CN110405441B - Wire clamp assembly system of contact net dropper - Google Patents
Wire clamp assembly system of contact net dropper Download PDFInfo
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- CN110405441B CN110405441B CN201910764685.XA CN201910764685A CN110405441B CN 110405441 B CN110405441 B CN 110405441B CN 201910764685 A CN201910764685 A CN 201910764685A CN 110405441 B CN110405441 B CN 110405441B
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- 239000000463 material Substances 0.000 claims abstract description 21
- 210000000078 claw Anatomy 0.000 claims description 51
- 239000002994 raw material Substances 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000002360 preparation method Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 238000009417 prefabrication Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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Abstract
The invention provides a wire clamp assembly system of a contact net hanger, which comprises a wire clamp material disc group, a wire clamp assembly robot and an assembly die module, wherein the wire clamp material disc group comprises a contact wire material disc group and a carrier cable material disc group, the wire clamp assembly robot grabs parts provided by the wire clamp material disc group to the assembly die module for assembly, and the assembly die module comprises the contact wire clamp assembly die group and the carrier cable clamp assembly die group. The invention replaces the traditional manual processing by mechanical intelligent production, has the characteristics of high efficiency, high precision, high automation degree and the like, and can effectively solve the problems of low precision, low efficiency, high rejection rate and the like of the existing manual pre-preparation.
Description
Technical Field
The invention relates to the field of pre-distribution production of contact net droppers, in particular to a wire clamp assembly system of a contact net dropper.
Background
With the rapid development of high-speed rails in recent years, the domestic railway industry puts forward new requirements on process quality standards so as to meet the development needs of building intelligent railways. The overhead line system is particularly important as a direct influencing factor of the bow net relationship, such as prefabrication accuracy, prefabrication quality, prefabrication efficiency and intelligent degree of the dropper.
At present, manual pre-allocation and semi-automatic pipeline operation are basically adopted for prefabricating and producing the dropper in China or even in the world, and in order to improve the pre-allocation quality and the pre-allocation progress of the dropper, a production method is innovated, intelligent pre-allocation is realized, and the method has the significance of milestones.
In the production of the dropper pre-assembly, firstly, the production of the dropper body needs to be completed, secondly, the wire clamp assembly is carried out, the existing wire clamp assembly basically adopts manual operation, the efficiency is low, and the rejection rate is high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the wire clamp assembly system for the contact net hanger, which can rapidly and accurately finish the wire clamp assembly of the two ends of the hanger body and has high automation degree.
The technical scheme provided by the invention is as follows: the utility model provides a contact net dropper's fastener assembly system, fastener assembly system includes fastener charging tray group, fastener assembly robot, assembly mould module and control system, control system is used for controlling various execution operations of fastener assembly robot and assembly mould module, fastener assembly robot snatchs the spare part that the fastener charging tray group provided to assembly mould module and assembles, assembly mould module includes contact wire fastener assembly mould group and load cable clamp assembly mould group, contact wire fastener assembly mould group and load cable clamp assembly mould group assemble the contact wire fastener for the one end of dropper body respectively, the other end assembles the load cable fastener.
Further, the fastener charging tray group includes a contact line charging tray group and three kinds of carrier cable charging tray groups, every fastener charging tray group all includes the charging tray frame, be equipped with a plurality of charging trays in the charging tray frame, every charging tray all is supporting to be equipped with controller and linear vibration feeder, be equipped with the conveying guide rail between linear vibration feeder and the charging tray, be equipped with pushing equipment in the charging tray frame for the cooperation is carried the guide rail and is carried the material, still be equipped with location coordinate mark dish and power signal case in the charging tray frame.
Further, the carrier cable wire clamp assembly die set comprises three types of carrier cable T35 wire clamp assembly die sets, carrier cable T95D wire clamp assembly die sets and carrier cable T120D wire clamp assembly die sets, and one type of the carrier cable T35 wire clamp assembly die sets is selected for use according to actual use requirements during wire clamp assembly.
Further, the assembly mold module comprises an assembly mold frame, wherein the assembly mold frame is provided with a contact line 150 wire clamp assembly mold set, a carrier cable T35 wire clamp assembly mold set, a carrier cable T95D wire clamp assembly mold set and a carrier cable T120D wire clamp assembly mold set in parallel,
four assembly die group includes the mould bottom plate, be equipped with the slip table guide rail on the mould bottom plate, the middle part of slip table guide rail is equipped with the mould slip table, the both ends of slip table guide rail are equipped with first slip table spacing ejector pin, first slip table buffer, first mould sensor and second slip table spacing ejector pin, second slip table buffer, second mould sensor of putting in place respectively, the one end of mould slip table is equipped with the mould cylinder for drive the mould slip table and remove on the slip table guide rail, one side of mould slip table is equipped with screw up servo motor and jacking cylinder, jacking cylinder upper portion is equipped with assembly sleeve and assembly mould, one side of assembly mould is equipped with second centre gripping jack catch, the other end of mould slip table is equipped with solenoid valve island, first feeding cylinder and second feeding cylinder, the second feeding cylinder is equipped with first centre gripping jack catch for the direction of second centre gripping jack catch.
Further, the assembling die frame is provided with an air source interface and a wiring quick-inserting interface, four corners of the assembling die frame are also provided with adjusting support legs, the four assembling die sets are basically identical in structure, and the model and the specification of the assembling die and the first clamping jaw are different.
Further, a drag chain is arranged on the side edge of the first feeding cylinder, and a drag chain groove is arranged below the drag chain and parallel to the sliding table guide rail.
Further, the contact wire tray set is a contact wire 150 tray set, 2-4 trays are arranged in the contact wire 150 tray set, a contact wire 150 lifting ring, a contact wire 150 wire clamp or other parts are placed respectively, the carrier cable tray set comprises carrier cable T35 tray sets, carrier cable T95D tray sets and carrier cable T120D tray sets which are all provided with 4 trays, the trays of the carrier cable T35 tray sets are respectively provided with a T35 wire clamp, a T35 lifting ring, a bolt M10×40 and a bolt M10×35, the trays of the carrier cable T95D tray sets are respectively provided with a T95D lifting ring, a T95D wire clamp, a disc spring and a nut M10, and the trays of the carrier cable T120D tray sets are respectively provided with a T120D lifting ring, a T120D wire clamp, a small three jaw and a small five jaw.
Further, the wire clamp assembly system further comprises a double-station truss mechanical arm, the double-station truss mechanical arm comprises a truss upright post and a truss X-axis beam arranged on the truss upright post, two mechanical arms are arranged on the truss X-axis beam, the mechanical arm comprises a truss X-axis and a truss Z-axis, a clamping fixture is arranged below the truss Z-axis, the clamping fixture comprises a truss cylinder, the lower end of the truss cylinder is provided with a truss connecting rod, one end of the truss connecting rod is provided with a truss air claw, the other end of the truss connecting rod is provided with a fixture limiting block, the truss air claw is connected with a fixture clamping claw, the two clamping fixtures are respectively responsible for wire clamp assembly clamping of a carrier cable part and a contact line part, and the double-station truss mechanical arm controls operation of the double-station truss mechanical arm through a control system.
Further, the truss X-axis cross beam is formed by assembling three sections of cross beams, a cross beam wire slot is arranged in the truss X-axis cross beam, and the double-station truss manipulator further comprises a truss ground wire slot and an air source interface.
Further, the wire clamp assembly robot is a six-axis robot, the wire clamp assembly robot comprises a base, a J1 axis, a J2 axis, a J3 axis, a J4 axis, a J5 axis and a J6 axis are sequentially outwards arranged on the base, a control device is further arranged on the base, and three groups of robot clamps are connected to the tail end of the J6 axis through flanges and are respectively used for taking different raw material parts.
The invention replaces the traditional manual processing by mechanical intelligent production, has the characteristics of high efficiency, precision, high automation degree and the like, can effectively solve the problems of low precision, low efficiency, high rejection rate and the like existing in the conventional manual pre-preparation, can finish the assembly of 3 different types of droppers according to actual needs, realizes the pre-preparation production of droppers with various specifications, and can meet the use requirements of different straight lines, inside curves and outside curves.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a dual station truss manipulator;
FIG. 3 is a schematic view of the structure of the clamping fixture of the double-station truss manipulator;
FIG. 4 is a schematic view of the structure of the wire clamp tray set;
FIG. 5 is a schematic structural view of a wire clamp assembly robot;
fig. 6 is a schematic structural view of the robot fixture;
FIG. 7 is a schematic view of the structure of an assembled mold module;
FIG. 8 is a schematic view of the structure of an assembled die set;
FIG. 9 is a partial schematic view of the structure of FIG. 8;
in the figure: 1-wire clamp tray set, 10-contact wire 150 tray set, 11-carrier cable T35 tray set, 12-carrier cable T95D tray set, 13-carrier cable T120D tray set, 101-carrier cable T35 wire clamp assembly die set, 102-tray, 103-controller, 104-linear vibration feeder, 105-conveying guide rail, 106-pushing mechanism, 107-positioning coordinate tray, 108-power signal box, 2-wire clamp assembly robot, 21-base, 22-J1 shaft, 23-J2 shaft, 24-J3 shaft, 25-J4 shaft, 26-J5 shaft, 27-J6 shaft, 28-flange, 29-robot clamp, 3-assembly die set, 30-assembly die set, 31-carrier cable T35 wire clamp assembly die set, 32-carrier cable T95D wire clamp assembly die set, 33-carrier cable T120D wire clamp assembly die set, 34-contact wire 150 wire clamp assembly die set, 35-interface, 36-wire fast-plug interface, 37-adjusting support leg, 301-die bottom plate, 302-sliding table guide rail, 303-die sliding table, 304-first sliding table limit ejector rod, 305-first sliding table buffer, 306-first die in-place sensor, 307-second sliding table limit ejector rod, 308-second sliding table buffer, 309-second die in-place sensor, 310-die cylinder, 311-tightening servo motor, 312-lifting cylinder, 313-assembling sleeve, 314-assembling die, 315-second clamping jaw, 316-solenoid valve island, 317-first feeding cylinder, 318-second feeding cylinder, 319-first clamping jaw, 320-tow chain, 321-tow chain groove, 4-double-station truss manipulator, 41-truss column, 42-truss X-axis beam, 421-beam wire groove, 43-truss X axis, 44-truss Z axis, 45-clamping clamp, 451-truss cylinder, 452-truss connecting rod, 453-clamp jaw wire groove, 454-fixture limiting blocks, 455-truss air claws and 46-truss ground wire slots.
Detailed Description
The invention is further described below with reference to the drawings and examples. Detailed description of the embodiments of the invention the following technical solutions presented in the figures are specific to embodiments of the invention and are not intended to limit the scope of the invention as claimed. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The utility model provides a contact net dropper's fastener assembly system, fastener assembly system includes fastener charging tray group 1, fastener assembly robot 2, assembly mould module 3 and control system, control system is used for controlling the various execution operations of fastener assembly robot 2 and assembly mould module 3, fastener assembly robot 2 snatchs assembly mould module 3 with the spare part that fastener charging tray group 1 provided and assembles, assembly mould module 3 includes contact wire fastener assembly mould group and load cable clamp assembly mould group, contact wire fastener assembly mould group and load cable clamp assembly mould group are for the one end assembly contact wire fastener of dropper body respectively, and the other end assembly load cable clamp.
The wire clamp tray group 1 comprises a contact wire tray group and three carrier cable tray groups, each wire clamp tray group 1 comprises a tray rack 101, a plurality of trays 102 are arranged on the tray racks 101, each tray 102 is provided with a controller 103 and a linear vibration feeder 104 in a matched mode, a conveying guide rail 105 is arranged between each linear vibration feeder 104 and each tray 102, a material pushing mechanism 106 is arranged on the tray racks 101 and used for conveying materials in cooperation with the conveying guide rail 105, and a positioning coordinate tray 107 and a power signal box 108 are further arranged on the tray racks 101.
The carrier cable wire clamp assembly die set comprises three types of carrier cable T35 wire clamp assembly die set 31, carrier cable T95D wire clamp assembly die set 32 and carrier cable T120D wire clamp assembly die set 33, and one type of the carrier cable T35 wire clamp assembly die set is selected for use according to actual use requirements during wire clamp assembly.
The assembly die module 3 comprises an assembly die frame 30, a contact line 150 wire clamp assembly die set 34, a carrier cable T35 wire clamp assembly die set 31, a carrier cable T95D wire clamp assembly die set 32 and a carrier cable T120D wire clamp assembly die set 33 are arranged on the assembly die frame 30 in parallel,
four assembly die sets include the mould bottom plate 301, be equipped with slip table guide rail 302 on the mould bottom plate 301, the middle part of slip table guide rail 302 is equipped with mould slip table 303, the both ends of slip table guide rail 302 are equipped with first slip table spacing ejector pin 304, first slip table buffer 305, first mould sensor 306 and second slip table spacing ejector pin 307, second slip table buffer 308, second mould sensor 309 in place respectively, the one end of mould slip table 303 is equipped with mould cylinder 310 for drive mould slip table 303 and remove on slip table guide rail 302, mould slip table 303 top one side is equipped with screw up servo motor 311 and jacking cylinder 312, jacking cylinder 312 upper portion is equipped with assembly sleeve 313 and assembly mould 314, one side of assembly mould 314 is equipped with second clamping jaw 315, the other end of mould slip table 303 top is equipped with solenoid valve island 316, first feeding cylinder 317 and second feeding cylinder 318, be equipped with first clamping jaw 319 in the direction for second clamping jaw 315.
The assembling die frame 30 is provided with an air source interface 35 and a wiring quick-connection interface 36, four corners of the assembling die frame 30 are also provided with adjusting support legs 37, and the four assembling die sets have basically the same structure, wherein the assembling die 314 and the first clamping claw 319 have different types and specifications.
A drag chain 320 is disposed at the side of the first feeding cylinder 317, and a drag chain groove 321 is disposed below the drag chain 320 and parallel to the sliding table guide rail 302.
The contact wire tray set is a contact wire 150 tray set 10, the contact wire 150 tray set 10 is provided with 2-4 trays, a contact wire 150 lifting ring, a contact wire 150 wire clamp or other parts are respectively placed, the carrier cable tray set comprises a carrier cable T35 tray set 11, a carrier cable T95D tray set 12 and a carrier cable T120D tray set 13, which are all provided with 4 trays, the trays of the carrier cable T35 tray set 11 are respectively provided with a T35 wire clamp, a T35 lifting ring, a bolt M10 multiplied by 40 and a bolt M10 multiplied by 35, the trays of the carrier cable T95D tray set 12 are respectively provided with a T95D lifting ring, a T95D wire clamp, a disc spring and a nut M10, and the trays of the carrier cable T120D tray set 13 are respectively provided with a T120D lifting ring, a T120D wire clamp, a small three claw and a small five claw.
The wire clamp assembly system further comprises a double-station truss manipulator 4, the double-station truss manipulator comprises a truss upright 41 and a truss X-axis beam 42 arranged on the truss upright 41, two manipulators are arranged on the truss X-axis beam 42, the manipulator comprises a truss X-axis 43 and a truss Z-axis 44, a clamping fixture 45 is arranged below the truss Z-axis 44, the clamping fixture 45 comprises a truss cylinder 451, a truss connecting rod 452 is arranged at the lower end of the truss cylinder 451, a truss gas claw 455 is arranged at one end of the truss connecting rod 452, a fixture limiting block 454 is arranged at the other end of the truss connecting rod 452, the truss gas claw 455 is connected with the fixture claw 453, the two clamping fixtures are respectively responsible for wire clamp assembly clamping of a carrier cable part and a contact line part, and the double-station truss manipulator 4 controls operation of the double-station truss manipulator through a control system.
The truss X-axis cross beam 42 is formed by assembling three sections of cross beams, a cross beam wire slot 421 is arranged in the truss X-axis cross beam 42, and the double-station truss manipulator 4 further comprises a truss ground wire slot 46 and an air source interface.
The wire clamp assembly robot 2 is a six-axis robot, the wire clamp assembly robot 2 comprises a base 21, a J1 axis 22, a J2 axis 23, a J3 axis 24, a J4 axis 25, a J5 axis 26 and a J6 axis 27 are sequentially and outwardly arranged on the base 21, a control device is further arranged on the base 21, and the tail ends of the J6 axes 27 are connected with three groups of robot clamps through flanges 28 and are respectively used for taking different raw material parts.
The wire clamp assembly system is used for feeding parts by 4 sets of vibration material disc groups, required parts are grabbed at different material disc discharging positions by the wire clamp assembly robot, and the wire clamp assembly system is assembled according to a specified sequence. The assembly mold modules AMJ are 4 sets of assembly molds in total, and are respectively: a150, AT35, AT95D, AT D. The hanger wire can be pre-matched corresponding to three different specifications of T35, T95D, T and 120D. According to the assembly instruction sent by the upper computer, the assembly module selects a corresponding wire clamp assembly die, and the 6-axis robot grabs each part of the designated wire clamp and places the parts at the designated position one by one. The double-station truss manipulator, the 6-axis robot and the assembly die set are mutually matched to perform the pre-matching of the dropper wire clamps. The necessary mould, robot claw and charging tray can be adjusted according to the update iteration of the high-speed rail dropper technology, and the quick and low-cost equipment transformation can be realized.
The A150 assembling die is a necessary die, and the AT35 and the AT95D, AT120D assembling die are used according to the product requirement. When the mould is changed, only 2 parts are generally changed: the die and the first clamping jaw are assembled.
Truss manipulators CK1 and CK2 grab the dropper, an assembly robot fetches and discharges parts, the wire clamp assembly of the A150 die is completed firstly, and then CK1 and CK2 operate and avoid to a safe position. And then performing wire clamp assembly of the AT35, AT95D or AT120D assembly die. After the wire clamps are assembled completely, CK1 and CK2 are discharged above the packing station. Thus, the assembly of the string clamp is completed.
When the invention is specifically used, two ends of the hanger body are respectively provided with 150 contact wire clamps and T120D carrier cable clamps, and the specific steps are as follows:
1.150 contact wire clip Assembly
(1) The assembly die of the contact line 150 wire clamp assembly die set is discharged and reaches the first sliding table limiting ejector rod for limiting assembly.
(2) Clamping jaws AK1 of the wire clamp assembly robot to a material tray to take M10 nuts; the clamping jaw AK2 is connected with the tray to take the contact line 150 to lift the ring.
(3) The assembly sleeve is raised and the jaws AK1 place the nut inside the assembly sleeve.
(4) The claw AK2 is used for placing the lifting ring at the position of the first clamping claw, and the first clamping claw is firmly clamped.
(5) The claw AK1 is arranged on the material tray to take three small claws; claw AK2 to tray gets the dish spring.
(6) The claw AK2 is used for placing the disc spring in the assembly sleeve;
(7) The claw AK1 places a small three-jaw on the assembly mold.
(8) The fitting sleeve is moved down to the initial position.
(9) The clamping jaw AK2 is used for clamping the contact line 150 from the charging tray.
(10) The jaws AK2 place the wire clamp on the assembly mold.
(11) The two manipulators CK1 and CK2 of the truss manipulator carry good product hanging strings to move to the assembly position of the assembly die.
(12) The first feeding cylinder is positioned in front, and the truss manipulators CK1 and CK2 carry good product hanging strings to do deflection.
(13) The second feed cylinder is advanced into place and the contact wire 150 is inserted into the dropper heart ring.
(14) The clamping claw AK2 is used for clamping the small five claws from the charging tray.
(15) The clamping jaw AK3 is used for clamping the M10×40 bolts from the charging tray and moves to the posture of the calibration bolts.
(16) The claw AK2 places the small five claws on the lifting ring of the contact line 150.
(17) The second clamping claw clamps the small five claws.
(18) The jaws AK3 insert the m10×40 bolt into the clamp center hole.
(19) The claw AK3 is closed, and the claw AK3 is moved to a position above the bolt head.
(20) The first clamping claw is opened, and the first feeding cylinder and the second feeding cylinder are retracted to the initial positions.
(21) And jacking and rotating the assembly sleeve to fasten the nut.
(22) After the nut is fastened, a sensor of the assembly die detects whether the nut is fastened.
(23) The truss robots CK1, CK2 move upward and then move to the left to a safe waiting position.
(24) At this point, the contact wire 150 clip assembly is complete. The assembly mold is retracted to the initial position. T120D load cable clamp assembly
(1) And the assembly die of the carrier cable T120D wire clamp assembly die set is discharged and reaches the first sliding table limiting ejector rod for limiting assembly.
(2) Clamping jaws AK1 of the wire clamp assembly robot to a material tray to take M10 nuts; and the claw AK2 is used for taking the T120D hanging ring from the charging tray.
(3) The assembly sleeve is raised and the jaws AK1 place the nut inside the assembly sleeve.
(4) The claw AK2 is used for placing the lifting ring at the position of the first clamping claw, and the first clamping claw is firmly clamped.
(5) The claw AK1 is arranged on the material tray to take three small claws; claw AK2 to tray gets the dish spring.
(6) The claw AK2 is used for placing the disc spring in the assembly sleeve;
(7) The claw AK1 places a small three-jaw on the assembly mold.
(8) The fitting sleeve is moved down to the initial position.
(9) The clamping jaw AK2 is used for taking the T120D wire clamp from the charging tray.
(10) The jaws AK2 place the wire clamp on the assembly mold.
(11) The truss manipulators CK1 and CK2 carry good product hanging strings to move to the assembly positions of the assembly die.
(12) The first feeding cylinder is positioned in front, and the truss manipulators CK1 and CK2 carry good product hanging strings to do deflection.
(13) And the second feeding cylinder is moved out of position, and the T120D lifting ring is inserted into the dropper heart ring. And (14) clamping jaws AK2 to the material tray to clamp the small five claws.
(15) The clamping jaw AK3 is used for clamping the M10×40 bolts from the charging tray and moves to the posture of the calibration bolts.
(16) The claw AK2 is used for placing the small five claws on the T120D lifting ring.
(17) The second clamping claw clamps the small five claws.
(18) The jaws AK3 insert the m10×40 bolt into the clamp center hole.
(19) The claw AK3 is closed, and the claw AK3 is moved to a position above the bolt head.
(20) The first clamping claw is opened, and the first feeding cylinder and the second feeding cylinder are retracted to the initial positions.
(21) And jacking and rotating the assembly sleeve to fasten the nut.
(22) After the nut is fastened, a sensor of the assembly die detects whether the nut is fastened.
(23) The truss robots CK1, CK2 move upward and then move to the left to the bale system discharge position.
(24) At this time, the assembly of the carrier cable T120 wire clamp is completed. The whole T120D dropper pre-distribution is completed. The assembly mold is retracted to the initial position.
The foregoing is merely a detailed description of specific embodiments of the invention and it is to be understood that the invention is not limited to the forms disclosed herein but is capable of use in various other combinations, modifications, and environments and is intended to be included within the scope of the appended claims.
Claims (9)
1. A fastener assembly system of contact net dropper, its characterized in that: the wire clamp assembly system comprises a wire clamp material disc group (1), a wire clamp assembly robot (2), an assembly mould module (3) and a control system, wherein the control system is used for controlling various execution operations of the wire clamp assembly robot (2) and the assembly mould module (3), the wire clamp assembly robot (2) grabs parts provided by the wire clamp material disc group (1) to the assembly mould module (3) for assembly, the assembly mould module (3) comprises a contact wire clamp assembly mould group and a bearing wire clamp assembly mould group, the contact wire clamp assembly mould group and the bearing wire clamp assembly mould group are respectively used for assembling a contact wire clamp at one end of a hanger body, the bearing wire clamp is assembled at the other end of the hanger body,
the wire clamp material disc group (1) comprises a contact wire material disc group and three bearing wire material disc groups;
the assembly die module (3) comprises an assembly die frame (30), a contact line 150 wire clamp assembly die set (34), a carrier cable T35 wire clamp assembly die set (31), a carrier cable T95D wire clamp assembly die set (32) and a carrier cable T120D wire clamp assembly die set (33) are arranged on the assembly die frame (30) in parallel,
four assembly die group includes mould bottom plate (301), be equipped with slip table guide rail (302) on mould bottom plate (301), the middle part of slip table guide rail (302) is equipped with mould slip table (303), the both ends of slip table guide rail (302) are equipped with first slip table spacing ejector pin (304), first slip table buffer (305), first mould sensor (306) and second slip table spacing ejector pin (307) in place, second slip table buffer (308), second mould sensor (309) in place, the one end of mould slip table (303) is equipped with mould cylinder (310) for drive mould slip table (303) and remove on slip table guide rail (302), mould slip table (303) top one side is equipped with screws up servo motor (311) and jacking cylinder (312), jacking cylinder (312) upper portion is equipped with assembly sleeve (313) and assembly mould (314), one side of assembly mould (314) is equipped with second clamping jaw (315), the other end of mould slip table (303) top is equipped with solenoid valve island (316), first pay-off cylinder (317) and second clamping jaw (318) in place, clamping jaw (315) are equipped with for clamping jaw (315) in the second direction.
2. The catenary hanger wire clip assembly system of claim 1, wherein: each wire clamp tray group (1) comprises a tray rack (101), a plurality of trays (102) are arranged on the tray rack (101), a controller (103) and a linear vibration feeder (104) are arranged on each tray (102) in a matched mode, a conveying guide rail (105) is arranged between each linear vibration feeder (104) and each tray (102), a pushing mechanism (106) is arranged on the tray rack (101) and used for conveying materials in cooperation with the conveying guide rail (105), and a positioning coordinate tray (107) and a power signal box (108) are further arranged on the tray rack (101).
3. The catenary hanger wire clip assembly system of claim 1, wherein: the carrier cable wire clamp assembly die set comprises three types of carrier cable T35 wire clamp assembly die sets (31), carrier cable T95D wire clamp assembly die sets (32) and carrier cable T120D wire clamp assembly die sets (33), and one type of the carrier cable T35 wire clamp assembly die sets is selected for use according to actual use requirements during wire clamp assembly.
4. The catenary hanger wire clip assembly system of claim 1, wherein: the assembly die comprises an assembly die frame (30), wherein an air source interface (35) and a wiring quick-insertion interface (36) are arranged on the assembly die frame (30), adjusting support legs (37) are further arranged at four corners of the assembly die frame (30), and the types and specifications of an assembly die (314) of the assembly die set and a first clamping claw (319) are different.
5. The catenary hanger wire clip assembly system of claim 1, wherein: and a drag chain (320) is arranged on the side edge of the first feeding cylinder (317), and a drag chain groove (321) is arranged below the drag chain (320) and parallel to the sliding table guide rail (302).
6. The catenary hanger wire clip assembly system of claim 2, wherein: the contact wire tray set is a contact wire 150 tray set (10), 2-4 trays are arranged in the contact wire 150 tray set (10), a contact wire 150 lifting ring and a contact wire 150 wire clamp are respectively placed in the contact wire 150 tray set (10), the carrier cable tray set comprises a carrier cable T35 tray set (11), a carrier cable T95D tray set (12) and a carrier cable T120D tray set (13), T35 wire clamps, T35 lifting rings, bolts M10×40 and bolts M10×35 are respectively placed in the trays of the carrier cable T35 tray set (11), T95D lifting rings, T95D wire clamps, disc springs and nuts M10 are respectively placed in the trays of the carrier cable T120D tray set (13), and T120D lifting rings, T120D wire clamps, three small claws and five small claws are respectively placed in the trays of the carrier cable T120D tray set (13).
7. The catenary hanger wire clip assembly system of claim 1, wherein: the wire clamp assembly system further comprises a double-station truss manipulator (4), the double-station truss manipulator comprises a truss upright post (41) and a truss X-axis beam (42) arranged on the truss upright post (41), two manipulators are arranged on the truss X-axis beam (42), the manipulator comprises a truss X-axis (43) and a truss Z-axis (44), clamping fixtures (45) are arranged below the truss Z-axis (44), the clamping fixtures (45) comprise truss cylinders (451), truss connecting rods (452) are arranged at the lower ends of the truss cylinders (451), truss gas claws (455) are arranged at one ends of the truss connecting rods (452), clamp limiting blocks (454) are arranged at the other ends of the truss connecting rods (452), the truss gas claws are connected with clamp claws (453), the two clamping fixtures are respectively responsible for clamping the wire clamp assembly of a carrier cable part and a contact line part, and the double-station truss manipulator (4) is controlled to operate through a control system.
8. The catenary hanger wire clip assembly system of claim 7, wherein: the truss X-axis cross beam (42) is formed by assembling three sections of cross beams, a cross beam wire groove (421) is formed in the truss X-axis cross beam (42), and the double-station truss manipulator (4) further comprises a truss ground wire groove (46) and an air source interface.
9. The catenary hanger wire clip assembly system of claim 1, wherein: the wire clamp assembling robot (2) is a six-axis robot, the wire clamp assembling robot (2) comprises a base (21), a J1 shaft (22), a J2 shaft (23), a J3 shaft (24), a J4 shaft (25), a J5 shaft (26) and a J6 shaft (27) are sequentially outwards arranged on the base (21), a control device is further arranged on the base (21), and three groups of robot clamps (29) are connected to the tail end of the J6 shaft (27) through flanges (28) and are respectively used for taking different raw material parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910764685.XA CN110405441B (en) | 2019-08-19 | 2019-08-19 | Wire clamp assembly system of contact net dropper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910764685.XA CN110405441B (en) | 2019-08-19 | 2019-08-19 | Wire clamp assembly system of contact net dropper |
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| CN110405441A CN110405441A (en) | 2019-11-05 |
| CN110405441B true CN110405441B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910764685.XA Active CN110405441B (en) | 2019-08-19 | 2019-08-19 | Wire clamp assembly system of contact net dropper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114734883B (en) * | 2022-03-23 | 2023-07-04 | 中铁建电气化局集团第一工程有限公司 | Intelligent installation system for overhead contact system hanger |
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| CN210756208U (en) * | 2019-08-19 | 2020-06-16 | 中铁建电气化局集团南方工程有限公司 | Cable clamp assembly system for catenary dropper |
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2019
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| US6256868B1 (en) * | 1998-04-20 | 2001-07-10 | Denso Corporation | Assembly process apparatus |
| CN104228611A (en) * | 2014-09-23 | 2014-12-24 | 唐山轨道客车有限责任公司 | Contact line clamp, dropper and contact suspension |
| CN105149946A (en) * | 2015-10-23 | 2015-12-16 | 江苏天宏自动化科技有限公司 | Automatic assembling production line for high-speed rail overhead line system droppers |
| KR20180118510A (en) * | 2017-04-21 | 2018-10-31 | 동구안 지롱 머시너리 씨오., 엘티디. | An intelligent mounter and a mounting method thereof |
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