An intelligent production line assembly system for high-speed railway contact network arms

Abstract

The invention discloses an intelligent production line assembly system for a high-speed railway contact network wrist arm, comprising a pipe cutting device, a robot device, an earring buffer loading device and a pipe earring assembly device, wherein the pipe cutting device is used to convey and cut the pipe to obtain a wrist arm pipe of a set length; the earring buffer loading device is used to arrange the earrings in a set order for buffering; the robot device is used to clamp the earrings on the earring buffer loading device to the pipe earring assembly device, and clamp the wrist arm pipe to the earring buffer loading device and allow the earrings to be worn on the wrist arm pipe, and then tighten the bolts used to fix the earrings and the wrist arm pipe to realize the assembly of the earrings and the wrist arm pipe. The invention can realize the automatic assembly of the wrist arm pipe and the earrings through the cooperation of the pipe cutting device, the robot device, the earring buffer loading device and the pipe earring assembly device, thereby reducing the amount of manual labor and greatly improving production efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of arm pre-assembly production, and more specifically, relates to an intelligent production line assembly system for high-speed railway contact network arm. Background Art

[0002] There are strict process standards for the cutting of wrist arm tubes and support tubes. Currently, there is no professional wrist arm tube and support tube cutting platform on the market, and each construction unit adopts different methods. The traditional approach has difficulties such as the inability to highly unify the process standards of parts and components, insufficient measurement and cutting accuracy, and lack of information management of the entire life cycle. It is necessary to further improve work efficiency and unify standards.

[0003] Traditional pre-assembly workshops generally use 3 to 4 common standard lengths of pipes for cutting the raw materials of the arm tubes and support tubes, such as 2.6m, 2.8m, 3.0m, 3.4m or 14m long pipes. When cutting, raw materials of similar length are selected according to the length of the arm tubes in the arm pre-assembly table, and the pipes are manually picked up and aligned with the scale line on the cutting platform for manual marking and mechanical cutting. After cutting, they are manually picked up and drilled on the drilling platform, and then manually picked up and pre-assembled on the pre-assembly platform. This cutting method wastes a lot of manpower and material resources in transportation.

[0004] In traditional pre-assembly workshops, the pre-assembly lengths of wrist arm tubes and support tubes are marked by comparing the raw materials with the scale on the cutting platform, and marking and cutting are performed according to the compared positions. Manual marking and cutting according to the scale lines has large process errors and varies from person to person, and the process standards are not unified.

[0005] In traditional pre-configuration workshops, there is no tracking QR code for the wrist arm pre-configuration information, or the QR code is manually printed and pasted on the wrist arm tube or support. This method can easily cause the QR code to be damaged, and the information cannot be read through the QR code after a long time. Because the wrist arm pre-configuration information is easily lost, information management of the entire life cycle cannot be carried out.

[0006] At present, in the assembly of overhead line arm, the means of loading, unloading and standard torque installation in the intelligent pre-assembly workshop of the arm of each construction unit are different. The traditional method is to pre-assemble the arm and pre-tighten the torque by manual loading, manual unloading and manual torque wrench. Not only the loading of parts and the picking of pre-assembled arm are all done manually, but also the torque of the bolts of parts on the pipe fittings is all done manually.

[0007] However, the traditional approach has many shortcomings. The main ones are that the process standards for parts cannot be highly unified, the torque preload is not in place or is over-torqued, and there is a need to further improve work efficiency and unify standards; and manual loading and unloading is used, which is labor-intensive and inefficient.

[0008] Normally, the arm is a long straight rod-shaped structure, and corresponding positions on its outer circumference are provided with pipe earrings for positioning and connection of related structural components. Moreover, depending on the different applicable scopes of the contact network (usually the different speeds of running trains), there are certain differences in the arm structure corresponding to the contact network. In addition, the current assembly of the arm is mostly carried out manually, which has high labor costs and low assembly efficiency, and cannot fully meet the growing demand for the arm at this stage.

[0009] During the pre-assembly process of the contact network arm, the earrings are placed in the material basket in a rather messy manner. When workers need to assemble a suspension string, they have to take multiple connecting wire clamps. Due to the above-mentioned defects of manual operation, the continuity of the arm assembly is poor. Summary of the invention

[0010] In response to the above defects or improvement needs of the prior art, the present invention provides an intelligent production line assembly system for the high-speed railway contact network arm, which can realize pipe cutting, earring threading and earring tightening in the intelligent production of the arm, ensure the continuity and accuracy of the arm production, and reduce the amount of manual labor in the arm production process.

[0011] To achieve the above object, according to one aspect of the present invention, a high-speed railway overhead contact network arm intelligent production line assembly system is provided, characterized in that it includes a pipe cutting device, a robot device, an earring buffer loading device and a pipe earring assembly device, wherein:

[0012] The pipe cutting device is used to convey the pipe and cut the pipe to obtain a wrist arm pipe of a set length, and the wrist arm pipe of the set length obtained by cutting is placed on the material discharging platform;

[0013] The earring caching device is used to arrange the earrings in a set order for caching;

[0014] The robot device is used to clamp the earrings on the earring cache upper device to the pipe earring assembly device, and to clamp the wrist arm pipe to the earring cache upper device and allow the earrings to be installed on the wrist arm pipe, and then tighten the bolts used to fix the earrings and the wrist arm pipe, thereby realizing the assembly of the earrings and the wrist arm pipe.

[0015] Preferably, the pipe cutting device comprises a pipe buffer unit, a pipe automatic loading unit, a pipe transmission unit and a pipe cutting unit which are sequentially arranged along the pipe conveying line, and:

[0016] The pipe buffer unit is arranged on the side of the pipe transmission unit, has a slope inclined toward the pipe transmission unit, and is used to store a plurality of pipes to be cut at the same time;

[0017] The automatic pipe loading unit is arranged at the end and below the pipe transmission unit, and is used to push the pipe rolled down from the pipe buffer unit to the pipe transmission unit;

[0018] The pipe transmission unit is used to actuate the pipe to move a predetermined distance in sequence along the longitudinal direction of the pipe, and comprises a plurality of support rollers, a moving platform and a platform guide rail; the support rollers are used to support the pipe under the pipe without power, the moving platform has a pipe pressing head, the pipe pressing head is used to press the pipe downward on the support roller, the moving platform is used to slide along the platform guide rail and move a predetermined distance in sequence and transmit the pipe forward; the platform guide rail is used to allow the moving platform to reciprocate;

[0019] The pipe cutting unit is used to cut the pipe to obtain a wrist arm pipe of a predetermined length.

[0020] Preferably, the automatic pipe loading unit comprises an end pipe stopping device and a lower pipe loading device, wherein the end pipe stopping device is used to allow the head pipe to roll down while blocking subsequent pipes from rolling down, and the lower pipe loading device is used to push the head pipe onto the support roller.

[0021] Preferably, the end pipe blocking device comprises a blocking plate and a blocker;

[0022] The blocking plates are arranged at both ends of the long tube material and are provided with holes for the blocking device to pass through;

[0023] The stopper is arranged on the stopper plate and has a retractable structure. It passes through the hole of the stopper and is inserted into the pipe end of the second pipe after the head pipe to stop the second pipe and subsequent pipes from rolling down.

[0024] Preferably, the earring cache loading device comprises a frame and a cache assembly;

[0025] The cache assembly includes a cache bracket and a plurality of cache units arranged on the cache bracket; the cache bracket is used to support the cache units; the cache units are used to realize sequential caching of multiple earrings in the longitudinal direction;

[0026] The cache assembly is movably or fixedly arranged on the frame, and each of the cache units is inclined at a certain angle to the horizontal plane to realize the feeding of the earring pieces one by one from the feed end to the discharge end of the cache unit; accordingly, at least one limiting unit is arranged at the discharge end, and the limiting unit is used to prevent the earring pieces from falling from the cache unit.

[0027] Preferably, the robot device comprises a workbench, on which is disposed at least one slide unit, and the slide unit can slide along guide rails disposed on both sides;

[0028] The slide unit is fixedly connected to the bottom of the six-axis robot, and the other end of the six-axis robot is fixedly connected to the manipulator, and the pipe fitting is clamped by the manipulator;

[0029] The manipulator includes a truss directly connected to the six-axis robot, and the end parts at both ends of the truss are provided with a first clamping end and a second clamping end in a vertical direction, and servo tightening guns are respectively provided at the bottom of both sides of the truss, and the corresponding servo tightening guns are rotatably fixedly connected to the truss; the tightening end of the servo tightening gun realizes the automatic torque tightening of the accessories on the pipe fittings.

[0030] Preferably, the pipe earring assembly device comprises at least one assembly unit, and the assembly unit comprises a bracket, a sliding support assembly and a clamping assembly;

[0031] The sliding support assembly and the clamping assembly are respectively arranged at the two ends of the top of the bracket, and are used for supporting and clamping the two ends of the wrist arm respectively; sliding guide bars and follower chains are respectively arranged on the lateral sides of the bracket along the axial direction of the bracket, and are used to match the lateral ends of the sliding support assembly to realize the reciprocating motion of the sliding support assembly along the lateral direction of the bracket;

[0032] The sliding support assembly includes a sliding unit and a supporting unit; the sliding unit includes a slide or a plurality of slides arranged side by side in the axial direction of the bracket; the slide is arranged transversely along the bracket, one end of which is matched and connected to the follower chain, and the other end is provided with a driving unit, the output end of the driving unit matches the sliding guide bar, and is used to drive the slide to reciprocate along the axial direction of the bracket; a mounting plate can be fixedly arranged on the slide, and at least one pipe earring can be fixedly arranged on the mounting plate, and each pipe earring is coaxial and the pipe earring close to the clamping assembly is coaxially aligned with the clamping assembly;

[0033] The support unit is arranged on a slide, and includes at least two support wheels and a clamping wheel arranged above the two support wheels. The support wheels are used to support the bottom sides of the wrist arm. The clamping wheel is arranged on a rotating mechanism and can move away from the wrist arm on each support wheel or press the wrist arm onto each support wheel under the control of the rotating mechanism.

[0034] Preferably, the pipe earring assembly device and the clamping assembly include a clamping unit;

[0035] The clamping unit includes an end pressure block and a bottom support block; the bottom support block is arranged vertically, and a lifting mechanism is arranged corresponding to it, so that the bottom support block can be lifted and lowered vertically under the control of the lifting mechanism; the end pressure block is arranged on a rotating mechanism, and the rotating mechanism can drive the end pressure block to approach or move away from the wrist arm placed on the bottom support block, so as to realize the clamping or loosening of the wrist arm between the end pressure block and the bottom support block.

[0036] Preferably, the clamping assembly of the pipe earring assembly device further comprises a rotating unit;

[0037] The rotating unit includes an end top block, an end gear, an end rack, and a driving mechanism; the end top block is arranged on one side of the clamping unit, and a receiving groove is provided on the side close to the wrist arm placement area, and the end of the wrist arm can be embedded in the receiving groove and locked in the receiving groove; the end gear is coaxially arranged on the side of the end top block away from the receiving groove, and is meshed with the end rack, and can rotate back and forth under the movement of the end rack; the driving mechanism is matched with the end of the end rack, and can drive it to reciprocate.

[0038] Preferably, the pipe earring assembly device further comprises a slide table provided with an end clamp, wherein the end clamp is arranged on a corresponding mounting plate and has a through hole in the middle thereof along the axial direction of the bracket for the wrist arm to pass through and clamp the wrist arm.

[0039] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0040] 1) The present invention can realize the automatic assembly of wrist arm pipe fittings and earrings through the cooperation of the pipe cutting device, the robot device, the earring buffer loading device and the pipe earring assembly device, thereby reducing the manual labor and greatly improving the production efficiency.

[0041] The pipe cutting device of the present invention is provided with a pipe buffer unit, a pipe automatic loading unit, a pipe transmission unit and a pipe cutting unit in sequence according to the working procedures. Various production data of the pipe, such as cutting length, drilling position, earring position and type, pipe coding information, etc., are input into each unit through PLC communication. Each unit reads the data and automatically converts it into an execution action for production. The wrist arm tube and the support tube are fully automated for marking, cutting and coding. The pipe cutting device of the present invention adopts intelligent control of wrist arm pre-assembly data to realize process data management and control of the construction process quality in the key pre-assembly process.

[0042] 2) The earring buffer loading device of the present invention realizes the automatic loading of earrings in the wrist arm processing procedure, improves production efficiency, and realizes the control of the earring buffer loading process. It has a simple structure, convenient operation, and good applicability. At the same time, it has the characteristics of high efficiency and high degree of automation. It cooperates with the robot device to form a wrist arm pre-assembly automatic production line, which reduces the additional labor cost introduced by earring buffering and loading in the wrist arm processing process, thereby reducing the entire wrist arm assembly cost.

[0043] 3) The robot unit of the present invention, by clamping the pipe fittings through a manipulator, can not only solve the work of manual loading and unloading in the prior art, but also realize the automatic installation of accessories on the pipe fittings with standard torque, avoiding the use of manual torque wrenches in the prior art to achieve torque tightening, resulting in the adverse effects of insufficient torque tightening or over-torque.

[0044] 4) The robot unit of the present invention, through the movement of the manipulator driven by the six-axis robot, can not only realize the loading and unloading of pipe fittings from the cutting and drilling stations to the automatic pre-assembly platform, but also realize the loading and unloading of parts from the accessory turntable tooling platform.

[0045] 5) In the robot unit of the present invention, the tightening end of the servo tightening gun is a structure that matches the bolt, and is used to tighten the bolts of the earrings on the clamped pipe fittings. When the robot arm clamps the pipe fittings, the servo tightening gun rotates and extends to a position corresponding to the bolt to be tightened on the earring, and is clamped on the top of the bolt. The tightening end is driven to rotate by the power end to achieve automatic tightening of the bolt on the earring.

[0046] 6) The robot unit and servo tightening gun of the present invention have adjustable standard torque values, and can adjust the standard torque values ​​according to the tightening strength required for different pipe sizes, and are suitable for automated installation of accessories with standard torques for pipes of different sizes.

[0047] 7) The robot unit of the present invention can fully utilize the function of the track by setting up multiple slide units, realize the clamping and handling work of multiple manipulators, and work together to improve the work efficiency of the entire assembly system.

[0048] 8) The pipe earring assembly device applicable to the contact network arm of the present invention comprises a sliding support assembly and a clamping assembly correspondingly arranged on a bracket. By using the corresponding arrangement of the sliding unit and the support unit in the sliding support assembly, the stable arrangement and clamping of the two ends of the arm before assembly can be effectively achieved, and the assembly control of the corresponding pipe earring at the corresponding position on the arm can be achieved, so as to achieve the automatic assembly of the pipe earring at the corresponding position of the arm, ensure the accuracy of the pipe earring assembly, improve the efficiency of the pipe earring assembly, and reduce the cost of contact network arm assembly;

[0049] 9) The pipe earring assembly device for the contact network arm of the present invention provides a clamping unit and a rotating unit in the clamping assembly, and the former is used to effectively realize the end clamping during the arm assembly process, which facilitates the automatic assembly process of the arm, and the latter is used to not only effectively realize the end clamping of the arm, but also realize the rotation of the arm around the axis, which provides convenience for the axis processing of the corresponding part of the arm, further improves the degree of automation of the assembly and processing of the arm, ensures the assembly and processing accuracy of the arm, and reduces the processing cost of the arm;

[0050] 10) The pipe earring assembly device applicable to the contact network arm of the present invention can effectively realize the accommodation and fixation of the pipe earring by setting corresponding profiling blocks on the mounting plate corresponding to the pipe earring, ensure the accuracy of the pipe earring matching the arm, and realize the corresponding assembly of pipe earrings in different orders and different numbers by correspondingly replacing or adjusting the mounting plates on each slide, effectively improving the adaptability and compatibility of the automatic assembly system, expanding the scope of application of the automatic assembly system, and further reducing the cost of arm assembly;

[0051] 11) The pipe earring assembly device suitable for the contact network arm of the present invention has a simple structure and is easy to operate. It can effectively realize the automatic assembly of the arm, avoids the defects of large manual labor and poor positioning accuracy in the traditional arm manufacturing process, and effectively improves the efficiency and accuracy of the arm assembly. Moreover, the number and sequence of earrings actually assembled can be changed by correspondingly changing the mounting plate on the slide, so as to adapt to the automatic assembly of different types of arms, effectively improve the application scope of the arm assembly system, and reduce the cost of the arm assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic diagram of the arrangement of the pipe cutting device, the robot device, the earring buffer loading device and the pipe earring assembly device of the present invention;

[0053] Figure 2 is a top view schematic diagram of the pipe cutting device in the present invention;

[0054] Figure 3 is a three-dimensional schematic diagram of the pipe cutting device of the present invention;

[0055] Figure 4 It is a schematic diagram of a pipe buffer unit and a pipe automatic loading unit of a pipe cutting device in the present invention;

[0056] Figure 5 Schematic diagram of a pipe transmission unit of a pipe cutting device in the present invention;

[0057] Figure 6 Schematic diagram of a pipe punching unit and a pipe cutting unit of a pipe cutting device in the present invention;

[0058] Figure 7 is a three-dimensional schematic diagram of the robot device of the present invention;

[0059] Figure 8 is a top view of the robot device of the present invention;

[0060] Fig. 9 A partial enlarged view of the manipulator of the robot device of the present invention from one of the viewing angles;

[0061] Fig.10 A partial enlarged view of the manipulator of the robot device of the present invention from another perspective

[0062] Fig.11 It is a schematic diagram of the three-dimensional structure of the pipe earring assembly device of the present invention;

[0063] Fig.12 It is a schematic diagram of the planar structure of the pipe earring assembly device of the present invention;

[0064] Fig.13 It is a partial plan view of the first assembly unit of the pipe earring assembly device of the present invention;

[0065] Fig.14 It is a three-dimensional partial schematic diagram of the second assembly unit of the pipe earring assembly device of the present invention;

[0066] Fig.15 It is a partial plan view of the second assembly unit of the pipe earring assembly device of the present invention;

[0067] Fig.16 It is a partial schematic diagram of the clamping end of the first assembly unit of the pipe earring assembly device of the present invention;

[0068] Fig.17 It is a schematic structural diagram of the matching of the arm pipe fitting and the support unit of the pipe fitting earring assembly device of the present invention;

[0069] Fig.18 It is a schematic diagram of the three-dimensional structure of the earring buffer loading device of the present invention;

[0070] Fig.19 is a side view of the earring buffer upper device of the present invention;

[0071] Fig. 20 It is a schematic diagram of a buffer component of one structure of the earring buffer loading device of the present invention;

[0072] Fig.21 It is a schematic diagram of a buffer assembly of another structure of the earring buffer loading device of the present invention;

[0073] Fig. 22 It is a schematic diagram of the guide rail end of the earring buffer loading device of the present invention;

[0074] Fig.23 is a schematic diagram of a first earring cached by the earring cache loading device of the present invention;

[0075] Fig.24 It is a schematic diagram of a second earring cached by the earring cache upper device in the present invention. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0077] like Figure 1 to Figure 24 As shown, a high-speed railway contact network arm intelligent production line assembly system includes a pipe cutting device 400, a robot device 500, an earring buffer loading device 700 and a pipe earring assembly device 600, wherein: the pipe cutting device 400 is used to convey pipes and cut pipes to obtain arm pipes of a set length, and the arm pipes of the set length obtained by cutting are placed on a material discharge platform; the earring buffer loading device 700 is used to arrange earrings in a set order for buffering, and the earring buffer loading device 700 is arranged next to the robot device 500; the robot device 500 is used to clamp the earrings on the earring buffer loading device 700 to the pipe earring assembly device 600, and clamp the arm pipe to the earring buffer loading device 600 and allow the earrings to be installed on the arm pipe, and then tighten the bolts used to fix the earrings and the arm pipe, so as to realize the assembly of the earrings and the arm pipe. Figure 1 The earring buffer loading device 700 is illustrated by a box, and the specific structure can be found in the following Fig.18 and Fig.19 .

[0078] Specifically, the pipe cutting device 400 of the present invention includes a pipe buffer unit 401, a pipe automatic loading unit 402, and a pipe transmission unit 403, a pipe punching unit 404, a pipe cutting unit 405 and a pipe coding unit 406 which are arranged in sequence.

[0079] The pipe buffer unit 401 is arranged on the side of the pipe transmission unit 403, and has a slope inclined toward the pipe transmission unit 403, and is used to store multiple 350-mph pipes at the same time. The pipe buffer unit 401 includes a plurality of pipe brackets 4011 arranged in sequence along the length direction of the pipes, and a plurality of wedge bars 4012 are arranged at the upper end of the pipe brackets. The pipes arranged on the wedge bars 4012 roll down in sequence by their own gravity. The pipe brackets 4011 can store pipes of different diameters at the same time. The pipe raw material is 12m long. In this embodiment, four pipe buffer units 401 are arranged in the longitudinal direction.

[0080] The automatic pipe loading unit 402 is arranged at the end and below the pipe transmission unit 403, and is used to push the pipe rolled down from the pipe buffer unit 401 to the pipe transmission unit 403. The automatic pipe loading unit 402 includes an end pipe blocking device and a lower pipe loading device. The end pipe blocking device is used to allow the head pipe to roll down while blocking the subsequent pipes from rolling down, and the lower pipe loading device is used to push the head pipe onto the support roller 4031. Preferably, the end pipe blocking device includes a blocking plate 4021 and a blocker 4022; the blocking plate 4021 is arranged at both ends of the long pipe raw material and is provided with a hole for the blocker 4022 to pass through; the blocker 4022 is arranged on the blocking plate 4021, has a retractable structure, passes through the hole of the blocker 4022, and is inserted into the pipe end of the second pipe after the head pipe, to block the second pipe and subsequent pipes from rolling down. Preferably, the blocker 4022 is a telescopic cylinder. Preferably, the lower upper tube device is an electric push cylinder 4023, and an insert plate is provided on the upper part of the electric push cylinder 4023, which is inserted between the head tube and the second tube. An arc groove is provided on the side of the insert plate close to the head tube. As the electric push cylinder rises, the head tube is pushed into the groove of the support roller 4031, and then retracted to prepare for the push of the next tube.

[0081] The pipe transmission unit 403 is used to actuate the pipe to move a predetermined distance in sequence along the longitudinal direction of the pipe, and includes a plurality of support rollers 4031, a mobile platform 4032 and a platform guide rail 4033; the support rollers 4031 are used to support the pipe under the pipe without power, the mobile platform 4032 has a pipe pressing head 40321, and the pipe pressing head 40321 is used to press the pipe downward on the support rollers 4031, and the mobile platform 4032 is used to slide along the platform guide rail 4033 and move a predetermined distance in sequence and drive the pipe forward; the platform guide rail 4033 is used for the mobile platform 4032 to reciprocate. The pipe transmission unit 403 also includes a driving motor 4034 and a driving rack 4035; the driving motor 4034 is arranged on the mobile platform 4032, the driving rack 4035 is fixedly arranged along the longitudinal direction of the platform guide rail 4033, and the output end of the driving motor 4034 is engaged with the driving rack 4035. Various production data of the pipe fittings, such as the cutting length, are input to the mobile platform 4032 through PLC communication. The mobile platform 4032 reads the cutting length data and automatically converts it into the distance data to be moved, and drives the pipe fittings to be cut according to the predetermined distance, thereby realizing the automatic operation of cutting different predetermined lengths in sequence. If the length of the pipe fittings after cutting is not enough to be supported at the penultimate support roller, the mobile platform 4032 also includes a pipe fitting clamping head, which is arranged under the pipe fittings and is used to clamp and move the pipe fittings together with the pipe fitting pressing head 40321 when there is no support roller at the rear end of the pipe fittings.

[0082] The pipe punching unit 404 is used to drill holes at predetermined positions of the pipe. The pipe punching unit 404 includes a drilling machine 4041 and a pipe rotating machine 4042; the pipe rotating machine 4042 is used to rotate the pipe circumferentially at a predetermined angle to determine the position to be drilled, and the drilling machine 4041 is used to perform drilling.

[0083] The pipe cutting unit 405 is used to cut the pipe into a predetermined length. The pipe cutting unit 405 includes a pipe locking device 4051 and a cutting knife 4052; the pipe locking device 4051 is used to fix and lock the pipe to be cut, and the cutting knife 4052 is used to cut the pipe.

[0084] The pipe coding unit 406 is used to perform coding marking on the pipe wall and spray maintainable marking lines at the earrings.

[0085] The pipe cutting device 400 of the present invention is provided with a pipe buffer unit, an automatic pipe loading unit, a pipe transmission unit, a pipe punching unit, a pipe cutting unit and a pipe coding unit in sequence according to the process. Various production data of the pipe, such as cutting length, drilling position, earring position and type, pipe coding information, etc., are input into each unit through PLC communication. Each unit reads the data and automatically converts it into an execution action for production. The wrist arm tube and support tube are fully automated for marking, cutting and coding operations.

[0086] The pipe cutting device 400 of the present invention is suitable for cutting and processing 350-type pipes, and the arm processing equipment 4000 of the present invention is suitable for cutting and processing 250-type pipes. The specific structure of the arm processing equipment 4000 is referred to patent CN201821007310.6. It should be noted that the 250-type and 350-type mentioned here refer to the train speeds of 250km / h and 350km / h respectively after the arm is set.

[0087] The robot device 500 for clamping the contact network wrist arm pipe fittings of the present invention comprises a slide unit 501 , a guide rail 502 , a servo motor 503 , a six-axis robot 504 , a drag chain 505 , a manipulator 506 and a servo tightening gun 507 .

[0088] Specifically, at least one slide unit 501 is provided on the work surface of the contact network arm pipe fitting automated assembly production line, and can slide along the guide rails 502 arranged on both sides. Two opposite slide units 501 are arranged on the guide rails 502, and they move by sharing the same set of guide rails 502. Each slide unit is driven by a corresponding servo motor 503, and the servo motor 503 is connected to a reducer. The rotating gear of the servo motor 503 matches the gear arranged on the side of the work surface, and the movement of the servo motor 503 along the gear drives the slide unit 501 to slide along the track 502. The provision of multiple slide units can make full use of the role of the track, realize the clamping and handling work of multiple manipulators, and work together to improve the work efficiency of the entire assembly system.

[0089] A drag chain 505 is provided on one lateral side of the slide unit 501, which can be used to protect cables and the like installed therein during operation.

[0090] The slide unit 501 is provided with a plurality of bases, and the sizes and heights of the bases are preferably the same. The slide unit 501 is fixedly connected to the six-axis robot 504 through the base, and the other end of the six-axis robot 504 is fixedly connected to the manipulator 506. The six-axis robot 504 can drive the manipulator 506 to move in multiple directions such as rotation, verticality, horizontality, and extension, and can realize the flexible picking and handling of the arm pipe fittings, so that it can reach a working area without dead angles. In addition, the servo-driven slide unit of the present invention can further increase the flexible working area of ​​the robot by sliding along the guide rail, and can adapt to the production conditions of various arm products.

[0091] The manipulator 506 is fixedly connected to the upper end of the six-axis robot 504. The manipulator 506 includes a truss directly connected to the six-axis robot 504. Preferably, the middle part of the truss is fixedly connected to the end of the six-axis robot 504, and a connecting rod perpendicular to the truss is used to strengthen the connection strength between the manipulator 506 and the six-axis robot 504. The two ends of the truss are preferably horizontal symmetrical structures, and the end portions of the two ends are provided with a first clamping end 508 and a second clamping end 509 in the vertical direction, which are respectively arranged on the connection part of the end of the truss, and the first clamping end 508 and the second clamping end 509 on both sides can be retracted and extended vertically by the cylinders correspondingly arranged on the truss, thereby achieving the clamping and loosening of the wrist arm pipe fittings.

[0092] A horizontally placed servo tightening gun 507 is fixed at the bottom of both sides of the truss. The servo tightening gun 507 is rotatably fixedly connected to the truss. One end of the servo tightening gun 507 is a power end, and the other end is a tightening end. Its end head is matched with a bolt and is used to tighten the bolts on the earrings of the clamped pipe fittings. For example, if the bolt to be tightened on the earrings of the pipe fittings is a hexagonal bolt, the end of the servo tightening gun 507 is a corresponding hexagonal hollow structure. The trusses on both sides are respectively provided with a limit plate 510, and the limit plate 510 is provided with a limit hole. When not working, the tightening end of the servo tightening gun 507 is shortened and passes through the corresponding limit hole, so that the servo tightening gun 507 is fixed to prevent it from shaking around.

[0093] During operation, when the robot clamps the wrist arm pipe fitting, the tightening end of the servo tightening gun 507 contracts, disengages from the limit plate 510, and rotates and extends to a position corresponding to the bolt to be tightened on the earring, and is clamped on the top of the bolt. The tightening end is driven to rotate by the power end to achieve automatic tightening of the bolt on the earring.

[0094] The servo tightening gun 507 of the present invention has an adjustable standard value of torque, and can adjust the standard value of torque according to the tightening strength required for different sizes of pipe fittings, and is suitable for automatic installation of accessories with standard torque for pipe fittings of different sizes.

[0095] When working, the robot device 500 of the present invention can cooperate with the visual recognition device to carry out material picking and tightening bolts.

[0096] The pipe earring assembly device 600 for contact network arm in the preferred embodiment of the present invention can be used for the automatic assembly of 250-type arm pipe fittings and 350-type arm pipe fittings. To this end, the pipe earring assembly device 600 is provided with a first assembly unit 610 and a second assembly unit 650, which are respectively used for the automatic assembly of different types of arms. Obviously, according to actual needs, other forms of assembly units can also be provided, and the existing first assembly unit 610 and second assembly unit 650 can also be modified into other forms of assembly units.

[0097] The first assembly unit 610 and the second assembly unit 650 are respectively arranged on the frame bracket 690 . The tops of both ends of the bracket 690 along the axial direction are respectively provided with clamping components and sliding support components for clamping and supporting the wrist arm 640 .

[0098] More specifically, the sliding support assembly of the first assembly unit 610 includes a first slide 611, a second slide 612, and a third slide 613 arranged in parallel in the axial direction of the bracket, and the ends of the three slides on the same side are respectively provided with a first driving unit 614, and a sliding guide bar 655 is axially arranged on the side wall surface of the bracket 690. The sliding guide bar 655 has a rack along the axial direction, and the output shaft end of the first driving unit 614 is provided with a gear corresponding to the sliding guide bar 655, and the first driving unit 614 is preferably a servo motor. Through the control of the servo motor, the corresponding gear can be driven to mesh and move on the sliding guide bar 655, thereby realizing the sliding of the corresponding slide.

[0099] In order to match the sliding of the slide along the axial direction of the bracket 690, a follower chain 617 is arranged along the axial direction of the bracket 690 at the end of each slide away from the first driving unit 614, so that when each slide is driven by the servo motor to slide axially, the follower chain 617 can also move synchronously to ensure that the axial direction of each slide is always perpendicular to the axial direction of the bracket 690.

[0100] Furthermore, a mounting plate 657 is provided on the top of each slide, and corresponding profiling blocks, namely a first profiling block 615 and a second profiling block 616, are provided on the mounting plate 657, which are respectively used to place the first earring 620 and the second earring 630. When each earring is placed on the corresponding profiling block, the axis of the through hole in the middle of the earring is along the axis of the bracket 690, and the axes of each earring are coaxial, so that the wrist arm 640 can pass through the middle through hole of each earring in sequence.

[0101] A sliding support assembly is provided on each slide, respectively, for supporting the wrist arm 640 for earring assembly. The sliding support assembly includes a clamping wheel 618 and two support wheels 619. The three wheels are arranged at 120° intervals, and the clamping wheel 618 can clamp the top of the wrist arm 640. The axes of the three wheels are preferably in the same wrist arm cross section, so that when the slide slides axially, each wheel can rotate accordingly. At the same time, the clamping wheel 618 in the preferred embodiment is arranged at the end of the rotating shaft, so that the clamping wheel 618 can be rotated to an area away from the setting position of the wrist arm 640 before work, so as to facilitate the placement and removal of the wrist arm before and after assembly. Obviously, the sliding support assembly can be arranged on each slide, and can also be arranged on some slides. In the preferred embodiment, a sliding support assembly is arranged on each slide.

[0102] A clamping assembly is provided at one end of the bracket 690 for clamping and fixing the end and controlling the rotation when the wrist arm is assembled. Specifically, the clamping assembly includes an end pressure block 660, an end top block 661, an end gear 662, an end rack 663, a driving rod 664, and a driving cylinder 665. The end pressure block 660 is provided on the rotating shaft, and the position can be adjusted under the driving of the rotating shaft, so that the end pressure block 660 can be driven by the rotating shaft to rotate to the top of the wrist arm 640 after the wrist arm 640 is placed on the bracket 690, and it is pressed accordingly. Correspondingly, a bottom support block is provided directly below the end pressure block 660, and the bottom support block is correspondingly provided on the output shaft of a lifting assembly. By controlling the lifting assembly, the vertical lifting of the bottom support block can be realized, and then the wrist arm 640 is clamped between the bottom support block and the end pressure block 660.

[0103] The end top block 661 is a disc-shaped structure, and a groove is provided at its end, so that the end of the arm 640 can be embedded and fixed in the groove. With the rotation of the end top block 661, the arm 640 can be rotated to complete the processing of the arm in the 360° direction. Correspondingly, an end gear 662 is provided on the side of the end top block 661 away from the arm 640, and an end rack 663 is provided correspondingly. The end rack 663 is matched and meshed with the end gear 662. Through the telescopic displacement of the end rack 663, the corresponding rotation of the end gear 662 can be achieved, and then the rotation control of the arm 640 can be achieved.

[0104] The telescopic movement of the end rack 663 is realized by driving the cylinder 665, whose output shaft is connected to the end of the end rack 663 through the driving rod 664. The driving cylinder 665 drives the driving rod 664 to move the axis, so as to realize the rotation of the end top block 661. In actual setting, the number and order of the earrings that can be assembled can be changed by changing the mounting plate on the corresponding slide, so that the first assembly unit 610 can meet the assembly of different wrist arms 640, and the top of each mounting plate is provided with a corresponding profiling block structure. Of course, in actual setting, the second assembly unit 650 can be arranged side by side on the side of the first assembly unit 610 as shown in the preferred embodiment of the present invention, or similar third assembly unit, fourth assembly unit, etc.

[0105] In the second assembly unit 650, the biggest difference between the structure arranged on the bracket 690 and the first assembly unit 610 lies in the number of profiling blocks arranged on the top of each mounting plate 657 on each slide (i.e., the fourth slide 651, the fifth slide 652, and the sixth slide 653), and the arrangement order of each profiling block in the axial direction of the bracket 690. In this way, the number and arrangement order of the earrings that can be sleeved on the outer periphery of the arm 640 are adjusted to meet the assembly needs of the corresponding model arm. In a preferred embodiment, the slide of the first assembly unit 610 includes two first earrings 620 arranged on the first slide 611, one first earring 620 arranged on the second slide 612, and one second earring 630 arranged on the third slide 613. Correspondingly, the slide of the second assembly unit 650 includes a first earring 620 arranged on the sixth slide 653 and a second earring 630 arranged on the fifth slide 652 in sequence, and at this time, an end clamp 659 is arranged on the mounting plate of the fourth slide 651, which can clamp the wrist arm 640 passing through the end clamp 659.

[0106] Through the corresponding arrangement of the first assembly unit 610 and the second assembly unit 650, the automatic assembly of the pipe earrings on the contact network wrist arm can be realized. In the preferred embodiment, the first assembly unit 610 is taken as an example for introduction, and the assembly process is as follows: (1) The first earring 620 and the second earring 630 to be assembled are mounted on the contour blocks on the corresponding slide mounting plates and fixed so that the middle through holes of each earring are coaxial; at the same time, each slide is controlled to slide to the side away from the clamping assembly; (2) The clamping wheel 618 on each slide is opened to be in a non-working position, that is, the clamping wheel 618 is away from the upper part between the two support wheels 619; (3) The wrist after the cutting process is completed is moved to the side of the contact network arm; The end of the arm 640 is placed between the end pressure block 660 of the clamping assembly and the bottom support block. By controlling the lifting of the bottom support block, one end of the arm 640 can be clamped, while the other end of the arm 640 is supported and placed on a set of support wheels 619 on one side of the clamping assembly (i.e., the two support wheels 619 on the first slide 611); at this time, the arm 640 is coaxial with the axis of each earring; (4) the first driving unit 614 on the first slide 611 is controlled to start running until each earring on the first slide 611 moves to the corresponding position, and then the clamping wheel 618 on the first slide 611 is controlled to clamp the arm 640; (5) the first driving unit 614 on the second slide 612 is controlled to start running until each earring on the first slide 611 moves to the corresponding position, and then the clamping wheel 618 on the first slide 611 is controlled to clamp the arm 640; The first drive unit 614 starts to operate until each earring on the second slide 612 moves to the corresponding position, and then controls the clamping wheel 618 on the second slide 612 to press the wrist arm 640; (6) controls the first drive unit 614 on the third slide 613 to start operating until each earring on the third slide 613 moves to the corresponding position, and then controls the clamping wheel 618 on the third slide 613 to press the wrist arm 640; (7) locks each pipe earring at the corresponding position on the wrist arm 640 through a mechanical arm or other means; (8) opens the end clamp 660, releases the clamping of the end clamp 660 and the bottom support block on the wrist arm 640, and controls each slide to move a certain distance away from the clamping assembly at the same time. The end of the wrist arm 640 is separated from the clamping assembly, and then the clamping wheels are opened, and the assembled wrist arm 640 is unloaded by a mechanical grasping arm or a manual grasping method; (9) When the assembled wrist arm 640 needs to be processed in a circumferential direction, the wrist arm 640 is coaxial with the middle through hole of the end top block 661, and the axial movement of the wrist arm 640 is controlled (the axial movement of the wrist arm 640 can be completed by a mechanical arm, or it can be completed manually, or it can be completed by the corresponding clamping wheel 618 clamping the wrist arm 640 and then driven by the corresponding slide), so that the end of the wrist arm 640 is embedded in the groove in the middle of the end top block 661, and the end of the wrist arm 640 is locked by the end top block 661;(10) Control the driving cylinder 665 to drive the driving rod 664 to move, so that the end rack 663 drives the end gear 662 to move, so that the wrist arm 640 rotates to the corresponding angle, completes the locking adjustment and subsequent processing of the corresponding earrings, and ensures that each earring is located at the corresponding position after the processing is completed; (11) After completing the above processing, release the lock of each component on the wrist arm 640, and transfer the assembled wrist arm 640 to the next station by means of manual or mechanical arms. ;

[0107] The processing process on the second assembly unit 650 in the preferred embodiment of the present invention is similar to the above process. The difference between the two is mainly in the number and order of setting of each earring, which will not be repeated here.

[0108] The earring buffer loading device 700 of the contact network arm of the present invention comprises a frame 701 and a buffer assembly. The frame matches the buffer assembly to support the buffer assembly; the buffer assembly comprises at least one buffer unit for caching at least one group of earrings of the same type or at least one group of earrings of different types and for feeding the earrings one by one. Fig.18 The natural sliding direction of the middle earring (i.e. the feeding direction, i.e. Fig.19 The oblique downward direction shown in the figure is the longitudinal direction, and the horizontal direction perpendicular to the longitudinal direction is the transverse direction.

[0109] Specifically, the rack 701 in the preferred embodiment is as follows: Fig.18 and Fig.19 As shown in FIG. 7 , the rack 701 is a rectangular frame structure, and pillars are provided at the bottom of the four corners of the frame structure.

[0110] Furthermore, the cache assembly is arranged on the rack 701, and the cache assembly includes a cache bracket 702 and a plurality of cache units arranged on the cache bracket 702. Specifically, the cache bracket 702 in the preferred embodiment includes two first crossbeams arranged in the transverse direction, and a pair of longitudinal beams arranged in the longitudinal direction are preferably arranged between the two first crossbeams, the two longitudinal beams are arranged at intervals in the transverse direction, and the two ends of the longitudinal beams are respectively fixedly connected to the two ends of the first crossbeam, so that the two first crossbeams and the two longitudinal beams form a frame structure. Preferably, a plurality of longitudinal beams arranged at intervals in the transverse direction are arranged between the two longitudinal beams.

[0111] In addition, a pair of second cross beams are arranged above the plane where the two first cross beams are located. The two second cross beams are arranged at intervals in the longitudinal direction, and the two ends of the second cross beams are connected to the ends of the pillars arranged on the longitudinal beams on both sides of the cache bracket 702.

[0112] Furthermore, the corresponding part or all of the first beam of the cache bracket 702 is provided with a lifting mechanism, which can be used to adjust the vertical height of the first beam to adjust the position of the feed port and the discharge port of the cache unit and the feeding rate of the earrings in the cache unit.

[0113] Lifting mechanisms are provided at both ends of the first crossbeam located at the feed port of the cache unit, which can adjust the feed port of the cache unit and the feeding rate of the earrings of the cache unit. Correspondingly, a support with a rotating mechanism is also provided between the other first crossbeam and the frame 701. The angle formed by the two contact surfaces of the support can be adjusted to adapt to the angle formed by the contact surface of the longitudinal beam and the frame.

[0114] For example, in a preferred embodiment, the earrings to be cached include a first earring 708 and a second earring 709. The lower portion of the first earring 708 is a thin ring-shaped bottom ring, and the upper portion thereof is a connecting body with a wider structure; the second earring 709 is composed of a connecting portion and a sleeve ring. Accordingly, the cache unit in the preferred embodiment includes the following: Fig.18 The first cache unit and the second cache unit shown in .

[0115] Specifically, the first buffer unit is used to buffer the first earring 708, and includes a first guide rod 706, a second guide rod 707, a first blocking unit 703 and a limiting unit 705. In the preferred embodiment, the first guide rods 706 are two parallel and spaced apart, and the two first guide rods 706 are spaced apart by a certain distance, forming a gap for the bottom ring to pass through. Then, the first earring 708 can be embedded in the gap between the two first guide rods 706 with its bottom ring, and the connector is abutted and limited on the top surfaces of the two first guide rods 706.

[0116] Furthermore, the second guide rod 707 is provided corresponding to the first earring piece 708 for limiting the position on the two first guide rods 706, and is longitudinally arranged above the plane where the two first guide rods 706 are located, so that the connecting body can be clamped between the first guide rod 706 and the second guide rod 707 to avoid the first earring piece 708 from jumping in the vertical direction.

[0117] Accordingly, the limiting unit 705 in the preferred embodiment is arranged at the end of the first guide rod 706, specifically at the end of the discharge port with a lower horizontal height, and includes a limit block that can be displaced, and the limit block can block or unblock the end of the gap between the two first guide rods 706 through displacement control. For example, in the preferred embodiment, the limiting unit 705 is a cylinder, which includes a cylinder body and a telescopic rod that can reciprocate and retract, and the limit block is arranged at the end of the telescopic rod. Through the telescopic control of the telescopic rod, the position of the limit block can be adjusted accordingly.

[0118] Furthermore, the first blocking unit 703 is disposed on one side of the limiting unit 705, and a material taking station of a single first earring member 708 is formed on the first guide rod 706 therebetween. Preferably, at least two first blocking units 703 are spaced apart in the longitudinal direction, and the distance between two adjacent first blocking units 703 just corresponds to the distance between two adjacent first earring members 708.

[0119] The second cache unit is similar to the first cache unit in terms of its configuration, and the biggest difference between them is the configuration of the second guide rod and the blocking unit. That is, the second cache unit still includes two first guide rods 706 that are spaced apart, and a limiting unit is provided at the end of the first guide rod 706, so that the collar can be embedded between the two first guide rods 706 with its bottom when the axis is arranged along the longitudinal direction. At the same time, the second guide rod 707 of the second cache unit is provided corresponding to the connecting portion, and is preferably provided above a first guide rod 706, so that after the collar is placed correspondingly, the connecting portion can extend correspondingly between the first guide rod 706 and the second guide rod 707, so as to realize the limiting of the connecting portion and prevent the second earring 709 from rotating and jumping on the cache unit.

[0120] Furthermore, the second blocking unit 704 is disposed on one side of the limiting unit 705, and a material taking station of a single second earring 709 is formed on the first guide rod 706 therebetween. Preferably, the second blocking unit 704 is longitudinally spaced apart with at least one third blocking unit 710, and the distance between two adjacent blocking units just corresponds to the distance between two adjacent first earrings 708.

[0121] The second blocking unit 704 and the third blocking unit 710 are arranged under the guide rail. The end of the telescopic rod of the second blocking unit 704 is provided with an "L"-shaped baffle. The vertical plate of the "L"-shaped baffle can pass through the gap between the guide rails and match with the end face of the ring to block the displacement of the second earring 709. The third blocking unit 710 is extended through the hole of the second earring 709 through the telescopic rod, and together with the second guide rod 707, completes the position fixation of the second earring 709.

[0122] In addition, the third blocking unit 710 has more forms than this. The third blocking unit 710 is set at the corresponding side of the connecting part of the second earring 709, and the end of its telescopic rod is provided with a wedge-shaped structural blocking block, and the reciprocating motion of its telescopic rod realizes the limited blocking and contact blocking of the second earring 709; the end of the telescopic rod of the third blocking unit 710 in the preferred embodiment can also be provided with a baffle matching the side of the connecting part, and the connecting part is blocked to complete the blocking of the second earring 709. The structure and setting forms of the third blocking unit 710 are various, and will not be repeated here.

[0123] The first guide rod 706 is connected to the longitudinal beam through an "L"-shaped connecting plate, and the two ends of the second guide rod 707 are respectively fixed under the two second cross beams. The outer surface of the guide rod is smooth, which is convenient for the earring piece to move on the buffer unit.

[0124] Through the above preferred settings, we can get Fig.18 , Fig.19 The device shown in the figure is used to realize the caching and loading process of earrings of different forms, and the caching and loading process is as follows: (1) adjusting the lifting mechanism of the first crossbeam to make the feed port in a suitable position; (2) feeding the earrings to be stored into the guide rail from the feed port of the cache unit in sequence, and the earrings slide down until they are blocked by the blocking unit; (3) when the cache unit is the first cache unit, one of the first blocking units is used to block the entire earring sequence, and after the earrings are loaded, the telescopic rod of the other first blocking unit is extended to block the subsequent earrings; when the cache unit is the second cache unit, the second blocking unit is used to block After the earrings are loaded, the telescopic rod of the third blocking unit is extended and passes through the hanging hole of the second earring, and fixes the second earring together with the guide rail and the second guide rod to block the subsequent earrings; (4) the telescopic rod of the blocking unit close to the limiting unit is retracted, and the earrings between the blocking units slide down to the material picking station; (5) the telescopic rod of the blocking unit is extended and reset, and the telescopic rod of the other blocking unit is retracted, so that the earring cache sequence slides down one earring position; (6) the robot grabs the earring, and the material picking station is vacated; (7) operations (3) to (6) are repeated.

[0125] The present invention can be assisted by certain manual operations when performing intelligent production of arms and wrists. Of course, most of it is completed by automation, especially by the robot device 500, assisted by visual recognition technology, so that the robot device 500 can realize material picking, material placing, tightening, etc.

[0126] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent production line assembly system for high-speed railway contact network arm, characterized in that: It includes a pipe cutting device, a robot device, an earring buffer loading device and a pipe earring assembly device, wherein: The pipe cutting device is used to convey the pipe and cut the pipe to obtain a wrist arm pipe of a set length, and the wrist arm pipe of the set length obtained by cutting is placed on the material discharging platform; The earring caching device is used to arrange the earrings in a set order for caching; The robot device is used to clamp the earrings on the earring buffer upper device to the pipe fitting earring assembly device, and clamp the wrist arm pipe fitting to the pipe fitting earring assembly device and allow the earrings to be threaded onto the wrist arm pipe fitting, and then tighten the bolts used to fix the earrings and the wrist arm pipe fitting, thereby realizing the assembly of the earrings and the wrist arm pipe fitting; The pipe earring assembly device comprises at least one assembly unit, and the assembly unit comprises a bracket, a sliding support assembly and a clamping assembly; The sliding support assembly and the clamping assembly are respectively arranged at the two ends of the top of the bracket, and are used for supporting and clamping the two ends of the wrist arm respectively; sliding guide bars and follower chains are respectively arranged on the lateral sides of the bracket along the axial direction of the bracket, and are used to match the lateral ends of the sliding support assembly to realize the reciprocating motion of the sliding support assembly along the lateral direction of the bracket; Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The clamping assembly includes a clamping unit and a rotating unit; the clamping unit includes an end pressure block and a bottom support block; the bottom support block is arranged vertically, and a lifting mechanism is arranged corresponding to it, so that the bottom support block can be lifted and lowered vertically under the control of the lifting mechanism; the end pressure block is arranged on the rotating mechanism, and the rotating mechanism can drive the end pressure block to approach or move away from the wrist arm placed on the bottom support block, so as to realize the clamping or loosening of the wrist arm between the end pressure block and the bottom support block; the rotating unit includes an end top block, an end gear, an end rack, and a driving mechanism; the end top block is arranged on one side of the clamping unit, and a receiving groove is provided on the side close to the wrist arm placement area, and the end of the wrist arm can be embedded in the receiving groove and locked in the receiving groove; the end gear is coaxially arranged on the side of the end top block away from the receiving groove, and it is meshed with the end rack correspondingly, and can reciprocate under the movement of the end rack; the driving mechanism is matched with the end of the end rack correspondingly, and can drive it to reciprocate.

2. The high-speed railway overhead contact network arm intelligent production line assembly system according to claim 1, characterized in that: The pipe cutting device comprises a pipe buffer unit, a pipe automatic loading unit, a pipe transmission unit and a pipe cutting unit which are sequentially arranged along the pipe conveying line, and: The pipe buffer unit is arranged on the side of the pipe transmission unit, has a slope inclined toward the pipe transmission unit, and is used to store a plurality of pipes to be cut at the same time; The automatic pipe loading unit is arranged at the end and below the pipe transmission unit, and is used to push the pipe rolled down from the pipe buffer unit to the pipe transmission unit; The pipe transmission unit is used to actuate the pipe to move a predetermined distance in sequence along the longitudinal direction of the pipe, and comprises a plurality of support rollers, a moving platform and a platform guide rail; the support rollers are used to support the pipe under the pipe without power, the moving platform has a pipe pressing head, the pipe pressing head is used to press the pipe downward on the support roller, the moving platform is used to slide along the platform guide rail and move a predetermined distance in sequence and transmit the pipe forward; the platform guide rail is used to allow the moving platform to reciprocate; The pipe cutting unit is used to cut the pipe to obtain a wrist arm pipe of a predetermined length.

3. The high-speed railway overhead contact network arm intelligent production line assembly system according to claim 2, characterized in that: The automatic pipe loading unit includes an end pipe blocking device and a lower pipe loading device, wherein the end pipe blocking device is used to allow the head pipe to roll down while blocking subsequent pipes from rolling down, and the lower pipe loading device is used to push the head pipe onto the supporting roller.

4. The high-speed railway overhead contact network arm intelligent production line assembly system according to claim 3, characterized in that: The end pipe blocking device comprises a blocking plate and a blocker; The blocking plates are arranged at both ends of the long tube material and are provided with holes for the blocking device to pass through; The stopper is arranged on the stopper plate and has a retractable structure. It passes through the hole of the stopper and is inserted into the pipe end of the second pipe after the head pipe to stop the second pipe and subsequent pipes from rolling down.

5. The high-speed railway overhead contact network arm intelligent production line assembly system according to claim 1, characterized in that: The earring buffer loading device comprises a frame and a buffer assembly; The cache assembly includes a cache bracket and a plurality of cache units arranged on the cache bracket; the cache bracket is used to support the cache units; the cache units are used to realize sequential caching of multiple earrings in the longitudinal direction; The cache assembly is movably or fixedly arranged on the frame, and each of the cache units is inclined at a certain angle to the horizontal plane to realize the feeding of the earring pieces one by one from the feed end to the discharge end of the cache unit; accordingly, at least one limiting unit is arranged at the discharge end, and the limiting unit is used to prevent the earring pieces from falling from the cache unit.

6. The high-speed railway overhead contact network arm intelligent production line assembly system according to claim 1, characterized in that: The robot device comprises a workbench, on which at least one slide unit is provided, and the slide unit can slide along guide rails provided on both sides; The slide unit is fixedly connected to the bottom of the six-axis robot, and the other end of the six-axis robot is fixedly connected to the manipulator, and the pipe fitting is clamped by the manipulator; The manipulator includes a truss directly connected to the six-axis robot, and the end parts at both ends of the truss are provided with a first clamping end and a second clamping end in a vertical direction, and servo tightening guns are respectively provided at the bottom of both sides of the truss, and the corresponding servo tightening guns are rotatably fixedly connected to the truss; the tightening end of the servo tightening gun realizes the automatic torque tightening of the accessories on the pipe fittings.

7. A high-speed railway overhead contact network arm intelligent production line assembly system according to any one of claims 1 to 6, characterized in that: The pipe earring assembly device also includes a slide table provided with an end clamp, wherein the end clamp is arranged on a corresponding mounting plate and has a through hole in the middle along the axial direction of the bracket for the wrist arm to pass through and clamp the wrist arm.

Images