A simplified positioning tube and positioning column pre-assembly system for arm pre-assembly

Abstract

A pre-assembly system for positioning tubes and positioning columns for pre-assembly of a simplified wrist and arm, comprising a material storage mechanism, a ceiling rail, a sawing mechanism, a transfer positioning mechanism, a first assembly mechanism and a second assembly mechanism which are arranged in sequence, a rotating chuck being arranged between the first assembly mechanism and the second assembly structure; the material storage mechanism is used to store pipes for processing positioning columns and positioning tubes; the ceiling rail is movably connected to a robot for moving pipes; the sawing mechanism is used to process pipes into positioning columns and positioning tubes; the first assembly mechanism is used to install a supporting connector on the positioning tube; the second assembly mechanism is used to install a positioning column on the positioning tube; the rotating chuck is used to adjust the angle of the supporting connector or the positioning column on the positioning tube. The present invention provides a pre-assembly system for positioning tubes and positioning columns for pre-assembly of a simplified wrist and arm, which can realize automatic processing and assembly of positioning tubes and positioning columns, thereby greatly improving the pre-assembly efficiency of the simplified wrist and arm.

Description

Technical Field

[0001] The invention relates to the technical field of wrist-arm pre-assembly, in particular to a simplified wrist-arm pre-assembly positioning tube and positioning column pre-assembly system. Background Art

[0002] In the traction power supply system, the wrist arm is an important part of the contact network. The wrist arm is usually installed on the upper part of the pillar to support the contact suspension and play the role of transferring the load. The wrist arm is generally made of round steel pipe, and the length is related to factors such as the structural height of the contact suspension, the side limit of the pillar and the position of the pillar. With the development of technology, the structure of the wrist arm is constantly changing, and simplified wrist arms have gradually begun to be used. The simplified wrist arm is mainly composed of flat wrist arms, inclined wrist arms, combined load-bearing cable seats, aluminum alloy supports, support connectors, combined positioning rings, pipe caps and positioners. In the prior art, the processing and pre-assembly of positioning tubes and positioning columns are mostly done manually, which is very inefficient. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a pre-assembly system of positioning tubes and positioning columns for pre-assembly of a simplified wrist and arm, which can realize automatic processing and assembly of positioning tubes and positioning columns, thereby greatly improving the pre-assembly efficiency of the simplified wrist and arm.

[0004] In order to achieve the above-mentioned purpose, the specific scheme adopted by the present invention is: a simplified wrist arm pre-assembly positioning tube and positioning column pre-assembly system, comprising a pipe feeding mechanism, a ceiling rail, a sawing mechanism, a transfer positioning mechanism, a first assembly mechanism and a second assembly mechanism arranged in sequence, and a rotating chuck is arranged between the first assembly mechanism and the second assembly structure;

[0005] The pipe feeding mechanism is used to store pipes for processing positioning columns and positioning pipes;

[0006] The overhead rail is movably connected to a robot for moving pipes;

[0007] The sawing mechanism is used to process the pipe into positioning columns and positioning pipes;

[0008] The first assembly mechanism is used to install the support connector on the positioning tube;

[0009] The second assembly mechanism is used to install the positioning column on the positioning tube;

[0010] The rotating chuck is used to adjust the angle of the supporting connector or the positioning column on the positioning tube.

[0011] Beneficial effects: The present invention can realize automatic processing and assembly of the positioning tube and the positioning column, thereby greatly improving the pre-assembly efficiency of the simplified wrist arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0013] Figure 2 It is a structural diagram of the pipe feeding mechanism;

[0014] Figure 3 It is a structural schematic diagram A of a storage unit;

[0015] Figure 4 It is a structural schematic diagram B of the storage unit;

[0016] Figure 5 is a structural schematic diagram of a visual inspection support unit;

[0017] Figure 6 It is a structural schematic diagram of the check unit;

[0018] Figure 7 It is a structural schematic diagram of the sawing mechanism;

[0019] Figure 8 It is a structural schematic diagram of the positioning column sawing mechanism;

[0020] Fig. 9 It is a schematic diagram of the structure of sawing pliers;

[0021] Fig.10 It is a structural schematic diagram of the positioning tube sawing mechanism;

[0022] Fig.11 It is a structural schematic diagram of the transfer positioning mechanism;

[0023] Fig.12 It is a structural schematic diagram of a positioning column positioning unit;

[0024] Fig.13 It is a schematic diagram of the cooperation mode between the positioning column positioning unit and the positioning column;

[0025] Fig.14 It is a structural schematic diagram of the positioning unit of the positioning tube;

[0026] Fig.15 It is a schematic diagram of the arrangement of the first assembly mechanism, the second assembly mechanism and the rotary chuck;

[0027] Fig.16 is a structural schematic diagram A of a first assembly mechanism;

[0028] Fig.17 is a structural schematic diagram B of the first assembly mechanism;

[0029] Fig.18 It is a schematic diagram of the matching mode of the supporting connector and the positioning tube with the utility model;

[0030] Fig.19 is a structural schematic diagram A of a second assembly mechanism;

[0031] Fig. 20 is a structural schematic diagram B of the second assembly mechanism;

[0032] Fig.21 It is a schematic diagram of the coordination between the positioning tube and the positioning column. Description of the drawings:

[0034] 1-Pipe feeding mechanism,

[0035] 101-storage unit, 103-bracket, 104-visual inspection support unit, 105-first support rod, 106-first baffle, 107-check unit, 108-limit rod, 109-material rack, 1010-end positioning cylinder, 1011-isolation positioning cylinder, 1012-extension rod, 1013-support sheet, 1014-support roller, 1015-torsion spring hinge, 1016-first connecting plate, 1017-limit roller, 1018-first lifting cylinder, 1019-top block, 1020-first limiting groove,

[0036] 2-Sky Track,

[0037] 3-Sawing mechanism,

[0038] 301-installation frame, 302-positioning column sawing mechanism, 303-rack, 304-positioning tube sawing mechanism, 305-positioning tube positioning support mechanism, 306-positioning column, 307-positioning tube, 308-positioning column drilling machine, 309-positioning column clamping cylinder, 3010-first positioning column clamping block, 3011-positioning column limit groove, 3012-second positioning column clamping block, 3013-positioning column sawing machine, 3014-chip box, 3015-waste chute, 3016-second baffle, 3017-guide plate, 3018-servo drive, 3019-positioning tube clamping cylinder, 3020-positioning tube movable clamping block, 30 21-positioning tube support plate, 3022-through hole, 3023-positioning tube fixing clamping block, 3024-roller, 3025-positioning tube sawing machine, 3026-positioning tube support seat, 3027-positioning tube limiting groove, 3028-pressing plate, 3029-first photoelectric sensor, 3030-first swing arm, 3031-pressing motor, 3032-first pressing block vertical driving cylinder, 3033-first pressing block, 3034-first positioning pin, 3035-single ear connecting plate, 3036-mounting seat, 3037-first pressing block horizontal driving cylinder, 3038-first guide rail, 3039-support frame, 3040-first mounting plate, 4-transfer positioning mechanism,

[0039] 401-positioning column positioning unit, 402-vertical support plate, 403-support block, 404-accommodating groove, 405-positioning tube positioning unit, 406-bottom plate, 407-support platform, 408-positioning boss, 409-second limiting groove, 4010-pushing block, 4011-movable block, 4012-pushing cylinder, 4013-positioning plate, 4014-positioning groove, 4015-second photoelectric sensor, 4017-hoop, 4018-second mounting plate, 4019-second positioning pin, 4020-buffer, 4021-second pressing block vertical driving cylinder, 4022-mounting block, 4023-second pressing block horizontal driving cylinder, 4024-second guide rail, 4025-limiting bolt, 4026-fixing block, 4027-second pressing block, 4028-movable hoop plate, 4029-fixed hoop plate,

[0040] 5- The first assembly mechanism,

[0041] 501-first horizontal support plate, 502-first pair of centering horizontal roller base, 503-first pair of centering horizontal rollers, 504-first vertical mounting plate, 505-first notch, 506-positioning pin drive cylinder, 507-positioning pin mounting block, 508-positioning pin guide rail, 509-third positioning pin, 5010-first clamping unit, 5011-first pair of center pressure roller drive cylinder, 5012-first pair of center pressure roller mounting block, 5013-first pair of center pressure rollers, 5014-first pair of center pressure roller drive cylinder mounting frame, 5015-first Centering inclined roller base, 5016-first centering inclined roller, 5017-first side plate, 5018-pin hole, 5019-second connecting plate, 5020-first arc clamping plate, 5021-first installation channel, 5022-first outer fixing plate, 5023-first clamping cylinder, 5024-first inner fixing plate, 5025-first rotating plate, 5026-first transmission plate, 5027-second swing arm, 5028-first clamping rod, 5029-third photoelectric sensor, 5031-first tightening machine,

[0042] 6- Second assembly mechanism,

[0043] 601-second horizontal support plate, 602-second pair of horizontal roller base, 603-second pair of horizontal rollers, 604-second vertical mounting plate, 605-second notch, 606-clamping block drive cylinder, 607-clamping block mounting block, 608-clamping block guide rail, 609-clamping block, 6010-second clamping unit, 6011-second pair of center roller drive cylinder, 6012-second pair of center roller mounting block, 6013-second pair of center rollers, 6014-second pair of center roller drive cylinder mounting bracket, 6015-second pair of center rollers Inclined roller base, 6016-second centering inclined roller, 6017-second side plate, 6018-third limiting groove, 6019-third connecting plate, 6020-second arc clamping plate, 6021-second installation channel, 6022-second outer fixing plate, 6023-second clamping cylinder, 6024-second inner fixing plate, 6025-second rotating plate, 6026-second transmission plate, 6027-third swing arm, 6028-second clamping rod, 6029-fourth photoelectric sensor, 6031-second tightening machine,

[0044] 7- Rotate the chuck. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] A simplified positioning tube and positioning column pre-assembly system for arm pre-assembly includes a tube feeding mechanism 1, a ceiling rail 2, a sawing mechanism 3, a transfer positioning mechanism 4, a first assembly mechanism 5 and a second assembly mechanism 6 which are arranged in sequence, and a rotating chuck 7 is arranged between the first assembly mechanism 5 and the second assembly mechanism 6.

[0047] The pipe feeding mechanism 1 is used to store pipes for processing the positioning columns 306 and the positioning pipes 307 .

[0048] The Skyrail 2 is movably connected to a robot for moving pipes, and the robot is fixedly connected to a clamp.

[0049] The sawing mechanism 3 is used to process the pipe into the positioning column 306 and the positioning tube 307 .

[0050] The first assembly mechanism 5 is used to install the support connector on the positioning tube 307 .

[0051] The second assembly mechanism 6 is used to install the positioning column 306 on the positioning tube 307 .

[0052] The rotating chuck 7 is used to adjust the angle of the supporting connector or the positioning column 306 on the positioning tube 307 .

[0053] The pipe feeding mechanism 1 includes a storage unit 101, and the storage unit 101 includes a plurality of material racks 109. Two first baffles 106 parallel to each other are fixedly arranged on the material racks 109, and two inclined first support rods 105 are arranged between the two first baffles 106, and the first support rods 105 and the first baffles 106 are parallel to each other. An end positioning cylinder 1010 is fixedly connected to the outer side of one of the first baffles 106, and the piston rod of the end positioning cylinder 1010 extends between the two first baffles 106.

[0054] The specific working process of the pipe feeding mechanism 1 is: first, the pipe fittings used for processing the wrist arm are placed on the material rack 109 manually. The pipe fittings are located on the first support rod 105 and between the two first baffles 106. Because the first support rod 105 is tilted, the pipe fittings will roll downward along the first support rod 105. When the pipe fittings roll to the position corresponding to the end positioning cylinder 1010, the position of the pipe fittings can be fixed. For example, by adding a limiter, the pipe fittings can be prevented from continuing to roll downward. Then, the end positioning cylinder 1010 is used to push the pipe fittings until the pipe fittings are against the other first baffle 106. Under the action of the end positioning cylinder 1010, the positions of all pipe fittings entering the material rack 109 are consistent.

[0055] In order to improve space utilization and simplify the complexity of the robot control program, the storage unit 101 includes a bracket 103, and all racks 109 are fixedly arranged on the bracket 103, and all racks 109 are arranged in order from top to bottom. No matter which pipe on which rack 109 the robot needs to grab, the overhead rail 2 can move the robot to a fixed position, without constantly adjusting the position of the robot according to the position of the rack 109, thereby simplifying the complexity of the robot control program and improving the overall loading efficiency.

[0056] In order to ensure that the quality of the pipe can meet the use requirements of the arm processing, the pipe needs to be inspected. To achieve this purpose, at least one visual inspection support unit 104 is set on the side of the rack 109. The visual inspection support unit 104 includes two extension rods 1012 fixedly connected to the rack 109, and the two extension rods 1012 have the same height. Two rolling support assemblies are fixedly arranged on the extension rods 1012. The rolling support assembly includes two mutually parallel support sheets 1013 and a support roller 1014 rotatably arranged between the two support sheets 1013. There is a distance between the support rollers 1014 of the two rolling support assemblies. Before manually placing the pipe into the rack 109, the pipe can be placed on the visual inspection support unit 104. Specifically, the end of the pipe is located between the two support rollers 1014 and supported by the support rollers 1014. Using the support rollers 1014 to support the pipe can enable the pipe to rotate flexibly, thereby facilitating manual inspection.

[0057] The specific setting method of the limit member is as follows: the lower end of the first support rod 105 is integrally connected to the limit rod 108, the limit rod 108 and the first support rod 105 are perpendicular to each other, and there is a smooth transition between the limit rod 108 and the first support rod 105, and the end positioning cylinder 1010 is close to the side of the limit rod 108.

[0058] In order to ensure that the pipe can only move in one direction in the rack 109, and to prevent the pipe from being taken out of the rack 109 and causing the transfer mechanism 2 to lose its target and stop loading, the rack 109 is fixedly connected with a plurality of check units 107, and the check units 107 are located above the first support rod 105. The check units 107 include a torsion spring hinge 1015, one of the first connecting plates 1016 of the torsion spring hinge 1015 is fixedly connected to the rack 109, and the other first connecting plate 1016 of the torsion spring hinge 1015 is rotatably connected with a plurality of limiting rollers 1017. The limiting rollers 1017 ensure that the pipe can still roll down normally, and because the torsion spring hinge 1015 can only rotate in one direction, it can block the pipe in the process of taking the pipe out of the rack 109 to prevent the pipe from being taken out.

[0059] Because a variety of pipe fittings are needed in the arm processing process, different pipe fittings have different lengths, resulting in different weights of different pipe fittings. Heavier pipe fittings may be unbalanced during the gripping process of the clamp. Therefore, one of the material racks 109 is fixedly provided with multiple lifting units, and the lifting unit includes a first lifting cylinder 1018 fixedly connected to the material rack 109. The piston rod of the first lifting cylinder 1018 extends upward and is fixedly connected to a lifting block 1019. The lifting block 1019 is provided with a first limiting groove 1020 for accommodating the pipe fitting. An isolation positioning cylinder 1011 is fixedly provided on the side of the end positioning cylinder 1010 on the material rack 109, and a distance is left between the end positioning cylinder 1010 and the isolation positioning cylinder 1011. Before the clamp grabs the pipe fitting, the first lifting cylinder 1018 first pushes the top block 1019 upwards, and uses the top block 1019 to lift the pipe fitting, and makes the pipe fitting be located in the first limiting groove 1020 to prevent the pipe fitting from sliding from the side. Considering that there will be multiple pipe fittings in the rack 109, the heavier pipe fittings will hinder the normal movement of the top block 1019. In order to reserve a movable space for the top block 1019, an isolation positioning cylinder 1011 is set. The end positioning cylinder 1010 and the isolation positioning cylinder 1011 respectively tighten the two pipe fittings at the bottom of the rack 109, thereby leaving a gap between the two pipe fittings, which can be used as the movable space for the top block 1019.

[0060] The positioning tube 307 is fixedly connected to a single-ear connecting plate 3035, on which a pin hole is provided. The sawing mechanism 3 includes a mounting frame 301, on which a positioning column sawing mechanism 302 and a positioning tube positioning support mechanism 305 are fixedly provided. A positioning tube sawing mechanism 304 is provided between the positioning column sawing mechanism 302 and the positioning tube positioning support mechanism 305, and the positioning tube sawing mechanism 304 is movably provided on the mounting frame 301.

[0061] The positioning column sawing mechanism 302 includes a positioning column clamping unit for clamping the positioning column 306 , and a positioning column drilling machine 308 and a positioning column sawing machine 3013 are arranged on the side of the positioning column clamping unit.

[0062] The positioning tube positioning support mechanism 305 includes a positioning tube support seat 3026 and a first positioning pin 3034 which are arranged in parallel. The first positioning pin 3034 is used to cooperate with the pin hole.

[0063] The positioning tube sawing mechanism 304 includes a first mounting plate 3040 movably connected to the mounting frame 301 , and the positioning tube sawing machine 3025 and the positioning tube moving support unit are arranged in parallel on the first mounting plate 3040 .

[0064] The positioning column 306 and the positioning tube 307 can be sawed and punched at the same time, which effectively improves the processing efficiency. The processing process of the positioning column 306 is: first, the positioning column 306 is clamped by the positioning column clamping unit, and then the positioning column sawing machine 3013 is used to saw the positioning column 306 to obtain the ideal length, and then the positioning column drilling machine 308 is used to drill holes on the positioning column 306. The processing process of the positioning tube 307 is as follows: first, move the positioning tube 307 so that the first positioning pin 3034 passes through the pin hole to complete the positioning of the positioning tube 307, and then use the positioning tube moving support unit and the positioning tube positioning support mechanism 305 to support the positioning tube 307, and then use the positioning tube sawing machine 3025 to saw the positioning tube 307. Because the first mounting plate 3040 and the mounting frame 301 are movably connected, the position of the positioning tube moving support unit and the positioning tube sawing machine 3025 can be changed by moving the first mounting plate 3040, thereby changing the sawing position and obtaining a positioning tube 307 of an ideal length.

[0065] The specific structure of the positioning column clamping unit is as follows: the positioning column clamping unit comprises a first positioning column clamping block 3010 and a second positioning column clamping block 3012 which are arranged opposite to each other, the first positioning column clamping block 3010 and the second positioning column clamping block 3012 are both provided with positioning column limiting grooves 3011, and the openings of the two positioning column limiting grooves 3011 are arranged opposite to each other, and the first positioning column clamping block 3010 and / or the second positioning column clamping block 3012 are movably arranged. When the positioning column clamping unit is used to clamp the positioning column 306, the positioning column 306 is first moved between the first positioning column clamping block 3010 and the second positioning column clamping block 3012, and then the first positioning column clamping block 3010 and the second positioning column clamping block 3012 are moved toward each other until the first positioning column clamping block 3010 and the second positioning column clamping block 3012 clamp the positioning column 306. According to actual conditions, the first positioning column clamping block 3010 and the second positioning column clamping block 3012 can be movably set. For example, the first positioning column clamping block 3010 is pushed by the positioning column clamping cylinder 309. At this time, the second positioning column clamping block 3012 can be fixedly set or pushed by another positioning column clamping cylinder 309.

[0066] The positioning column sawing machine 3013 will generate some shorter waste and some debris in the process of sawing the positioning column 306. The positioning column drilling machine 308 will also generate debris in the process of drilling the positioning column 306. In order to recycle the waste and debris to avoid environmental pollution, a waste removal unit is provided at the lower side of the positioning column clamping unit. The waste removal unit includes a waste chute 3015 and a chip box 3014 arranged up and down, and the waste chute 3015 and the chip box 3014 are both inclined. After falling, the waste falls into the waste chute 3015 and then moves downward along the waste chute 3015. After being generated, the debris enters the chip box 3014 and then slides downward along the chip box 3014.

[0067] In order to prevent waste from falling to the side of the waste chute 3015 and becoming unable to be collected, two guide plates 3017 are arranged on the side of the positioning column clamping unit. The lower end of the guide plate 3017 is fixedly connected to the upper end of the waste chute 3015, and the distance between the lower ends of the two guide plates 3017 is smaller than the distance between the upper ends of the two guide plates 3017. When the positioning column clamping unit clamps the positioning column 306, the positioning column 306 is located between the two guide plates 3017.

[0068] Because the waste may bounce or roll when falling onto the waste chute 3015, and then fall to the side of the waste chute 3015, making it impossible to collect it smoothly, in order to avoid this situation, a second baffle 3016 is fixedly provided on the waste chute 3015.

[0069] In order to ensure that the positioning tube 307 can remain stable and will not deflect during the processing, a positioning tube limiting groove 3027 is provided on the positioning tube support seat 3026, and the positioning tube limiting groove 3027 is set as a V-shaped groove. A first through-beam photoelectric sensor 3029 is fixedly provided on the side wall of the positioning tube support seat 3026. The detection light of the first through-beam photoelectric sensor 3029 is perpendicular to the extension direction of the positioning tube limiting groove 3027, and the detection light is higher than the bottom of the positioning tube limiting groove 3027. The first through-beam photoelectric sensor 3029 is used to detect whether the positioning tube 307 smoothly enters the positioning tube limiting groove 3027. Because the detection light is higher than the bottom of the positioning tube limiting groove 3027, the detection light can be cut off after the positioning tube 307 enters the positioning tube limiting groove 3027. When the through-beam photoelectric sensor 3027 loses the signal, it can be determined that the positioning tube 307 has entered the positioning tube limiting groove 3027.

[0070] Because the positioning tube 307 is long and heavy, in order to further improve the stability of the positioning tube 307 during the processing, a clamping motor 3031 is arranged on the side of the positioning tube support seat 3026. The clamping motor 3031 is driven and connected to at least one first swing arm 3030, and all the first swing arms 3030 are commonly fixedly connected to a pressing plate 3028 for pressing the positioning tube 307 on the positioning tube support seat 3026. After the positioning tube 307 enters the positioning tube limiting groove 3027, the clamping motor 3031 starts to drive all the first swing arms 3030 to swing synchronously, and then the first swing arms 3030 drive the pressing plate 3028 to move until the pressing plate 3028 presses the positioning tube 307 in the positioning tube limiting groove 3027.

[0071] In order to ensure that the first locating pin 3034 can be smoothly inserted into the pin hole, the first locating pin 3034 can be tapered, and the tip of the first locating pin 3034 is set upward. During the movement of the positioning tube 307, the tip of the first locating pin 3034 first enters the pin hole, and then the first locating pin 3034 cooperates with the inner wall of the pin hole to guide the single-ear connecting plate, ensuring that the first locating pin 3034 enters the pin hole smoothly. There is no need to frequently move the positioning tube 307 to adjust the position of the pin hole, thereby improving the processing efficiency. However, there are also some shortcomings. The main one is that the tip of the first locating pin 3034 can also enter the pin hole when the single-ear connecting plate is in an inclined state, resulting in the positioning tube 307 being When 307 fails to fully enter the positioning tube limiting groove 3027, the single-ear connecting plate cannot continue to move, which leads to a significant decrease in processing accuracy. In order to avoid this situation, a first pressure block horizontal driving cylinder 3037 is arranged on the side of the first positioning pin 3034, and the first pressure block horizontal driving cylinder 3037 is driven and connected to the first pressure block vertical driving cylinder 3032, and the first pressure block vertical driving cylinder 3032 is driven and connected to the first pressure block 3033. The piston rod of the first pressure block vertical driving cylinder 3032 is arranged downward and fixedly connected to the first pressure block 3033, and the bottom of the first pressure block 3033 is provided with a socket matching the first positioning pin 3034. After the single-ear connecting plate cannot move further, the first pressing block horizontal driving cylinder 3037 first drives the first pressing block vertical driving cylinder 3032 to move until the first pressing block 3033 reaches above the first positioning pin 3034, and then the first pressing block vertical driving cylinder 3032 drives the first pressing block 3033 to move downward until the first pressing block 3033 presses the single-ear connecting plate, thereby ensuring that the single-ear connecting plate can maintain a horizontal state, and further ensuring that the positioning tube 307 can smoothly enter the positioning tube limiting groove 3027. When the first pressing block 3033 presses the single-ear connecting plate, the first positioning pin 3034 is inserted into the jack.

[0072] The specific setting method of the first mounting plate 3040 is: the mounting frame 301 includes two mounting rods that are parallel to each other and fixedly connected, one of the mounting rods is fixedly connected to a rack 303, and the rack 303 extends along the length direction of the mounting rod, and a servo driver 3018 is fixedly set on the first mounting plate 3040, and the servo driver 3018 drives a gear connected to match the rack 303.

[0073] The positioning tube positioning support mechanism 305 can be used to fix one end of the positioning tube 307 connected to the single-ear connecting plate, but the other end of the positioning tube 307 is still not effectively fixed, and may shake during the processing, resulting in a decrease in processing accuracy or even waste. In order to further prevent the positioning tube 307 from shaking during the processing, a positioning tube clamping unit is fixedly arranged on the first mounting plate 3040, and the positioning tube clamping unit includes a positioning tube support plate 3021, and a positioning tube clamping cylinder 3019 and a positioning tube fixed clamping block 3023 are fixedly arranged on the positioning tube support plate 3021. The positioning tube clamping cylinder 3019 is driven and connected to a positioning tube movable clamping block 3020 arranged opposite to the positioning tube fixed clamping block 3023. A plurality of through holes 3022 are opened on the positioning tube support plate 3021 and the positioning tube fixed clamping block 3023, and a roller 3024 is rotatably arranged in each through hole 3022, and the axis of the roller 3024 is perpendicular to the axis of the positioning tube 307. The positioning tube fixed clamping block 3023 and the positioning tube movable clamping block 3020 are used to limit the end of the positioning tube 307 away from the single-ear connecting plate to avoid shaking during the processing. The roller 3024 is used to reduce the friction between the positioning tube support plate 3021 and the positioning tube fixed clamping block 3023 and the positioning tube 307, thereby ensuring that the first mounting plate 3040 can still move, and further ensuring that the positioning tube sawing machine 3025 can move smoothly, thereby sawing out the positioning tube 307 of an ideal length.

[0074] The positioning tube positioning support mechanism 305 also includes a support frame 3039 fixedly set on the mounting frame 301, and a base plate is set on the support frame 3039. The positioning tube support seat 3026, the first positioning pin 3034 and the first pressure block horizontal driving cylinder 3037 are all fixedly set on the base plate. The clamping motor 3031 is fixedly set on the support frame 3039. The first guide rail 3038 is also fixedly set on the base plate. The first guide rail 3038 is slidably connected to the mounting seat 3036, and the first pressure block vertical driving cylinder 3032 is fixedly set on the mounting seat 3036.

[0075] The positioning column 306 is fixedly connected with a clamp 4017, the positioning tube 307 is fixedly connected with a single-ear connecting plate, a pin hole is provided on the single-ear connecting plate, the transit positioning mechanism 4 includes a positioning column positioning unit 401 and a positioning tube positioning unit 405, a plurality of support units are arranged between the positioning column positioning unit 401 and the positioning tube positioning unit 405, and all the support units are distributed along a straight line.

[0076] The positioning column positioning unit 401 includes a fixed positioning boss 408 , and the positioning boss 408 is used to cooperate with the clamp 4017 .

[0077] The positioning tube positioning unit 405 includes a fixedly arranged second positioning pin 4019, and the second positioning pin 4019 is used to cooperate with the pin hole.

[0078] When it is necessary to position the positioning column 306, the positioning column 306 is placed on the support unit by a robot, and the positioning boss 408 is inserted into the center hole of the clamp 4017 during the process, so that the clamp 4017 is positioned by the positioning boss 408. When the position of the clamp 4017 is determined, the position of the positioning column 306 is also fixed, that is, the positioning of the positioning column 306 is achieved. When it is necessary to position the positioning tube, the positioning tube is moved to the support unit by a robot, and the second positioning pin 4019 is inserted into the pin hole during the process to fix the position of the single-ear connecting plate. When the position of the single-ear connecting plate is fixed, the position of the positioning tube is also fixed, that is, the positioning of the positioning tube is achieved.

[0079] In order to ensure that the positioning boss 408 can be smoothly inserted into the center hole of the clamp 4017 and avoid the robot frequently calibrating the position of the clamp 401, which may reduce efficiency, the positioning boss 408 is conical, and the diameter of the large end of the positioning boss 408 is less than or equal to the diameter of the center hole of the clamp 4017. After the tip of the positioning boss 408 is inserted into the center hole, the positioning boss 408 contacts the inner wall of the center hole to guide the clamp 4017, so that the robot does not need to frequently adjust the position of the clamp 4017, thereby speeding up the positioning speed and improving efficiency.

[0080] In order to ensure the positioning accuracy of the positioning column 306, it is necessary to ensure that the positioning boss 408 can accurately position the clamp 4017. The diameter of the large end of the positioning boss 408 is smaller than the diameter of the center hole. A push cylinder 4012 is arranged on the side of the positioning boss 408, and the piston rod of the push cylinder 4012 is parallel to the connecting line of all the supporting units. In the case where the diameter of the large end of the positioning boss 408 is smaller than the diameter of the center hole, the positioning boss 408 cannot be completely fitted with the inner wall of the center hole after being inserted into the center hole, resulting in reduced positioning accuracy. In order to avoid this situation, the position of the clamp 4017 is adjusted by pushing the cylinder 4012 to ensure positioning accuracy. Specifically, the clamp 4017 includes a movable hoop plate 4028 and a fixed hoop plate 4029, both of which are semicircular in shape. The movable hoop plate 4028 is hinged to the fixed hoop plate 4029, and the fixed hoop plate 4029 is fixedly connected to the positioning column 306. After the positioning boss 408 enters the center hole, the pushing cylinder 4012 pushes the fixed hoop plate 4029 to move until the fixed hoop plate 4029 fits with the positioning boss 408. No matter what the positional relationship between the positioning boss 408 and the clamp 4017 is after the positioning boss 408 enters the center hole, the clamp 4017 can be pushed to a fixed position by pushing the cylinder 4012, thereby achieving the effect of ensuring the positioning accuracy.

[0081] Because the fixed hoop plate 4029 is semicircular, in order to ensure that the push cylinder 4012 does not cause the positioning hoop plate 4029 to deflect during the process of pushing the positioning hoop plate 4029, the push cylinder 4012 is driven to connect with the push block 4010, and the push block 4010 is provided with a second limiting groove 409, and the extension direction of the second limiting groove 409 is parallel to the axis of the positioning boss 408. The second limiting groove 409 is set as a V-shaped groove, and the width of the second limiting groove 409 is greater than the outer diameter of the fixed hoop plate 4029. After the push cylinder 4012 is started, the push block 4010 is driven to move. When the push block 4010 contacts the fixed hoop plate 4029, the fixed hoop plate 4029 enters the second limiting groove 409 and is limited by the second limiting groove 409, thereby ensuring that no deflection occurs during the movement.

[0082] The positioning column positioning unit 401 also includes a base plate 406, and the positioning boss 408 and the pushing cylinder 4012 are both fixedly arranged on the base plate 406. A slide groove is opened on the base plate 406, and the extension direction of the slide groove is parallel to the piston rod of the pushing cylinder 4012. The pushing cylinder 4012 is driven and connected with a movable block 4011, and the movable block 4011 is slidably arranged in the slide groove and fixedly connected to the pushing block 4010. A support platform 407 is also fixedly arranged on the base plate 406, and the positioning boss 408 is fixedly arranged on the support platform 407. The support platform 407 is cylindrical, and the diameter of the large end of the positioning boss 408 is smaller than the diameter of the support platform 407, and the positioning boss 408 is coaxially arranged with the support platform 407.

[0083] In order to further improve the positioning accuracy, the positioning column positioning unit 401 includes a positioning plate 4013 vertically arranged on the side of the positioning boss 408, and a positioning groove 4014 is opened on the positioning plate 4013. The positioning groove 4014 is a V-shaped groove and the bottom of the positioning groove 4014 is lower than the bottom of the positioning boss 408. The positioning plate 4013 is used to support the positioning column 306 on the one hand, and on the other hand, the positioning column 306 is limited by the positioning groove 4014 to ensure that the positioning column 306 is parallel to the connection line of all the support units after being placed, thereby ensuring the positioning accuracy.

[0084] In order to ensure that the push cylinder 4012 is activated only after the positioning column 306 is placed, a second through-beam photoelectric sensor 4015 is fixedly provided on the positioning plate 4013. The detection light of the second through-beam photoelectric sensor 4015 is parallel to the width direction of the positioning groove 4014, and the detection light is higher than the bottom of the positioning groove 4014. When the positioning column 306 enters the positioning groove 4014, the detection light is cut off, so that it can be determined that the positioning column 306 has been placed in place, and the positioning column 306 can be accurately positioned by using the push cylinder 4012.

[0085] Although the positioning tube can be positioned by the cooperation between the second positioning pin 4019 and the pin hole, when the single-ear connecting plate is tilted, the second positioning pin 4019 can also be inserted into the pin hole, resulting in a decrease in positioning accuracy. In order to avoid this situation, the positioning tube positioning unit 405 includes a second pressure block horizontal driving cylinder 4023 fixedly arranged on the side of the second positioning pin 4019, and the piston rod of the second pressure block horizontal driving cylinder 4023 is parallel to the connecting line of all the supporting units, the second pressure block horizontal driving cylinder 4023 is driven and connected to the second pressure block vertical driving cylinder 4021, the piston rod of the second pressure block vertical driving cylinder 4021 is downwardly arranged and fixedly connected to the second pressure block 4027, and the bottom of the second pressure block 4027 is provided with a socket matching the second positioning pin 4019. After the second locating pin 4019 is inserted into the pin hole, the second pressure block horizontal driving cylinder 4023 first drives the second pressure block vertical driving cylinder 4021 to move in the direction of the second locating pin 4019 until the second pressure block 4027 reaches above the second locating pin 4019, and then the second pressure block vertical driving cylinder 4021 drives the second pressure block 4027 to move downward, and the second pressure block 4027 is used to flatten the single-ear connecting plate, so that the posture and position of all the positioning tubes after positioning are completely consistent, that is, the positioning accuracy is guaranteed, and when the second pressure block 4027 flattens the single-ear connecting plate, the second locating pin 4019 is inserted into the socket.

[0086] In order to prevent the second pressing block 4027 from being unable to smoothly reach the top of the second positioning pin 4019 due to the excessive or insufficient movement of the second pressing block horizontal driving cylinder 4023, a fixing block 4026 is fixedly arranged between the second positioning pin 4019 and the second pressing block horizontal driving cylinder 4023, and a limiting bolt 4025 is passed through the fixing block 4026, and the limiting bolt 4025 is parallel to the piston rod of the second pressing block horizontal driving cylinder 4023. The limiting bolt 4025 is used to limit the second pressing block vertical driving cylinder 4021 to ensure that the second pressing block 4027 can be located directly above the second positioning pin 4019.

[0087] Although the limiting bolt 4025 can effectively limit the second pressing block vertical driving cylinder 4021, the second pressing block vertical driving cylinder 4021 is likely to be damaged if it frequently collides with the limiting bolt 4025. In order to avoid this situation, a buffer 4020 is arranged on the side of the fiber bolt 4025. The buffer 4020 is used to buffer the second pressing block vertical driving cylinder 4021 to prevent the second pressing block vertical driving cylinder 4021 from rigidly colliding with the limiting bolt 4025. The buffer 4020 may include a fixed sleeve, which is flush with the piston rod of the second pressing block horizontal driving cylinder 4023. The sleeve is closed at one end close to the second positioning pin 4019 and open at one end close to the second pressing block horizontal driving cylinder 4023. A buffer rod is telescopically arranged in the sleeve, and the buffer rod is connected to the closed end of the sleeve by a spring. In the process that the pressure block horizontal driving cylinder 4023 drives the pressure block vertical driving cylinder 4021 to move, the second pressure block vertical driving cylinder 4021 first contacts the buffer rod, and then continues to push the buffer rod to move toward the inside of the sleeve. During the movement of the buffer rod, the spring is compressed, so that the spring absorbs the kinetic energy of the second pressure block vertical driving cylinder 4021, thereby achieving buffering of the second pressure block vertical driving cylinder 4021.

[0088] The positioning tube positioning unit 405 further includes a second mounting plate 4018, on which the second positioning pin 4019, the buffer 4020, the limit bolt 4025 and the second pressing block horizontal driving cylinder 4023 are all fixedly arranged. Two second guide rails 4024 are also fixedly arranged on the second mounting plate 4018, and the second guide rails 4024 and the piston rod of the second pressing block horizontal driving cylinder 4023 are parallel to each other. A mounting block 4022 is slidably arranged on the second guide rail 4024, and the second pressing block vertical driving cylinder 4021 is fixedly arranged on the mounting block 4022.

[0089] The structure of the support unit is as follows: the support unit includes a fixed vertical support plate 402, a support block 403 is fixedly arranged on the vertical support plate 402, and a receiving groove 404 for receiving the positioning column 306 or the positioning tube is provided on the support block 403. The receiving groove 404 is also configured as a V-shaped groove, which can not only support the positioning tube or the positioning column 306 but also play a limiting role to prevent the positioning tube or the positioning column 306 from deflecting.

[0090] The supporting connector includes two first arc-shaped clamping plates 5020, which enclose a circular first mounting channel 5021. One end of the two first arc-shaped clamping plates 5020 is hinged, and the other ends of the two first arc-shaped clamping plates 5020 are connected with fastening bolts. One of the first arc-shaped clamping plates 5020 is integrally connected to two second connecting plates 5019, and a pin hole 5018 is opened on the second connecting plate 5019.

[0091] The first assembly mechanism 5 is used to install the supporting connector on the positioning tube 307; the first assembly mechanism 5 includes a first bracket, on which a first positioning tube positioning mechanism, a supporting connector positioning mechanism and a first tightening machine 5031 are provided; the bracket includes a first vertical mounting plate 504, one side of the first vertical mounting plate 504 is fixedly connected to a first horizontal supporting plate 501, and a first notch 505 is opened on the upper part of the first vertical mounting plate 504.

[0092] The first positioning tube positioning mechanism includes a first pair of horizontal centering rollers 503 rotatably disposed on the first horizontal support plate 501 and two first pair of inclined centering rollers 5016 rotatably disposed in the first notch 505 , and the two first pair of inclined centering rollers 5016 are distributed in a V shape.

[0093] The supporting connector positioning mechanism includes two third positioning pins 509 for positioning the supporting connector and at least one first clamping unit 5010 for clamping the supporting connector onto the first vertical mounting plate 504. The two third positioning pins 509 are both movably arranged on the upper part of the first vertical mounting plate 504. The third positioning pins 509 are conical, and the tips of the two third positioning pins 509 are arranged opposite to each other. The first clamping unit 5010 is arranged on the other side of the first vertical mounting plate 504. The first clamping unit 5010 includes a first clamping cylinder 5023, and the first clamping cylinder 5023 is driven and connected to a first clamping rod 5028.

[0094] The first tightening machine 5031 is disposed at a lower side of the first pressing unit 5010 , and the first tightening machine 5031 is disposed in a lifting manner.

[0095] When in use, first move the support connector to the side of the first notch 505, and align the two third positioning pins 509 with the two pin holes 5018 respectively, then move the two third positioning pins 509 so that the two third positioning pins 509 are respectively inserted into the two pin holes 5018. Because the third positioning pins 509 are tapered, the diameter of the large end of the third positioning pins 509 can be larger than the aperture of the pin hole 5018 and the diameter of the small end can be smaller than the aperture of the pin hole 5018. The positioning of the support connector can be completed by the two third positioning pins 509 moving toward each other. After the third positioning pins 509 are inserted into the pin holes 5018, the support connector is suspended on the side of the first vertical mounting plate 504. Then, the first pressing unit 5010 is used to press the support connector onto the first vertical mounting plate 504 to fix the support connector. Then, the positioning tube 307 is moved so that the positioning tube 307 first falls on the two first pair of centering inclined rollers 5016. The two first pair of centering inclined rollers 5016 distributed in a V shape are used to control the horizontal position of the positioning tube 307 to ensure that the positioning tube 307 can pass through the first notch 505 and be aligned with the first installation channel 5021. Then, the positioning tube 307 is continued to be moved so that the positioning tube 307 passes through the first installation channel 5021 and moves to the first pair of centering horizontal rollers 503, so that the positioning tube 307 is supported by the first pair of centering horizontal rollers 503 and the two first pair of centering inclined rollers 5016 to ensure the stability of the positioning tube 307. In order to ensure that the positioning tube 307 can also move axially to pass through the first installation channel 5021, the axis of the first pair of centering horizontal rollers 503 and the axis of the first pair of centering inclined rollers 5016 are perpendicular to the axis of the positioning tube 307. Finally, the first tightening machine 5031 is moved upward, and the fastening bolts are tightened by the first tightening machine 5031 , thereby fixing the supporting connector on the positioning tube 307 .

[0096] The support connector is positioned accurately and quickly in combination with its structural characteristics, and the positioning tube 307 is corrected by the first pair of inclined rollers 5016 to ensure that the positioning tube 307 can smoothly pass through the installation conduit 5021, so as to achieve precise control of the installation position of the support connector.

[0097] In order to further improve the stability of the positioning tube 307 and prevent the fastening bolts from loosening due to the shaking of the positioning tube 307 when the first tightening machine 5031 is tightening the fastening bolts, thereby causing the supporting connector to fall off, the positioning tube positioning mechanism includes a centering roller driving cylinder 5011 movably arranged on the upper part of the first vertical mounting plate 504, the centering roller driving cylinder 5011 is drivingly connected to the first pair of center roller mounting blocks 5012, the first pair of center roller mounting blocks 5012 are rotatably connected to the first pair of center rollers 5013, and the first pair of center rollers 5013 are horizontally arranged. After the positioning tube 307 falls on the two first pair of inclined rollers 5016 and the first pair of horizontal rollers 503, the first pair of centering roller mounting blocks 5012 are driven downward by the centering roller driving cylinder 5011 until the first pair of centering rollers 5013 presses the positioning tube 307, thereby utilizing the first pair of horizontal rollers 503, the first pair of centering rollers 5013 and the first pair of inclined rollers 5016 to completely clamp the positioning tube 307 from all directions, ensuring that the positioning tube 307 does not shake.

[0098] The third locating pin 509 and the centering roller driving cylinder 5011 are specifically arranged as follows: two locating pin driving cylinders 506 are fixedly connected to the upper part of the first vertical mounting plate 504, and the two locating pin driving cylinders 506 are respectively drivingly connected to the two third locating pins 509, and one of the locating pin driving cylinders 506 is drivingly connected to the centering roller driving cylinder 5011. The locating pin driving cylinder 506 drives the third locating pin 509 to move and drives the centering roller driving cylinder 5011 to move, which effectively improves the assembly efficiency and reduces the complexity of the control process.

[0099] In order to accurately control the direction of the third locating pin 509, two locating pin guide rails 508 are fixedly provided on the first vertical mounting plate 504, and a locating pin mounting block 507 is slidably provided on each of the two locating pin guide rails 508. The two third locating pins 509 are respectively fixedly provided on the two locating pin mounting blocks 507. The locating pin guide rails 508 can guide the locating pin mounting blocks 507, and then guide the third locating pin 509, so as to ensure that the third locating pin 509 can be smoothly inserted into the pin hole 5018. In addition, because the first centering inclined roller 5016 in the first notch 505 is to contact the positioning tube 307, the supporting connector should be located on the side of the first vertical mounting plate 504, and accordingly, the third locating pin 509 should also be located on the side of the first vertical mounting plate 504. With the help of the locating pin mounting block 507, the position of the third locating pin 509 can be accurately controlled to prevent the supporting connector from falling into the first notch 505, causing the positioning tube 307 to be unable to pass through the first mounting channel 5021 smoothly.

[0100] The specific setting method of the centering roller driving cylinder 5011 is: a first pair of centering roller driving cylinder mounting frames 5014 are fixedly arranged on a positioning pin mounting block 507 connected to a positioning pin driving cylinder 506 for driving the centering roller driving cylinder 5011, and the first pair of centering roller driving cylinder mounting frames 5014 include a vertical rod vertically arranged on the positioning pin mounting block 507, a horizontal rod is fixedly connected to the vertical rod, and the centering roller driving cylinder 5011 is fixedly arranged on the horizontal rod.

[0101] The specific structure of the first clamping unit 5010 is as follows: the first clamping unit 5010 includes two first outer fixing plates 5022 fixedly connected to the first vertical mounting plate 504, the two first outer fixing plates 5022 are parallel to each other and perpendicular to the first vertical mounting plate 504, two first inner fixing plates 5024 are arranged between the two first outer fixing plates 5022, the two first inner fixing plates 5024 are parallel to each other and the two first inner fixing plates 5024 are parallel to each other, and the first clamping cylinder 5023 is rotatably connected to the first outer fixing plate 5022. Between the two first outer fixed plates 5022, the piston rod of the first clamping cylinder 5023 is rotatably connected to the two first rotating plates 5025 and the two first transmission plates 5026. The two first rotating plates 5025 are also rotatably connected to the two first inner fixed plates 5024, respectively. The two first transmission plates 5026 are located between the two first rotating plates 5025. The two first transmission plates 5026 are rotatably connected to the swing arm 5027 together. The swing arm 5027 is fixedly connected to the first clamping rod 5028, and the first clamping rod 5028 and the swing arm 5027 are perpendicular to each other.

[0102] In order to ensure that the first tightening machine 5031 is started only after the positioning tube 307 is completely fixed, a third through-beam photoelectric sensor 5029 is fixedly arranged on the first vertical mounting plate 504, and the detection light of the third through-beam photoelectric sensor 5029 extends horizontally and is located on the side of the first notch 505. After the positioning tube 307 completely enters the first notch 505, the detection light of the third through-beam photoelectric sensor 5029 will be cut off. When the detection signal of the third through-beam photoelectric sensor 5029 is lost, it can be determined that the positioning tube 307 has completely entered the first notch 505, and the first tightening machine 5031 can be started.

[0103] The specific arrangement of the first centering horizontal roller 503 is as follows: a centering horizontal roller base 502 is fixedly arranged on the first horizontal support plate 501, a first mounting groove is provided on the centering horizontal roller base 502, the first centering horizontal roller 503 is rotatably arranged in the first mounting groove, and the top of the first centering horizontal roller 503 is higher than the top of the centering horizontal roller base 502. The specific arrangement of the first centering inclined roller 5016 is as follows: two first centering inclined roller bases 5015 are fixedly arranged in the first notch 505, a second mounting groove is provided on the first centering inclined roller base 5015, and the first centering inclined roller 5016 is rotatably arranged in the second mounting groove.

[0104] In order to ensure the stability of the bracket, the bracket further includes two first side plates 5017 that are vertically arranged and parallel to each other, and the first horizontal support plate 501 and the first vertical mounting plate 504 are both fixedly connected between the two first side plates 5017 .

[0105] In the simplified wrist arm, the positioning tube 307 and the positioning column 306 are connected by a connector, and the connector is fixedly connected to the positioning column 306. The connector includes two second arc-shaped clamping plates 6020, and the two second arc-shaped clamping plates 6020 enclose a circular second installation channel 6021. One end of the two second arc-shaped clamping plates 6020 is hinged, and the other ends of the two second arc-shaped clamping plates 6020 are connected with fastening bolts. One of the second arc-shaped clamping plates 6020 is integrally connected to two connecting plates 6019, and pin holes are opened on the connecting plates 6019.

[0106] The second assembly mechanism 6 is used to install the positioning column 306 on the positioning tube 307; the second assembly mechanism 6 includes a second bracket, and the second bracket is provided with a positioning tube positioning mechanism, a positioning column positioning mechanism and a second tightening machine 6031.

[0107] The second bracket includes a second vertical mounting plate 604 , one side of the second vertical mounting plate 604 is fixedly connected to the second horizontal supporting plate 601 , and a second notch 605 is formed at the upper portion of the second vertical mounting plate 604 .

[0108] The second positioning tube positioning mechanism includes a second pair of horizontal centering rollers 603 rotatably disposed on the second horizontal support plate 601 and two second pair of inclined centering rollers 6016 rotatably disposed in the second notch 605 , and the two second pair of inclined centering rollers 6016 are distributed in a V shape.

[0109] The positioning mechanism of the positioning column includes two clamping blocks 609 for positioning the positioning column 306 and at least one second clamping unit 6010 for clamping the connector onto the second vertical mounting plate 604. The two clamping blocks 609 are both movably arranged on the upper part of the second vertical mounting plate 604. A third limiting groove 6018 is provided on the clamping block 609, and the openings of the two third limiting grooves 6018 are arranged opposite to each other. The second clamping unit 6010 is arranged on the other side of the second vertical mounting plate 604. The second clamping unit 6010 includes a second clamping cylinder 6023, and the second clamping cylinder 6023 is driven and connected to a second clamping rod 6028.

[0110] The second tightening machine 6031 is disposed at a lower side of the second pressing unit 6010, and the second tightening machine 6031 is disposed in a lifting manner.

[0111] When in use, first control the height of the positioning column 306, then move the two clamping blocks 609 and use the two clamping blocks 609 to clamp the positioning column 306. After the positioning column 306 is fixed, the connector is hung on the side of the second vertical mounting plate 604. Then, use the second clamping unit 6010 to press the connector on the second vertical mounting plate 604 to fix the connector. Then, the positioning tube 307 is moved so that the positioning tube 307 first falls on the two second pair of centering inclined rollers 6016. The two second pair of centering inclined rollers 6016 distributed in a V shape are used to control the horizontal position of the positioning tube 307 to ensure that the positioning tube 307 can pass through the second notch 605 and be aligned with the second installation channel 6021. Then, the positioning tube 307 is continued to be moved so that the positioning tube 307 passes through the second installation channel 6021 and moves to the second pair of centering horizontal rollers 603, so that the positioning tube 307 is supported by the second pair of centering horizontal rollers 603 and the two second pair of centering inclined rollers 6016 to ensure the stability of the positioning tube 307. In order to ensure that the positioning tube 307 can also move axially to pass through the second installation channel 6021, the axis of the second pair of centering horizontal rollers 603 and the axis of the second pair of centering inclined rollers 6016 are perpendicular to the axis of the positioning tube 307. Finally, the second tightening machine 6031 is moved upward, and the fastening bolt is tightened by the second tightening machine 6031, so as to fix the connector on the positioning tube 307. The third limiting groove 6018 can be set as a V-shaped groove, and the width of the third limiting groove 6018 is greater than the outer diameter of the positioning column 306.

[0112] The positioning column 306 is positioned accurately and quickly in combination with the structural characteristics of the positioning column 306, and the positioning tube 307 is corrected by the second pair of inclined rollers 6016 to ensure that the positioning tube 307 can smoothly pass through the installation conduit 6021, thereby effectively improving the assembly efficiency.

[0113] In order to further improve the stability of the positioning tube 307 and prevent the fastening bolts from loosening due to the shaking of the positioning tube 307 when the second tightening machine 6031 is tightening the fastening bolts, thereby causing the connector to fall off, the positioning tube positioning mechanism includes a second pair of centering roller driving cylinders 6011 movably arranged on the upper part of the second vertical mounting plate 604, the second pair of centering roller driving cylinders 6011 are drivingly connected to the second pair of centering roller mounting blocks 6012, the second pair of centering roller mounting blocks 6012 are rotatably connected to the centering rollers 6013, and the centering rollers 6013 are horizontally arranged. After the positioning tube 307 falls on the two second pair of centering inclined rollers 6016 and the second pair of centering horizontal rollers 603, the second pair of centering roller driving cylinders 6011 drive the second pair of centering roller mounting blocks 6012 to move downward until the centering rollers 6013 press the positioning tube 307, thereby using the second pair of centering horizontal rollers 603, the centering rollers 6013 and the second pair of centering inclined rollers 6016 to completely clamp the positioning tube 307 from all directions to ensure that the positioning tube 307 does not shake.

[0114] The clamping block 609 and the second pair of middle pressure roller driving cylinders 6011 are specifically arranged as follows: two clamping block driving cylinders 606 are fixedly connected to the upper part of the second vertical mounting plate 604, and the two clamping block driving cylinders 606 are drivingly connected to the two clamping blocks 609 respectively, and one of the clamping block driving cylinders 606 is drivingly connected to the second pair of middle pressure roller driving cylinders 6011. The clamping block driving cylinder 606 drives the clamping block 609 to move and drives the second pair of middle pressure roller driving cylinders 6011 to move, which effectively improves the assembly efficiency and reduces the complexity of the control process.

[0115] In order to accurately control the direction of the clamping block 609, two clamping block guide rails 608 are fixedly provided on the second vertical mounting plate 604, and a clamping block mounting block 607 is slidably provided on each of the two clamping block guide rails 608. The two clamping blocks 609 are fixedly provided on the two clamping block mounting blocks 607, respectively. The clamping block guide rails 608 can guide the clamping block mounting blocks 607, and then guide the clamping block 609, so as to ensure that the clamping block 609 can be smoothly inserted into the pin hole. In addition, because the second centering inclined roller 6016 in the second notch 605 is to contact the positioning tube 307, the connector should be located on the side of the second vertical mounting plate 604, and the clamping block 609 should also be located on the side of the second vertical mounting plate 604 accordingly. With the help of the clamping block mounting block 607, the position of the clamping block 609 can be accurately controlled to prevent the connector from falling into the second notch 605, causing the positioning tube 307 to be unable to smoothly pass through the second mounting channel 6021.

[0116] The specific setting method of the second pair of medium pressure roller driving cylinders 6011 is as follows: a second pair of medium pressure roller driving cylinder mounting bracket 6014 is fixedly arranged on a clamping block mounting block 607 connected to a clamping block driving cylinder 606 for driving the second pair of medium pressure roller driving cylinders 6011; the second pair of medium pressure roller driving cylinder mounting bracket 6014 includes a vertical rod vertically arranged on the clamping block mounting block 607, a horizontal rod is fixedly connected to the vertical rod, and the second pair of medium pressure roller driving cylinders 6011 are fixedly arranged on the horizontal rod.

[0117] The specific structure of the second clamping unit 6010 is as follows: the second clamping unit 6010 includes two second outer fixing plates 6022 fixedly connected to the second vertical mounting plate 604, the two second outer fixing plates 6022 are parallel to each other and perpendicular to the second vertical mounting plate 604, two second inner fixing plates 6024 are arranged between the two second outer fixing plates 6022, the two second inner fixing plates 6024 are parallel to the second outer fixing plates 6022 and the two second inner fixing plates 6024 are parallel to each other, and the second clamping cylinder 6023 is rotatably connected to the two second fixing plates 6023. Between the two outer fixed plates 6022, the piston rod of the second clamping cylinder 6023 is rotatably connected to two second rotating plates 6025 and two second transmission plates 6026. The two second rotating plates 6025 are also rotatably connected to the two second inner fixed plates 6024, respectively. The two second transmission plates 6026 are located between the two second rotating plates 6025. The two second transmission plates 6026 are rotatably connected to the third swing arm 6027. The third swing arm 6027 is fixedly connected to the second clamping rod 6028, and the second clamping rod 6028 and the third swing arm 6027 are perpendicular to each other.

[0118] In order to ensure that the second tightening machine 6031 is started only after the positioning tube 307 is completely fixed, a fourth through-beam photoelectric sensor 6029 is fixedly arranged on the second vertical mounting plate 604, and the detection light of the fourth through-beam photoelectric sensor 6029 extends horizontally and is located on the side of the second notch 605. After the positioning tube 307 completely enters the second notch 605, the detection light of the fourth through-beam photoelectric sensor 6029 will be cut off. When the detection signal of the fourth through-beam photoelectric sensor 6029 is lost, it can be determined that the positioning tube 307 has completely entered the second notch 605, and the second tightening machine 6031 can be started.

[0119] The second centering horizontal roller 603 is specifically arranged as follows: a centering horizontal roller base 602 is fixedly arranged on the second horizontal support plate 601, a first mounting groove is provided on the centering horizontal roller base 602, the second centering horizontal roller 603 is rotatably arranged in the first mounting groove, and the top of the second centering horizontal roller 603 is higher than the top of the centering horizontal roller base 602. The second centering inclined roller 6016 is specifically arranged as follows: two second centering inclined roller bases 6015 are fixedly arranged in the second notch 605, a second mounting groove is provided on the second centering inclined roller base 6015, and the second centering inclined roller 6016 is rotatably arranged in the second mounting groove.

[0120] In order to ensure the stability of the bracket, the bracket also includes two second side plates 6017 that are vertically arranged and parallel to each other, and the second horizontal support plate 601 and the second vertical mounting plate 604 are both fixedly connected between the two second side plates 6017 .

[0121] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A simplified positioning tube and positioning column pre-assembly system for arm pre-assembly, characterized in that: It comprises a pipe feeding mechanism (1), a ceiling rail (2), a sawing mechanism (3), a transfer positioning mechanism (4), a first assembly mechanism (5) and a second assembly mechanism (6) which are arranged in sequence, and a rotating chuck (7) is arranged between the first assembly mechanism (5) and the second assembly mechanism (6); The pipe material feeding mechanism (1) is used to store pipe materials for processing positioning columns (306) and positioning pipes (307); The overhead rail (2) is movably connected to a robot for moving pipes; The sawing mechanism (3) is used to process the pipe into positioning columns (306) and positioning pipes (307); The transfer positioning mechanism (4) includes a positioning column positioning unit (401) and a positioning tube positioning unit (405), a plurality of support units are arranged between the positioning column positioning unit (401) and the positioning tube positioning unit (405), and all the support units are distributed along a straight line, the positioning column positioning unit (401) includes a fixed positioning boss (408), the positioning boss (408) is used to cooperate with a clamp (4017) fixedly connected to the positioning column (306), the positioning tube positioning unit (405) includes a fixed second positioning pin (4019), the second positioning pin (4019) is used to cooperate with a pin hole provided on a single-ear connecting plate fixedly connected to the positioning tube (307); The first assembly mechanism (5) is used to install the supporting connector on the positioning tube (307); the first assembly mechanism (5) comprises a first bracket, on which a first positioning tube positioning mechanism, a supporting connector positioning mechanism and a first tightening machine (5031) are arranged; the bracket comprises a first vertical mounting plate (504), one side of the first vertical mounting plate (504) is fixedly connected to a first horizontal supporting plate (501), and a first notch (505) is opened on the upper part of the first vertical mounting plate (504); The first positioning tube positioning mechanism comprises a first pair of horizontal centering rollers (503) rotatably arranged on the first horizontal support plate (501) and two first pairs of inclined centering rollers (5016) rotatably arranged in the first notch (505), and the two first pairs of inclined centering rollers (5016) are distributed in a V shape; The supporting connector positioning mechanism comprises two third positioning pins (509) for positioning the supporting connector and at least one first clamping unit (5010) for clamping the supporting connector onto the first vertical mounting plate (504); the two third positioning pins (509) are both movably arranged on the upper part of the first vertical mounting plate (504); the third positioning pins (509) are tapered, and the tips of the two third positioning pins (509) are arranged opposite to each other; the first clamping unit (5010) is arranged on the other side of the first vertical mounting plate (504); the first clamping unit (5010) comprises a first clamping cylinder (5023); the first clamping cylinder (5023) is drivingly connected to a first clamping rod (5028); The second assembly mechanism (6) is used to install the positioning column (306) on the positioning tube (307); the second assembly mechanism (6) comprises a second bracket, on which a positioning tube positioning mechanism, a positioning column positioning mechanism and a second tightening machine (6031) are arranged; The second bracket comprises a second vertical mounting plate (604), one side of the second vertical mounting plate (604) is fixedly connected to a second horizontal supporting plate (601), and a second notch (605) is formed at the upper portion of the second vertical mounting plate (604); The second positioning tube positioning mechanism comprises a second pair of horizontal centering rollers (603) rotatably arranged on the second horizontal support plate (601) and two second pair of inclined centering rollers (6016) rotatably arranged in the second notch (605), and the two second pair of inclined centering rollers (6016) are distributed in a V shape; The positioning column positioning mechanism comprises two clamping blocks (609) for positioning the positioning column (306) and at least one second clamping unit (6010) for clamping the connector onto the second vertical mounting plate (604). The two clamping blocks (609) are both movably arranged on the upper part of the second vertical mounting plate (604). The clamping blocks (609) are provided with a third limiting groove (6018), and the openings of the two third limiting grooves (6018) are arranged opposite to each other. The second clamping unit (6010) is arranged on the other side of the second vertical mounting plate (604). The second clamping unit (6010) comprises a second clamping cylinder (6023), and the second clamping cylinder (6023) is driven and connected to a second clamping rod (6028). The rotating chuck (7) is used to adjust the angle of the supporting connector or the positioning column (306) on the positioning tube (307).

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