mold, thereby closing the mold to form an assembly.

[0025] like Figure 2 As shown, this utility model embodiment provides a robotic arm 100, which includes a mounting frame 1, a first brake shoe clamp 3, and an intermediate mold clamp 5.

[0026] The first brake shoe clamp 3 is disposed on the first end of the mounting frame 1 and is used to individually grip the brake shoe. The inter-mold clamp 5 is disposed on the second end of the mounting frame 1 and is used to individually grip the inter-mold and to grip the assembly formed by the inter-mold and the brake shoe mold. The mounting frame 1 is provided with a quick-change docking plate 2, which has a rotation axis 21. The quick-change docking plate 2 can be quickly installed on the external flipping device 200, so that the mounting frame 1 can rotate around the rotation axis 21 on the flipping device 200.

[0027] When it is necessary to clamp or release the brake shoe, the flipping device 200 drives the mounting frame 1 to flip to switch the first brake shoe clamp 3, so as to use the first brake shoe clamp 3 to clamp or release the brake shoe. When it is necessary to pick up or put down the inter-mold separately or to pick up or put down the assembly formed by the inter-mold and the brake shoe mold, the flipping device 200 drives the mounting frame 1 to flip to switch the inter-mold clamp 5.

[0028] The robotic arm 100 in this embodiment integrates the functions of grasping brake shoes, intermediate molds, and assemblies composed of brake shoes and intermediate molds, which can improve the grasping and transfer efficiency and avoid the problems of high cost and low grasping efficiency caused by the need to develop three sets of robotic arms 100 in the prior art.

[0029] The structure and principle of the inter-mold fixture 5 are explained below.

[0030] The inter-mold clamp 5 includes a pressing arm and a support arm that cooperate to clamp the mold.

[0031] When the inter-mold clamp 5 grips the inter-mold individually, the support arm and the pressing arm act on the inner and outer sides of the inter-mold radially, respectively. Specifically, the support arm rests on the inner top wall of the recessed portion of the inter-mold, and the pressing arm presses against the outer top wall of the protruding portion of the inter-mold, thus achieving individual clamping of the inter-mold. Preferably, the width of the support arm is adapted to the width of the recessed portion of the inter-mold.

[0032] When the inter-mold clamp 5 grips the assembly, the support arm and the pressing arm act on the inner and outer sides of the assembly in the radial direction, respectively. Preferably, the support arm acts on the inner top wall of the brake shoe nose 1003; the pressing wall acts on the outer top wall of the protrusion on the inter-mold, so as to cooperate in clamping the assembly. Preferably, the width of the support arm is adapted to the width of the inner top wall of the brake shoe.

[0033] In this embodiment of the invention, the pressing arm acts radially inward on the protrusion of the intermediate mold. An anti-detachment fitting portion is formed on the inner wall of the pressing arm. When the intermediate mold clamp 5 grips the intermediate mold or assembly alone, the protrusion can engage with the anti-detachment fitting portion to achieve self-locking, preventing the intermediate mold or assembly from falling off during clamping and transport. The anti-detachment fitting portion can be a groove, the width of which is adapted to the width of the protrusion.

[0034] Preferably, a rounded corner is formed on the end of the support arm away from the axis of rotation 21 to prevent wear of the support arm when it is inserted into the recess of the mold or the nose of the tile 1003.

[0035] In this embodiment, the support arm is fixedly connected to the mounting bracket 1, which improves the support stability of the support arm and prevents swaying. The pressing arm is driven by the drive mechanism, allowing it to move closer to or further away from the support arm to clamp or release the mold or assembly. The drive mechanism includes a cylinder and a telescopic rod. The cylinder is fixed to the mounting bracket 1, one end of the telescopic rod is telescopically connected to the cylinder, and the other end of the telescopic rod is fixedly connected to the pressing arm.

[0036] In use, the telescopic rod retracts under the drive of the cylinder, causing the pressing arm to move closer to the support arm, so that the pressing arm and the support arm cooperate to clamp the mold or assembly. The telescopic rod extends under the drive of the cylinder, causing the pressing arm to move closer to the support arm to release the clamped mold or assembly.

[0037] The first brake shoe clamp 3 is described below.

[0038] The first brake shoe clamp 3 includes a first clamping plate 31 and a second clamping plate 32, which are used to clamp the brake shoe onto the two opposite side walls of the brake shoe nose 1003. Limiting protrusions 301 are formed on the opposite inner side walls of the first clamping plate 31 and the second clamping plate 32, respectively. When the first clamping plate 31 and the second clamping plate 32 are clamped onto the brake shoe nose 1003, the limiting protrusions 301 can be inserted into the rectangular pin holes 1004 on the two side walls of the brake shoe nose 1003 to prevent the brake shoe from detaching from the first brake shoe clamp 3 and improve the stability of the clamping.

[0039] The first clamping plate 31 and the second clamping plate 32 are symmetrically fixed to the clamping gripper 33. By extending and retracting the clamping gripper 33, the brake shoe nose 1003 is gripped. The clamping gripper 33 is equipped with a positioning detection element, such as a sensor or camera. When the clamping gripper 33 approaches the brake shoe nose 1003, the positioning detection element detects the movement, and the clamping gripper 33 drives the first clamping plate 31 and the second clamping plate 32 to move closer together to grip the brake shoe nose 1003.

[0040] The first clamping plate 31 and the second clamping plate 32 are arranged at intervals along the extension direction perpendicular to the rotation axis 21; while the pressing arm and the support arm are arranged at intervals along the extension direction of the rotation axis 21. With this arrangement, the first brake shoe clamp 3 and the intermediate mold clamp 5 can be switched by driving the mounting bracket 1 to rotate around the rotation axis 21, which reduces the number of times the flipping device 200 flips and the flipping angle.

[0041] In this embodiment of the invention, a second brake shoe clamp 4 for gripping the brake shoe is also provided on the third end of the mounting frame 1. The structure of the second brake shoe clamp 4 is the same as that of the first brake shoe clamp 3.

[0042] The first brake shoe clamp 3 and the second brake shoe clamp 4 can be used together. For example, one brake shoe clamp picks up the processed brake shoe on a certain platform, and the other brake shoe clamp places the brake shoe to be processed on the platform, which improves the transfer efficiency and reduces the idle movement time of the robot arm 100.

[0043] The following describes mounting bracket 1.

[0044] Mounting bracket 1 includes a first arm 11 and a second arm 12. The second arm 12 is vertically connected to the middle of the first arm 11, forming a T-shaped structure. The rotation axis 21 of the quick-change docking plate 2 is located at the intersection of the first arm 11 and the second arm 12. A mold clamp 5 is disposed on the second arm 12 at the end away from the first arm 11. A first brake shoe clamp 3 and a second brake shoe clamp 4 are correspondingly disposed at both ends of the first arm 11, ensuring that the distances from the two brake shoe clamps to the rotation axis 21 are equal.

[0045] Preferably, the length of the first arm 11 is L1, and the length of the second arm 12 is L2, where L2 > (1 / 2) × L1. Preferably, the second arm 12 is provided with a reinforcing rib 13 to prevent the second arm 12 from bending.

[0046] This utility model embodiment also provides a robot, which includes the robotic arm 100 as described in the foregoing embodiments, and a flipping device 200. The mounting frame 1 of the robotic arm 100 is rotatably connected to the flipping device 200 via a quick-change docking plate 2, and the flipping device 200 can drive the mounting frame 1 to flip.

[0047] like Figure 4 As shown, this utility model embodiment also provides a brake shoe molding system, which includes the robot mentioned above, as well as a molding device 300, a mold splitting and closing device 400, and a grinding device 500.

[0048] The molding device 300 is used to simultaneously mold at least two sets of assemblies; the mold splitting and molding device 400 is used to mold the intermediate mold and the brake shoe together to form an assembly before molding, and to split the assembly after molding; the grinding device 500 is used to grind the brake shoe obtained by mold splitting.

[0049] like Figure 4 As shown, the basic principle of the brake shoe molding system is as follows: The first brake shoe clamp 3 and the second brake shoe clamp 4 sequentially clamp the brake shoe blanks from the tray 4000, and then place the brake shoe blanks sequentially onto the mold splitting and mold closing device 400; the intermediate mold clamp 5 clamps the intermediate mold and stacks the intermediate mold on the brake shoe blank, thereby obtaining the assembly; the intermediate mold clamp 5 clamps the assembly and places it into the mold cavity of the pressing device 300, and the pressing device 300 simultaneously applies high temperature and pressure to multiple assemblies; The inter-mold clamp 5 picks up the assembly at the mold cavity outlet of the molding device 300 and places it on the mold splitting and closing device 400 to facilitate mold splitting of the assembly; the first brake shoe clamp 3 picks up the molded brake shoe and places it on the grinding device 500 for grinding, such as... Figure 4 As shown; The second brake shoe clamp 4 places the polished brake shoe finished product onto the tray 4000; the first brake shoe clamp 3 picks up the brake shoe blank from the tray 4000, and so on.

[0050] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robotic arm, characterized in that, include: Mounting bracket, suitable for rotatable mounting on an external flipping device about a rotation axis; The first brake shoe clamp is disposed on the first end of the mounting frame and is used to individually grip the brake shoe; as well as A mold clamp is provided on the second end of the mounting frame for individually gripping the mold and for gripping the assembly formed by the mold and the brake shoe mold. The mounting bracket is flipped under the drive of the flipping device to switch the first brake shoe clamp for gripping or to switch the intermediate mold clamp for grasping.

2. The robotic arm according to claim 1, characterized in that, The inner arc surface of the interlayer is attached to the outer arc surface of the brake shoe to form the assembly; The inter-mold clamp includes a support arm and a pressing arm that cooperate to clamp; When the inter-mold clamp grips the inter-mold individually, the support arm and the pressing arm act on the inner and outer sides of the inter-mold in the radial direction, respectively; When the inter-mold clamp grips the assembly, the support arm and the pressing arm act on the inner and outer sides of the assembly in the radial direction, respectively.

3. The robotic arm according to claim 2, characterized in that, The interstitial mold includes an arc-shaped mold body and a protrusion formed on the middle part of the outer arc surface of the mold body; An anti-detachment fitting part is formed on the inner side wall of the pressing arm. When the inter-mold clamp grips the inter-mold or the assembly alone, the protrusion can engage with the anti-detachment fitting part.

4. The robotic arm according to claim 2 or 3, characterized in that, The support arm is fixedly connected to the mounting frame; The pressing arm is driven by the driving mechanism. The pressing arm can move closer to or away from the support arm under the drive of the driving mechanism to clamp or release the interlayer or the assembly.

5. The robotic arm according to claim 2 or 3, characterized in that, The end of the support arm away from the axis of rotation has a rounded corner.

6. The robotic arm according to claim 2, characterized in that, The outer arc surface of the brake shoe is formed with an n-shaped nose; the first brake shoe clamp includes a first clamping plate and a second clamping plate, which are used to clamp the brake shoe on the two opposite side walls of the nose.

7. The robotic arm according to claim 6, characterized in that, The pressing arm and the supporting arm are arranged at intervals along the extension direction of the rotation axis; The first clamping plate and the second clamping plate are arranged at intervals along an extension direction perpendicular to the axis of rotation.

8. The robotic arm according to claim 1 or 6, characterized in that, Also includes: The second brake shoe clamp is located on the third end of the mounting frame and is used to grip the brake shoe.

9. The robotic arm according to claim 8, characterized in that, The distance from the first brake shoe clamp to the rotation axis is equal to the distance from the second brake shoe clamp to the rotation axis; and / or, The distance from the first brake shoe clamp to the rotation axis is less than the distance from the intermediate mold clamp to the rotation axis.

10. A robot, characterized in that, It includes the robotic arm as described in any one of claims 1-8, and the flipping device.

11. A brake shoe molding system, characterized in that, Including the robot of claim 9, it also includes: A molding device for simultaneously molding at least two sets of the assembly; The mold separating and closing device is used to close the intermediate mold and the brake shoe before pressing to form the assembly, and to separate the assembly after pressing. The robot is used to grasp and transport the brake shoes, the interlayer mold, and the assembly.

12. The brake shoe molding system according to claim 11, characterized in that, Also includes: A grinding device is used to grind the brake shoes obtained by mold splitting, and the robot is configured to move between the molding device, the mold splitting and closing device and the grinding device.

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